JPH0125084B2 - - Google Patents
Info
- Publication number
- JPH0125084B2 JPH0125084B2 JP56184258A JP18425881A JPH0125084B2 JP H0125084 B2 JPH0125084 B2 JP H0125084B2 JP 56184258 A JP56184258 A JP 56184258A JP 18425881 A JP18425881 A JP 18425881A JP H0125084 B2 JPH0125084 B2 JP H0125084B2
- Authority
- JP
- Japan
- Prior art keywords
- light beam
- laser beam
- reflecting mirror
- scanning
- bypass
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 238000000034 method Methods 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 11
- 230000001678 irradiating effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 7
- 238000013459 approach Methods 0.000 description 2
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
- G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Mechanical Optical Scanning Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】
本発明は無人搬送車など、地上移動体の誘導並
びに制御用光ビームの走査方法に関する。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for scanning a light beam for guiding and controlling a ground moving object such as an automatic guided vehicle.
本発明者は以前から光ビームを利用して、前記
地上移動体を運行せしめる方法について研究を行
つており、その成果につき、「移動物体の操舵信
号発生装置」（特願昭55−141306）として特許出
願をした。 The present inventor has been conducting research on a method for operating the above-mentioned ground moving objects using light beams for some time, and has published the results as a "Steering signal generation device for moving objects" (Japanese Patent Application No. 141306/1982). I filed a patent application.
本発明はこの出願発明をさらに改良したもので
あるから、本発明をよりよく理解するために、本
発明の説明の前に、前記出願に係る発明につき要
約説明する。 Since the present invention is a further improvement of the invention of this application, in order to better understand the present invention, the invention of the application will be summarized before explaining the present invention.
すなわち、第１図ないし第４図は従来技術及び
本発明に共通する地上移動体の誘導手段を説明す
るための原理図である。図において、地上移動体
１が走行すべき経路２の上方に固定された位置に
レーザビーム発生装置３が設けられる。このレー
ザビーム発生装置３は経路（例えば道路）２の面
上の地上移動体（例えば無人搬送車）が移動すべ
き経路に沿う方向に鋭い指向性を有するレーザビ
ームを走査する。すなわち、レーザビーム発生装
置は第３図に示すように、道路２上の経路に沿う
方向であり、かつ地上移動体１が進行してくる方
向から進行すべき方向に、順次レーザビームLB
を走査する。 That is, FIGS. 1 to 4 are principle diagrams for explaining the guiding means for a ground moving body that is common to the prior art and the present invention. In the figure, a laser beam generator 3 is provided at a fixed position above a route 2 along which a ground vehicle 1 travels. This laser beam generator 3 scans a laser beam having sharp directivity in a direction along a path along which a ground moving object (such as an automatic guided vehicle) should move on a surface of a path (such as a road) 2 . That is, as shown in FIG. 3, the laser beam generator sequentially emits the laser beam LB along the route on the road 2, from the direction in which the ground mobile object 1 is traveling to the direction in which it should travel.
scan.
一方、地上移動体１上にはレーザビームLBを
検知するための検知手段４が設けられている。こ
の検知手段４はレーザビームLBを検知し、この
検知出力に基づいて地上移動体１がレーザビーム
LBが走査された経路上を移動するのに必要な操
舵信号を発生する。この操舵信号に基づいて地上
移動体１に含まれる操舵装置が制御され、それに
よつて地上移動体１がレーザビームLBで走査さ
れた経路上を移動する。 On the other hand, a detection means 4 is provided on the ground moving body 1 to detect the laser beam LB. This detection means 4 detects the laser beam LB, and based on this detection output, the ground moving object 1 detects the laser beam LB.
Generates the steering signals necessary for the LB to move along the scanned path. A steering device included in the ground moving body 1 is controlled based on this steering signal, and thereby the ground moving body 1 moves on the path scanned by the laser beam LB.
しかして地上移動体１には第３図に図示する如
く、検知手段４が設けられていてレーザビーム
LBを検知する。第４図にはこの検知手段を説明
するためのブロツクダイヤグラムがしめされてい
る。すなわちこの検知手段は例えば経路に交差す
る方向に配列される２つの検知器４１，４２を含
む。たとえば、検知器４１は地上移動体１の右側
に設けられ、検知器４２は左側に設けられる。こ
れらの検知器４１，４２の検知出力は、増幅回路
５１，５２で増幅されて判別手段としての判別回
路６に与えられる。判別回路６は増幅回路５１，
５２で増幅された検知器４１，４２の検知出力に
基づいて、地上移動体１が左に操舵すべきである
かあるいは右に操舵すべきであるかを表わす信号
を発生する。すなわち、たとえば右側の検知器４
１がレーザビームLBを検知すれば右に操舵すべ
き信号を発生し、左側の検知器４２がレーザビー
ムLBを検知すれば左側に操舵すべき信号を発生
する。また、検知器４１，４２の境界でレーザビ
ームLBを検出したことを判別すると、操舵信号
を発生しない。 As shown in FIG.
Detect LB. FIG. 4 shows a block diagram for explaining this detection means. That is, this detection means includes, for example, two detectors 41 and 42 arranged in a direction intersecting the route. For example, the detector 41 is provided on the right side of the ground vehicle 1, and the detector 42 is provided on the left side. The detection outputs of these detectors 41 and 42 are amplified by amplifier circuits 51 and 52 and given to a discrimination circuit 6 as discrimination means. The discrimination circuit 6 includes an amplifier circuit 51,
Based on the detection outputs of the detectors 41 and 42 amplified at 52, a signal indicating whether the ground mobile object 1 should be steered to the left or right is generated. That is, for example, the right detector 4
If the detector 42 on the left side detects the laser beam LB, it will generate a signal to steer to the right, and if the left detector 42 detects the laser beam LB, it will generate a signal to steer to the left. Furthermore, if it is determined that the laser beam LB is detected at the boundary between the detectors 41 and 42, no steering signal is generated.
しかして、この判別回路６の出力信号は、地上
移動体１に含まれる操舵装置１１に与えられる。
操舵装置１１は判別回路６の判別出力に基づいて
地上移動体１を左操舵あるいは右操舵する。 Therefore, the output signal of this discrimination circuit 6 is given to the steering device 11 included in the ground moving body 1.
The steering device 11 steers the ground vehicle 1 to the left or to the right based on the discrimination output of the discrimination circuit 6.
すなわち従来技術は要約すれば、地上移動体が
走行すべき経路近辺の任意の固定位置からレーザ
ビーム発生装置により、当該移動体が移動すべき
経路に沿う方向に鋭い指向性を有するレーザビー
ムを走査させ、当該移動体上に設けた検知手段に
よつて経路上を移動するのに必要な操舵信号に変
換し、地上移動体を操舵走行させているが、従来
のレーザビーム走査方法では、単一のレーザビー
ム発生装置により、地上移動体の単一の経路を得
ている。 In other words, the conventional technology can be summarized as follows: A laser beam generator scans a laser beam with sharp directivity in the direction along the route of the ground moving body from an arbitrary fixed position near the route of the ground moving body. The ground moving object is steered by converting it into a steering signal necessary for moving along the route by a detection means installed on the moving object, but in the conventional laser beam scanning method, a single The laser beam generator provides a single path for ground vehicles.
一方、地上移動体が複数個あつて、これらが同
じ経路（以下「本線」と呼ぶ）に沿つて移動して
いるときに、１個の地上移動体が、例えば荷物の
積み降ろし等のために本線上で停止した場合、後
続の地上移動体の通行の邪魔になる。 On the other hand, when there are multiple ground moving objects and they are moving along the same route (hereinafter referred to as the "main line"), one ground moving object is used for loading and unloading cargo, etc. If it stops on the main road, it will obstruct the passage of following ground vehicles.
従つて、このような場合、本線から分岐した経
路であつて、しかもその終端は再び本線に合流す
る経路（以下「バイパス」と呼ぶ）が、本線とは
別に必要とされる。 Therefore, in such a case, a route (hereinafter referred to as a "bypass") that branches off from the main line and joins the main line again at the end is required, separate from the main line.
第５図は地上移動体の本線及びバイパスの説明
図である。 FIG. 5 is an explanatory diagram of a main line and a bypass of a ground moving body.
同図において５５は本線であり、５６はバイパ
ス、５７は地上移動体を示す。 In the figure, 55 is a main line, 56 is a bypass, and 57 is a ground moving body.
しかしながら、従来のレーザビーム走行方法に
よりバイパスを設けようとすれば、各バイパスご
とにレーザビーム発生装置が必要となるので、バ
イパスを設けるのに多額の費用を要するという問
題点がある。 However, if a bypass is to be provided using the conventional laser beam traveling method, a laser beam generator is required for each bypass, which poses the problem of requiring a large amount of expense to provide the bypass.
本発明は上記問題点を解決するためになされた
もので、単一レーザビーム発生装置によつて、レ
ーザビームの複数個の走査を得ることにより、地
上移動体の本線である経路以外に複数本のバイパ
スを得ることができるようにしたレーザビーム走
査方法を提供することを目的とする。 The present invention has been made to solve the above problems, and by obtaining multiple scans of a laser beam using a single laser beam generator, multiple scans can be made in addition to the main route of a ground moving object. It is an object of the present invention to provide a laser beam scanning method that can obtain a bypass.
以下本発明に係るレーザビーム走査方法（以下
「本発明方法」と呼ぶ）について図面とともに説
明する。 The laser beam scanning method according to the present invention (hereinafter referred to as the "method of the present invention") will be described below with reference to the drawings.
第６図は本発明方法の説明図である。 FIG. 6 is an explanatory diagram of the method of the present invention.
第６図において１００は地上に設けられた制御
器であり、１０１は本線L1とバイパスL2の分岐
点よりも少し無人搬送車５７の始発点側に設けら
れたアドレス検知器であつて、このアドレス検知
器１０１は例えば公知の高周波型の近接スイツチ
である。アドレス検知器１０１は無人搬送車５７
が接近したことを検知して、検知出力を前記制御
器１００に送る。制御器１００は予め記憶してあ
る経路に基づいて現在位置にある無人搬送車５７
が本線L1を通過すべきか或いはバイパスL2を通
過すべきであるかを判断し、その結果に基づいて
後述の光ビーム走査機構に指令信号を送る。 In FIG. 6, 100 is a controller installed on the ground, and 101 is an address detector installed slightly closer to the starting point of the automatic guided vehicle 57 than the junction of the main line L 1 and the bypass L 2 . This address detector 101 is, for example, a known high frequency proximity switch. The address detector 101 is the automatic guided vehicle 57
Detects the approach of the controller 100 and sends a detection output to the controller 100. The controller 100 selects the automatic guided vehicle 57 at the current position based on a pre-stored route.
It is determined whether the light beam should pass through the main line L1 or the bypass L2 , and based on the result, a command signal is sent to a light beam scanning mechanism to be described later.
同図において６０は反射鏡本体であり、反射鏡
本体６０には回転軸６４と平行に本線走査用反射
鏡６１が取り付け固定されているとともに、前記
回転軸６４に対し、所定の傾斜角度θをもつたバ
イパス走査用反射鏡６２が取り付け固定されてい
る。かかる反射鏡本体６０はモーター６３により
一定角速度でもつて回動駆動される。ここで反射
鏡本体６０とモーター６３は光ビーム走査機構を
構成しており、この光ビーム走査機構は本線L1
上に設けられており、後述するように反射鏡本体
６０の回動軸中心がレーザビームLBに対して垂
直となるようになつている。 In the same figure, 60 is a reflecting mirror body, and a main line scanning reflecting mirror 61 is attached and fixed to the reflecting mirror body 60 in parallel with the rotating shaft 64, and is tilted at a predetermined inclination angle θ with respect to the rotating shaft 64. A twisted bypass scanning reflector 62 is attached and fixed. The reflecting mirror main body 60 is rotationally driven by a motor 63 at a constant angular velocity. Here, the reflecting mirror body 60 and the motor 63 constitute a light beam scanning mechanism, and this light beam scanning mechanism is connected to the main line L1.
The center of the rotation axis of the reflecting mirror body 60 is perpendicular to the laser beam LB, as will be described later.
一方、６５は公知のレーザビーム発生装置で、
レーザビーム発生装置６５は前記回動駆動されて
いる反射鏡本体６０に指向性の強いレーザビーム
LBを照射する。 On the other hand, 65 is a known laser beam generator,
A laser beam generator 65 generates a highly directional laser beam onto the rotating reflecting mirror main body 60.
Irradiate LB.
その結果、反射鏡本体６０の本線走査用反射鏡
６１により反射されたレーザビームLBは、前記
本線走査用反射鏡６１の回動に基づいて走査さ
れ、床面６６に同図に示すような本線L1を描く。
本線L1の長さは前記反射鏡本体６０の回動角に
より決まる。 As a result, the laser beam LB reflected by the main line scanning reflecting mirror 61 of the reflecting mirror main body 60 is scanned based on the rotation of the main line scanning reflecting mirror 61, and the main line is formed on the floor surface 66 as shown in the figure. Draw L 1 .
The length of the main line L1 is determined by the rotation angle of the reflecting mirror main body 60.
ここで、反射鏡本体６０の回動軸中心は、レー
ザビームLBに対し垂直になるように設定されて
いるので、本線走査用反射鏡６１によつて走査さ
れたレーザビームLBが床面６６に描く本線L1は
直線状となつている。 Here, since the center of the rotation axis of the reflecting mirror main body 60 is set to be perpendicular to the laser beam LB, the laser beam LB scanned by the main scanning reflecting mirror 61 hits the floor surface 66. The main line L1 drawn is straight.
次にバイパスL2を選択する場合について説明
する。まず、無人搬送車５７が前記アドレス検知
器１０１に接近すると、アドレス検知器１０１は
検知信号を制御器１００に送り、制御器１００は
予め記憶している経路に基づいて光ビーム走査機
構に指令信号を送る。この信号は光ビーム走査機
構の反射鏡本体６０を丁度180゜だけ回転させ、バ
イパス走査用反射鏡６２がレーザビームLBに向
かうようにせしめた後、反射鏡本体６０を必要回
動角度回動せしめるものである。これにより本線
L1は消えてその代わりにバイパスL2が描かれる
ことになる。しかして、バイパス走査用反射鏡６
２は回転軸６４に対し所定の傾斜角度θでもつて
取り付けられているから、前記走査用反射鏡６２
の回転に基づいて走査されるレーザビームLBが
床面６６に描く経路は、直線にならず、曲線状の
バイパスL2を描く。そして、前記バイパスL2と
本線L1との離隔距離はバイパス走査用反射鏡６
２の傾斜角度θによつて定められるものである。 Next, the case of selecting bypass L2 will be explained. First, when the automatic guided vehicle 57 approaches the address detector 101, the address detector 101 sends a detection signal to the controller 100, and the controller 100 sends a command signal to the light beam scanning mechanism based on a pre-stored route. send. This signal rotates the reflector main body 60 of the light beam scanning mechanism by exactly 180 degrees so that the bypass scanning reflector 62 faces the laser beam LB, and then rotates the reflector main body 60 by the required rotation angle. It is something. This allows the main line
L 1 will disappear and bypass L 2 will be drawn in its place. Therefore, the bypass scanning reflector 6
2 is attached at a predetermined inclination angle θ with respect to the rotating shaft 64, so that the scanning reflector 62
The path drawn by the laser beam LB scanned based on the rotation of the floor surface 66 is not a straight line, but a curved bypass L2 . The separation distance between the bypass L 2 and the main line L 1 is determined by the bypass scanning reflector 6.
It is determined by the inclination angle θ of 2.
以上の本発明方法の実施例の説明より明らかな
ように、本発明方法によれば、単一のレーザビー
ム発生装置でレーザビームの複数個の走査を得る
ことにより本線及びバイパスが形成されるから、
バイパスを設けるのに多額の費用を要するという
問題点が解決される。 As is clear from the above description of the embodiments of the method of the present invention, according to the method of the present invention, a main line and a bypass are formed by obtaining multiple scans of the laser beam with a single laser beam generator. ,
The problem of requiring a large amount of expense to provide a bypass is solved.
さらに、実施例では、レーザビームを走査して
地上移動体の経路を得ているが、これは例えば赤
外線又は可視光線等の他の光ビームであつても同
様の効果を得ることができる。 Further, in the embodiment, the route of the ground mobile object is obtained by scanning a laser beam, but the same effect can be obtained even if other light beams such as infrared rays or visible rays are used.
第１図ないし第４図は従来技術及び本発明に共
通する地上移動体の誘導手段を説明するための原
理図、第５図は地上移動体の本線及びバイパスの
説明図、第６図は本発明方法の説明図である。
６０……反射鏡本体、６１……本線走査用反射
鏡、６２……バイパス走査用反射鏡、６３……モ
ータ、６５……レーザビーム発生装置。
Figures 1 to 4 are principle diagrams for explaining the guidance means for ground moving bodies common to the prior art and the present invention, Figure 5 is an explanatory diagram of the main line and bypass of the ground moving body, and Figure 6 is the main FIG. 2 is an explanatory diagram of the invention method. 60...Reflector main body, 61...Reflector for main line scanning, 62...Reflector for bypass scan, 63...Motor, 65...Laser beam generator.
Claims (1)
上移動体の光ビームの走査方法において、単一の
光ビーム発生装置と、前記光ビーム発生装置から
所定距離はなれ、且つ反射鏡本体を前記反射鏡本
体の回動軸が前記光ビームに対して垂直となるよ
うに設置し、且つ前記反射鏡本体には本線走査用
反射鏡を前記回動軸に平行に、またバイパス走査
用反射鏡を前記回動軸に所定の傾斜角度でもつて
取りつけてあり、前記光ビーム発生装置からの光
ビームを前記反射鏡本体に照射することにより、
直線である本線及び曲線であるバイパスからなる
経路を描かしめる一方、前記地上移動体上には前
記経路に交差する方向に配列した左右２個の検知
器を含み、前記検知器からの検知出力に基づいて
前記地上移動体の走行を制御する操舵信号を発生
する如く構成したことを特徴とする地上移動体の
誘導ならびに制御用光ビームの走査方法。1. A light beam scanning method for a ground mobile object that receives and detects a light beam and travels guided, including a single light beam generator, a light beam generator that is separated from the light beam generator by a predetermined distance, and a reflector main body that is connected to the reflector. The rotating axis of the main body is installed so as to be perpendicular to the light beam, and the reflecting mirror main body includes a main scanning reflecting mirror parallel to the rotating axis, and a bypass scanning reflecting mirror parallel to the rotating axis. It is attached to the moving shaft at a predetermined inclination angle, and by irradiating the light beam from the light beam generator onto the reflecting mirror body,
While drawing a route consisting of a straight main line and a curved bypass, the ground moving body includes two left and right detectors arranged in a direction intersecting the route, and the detection output from the detector is 1. A method for scanning a light beam for guiding and controlling a ground moving object, characterized in that the method is configured to generate a steering signal for controlling travel of the ground moving object based on the above.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56184258A JPS5886605A (en) | 1981-11-16 | 1981-11-16 | Scanning method for light beam for guiding and controlling ground moving body |
| GB08230007A GB2109594B (en) | 1981-10-20 | 1982-10-20 | Method and apparatus for guidance and control of a vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56184258A JPS5886605A (en) | 1981-11-16 | 1981-11-16 | Scanning method for light beam for guiding and controlling ground moving body |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5886605A JPS5886605A (en) | 1983-05-24 |
| JPH0125084B2 true JPH0125084B2 (en) | 1989-05-16 |
Family
ID=16150160
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56184258A Granted JPS5886605A (en) | 1981-10-20 | 1981-11-16 | Scanning method for light beam for guiding and controlling ground moving body |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5886605A (en) |
-
1981
- 1981-11-16 JP JP56184258A patent/JPS5886605A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS5886605A (en) | 1983-05-24 |
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