JPH10104328A - Offset detector and light wave guiding device using detector thereof - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the offset of a light receiving sensor with respect to the specified axis and to use the offset for light wave guidance by emitting the laser beam having the radiation intensity characteristics, wherein the intensity has the maximum value in the pointed direction and the intensity is decreased as the beam is separated from the pointed direction (in a circular cone shape with respect to the specified axis), and comparing the output of the light receiving sensor located at the irradiated region with stored data. SOLUTION: A laser-beam emitting device 11 emits a laser beam 13 in the circular cone shape with a specified central axis 12 as the center, and an irradiated region 14 is formed. A light receiving sensor 15 is arranged in the region 14. The energy of the received laser beam 13 is converted into the received light signal S such as a voltage signal, and the signal is outputted. The amplitude change component of the signal S is measured by an amplitude measuring circuit 16 and compared with the stored data in a conversion table 17. The separating angle, i.e., the offset amount from the central axis 12 of the light receiving sensor 15 is detected. When a plurality of the light receiving sensors are used, the direction of the offset is detected. When, e.g. four light receiving sensors are arranged on a missile in this constitution, the steering vector is obtained, and the optical wave guidance can be performed.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an offset detecting device for detecting an offset amount or an offset direction from a predetermined axis, and a light wave guide for guiding a flying object in a predetermined target direction using the offset detecting device. Related to the device.

[0002]

2. Description of the Related Art A conventional light wave guiding device for guiding a flying object in a predetermined direction using light waves or the like is a method in which a navigation computer is used to obtain information such as the attitude angle and position of the flying object itself. It is installed. Then, the guidance device wirelessly transmits the traveling direction information of the reference coordinate system of the guidance device (combination information of the azimuth angle and the elevation angle or the target position information) to the flying object. Also, on the flying object, based on the traveling direction information sent from the guidance device, the navigation computer is used to calculate the attitude angle and position information of the flying object itself and determine the steering direction and steering amount. .

[0003]

In the above-mentioned conventional light wave guiding device, if the guiding device and the flying object do not have a common coordinate system, the flying object receives the traveling direction information from the guiding device. I cannot fly in the direction that matches the heading information. For this reason, the guidance device and the flying object require a common coordinate system.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned drawbacks, and an offset detection device for detecting an offset amount or an offset direction from a predetermined axial direction even when a common coordinate system is not provided, and the offset detection device It is an object of the present invention to provide a light wave guiding device capable of guiding a flying object in a predetermined direction even when the guiding device and the flying object do not have a common coordinate system.

[0005]

According to the present invention, there is provided an offset detecting apparatus which emits a laser beam having a maximum irradiation intensity in a directional direction and having a characteristic that the irradiation intensity decreases as the distance from the directional direction decreases, with respect to a predetermined axis. A laser beam irradiator that irradiates the laser beam in a conical shape by tilting the pointing direction, and receives the laser beam and outputs a light reception signal corresponding to the irradiation intensity, which is located in an irradiation area of the laser beam by the laser beam irradiator. A light receiving sensor, a storage device storing a relationship between an offset amount of the light receiving sensor with respect to the predetermined axis and the light receiving signal corresponding to the offset amount as functionized or tabulated data, and output from the light receiving sensor. The light receiving signal is compared with the data stored in the storage device to detect an offset amount of the light receiving sensor with respect to the predetermined axis. It is provided with an offset amount detector.

Further, the offset detecting apparatus of the present invention provides a laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction increases, with respect to a predetermined axis. A laser beam irradiator that irradiates the laser beam in a conical shape with a tilt, and a light-receiving sensor that is located in an irradiation area of the laser beam by the laser beam irradiator and receives the laser beam and outputs a light-receiving signal according to the irradiation intensity. A storage device that stores a relationship between an offset amount of the light receiving sensor with respect to the predetermined axis and a ratio of a maximum value and a minimum value of the light receiving signal corresponding to the offset amount as function or tabulated data; Compare the ratio of the maximum value and the minimum value of the light receiving signal output from the sensor to the data stored in the storage device, It is provided with an offset amount detector for detecting the offset amount of the light receiving sensor.

In addition, the offset detecting apparatus of the present invention provides a laser beam having a maximum irradiation intensity in a directional direction and having a characteristic that the irradiation intensity decreases as the distance from the directional direction decreases, with respect to a predetermined axis. A laser beam irradiator that irradiates the laser beam in a conical shape by tilting the laser beam irradiator, and the laser beam irradiation area is arranged at a predetermined interval so that a direction connecting them is orthogonal to the predetermined axis, and
Two light receiving sensors for receiving the laser beam and outputting a light receiving signal corresponding to the irradiation intensity, two amplitude detecting devices for detecting a change in the amplitude of the light receiving signal output from each of the two light receiving sensors, An offset direction detector for comparing the magnitude of the amplitude change detected by each of the two amplitude detection devices and detecting an offset direction of the two light receiving sensors with respect to the predetermined axis.

Further, the offset detecting apparatus of the present invention provides a laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction increases, with respect to a predetermined axis. A laser beam irradiator that irradiates the laser beam in a conical shape by tilting the laser beam irradiator, and the laser beam irradiation area is arranged at a predetermined interval so that a direction connecting them is orthogonal to the predetermined axis, and
Two light receiving sensors for receiving the laser beam and outputting a light receiving signal corresponding to the irradiation intensity, and detecting a ratio between a maximum amplitude value and a minimum amplitude value of the light receiving signal output from each of the two light receiving sensors. Two amplitude ratio detection devices,
An offset direction detector is provided for comparing the magnitudes of the respective amplitude ratios detected by the two amplitude ratio detectors and detecting the offset direction of the two light receiving sensors with respect to the predetermined axis.

Further, the offset detecting device of the present invention is characterized in that a laser beam having a characteristic that the maximum irradiation intensity is obtained in the directional direction and the irradiation intensity becomes smaller as the distance from the directional direction is reduced, is changed with respect to a predetermined axis in the directional direction. A laser beam irradiator that irradiates the laser beam in a conical manner by tilting the laser beam, and a light reception signal corresponding to the irradiation intensity of the laser beam, which is positioned at a predetermined interval in an irradiation area of the laser beam by the laser beam irradiator and receives the laser beam A plurality of light-receiving sensors that output an image signal, and offset detection for respectively obtaining an offset amount and an offset direction of the two light-receiving sensors with respect to the predetermined axis from light-receiving signals output from two of the plurality of light-receiving sensors. Container.

[0010] The light wave guiding device of the present invention may further comprise: a laser beam having a maximum irradiation intensity in a directional direction and having a characteristic of decreasing the irradiation intensity as the distance from the directional direction decreases, with respect to a predetermined axis. A flying object equipped with a laser beam irradiator that irradiates the laser beam in a conical shape by tilting the laser beam, and a plurality of light-receiving sensors that receive the laser beam from the laser beam irradiator and output a light-receiving signal corresponding to the irradiation intensity; Comparing light receiving signals output from two light receiving sensors among the plurality of light receiving sensors mounted on the flying object,
An offset detector for respectively obtaining an offset amount and an offset direction of the two light receiving sensors from the predetermined axis; and a steering amount and a steering of the flying object from the offset amount and the offset direction obtained by the offset detector. A calculating device for calculating a direction; and a steering device for steering the flying object according to the steering amount and the steering direction calculated by the calculating device. Further, based on a target orientation sensor that detects a position of a target to which the flying object is to be guided, and based on the position of the target detected by the target orientation sensor, the target may enter an irradiation area of a laser beam. And an irradiation direction calculator for calculating an irradiation area of the laser beam by the laser beam irradiation device.

Further, a flying object locating sensor for detecting the position of the flying object, and the flying object is irradiated with a laser beam based on the position of the flying object detected by the flying object locating sensor. An irradiation direction calculator that calculates an irradiation area of the laser beam by the laser beam irradiator so as to enter the area is provided.

[0012] Further, a target orientation sensor for detecting a position of a target to which the flying object is to be guided, a flying object orientation sensor for detecting a position of the flying object, and a target location sensor detected by the target position sensor. Based on the position and the position of the flying object detected by the flying object location sensor,
An irradiation direction calculator for calculating a laser beam irradiation area by a laser beam irradiator is provided so that the flying object and the target enter the laser beam irradiation area.

Further, the light wave guiding device according to the present invention provides a laser beam having a maximum irradiation intensity in a directional direction and having a characteristic that the irradiation intensity decreases as the distance from the directional direction decreases, with respect to a predetermined axis. A laser beam irradiator that irradiates the laser beam in a conical shape by tilting the laser beam, and a light-receiving sensor that receives the laser beam from the laser beam irradiator, outputs a light-receiving signal corresponding to the irradiation intensity, and changes the light-receiving position A flying object, and an offset detector for obtaining an offset amount and an offset direction of the light receiving sensor from the predetermined axis based on a light receiving signal output from the light receiving sensor having a different light receiving position. A calculating device for calculating a steering amount and a steering direction of the flying object from the offset amount and the offset direction obtained by a detector; It is equipped with a steering device for steering the flying object by the calculated the steering amount and the steering direction by the computing device.

Further, light receiving sensors are provided at a plurality of locations at predetermined intervals.

According to the above construction, the laser beam having the maximum irradiation intensity in the directing direction and having a characteristic of decreasing the irradiation intensity as the distance from the directing direction decreases becomes conical by tilting the directing direction with respect to a predetermined axis. Irradiation. In this case, when the light receiving sensor is offset from the predetermined axis, the light receiving signal output from the light receiving sensor changes according to the offset amount from the predetermined axis. Therefore, the offset amount can be detected by detecting a change in the light receiving signal which is the output of the light receiving sensor. When a plurality of light receiving sensors are provided, for example, the magnitudes of the outputs of the plurality of light receiving sensors differ from each other in accordance with the offset direction from a predetermined axis. Therefore,
The offset direction can be detected by comparing the magnitudes of the outputs of the plurality of light receiving sensors.

Further, the above-mentioned light receiving sensor is mounted on a flying object. In this case, the offset of the flying object from a predetermined axis can be detected by using the output of the light receiving sensor. Therefore, by steering the flying object so as to reduce the offset of the flying object, the flying object can be guided in a predetermined axial direction. At this time, if the predetermined axis is set in the target direction, a flying object can be guided to the target, and a light wave guiding device that can track the target even if the guiding device and the flying object do not have a common coordinate system. realizable.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of an offset detecting device according to the present invention will be described with reference to the circuit diagram of FIG. Reference numeral 11 denotes a laser beam irradiator. The laser beam irradiator 11 irradiates a laser beam 13 in a conical shape around a predetermined central axis 12 to form an irradiation area 14 as indicated by a dotted line. And the laser beam irradiator 1
A light receiving sensor 15 is arranged in an irradiation area 14 at a distance R from 1. The light receiving sensor 15 receives the laser beam 13 and converts the received light energy into a light receiving signal S such as a voltage signal.
And output. The light receiving signal S output from the light receiving sensor 15 is applied to an amplitude measuring circuit 16, and an amplitude change A of the light receiving signal is measured. Also, the amplitude change A of the light reception signal S measured by the amplitude measurement circuit 16
Is compared with the stored data stored in the conversion table 17, and a separation angle θ from the central axis 12 of the light receiving sensor 15, that is, a so-called offset amount is detected.

Here, the operation of the offset detecting device having the above configuration will be described. The laser beam 13 emitted from the laser beam irradiator 11 has the maximum irradiation intensity in the beam direction 18 as shown in FIG. 1B, and monotonically attenuates as it is offset from the beam direction 18. It is a characteristic. Then, as shown in FIG. 1C, the laser beam 13 having such characteristics rotates around the central axis 12 while the beam directing direction 18 is inclined at a predetermined eccentric angle φ with respect to the predetermined central axis 12. Thus, a laser beam irradiation area 14 is formed. At this time, the trajectory of the laser beam 13 in the beam direction 18 becomes conical,
The inside of the trajectory created by the beam directing direction 18 is shown in FIG.
As shown in the figure, the irradiation intensity is maximum in the beam directing direction 18, and decreases monotonically toward the central axis 12.

At this time, the light receiving signal S output from the light receiving sensor 15 located in the laser beam irradiation area 14 changes at the same cycle T as the rotation cycle of the laser beam 13 as shown in FIG. When the offset amount from the center axis 12 is represented by the separation angle θ, and the amplitude change of the difference between the maximum value and the minimum value of the light receiving signal S output from the light receiving sensor 15 is represented by A, the separation angle θ = If 0, the amplitude change A
= 0 and direct current. When the separation angle θ increases, the amplitude change amount A also increases, and becomes a so-called amplitude modulation signal.

In this case, the maximum value of the irradiation intensity is Vmax,
Assuming that the minimum value is Vmin, the amplitude change A is as follows: A = Vmax−Vmin (1) As can be seen from this relationship, the amplitude-modulated signal has the amplitude change A on the vertical axis and the separation angle θ on the horizontal axis, as shown in FIG.
As shown by the line segment M in FIG. 5F, the amplitude change A monotonically increases as the separation angle θ increases.

At this time, the characteristics of the amplitude modulation signal such as the line segment M in FIG. 1 (f), that is, the relationship between the amplitude change A and the separation angle θ are converted into a function or a table to form a conversion table 17.
To be stored. When the amplitude change A of the received light signal measured by the amplitude measurement circuit 16 is input to the conversion table 17, the separation angle θ corresponding to the amplitude change A is output from the conversion table 17.

If the distance R is not known in the above configuration, means for measuring the distance R and means for correcting the amplitude modulation characteristic corresponding to the distance R are added.

Next, another embodiment of the offset detecting device of the present invention will be described with reference to the circuit diagram of FIG. In FIG. 2, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and redundant description will be omitted. In FIG. 1, the light receiving sensor 15
The light receiving signal S output from the controller is applied to the amplitude measuring circuit 16. However, in FIG. 2, the light reception signal S is added to the amplitude ratio measurement circuit 21. And the amplitude ratio measuring circuit 2
In step 1, the amplitude ratio Vr between the maximum value Vmax and the minimum value Vmin of the amplitude of the light receiving signal S is obtained. In this case, when the amplitude ratio Vr is input to the conversion table 22, the conversion table 22 outputs data that outputs the separation angle θ with respect to the central axis 12 of the light receiving sensor 15, for example, as shown by a line segment N in FIG. Relationship data is stored. 2B, the vertical axis represents the ratio Vr between the maximum value and the minimum value of the amplitude of the light receiving signal S output from the light receiving sensor 15, and the horizontal axis represents the central axis 1 of the light receiving sensor 15.
2 is the separation angle θ.

In the configuration shown in FIG. 2, an amplitude ratio measuring circuit 21 is used. In this case, for example, even if the conversion efficiency of the light receiving sensor 15 changes, a correct separation angle θ is obtained. For example, when the conversion efficiency of the light receiving sensor 15 changes by g times, the amplitude value of the light receiving signal S also becomes g times as a whole. Therefore, the maximum value Vmax and the minimum value Vmin also become g times. However, the ratio Vr between the maximum value Vmax and the minimum value Vmin
Is as follows: Vr = (Vmax × g) / (Vmin × g) = Vmax / Vmin (2), and the effect of the change in the conversion efficiency is eliminated. Therefore, the separation angle θ of the light receiving sensor 15 with respect to the central axis 12 can be obtained regardless of the change in the conversion efficiency of the light receiving sensor 15. Further, the distance R between the laser beam irradiator 11 and the light receiving sensor 15 changes, or the laser beam 1
Even if there is a level variation of 3 or the like, the separation angle θ of the light receiving sensor 15 with respect to the central axis 12 can be obtained without these effects.

Next, another embodiment of the present invention will be described with reference to FIG. 3, taking an example in which two light receiving sensors are used. In FIG. 3, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and the description will be focused on configurations different from those in FIG. In the case of this embodiment, the distance R from the laser beam irradiator 11
The two light receiving sensors 311 and 312 are installed on the platform 32 at predetermined positions such that a straight line connecting the two light receiving sensors 311 and 312 is orthogonal to the central axis 12 and at a predetermined interval. In addition,
The position of the platform 32 is, for example,
It is indicated by the midpoint P of 1,312.

In the case of the above configuration, the distribution of the irradiation intensity of the laser beam 13 in the irradiation area 14 is the same as that shown in FIG. 1D, and the light receiving signals S1 and S2 output from the light receiving sensors 311 and 312 are respectively centered. The amplitude modulation signal has amplitude variations A1 and A2 determined by the separation angles θ1 and θ2 from the axis 12. Then, the light receiving signals S1 and S2 are input to the amplitude measuring circuits 331 and 332, respectively, and the amplitude changes A1 and A2 are measured. Then, the amplitude change A
The offset detection circuit 34 compares 1 and A2, and detects the offset direction of the platform 33 and the light receiving sensors 311, 312, for example, the offset direction of the midpoint P with respect to the central axis 12.

For example, when the midpoint P is on the central axis 12, the amplitude changes A1 and A2 of the light receiving signals S1 and S2 output from the light receiving sensors 311 and 312 are equal. In addition, as shown in FIG.
When the light receiving sensor 311 is offset in the direction, the shift of the light receiving sensor 311 from the central axis 12 becomes larger, and as a result, the amplitude change A1 of the light receiving signal S1 output from the light receiving sensor 311 becomes larger. Conversely, when the midpoint P is offset toward the light receiving sensor 312, the amplitude change A2 of the light receiving signal S2 output from the light receiving sensor 312 becomes larger. The offset direction is detected using such a relationship.

For example, amplitude change A1 = amplitude change A2
In this case, the midpoint P is located on the central axis 12.
In this case, the offset detection circuit 34 outputs an offset direction signal D, for example, “0”, as “no offset”. If A1> A2, the middle point P is
This means that they are offset in one direction. in this case,
The offset direction signal D “+”
1 "is output. When A1 <A2, the middle point P is offset toward the light receiving sensor 242. In this case, the offset direction signal D "-"
1 "is output.

The offset direction of the platform 32 and the light receiving sensors 311 and 312 with respect to the central axis 12 is measured by the method described above.

In the configuration shown in FIG. 3, when obtaining the offset amount, as described with reference to FIG.
A conversion table (not shown) in which the relationship between the amplitude change amounts A1 and A2 of S1 and S2 and the separation angle θ is functioned or tabulated is used.

The distance between the laser beam irradiator 11 and each of the light receiving sensors 311 and 312 is strictly different.
However, such a change in irradiation intensity due to the difference in distance is negligible, and does not cause a practical problem.

Next, another embodiment of the present invention will be described with reference to FIG.
Will be described. In FIG. 4, portions corresponding to those in FIG. 3 are denoted by the same reference numerals, and the description will focus on configurations different from those in FIG. 3. In this embodiment, the amplitude ratio measuring circuits 411 and 412
Are provided, and the light receiving signals S1 and S2 output from the light receiving sensors 311 and 312 are the maximum values Vmax of the respective amplitudes.
And the amplitude ratios Vr1 and Vr2 of the minimum value Vmin are calculated.

When the amplitude ratio is used as described above, a correct offset direction can be obtained even if the conversion efficiencies of the light receiving sensors 311 and 312 are different. For example, the light receiving sensor 3
When the conversion efficiency of No. 11 is g times that of the light receiving sensor 312, the amplitude value of the light receiving signal of the light receiving sensor 311 is g times as a whole, and the maximum value Vmax and the minimum value Vmin are each g times. However, the ratio Vr between them is not affected by the difference in the conversion efficiency from the relationship of the equation (2).

In the configuration shown in FIG. 4, the magnitudes of the amplitude ratio Vr1 and the amplitude ratio Vr2 are compared by the offset detection circuit 42. When Vr1 = Vr2, the offset direction of the platform 32 and the light receiving sensors 311 and 312,
That is, the position of the middle point P with respect to the center axis 12 is set to "no offset", and the offset detection circuit 42 outputs an offset direction signal D, for example, "0". Vr1> V
In the case of r2, an offset direction signal D, for example, “+1” is output as “there is an offset in the light receiving sensor 311 direction”. When Vr1 <Vr2, “the light receiving sensor 3
An offset direction signal D, for example, “−1” is output as “there is an offset in 12 directions”.

In the configuration of FIG. 4 as well, when the offset amount is obtained, a conversion table (shown in the drawing) in which the relationship between the ratio between the maximum value and the minimum amplitude value of the received signals S1 and S2 and the offset amount is represented as a function or a table. Is used.

In the case of the configuration shown in FIG. 4, the distance R from the laser beam
The separation angles θ1 and θ2 of the light receiving sensors 311 and 312 with respect to the central axis 12 can be obtained irrespective of a change in the irradiation intensity due to a change in the output level of the light-receiving element.

Next, another embodiment of the present invention will be described with reference to FIG. In FIG. 5, portions corresponding to those in FIG. 4 are denoted by the same reference numerals, and the description will focus on configurations different from those in FIG. In the case of this embodiment, two light receiving sensors 311 are located at a distance R from the laser beam irradiator 11.
312 at predetermined intervals, and light receiving sensors 311, 31
For example, it is installed on a platform 32 so that a straight line connecting the two is orthogonal to the central axis 12.

The light receiving signals S1 and S2 output from the light receiving sensors 311 and 312 are output to the amplitude ratio measuring circuit 41.
At steps 1 and 412, respective amplitude ratios Vr1 and Vr2 are obtained. Thereafter, the offset detection circuit 42 compares the magnitudes of the amplitude ratios Vr1 and Vr2.

At this time, when Vr1 = Vr2, the position of the platform 32 and the light receiving sensors 311 and 312, that is, the position of the middle point P is "no offset" with respect to the center axis 12.
The offset detection circuit 42 outputs an offset direction signal D, for example, “0”. When Vr1> Vr2, “+1” is set as “there is an offset in the direction of the light receiving sensor 311”, and when Vr1 <Vr2, “−offset is made in the direction of the light receiving sensor 312”, for example, “−”.
1 "is output.

At this time, the offset detection circuit 42
Selects the larger one of Vr1 and Vr2 and outputs the larger one as the amplitude ratio signal Vr. Here, Vr1> Vr2
And Vr = Vr1. At this time, the amplitude ratio Vr1 is input to the conversion table 51 as the amplitude ratio signal Vr. The conversion table 51 is composed of two conversion tables 511 and 512. Here, since the amplitude ratio Vr1 is input, the conversion table 511 corresponding to the output of the light receiving sensor 311 is selected by the set direction signal D. The conversion table 511 stores the relationship between the separation angle θ of the light receiving sensor 311 and the amplitude ratio Vr1, and the separation angle θ of the light receiving sensor 311 from the center axis 12 using the amplitude ratio Vr1.
Is required.

Then, the offset direction signal D obtained by the amplitude ratio comparing circuit 42 and the separation angle θ obtained by the conversion table 51 are input to the error signal calculating circuit 52, and the offset signal of the light receiving sensor 311 is output. And an error signal E including each data of the offset amount.

In this case, the error signal E is a signed offset value based on the offset direction D and the separation angle θ, for example, E = D × θ (3) where V = 0 when Vr1 = Vr2. When Vr1> Vr2, D = + 1. When Vr1 <Vr2, D = −1.

When the smaller one of the amplitude ratios is selected by the offset detecting circuit 42, the offset amount is small, and the offset amount is large when the two light receiving sensors 311 and 312 are in opposite directions with respect to the center axis 12. , Light receiving sensor 3
The sign of equation (3) is reversed when both 11 and 312 are in the same direction with respect to the central axis 12, which is not preferable.

Next, an embodiment of the light wave guiding device of the present invention will be described with reference to FIG. Reference numeral 61 denotes a guiding device, which includes a laser beam irradiator 611, a scanning drive circuit 612, and the like. The laser beam irradiator 611 irradiates the laser beam 62 in a conical shape in the arrow Y direction about the central axis 63 in the same manner as described with reference to FIG.
An irradiation area 64 similar to that described in (c) or (d) is formed. Further, the scanning drive circuit 612 outputs the laser beam 6
2 is controlled so that, for example, the central axis 63 of the irradiation area 64 faces the direction of the target 65, and
The flying object 66 heading toward is located within the irradiation area 64. Also, FIG.
As shown by points A to D in (b), for example, four light receiving sensors 661, 662, 663, and 664 are arranged at regular intervals on a common circumference such as a body surface.

Here, in the above configuration, the error signals E1 and E1 from the light receiving sensors 661, 662, 663 and 664 are output.
FIG. 6B shows a method of obtaining E2 and the steering vector N.
This will be described with reference to FIG. For example, the light receiving signals S1 and S3 output from the light receiving sensor 661 at the point A and the light receiving sensor 663 at the point C are input to the offset detection circuit 671, and the same processing as described with reference to FIGS. An offset direction and an offset amount in the line segment AC direction, that is, an offset signal E1 are output. Similarly, the light receiving signals S2 and S4 of the light receiving sensor 662 at the point B and the light receiving sensor 664 at the point D are input to the offset detection circuit 672, and the offset signal E2 in the line BD direction is output. Then, these offset signals E1 and E2 are
8 is added. In the steering device 68, the offset signal E
A steering vector N with respect to the central axis 64 is calculated based on E1 and E2, and the steering is performed so that the steering vector N becomes small, so that the flying object 66 is controlled to travel on the central axis 64.

According to the above configuration, the flying object 66 flies in the direction of the target 65. And the flying object 66
Are offset from the central axis 63, the error signals E1, E2
Occurs. At this time, each time the error signals E1, E2
The traveling direction of the flying object 66 is corrected so that is zero. In this way, the flying object 66 is guided to the target 65.

Next, another embodiment of the present invention will be described with reference to FIG. 7, parts corresponding to those in FIG. 6 are denoted by the same reference numerals, and a description will be given focusing on configurations different from those in FIG. In this embodiment, a target orientation sensor 71 is provided, and detects target information TD such as the position and speed of the target 65. Then, the detected target information TD is input to the irradiation direction calculator 72. The irradiation direction calculator 72 calculates a future position of the target 65, for example, based on the target information TD, and outputs data of the calculated future position to the scan drive circuit 612. As a result, the scanning drive circuit 612 sets the irradiation area 64
The laser beam irradiator 611 is driven such that the central axis 63 of the target coincides with the future position of the target 65, for example.

According to this configuration, the center axis 63 always faces the target 65 direction. Then, the flying object 66 is guided in the direction of the central axis 63 and is guided to the target 65. In addition,
The method of guiding the flying object 66 is the same as that of the embodiment of FIG.

Next, another embodiment of the present invention will be described with reference to FIG. 8, parts corresponding to those in FIG. 7 are denoted by the same reference numerals, and a description will be given focusing on configurations different from those in FIG. In the case of this embodiment, a flying object target sensor 81 for detecting the position information FD of the flying object 66 is provided. Then, the position information FD of the flying object 66 is detected by the flying object locating sensor 81 and input to the irradiation direction calculator 72. At this time, the irradiation direction calculator 72 determines that the center axis 63 of the irradiation area 64 is located, for example, in the middle between the position information FD of the flying object 66 and the target 65.
The direction of the laser beam is calculated so that 6 enters the irradiation area 64. Then, the calculation result is sent to the scanning drive circuit 6.
12 and controls the laser beam emitted from the laser beam irradiator 611 so as to face the calculated directional direction. In this case, the flying object 66 is gradually guided in the direction of the central axis 63, and the flying object 66 and the target 65 enter the same irradiation area, and are in the same manner as described with reference to FIG.
Is directed to goal 65.

According to this configuration, the position information FD of the flying object 66 is detected, and the pointing direction of the laser beam is controlled so that the flying object 66 enters the irradiation area 64. Therefore, the flying object 66 is positioned in the irradiation area 64 of the laser beam.
This is effective for guiding when the vehicle is out of the way.

Next, another embodiment of the present invention will be described with reference to FIG. In FIG. 9, portions corresponding to FIG. 8 are denoted by the same reference numerals, and a description will be given focusing on configurations different from FIG. 8. In this embodiment, both a target orientation sensor 71 for observing the target 65 and a projectile orientation sensor 81 for observing the projectile 66 are provided. Then, target position information TD obtained from the target orientation sensor 71 and target position information FD obtained from the target orientation sensor 71 are input to the irradiation direction calculator 72, respectively. Thereby, the irradiation direction calculator 72 firstly outputs the central axis 63 of the irradiation area 64.
However, for example, the direction of the central axis 63 is calculated so that the flying object 66 is located between the position of the flying object 66 and the target 65 and the flying object 66 enters the irradiation area 64. Then, the calculation result is transmitted to the scanning drive circuit 612, and the laser beam irradiator 61 is
1 is oriented in the calculated direction.

According to this configuration, the flying object 66 located in the irradiation area 64 is controlled in the direction of the central axis 63. Thereafter, the flying object 66 continues to fly so as to approach the central axis 63, and the target 65 and the flying object 66 come into the same irradiation area. When the center axis 63 is directed toward the target 65, the flying object 66 flies toward the target 65 and is guided in the target direction.

In the above embodiments, the case where the laser beam is a continuous wave is described. However, by providing a circuit for detecting the peak value or average value of the pulse on the light receiving sensor side, the present invention can be configured even when the laser beam is pulse-modulated.

Here, a case where the laser beam is pulse-modulated will be described with reference to FIG. Reference numeral 101 denotes a light receiving sensor. In this case, the waveform of the light receiving signal S output from the light receiving sensor 101 is a pulse-like output S11, S2 as shown in FIG.
1, S31,... At this time, the envelope waveform W of the pulse-like output of the light receiving signal S is a waveform equivalent to FIG. Therefore, in the pulse peak value detection circuit 102, for example, each of the pulsed outputs S11, S21, S3
The peak values H of 1,... Are detected, and these peak values H
If the maximum value Vmax and the minimum value Vmin of the envelope waveform W are calculated by the amplitude detection circuit 103, the amplitude change A is obtained. Vmax and Vmin thus detected
Is used, the offset direction and the offset amount can be detected in the same manner as in the case of the continuous wave, and light wave guidance can be performed.

When calculating the maximum value Vmax and the minimum value Vmin of the envelope waveform W in the amplitude detection circuit 103, if the pulse train is dense, the maximum value and the minimum value of the pulse peak value itself are Vmax and Vmin, respectively. Can also be approximated.

By the way, in the case of the above-mentioned light wave guiding device,
Four light receiving sensors are used. However, the present invention can be configured even when the number of light receiving sensors is other than four. For example,
The case where the number of light receiving sensors is other than four will be described with reference to FIG. FIG. 5A shows two light receiving sensors 11 at 180 ° intervals.
1 and 112 are provided. In this case, only the offset signal E in one axis direction indicated by the arrow in FIG. 11A can be obtained from the two light receiving sensors. However, FIG.
As shown in (b), when the two light receiving sensors 111 and 112 are rotated by 90 ° around the flying body 110, the state where the two light receiving sensors 111 are at the points A and C, and the point B Two states at point D can be formed. Therefore, in the state where the light receiving sensor is at the points A and C and the state where the light receiving sensor is at the points B and D, two-way offset signals E1 and E2 (corresponding to the error signal in the light wave guiding device) are provided with a time difference. The steering vector N
Can be calculated. Therefore, the flying object can be guided in the target direction located in the three-dimensional space.

FIG. 11C shows a case where the number of the light receiving sensors 111 is one. In this case, four observation points A, B, C, and D can be realized by rotating one light receiving sensor 111 around the body 110 in order of, for example, 90 degrees.
Therefore, an error signal in two directions can be obtained, and a steering vector for guiding the flying object can be obtained.

FIG. 11D shows the light receiving sensor 11.
1, 1, 112 and 113 are shown. The three light receiving sensors 111, 112, and 113 are point A and point B, respectively.
Assuming that there are points C and C, an error signal E1 in the AB direction from the light receiving sensors at points A and B, an error signal E2 in the BC direction from the light receiving sensors at points B and C, and points C and A An error signal E3 in the CA direction is obtained from the light receiving sensor at the point. The steering vector N can be obtained by performing a vector operation as shown in FIG. 11E using these three error signals E1, E2, and E3.

As described above, in the present invention, if an error signal is obtained in two or more directions, the steering vector N can be obtained even if the directions of the error signal are not orthogonal. Therefore, the position and the number of the light receiving sensors can be arbitrarily selected.

In the embodiment shown in FIG. 9, the target orientation sensor and the flying object orientation sensor are configured differently. However, a single sensor having the functions of these two sensors can be used.

In the above embodiment, the separation angle is used as the offset amount. However, when the light receiving sensor is arranged at a point where the distance can be measured, at a fixed point, or the like, the separation distance can be used as the offset amount. Further, the magnitude of the light receiving signal output from the light receiving sensor is represented by a voltage. However, it can also be expressed in other units that directly or indirectly express the amount of incident energy, such as current or power.

[0062]

According to the present invention, an offset detecting device for detecting an offset amount or an offset direction from a predetermined axial direction, and a flying device even when a guidance device and a flying object do not have a common coordinate system. A light wave guiding device capable of guiding a body in a predetermined direction can be realized.

[Brief description of the drawings]

FIG. 1 is a diagram illustrating an embodiment of an offset detection device according to the present invention.

FIG. 2 is a diagram illustrating an embodiment of another offset detection device of the present invention.

FIG. 3 is a diagram illustrating an embodiment of another offset detection device of the present invention.

FIG. 4 is a diagram illustrating an embodiment of another offset detection device of the present invention.

FIG. 5 is a diagram illustrating another embodiment of the offset detection device of the present invention.

FIG. 6 is a diagram illustrating an embodiment of a light wave guiding device of the present invention.

FIG. 7 is a diagram illustrating an embodiment of another light wave guiding device of the present invention.

FIG. 8 is a view for explaining an embodiment of another light wave guiding device of the present invention.

FIG. 9 is a view for explaining an embodiment of another light wave guiding device of the present invention.

FIG. 10 is a view for explaining an embodiment of another light wave guiding device of the present invention.

FIG. 11 is a diagram illustrating an operation when the number of light receiving sensors according to the present invention is other than four.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 11 ... Laser beam irradiator 12 ... Central axis 13 ... Laser beam 14 ... Irradiation area 15 ... Light receiving sensor 16 ... Amplitude measuring circuit 17 ... Conversion table 18 ... Beam directivity S ... Light receiving signal A ... Amplitude change R ... Distance θ ... Separation angle φ ... Eccentric angle Y ... Arrow indicating the rotation direction of the laser beam 61 ... Guiding device 611 611 ... Laser beam irradiator 612 ... Scan drive circuit 62 ... Laser beam 63 ... Central axis 64 ... Irradiation area 65 ... Target 66 ... Flying objects 661 to 664 Light receiving sensors 671, 672 Offset detection circuit 68 Steering device 71 Target locating sensor 72 Irradiation direction calculator 81 Flying object locating sensor 101 Light receiving sensor 102 Pulse height detecting circuit 103 ... Amplitude detection circuit E1, E2 ... Error signal N ... Steering vector

Claims (11)

[Claims] 1. A laser beam having a maximum irradiation intensity in a directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A laser beam irradiator, a light-receiving sensor positioned in an area irradiated with the laser beam by the laser beam irradiator, receiving the laser beam and outputting a light-receiving signal corresponding to the irradiation intensity, and the light-receiving sensor for the predetermined axis. A storage device that stores the relationship between the offset amount of the sensor and the light reception signal corresponding to the offset amount as functionized or tabulated data, and the light reception signal output from the light reception sensor and stored in the storage device An offset amount detector that compares the data and detects an offset amount of the light receiving sensor with respect to the predetermined axis. Detection device. 2. A laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape by tilting the directing direction with respect to a predetermined axis. A laser beam irradiator, a light-receiving sensor positioned in an area irradiated with the laser beam by the laser beam irradiator, receiving the laser beam and outputting a light-receiving signal corresponding to the irradiation intensity, and the light-receiving sensor for the predetermined axis. A storage device that stores a relationship between a sensor offset amount and a ratio between the maximum value and the minimum value of the light reception signal corresponding to the offset amount as functionized or tabulated data, and the light reception signal output from the light reception sensor And comparing the ratio of the maximum value to the minimum value with the data stored in the storage device to detect an offset amount of the light receiving sensor with respect to the predetermined axis. An offset detection device comprising: an offset amount detector. 3. A laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A laser beam irradiator and an irradiation area of the laser beam by the laser beam irradiator are arranged at predetermined intervals so that a direction connecting them is orthogonal to the predetermined axis, and receives the laser beam to receive the laser beam. Two light receiving sensors that output a light receiving signal according to the irradiation intensity;
The two amplitude detectors that detect the amplitude change of the light receiving signal output from each of the two light receiving sensors are compared with the magnitude of the amplitude change detected by each of the two amplitude detectors. And an offset direction detector for detecting an offset direction of the two light receiving sensors. 4. A laser beam having a maximum irradiation intensity in a directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A laser beam irradiator and an irradiation area of the laser beam by the laser beam irradiator are arranged at predetermined intervals so that a direction connecting them is orthogonal to the predetermined axis, and receives the laser beam to receive the laser beam. Two light receiving sensors that output a light receiving signal according to the irradiation intensity;
Two amplitude ratio detecting devices for detecting the ratio between the maximum amplitude value and the minimum amplitude value of the light receiving signal output from each of the two light receiving sensors, and each of the amplitude ratios detected by each of the two amplitude ratio detecting devices. And an offset direction detector for detecting the offset direction of the two light receiving sensors with respect to the predetermined axis. 5. A laser beam having a maximum irradiation intensity in a directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A laser beam irradiator, and a plurality of light-receiving sensors that are positioned at predetermined intervals in an irradiation area of the laser beam by the laser beam irradiator, and that receive the laser beam and output a light-receiving signal corresponding to the irradiation intensity thereof; And an offset detector for determining an offset amount and an offset direction of the two light receiving sensors with respect to the predetermined axis from light receiving signals output from two light receiving sensors of the plurality of light receiving sensors. . 6. A laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A laser beam irradiator, a flying object equipped with a plurality of light receiving sensors that receive the laser beam from the laser beam irradiator and output a light reception signal corresponding to the irradiation intensity, and the flying object mounted on the flying object. An offset detector for comparing light receiving signals output from two light receiving sensors of the plurality of light receiving sensors to determine an offset amount and an offset direction of the two light receiving sensors from the predetermined axis, respectively; A calculating device for calculating the steering amount and the steering direction of the flying object from the offset amount and the offset direction obtained in A steering device for steering the flying object according to the steering amount and the steering direction calculated by a calculation device. 7. A target orientation sensor for detecting a position of a target to which a flying object is to be guided, and based on the position of the target detected by the target orientation sensor, the target is positioned in a laser beam irradiation area. 7. The light wave guiding device according to claim 6, further comprising an irradiation direction calculator for calculating an irradiation area of the laser beam by the laser beam irradiation device. 8. A flying object locating sensor for detecting a position of a flying object, and irradiating the flying object with a laser beam based on the position of the flying object detected by the flying object locating sensor. 7. The light wave guiding device according to claim 6, further comprising an irradiation direction calculator for calculating an irradiation region of the laser beam by the laser beam irradiation device so as to enter the region. 9. A target locating sensor for detecting a position of a target to which a flying object is to be guided, a flying object locating sensor for detecting a position of the flying object, and a target locating sensor detected by the target position sensor. Laser beam irradiation by a laser beam irradiator based on the position and the position of the projectile detected by the projectile target sensor so that the projectile and the target enter the laser beam irradiation area. 7. The light wave guiding device according to claim 6, further comprising an irradiation direction calculator for calculating an area. 10. A laser beam having a maximum irradiation intensity in the directing direction and having a characteristic that the irradiation intensity decreases as the distance from the directing direction decreases, the laser beam is irradiated in a conical shape with the pointing direction inclined with respect to a predetermined axis. A flying object equipped with a laser beam irradiator, receiving the laser beam from the laser beam irradiator, outputting a light-receiving signal corresponding to the irradiation intensity, and having a light-receiving sensor that changes its light-receiving position; Based on a light receiving signal output from the light receiving sensor, an offset detector for obtaining an offset amount and an offset direction of the light receiving sensor from the predetermined axis, and the offset obtained by the offset detector. A calculating device for calculating a steering amount and a steering direction of the flying object from the amount and the offset direction; A light guiding device comprising: a steering device for steering the flying object according to the steering amount and the steering direction. 11. The light wave guiding device according to claim 10, wherein the light receiving sensors are provided at a plurality of positions at predetermined intervals.