JPS59218515A - Line tracer - Google Patents

Abstract

PURPOSE:To attain accurate tracking with the simple equipment by obtaining the (x) and (y) coordinates of an intersecting point between a tracking line and a circle formed by plural solid state video elements arrayed to a tracer head to drive a motor. CONSTITUTION:The tracing point set within a tracer head is defined as an original point O of the X-Y coordinates, and many solid-state image elements 21-2n are arrayed on a circular circumference C drawn on the basis of the original point O. Then the X-Y coordinates of each element is stored 3. An intersecting point between an edge 4a of a tracking line 4 and the circumference C of the image element 2i is detected from the difference of the inner and outer reflected light quantities of the tracking line. Thus points A and B are obtained, and the coordinates of points A and B are read out of the memory 3. Then the difference alpha is obtained between the center O and a segment AB is obtained through an operation of a CPU5 together with the traveling direction beta. Motors 8 and 9 are driven via amplifiers 10 and 11 to put the segment AB on a segment A'B'. Thus it is possible to perform accurate tracking with the simple equipment.

Description

[Detailed description of the invention] The present invention relates to line lasers.

Conventional line tracers have a light source inside the tracer head that illuminates the line to be tracked, and a photoelectric element that senses the light reflected from points on the line that precede the trace point set inside the head. At that time, the light source and the photo eye are rotated back and forth to the left and right with respect to the line around the trace point, and the photo eye moves in a zigzag pattern with respect to the line, and when it crosses the line, it is sensed. The direction in which the line is being tracked is detected and the X+Y coordinate direction drive motor is energized to move the head in the line tracking direction.

For this purpose, the conventional line tracer includes a light source, a servo motor that rotates the photo eye back and forth, an X and Y coordinate direction, a drive motor that separates the X and Y coordinate components to generate a driving voltage, and a resolver that rotates the photo eye back and forth. It has a mechanical rotating part such as a slip ring for supplying current to the filter light source,
For this reason, the structure is complex, which makes it difficult to avoid deterioration of accuracy due to wear, which can lead to breakdowns, and the light source lamp has a short lifespan, requiring replacement, which is time consuming and troublesome.

There is also a type in which the light source and photo eye are fixed without rotating, but in this type, the first eye receives an optical image of the sensitive 1-power line with a mirror and makes it enter the photoelectric element. Then, the mirror is rotated back and forth around the trace point by a synchronous motor, and when the line to be tracked is crossed, the signal emitted by the photoelectric element is pulsed to generate an X+y coordinate component generating transformer signal for driving the head. In any case, a light source is required, a rotating part is required, and as mentioned above, the 14th structure is complicated, and accuracy is inevitably degraded, failures occur, and rank exchange etc. It was time consuming and had its drawbacks.

The present invention eliminates all the drawbacks of the conventional line tracer as described above, and provides a line laser that does not require a light source, does not have a rotating part, does not cause deterioration in accuracy, has reliable operation, and has a long service life. The aim is to provide the following.

To achieve the above-mentioned objects, the line tracer of the present invention has a plurality of photo eyes installed in a circular arrangement around a trace point set in the tracer head to sense the line to be tracked. A moving direction of the head for tracking the line is calculated by inputting x and y coordinate signals corresponding to the trace point generated by the solid-state image element and the solid-state image element sensing the line. I-ru, as well as X, y of the head
The present invention is characterized by comprising a control circuit which generates an X+V coordinate direction drive voltage to energize each of the coordinate direction drive motors to drive the head in the traveling direction.

In this case, the solid-state video device is GCD (CI+ar
geCoupled Device) or BBD
(Using a charge transfer device such as the BucketI3rigade Device).

The line tracer of the present invention configured as described above uses a charge transfer device in the photo eye, so it can have a high bit density, has a good signal-to-noise ratio, and is capable of high-density two-dimensionalization. It has good spectral sensitivity and reliable line detection even with very slight line brightness contrast, eliminating the need for a light source. □It is possible to provide a tracer that can maintain good accuracy for a long period of time and has a long lifespan.

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

In Figure 1, the trace point set inside the tracer head is located at the origin of the x-y coordinates (0
, 0), a large number of solid-state image elements 2], 22, 28, .
The x and y coordinate values (γ, y) with respect to the origin (0, 0) of 2, 28, .

In order to sense the tracking 1-beta by the above-mentioned training head 1, the solid-state image elements A and B, which the edge 4α of the line 4 crosses, are used to detect the edge 4 as shown in FIG.
The central processing unit (CP) of the control circuit senses the position of
U) These elements A, BOX, y coordinate values stored in memory 3 by 5 and clock pulse generation circuit 6
Based on the clock pulse signal, a vector OA in which the head 1 should move in order to track the line 4 is calculated.

Input/output water-1-(Ilo)X head ■ via 7
The driving voltages for energizing the X-coordinate direction drive motor 8 and the X-coordinate direction drive motor 9 for driving in the rY coordinate direction are applied to the motors 8 and 9 through the amplifiers 510.11, respectively, and these motors 8° 9 to move the head 1 in the line tracking direction.

If the trace point of head 1 is off from edge 4σ of line 4, edge 4a is the origin based on the x and y coordinate values of solid-state video elements A and B that sense edge 4a, as shown in Figure 3. The CPU 5 calculates the amount of deviation from (0,0), that is, the vector α for moving the trace point of the head I so that it is placed on the edge 4a, and then moves the trace point of the head I from the position OA' of the line 4. Calculate the traveling direction vector β and move the trace point of head 1 to line 4.
The motors 8 and 9 may be driven so as to match the edge 4a and move it along the edge 4a.

In this way, the trace point is always on edge 4 of line 4.
It is controlled so that the progress is 1-0 when the number a is increased.

The aforementioned control path N is connected to the memory 3, the CPU 5, and the clock pulse generation circuit 6, as shown by the chain line in FIG.
and l107. Sensing 1 word from the solid-state video element sensing line 4 of head 1 is given to CPU 5 via Ilo, and is calculated by CPtJ 5 based on information from memory 3 and clock pulse generation circuit 6, as described above. 1107 and amplifier 10', respectively.
, 11 to motors 8 and 9 to move head 1 to line 4.
It is driven in the tracking direction.

For line lasers, in order to ensure accurate operation, depending on the magnitude of the tracing speed, we take into account the inertia of the device, the response speed (time constant) of the servo system, etc. In the invention, it is necessary to change the diameter of the arrangement circle of the solid-state image elements, but by setting the relationship between the tracing speed and the leading amount in advance, the present invention automatically changes the solid-state image according to the racing speed. Switching the range of element arrangement circle diameters is extremely easy! j7)
Therefore, good accuracy can be guaranteed.

In addition, as shown in Fig. 5, when performing the [cut 11] correction,
The vector is electrically moved in eleven directions perpendicular to the trace vector by the width correction setting amount, and a condition is established that edge 4α of line 4 is circumscribed by a circle with radius α of the width setting amount. , tracing can be performed using a vector BA defined by an element A that crosses the array circle of the solid-state image elements and a contact point B of a circle with radius α.

The embodiment described above traces the edge 4a of line 4-1-
Indicates if the stone is the same as I~ but trace the center line of the line 4)
In the case of center tracing, it is performed as shown in FIG. 6.

That is, both edges 4 a, , 4 h of line 4
(Yellow LuJ 7.) The center point C of the elements A and B may be calculated and determined, and the head 1 may be driven once in the direction of the vector QC.

In addition, when performing cut+-i correction in the center trace, the edges 4σ and 4h of both lines 40 are
It is sufficient to calculate the center point C of the elements A and B across which the head 1 is traversed, and drive the head 1 in the direction of the vector O'C in consideration of the correction amount ε in the same manner as shown in FIG.

Based on the tracking direction vector determined from the calculation result by the first screaming circuit, the set voltage E for driving the motor is set to drive the head l in the tracking direction with the x and y coordinate direction drive motors 8 and 9 each in lfl direction. In order to decompose it into X + Y coordinate components and change it to each morph 8 and 9, the vector of voltage E is set according to the tracking direction vector which forms an angle of θ from the X axis as shown in Fig. 8. , and decompose it to create X component: EcoSθ and Y component: Es1nθ.

As described above, according to the present invention, a line tracer is provided which has an extremely simple structure without a light source or rotating parts, and has good accuracy and a long life of <1li-1.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing a large number of solid-state image elements arranged in a tracer rad of a line laser according to the present invention. FIG. 2 is a plan view showing a line sensing state by the device shown in FIG. 1. FIG. 3 is a diagram showing a state in which the lines are deviated from the same trace. FIG. 4 is a wiring diagram of a 1-1 control circuit used in the present invention. , 'A35 is a plan view showing the line tracking state when performing off [1] correction. FIG. 6 is a plan view showing the line tracking state in the case of center tracing. The 2r figure is a plan view when the 6th pressure cut 11] correction is performed. Figure 8 shows the breakdown of motor drive tonnage pressure into X+Y coordinate components.
[Diagram showing the shape of 4. ■... Tracer head 21 + 22 + 23... Solid-state image element 3.
... Memory 4 ... Line 4a, 4h ... Edge 5 ... Central processing unit) (CPU) 6 ...
Clock pulse generation circuit 7... Input/output water 8... X coordinate direction, drive motor 9... Y coordinate direction drive motor 1.0, 1.1... Increase + iJ unit

Claims (1)

[Claims] Tracking 1 - A number of solid-state imaging elements serving as photo-eyes arranged in a circle around a trace point set in the tracer head to sense the line to be detected and the line The XrY coordinate signal for the trace point generated by the solid-state image element sensed is inputted to manipulate the traveling direction of the head for tracking the line, and the X +
A line laser comprising a printing circuit that generates drive voltages in the x and y coordinate directions to drive the head in the traveling direction by respectively energizing the drive motors in the Y coordinate direction.