JPS5990110A - Guidance of moving object and scanning method of control light beam - Google Patents

Abstract

PURPOSE:To form a complicated traveling route of a ground moving object with a simple device by turning a relfector which reflects and scans a laser beam around two axes orthogonal to each other. CONSTITUTION:A light beam LB is scanned along the traveling route of a ground moving object 3 which is previously set and stored. Thus the object 3 is guided. The turning angle is calculated for a reflector 11 which turns around two axes orthogonal to each other independently of each other from the traveling route stored in a microcomputer 101 through the above-mentioned scan of the beam LB. Thus step motors 13 and 15 are driven to turn the reflector 11. The laser beam LB sent from a laser generator 2 is swept in the form of a reflected beam LB'. The object 3 detects 31 the beam LB', and a steering driving circuit 302 and a steering motor 32 are driven after a route discrimination 301. Then the object 3 is guided along a prescribed route.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of scanning a light beam for guiding and controlling a moving object, and in particular, a method for forming a traveling route set and stored in a microcomputer by scanning a light beam in a simple manner. The present invention relates to a method for guiding a moving object and a method for scanning a control light beam.

Conventionally, the moving object was guided by scanning a light beam, such as a laser beam, with a rotating reflecting mirror to form a straight traveling path for the moving object, or the structure was too difficult to form a curved traveling path. Since the movement becomes complicated, the turning is usually done by another method and then the laser beam moves to a straight traveling path using another laser beam, which has the disadvantage that a complicated traveling path cannot be formed and the device becomes large.

The present invention has been made in view of the above points, and the present invention is to rotate the reflecting mirror that reflects and scans the laser beam around two orthogonal axes, instead of rotating around one axis as in the conventional case. Accordingly, it is an object of the present invention to provide a method of scanning a light beam for guiding and controlling a moving body, which can form a complex desired traveling route including a curve with a laser beam reflected by the reflecting mirror.

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a perspective view of a reflection device 1 used for laser beam scanning according to the present invention.

Reference numeral 11 denotes a reflecting mirror, which is attached to a flat surface of a substantially semi-cylindrical reflecting mirror base plate 12, and is rotated by a step motor 13 around a horizontal axis including the reflecting surface 1 of the reflecting mirror 11, that is, in the direction of arrow α. Rotate.

Also, the above-mentioned reflector 11, reflector base plate 12, step motor 1
3 are rotated around a vertical axis, that is, in the direction of arrow β, by a step motor 15 which is integrally attached to a mounting base 16 via an L-shaped fitting 14.

The two horizontal and vertical rotating wheels mentioned above correspond to the reflecting mirror 11.
are orthogonal to each other at the center of the reflecting surface.

Therefore, by rotating the reflecting mirror 11 at desired angles around the two axes, the laser beam LB incident on the center of the reflecting mirror 11 can be scanned in a desired direction as a reflected beam LB'. I can do it.

FIG. 2 is an explanatory diagram when guiding a ground moving object based on the method of the present invention.

As shown in the figure, the reflector 1 is attached to the ceiling, and the laser beam LB emitted approximately horizontally from the laser beam generator 2, which is also attached to the ceiling, is reflected downward by the reflector 11 as a reflected beam LB'. do. Since the reflecting mirror 11 rotates around the vertical axis and the horizontal axis at predetermined angles, the irradiation point of the reflected beam LB' traces a desired trajectory.

Reference numeral 3 denotes a ground moving body, and a laser detection device 31 having several laser detectors arranged laterally is fixed at the tip of its upper surface, and is irradiated with the reflected beam LB'. As will be described later, the vehicle is steered so that the travel route formed by the locus of the irradiation point coincides with the center line of the laser detector 31, and the vehicle is guided along a desired travel route.

The running route for guiding the ground moving object is formed on a horizontal plane including the detection surface of the stopper device 17 on the moving object 3, that is, in a space on the horizontal plane at a height of h from the ground.

The points on the set path are A, B, C, D, E...N, and the irradiation point of the reflected beam LB' is the above point A-B-
By sequentially sweeping C-D-E...N, and after reaching the route end N, repeating the sweep of N-...E-D-C-B-A in the opposite direction again will complete the desired travel route. can be formed. In this case, it is possible to form a complex route by reducing the distance between the points.

Now, consider the orthogonal coordinates xyz whose origin is the reflection point 0 of the laser beam LB of the reflecting mirror 11, and if the XY plane is a horizontal plane parallel to the set path plane and the Z axis is the vertical axis, each point on the path are respectively (XA, YA, ZA) and (XB, YB
, ZB)... are shown in the table 1. By determining and storing these values in advance, a desired travel route can be set.

In order to sweep these set traveling routes with the reflected beam LA', the coordinates of each point expressed in the rectangular coordinate system set as described above are converted into the rotation angle of the two reflecting mirrors 11. A coordinate transformation must be performed to do this.

That is, - Considering point D as an example, first, in order to convert the spatial polar coordinate system to a spatial polar coordinate system, let the length OD of LB' be rD, and as shown in the figure, from the X axis in the horizontal plane to the point D on the XY plane. If the azimuth to point XDYD is SD, and the angle of LB' from the XY plane is ψD, then X D = rDCO3 (
pD coSλDYD = rDcos ψDsinλ
DZD = r D Sin (p D . Here, ZD is a constant value, and is the value obtained by subtracting the above from the ground height at the 0 point.

Next, the angle ψD and angle λD calculated as above are applied to the reflecting mirror 11.
The direction of LB' is determined by converting into the rotation angle αD around the horizontal axis and the rotation angle βD around the vertical axis.
A point is illuminated.

αp=f1(ψD, λD) βD−f2(97D, λD) As described above, the number of times ω of the reflecting mirror is to irradiate each point on the set path.
One angle α and β are determined sequentially, and the reflected beam LB
' scans the set path.

FIG. 3 is a block diagram when guiding a ground moving object based on the method of the present invention.

The microcomputer 101 determines the rotation angles α and β of the reflecting mirror 11 by storing the traveling route and the coordinate conversion process described above, and drives the step motors 13 and 15 through motor drive circuits 102 and 103, respectively. , reflector 11
is rotated to sweep the laser beam LB emitted from the laser generator 2 as a reflected beam LB'.

In the ground moving body 3, the laser detection device 31 receives and detects the reflected beam LB', and its output is sent to the route discrimination circuit 3.
0], the position of the light receiving point on the laser detection device 31 is determined, and if it is not on the center line of the laser detection device 31, the steering direction to be steered in order to move the light receiving point onto the center line is determined. By determining the route and driving the steering motor 32 via the steering drive circuit 302, the vehicle is guided to travel along the set route.

In the above description, the embodiment using a laser beam has been described, but the present invention is not limited to this, and it is of course possible to use other light beams such as infrared rays.

Further, in the above embodiment, a step motor is used to rotate the reflecting mirror, but the invention is not limited to this, and it goes without saying that any motor capable of angle control, such as a servo motor, may be used.

As explained above, the method of the present invention has the advantage that a light beam can be scanned using a simple reflecting device, and a complex movement path of a ground mobile object can be formed using a single reflecting device.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of a reflection device according to the method of the present invention, FIG. 2 is an explanatory diagram of guiding a ground moving object based on the method of the present invention, and FIG. 3 is a perspective view of a reflecting device according to the method of the present invention. This is a hook diagram for guiding the vehicle. 1... Reflector, 2... Laser generator value, 3...
Ground mobile. Patent applicant: Hitachi Kiden Kogyo Co., Ltd. Representative Patent Attorney Koji Onishi

Claims (1)

[Claims] Calculate the rotation angles of the reflectors that rotate independently around two orthogonal axes from the travel path of the moving object given in advance,
By driving the reflecting mirror at a rotation angle of A method for scanning a light beam for guiding and controlling a moving body, the method comprising scanning a light beam for guiding and controlling a moving body.