JPS60102513A - Azimuth-angle detecting device of running unit and the like - Google Patents

Abstract

PURPOSE:To detect the azimuth of a running unit accurately and quickly, by forming a light spot from light emitted from a rotary light source of the running unit, and converting the movement of the light spot into the amount of linear electrical change by a photoelectric conversion element. CONSTITUTION:A turntable 4 is attached to a master unit 1 so that the turntable can be freely rotated. The central line of the rotation is made to agree with the optical center. Thus an azimuth angle sensor 5 is provided. Meanwhile, a rotary light source 9, which has the rotating surface that is in parallel with the rotating surface of the turntable 4 and the direction of the width of the azimuth angle sensor 5, is provided on a slave unit 2. An operating means such as a CPU is provided on a master unit 3. Based on the outputs of the azimuth angle sensor 5 and the photoelectric conversion element 16, the optical axes and directions of a convex lens 15 and the photoelectric conversion element 16 and the position of a light spot are detected. Thus the azimuth angle of the rotary light source is operated and detected.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an azimuth angle detection device, and particularly to an azimuth angle detection device useful for detecting the azimuth of an arbitrarily moving trackless traveling unit 1 or the like with high accuracy.

In order to accurately detect the orientation of an object moving in arbitrary directions along a traveling support surface, such as a thermal orbit traveling unit, it is conceivable to use, for example, an optical sensor as an angle sensor. In other words, 'C) is a method in which a light emitting device is mounted on a traveling unit, and sand-covered light receiving elements are arranged at a reference position, and the direction is detected based on whether or not light arrives. However, in this example, the number of light-receiving elements is extremely large, and the angular resolution is affected by the number of light-receiving elements, which tends to increase errors.

In addition, for example, in the case of a traveling unit that moves along the surface of a reactor pressure gauge, the movement is over a wide range, so it is technically difficult to improve the direction detection system by arranging light receiving elements in a rapid manner. This gave rise to difficult problems.

The present invention has been made based on this background, and can be applied to a traveling unit that travels at high speed at any position, rapidly and repeatedly detects the direction with high accuracy, and has a large detection range and a light-receiving part t. - The object of the present invention is to provide an azimuth angle detection device that can be used as a single unit. In order to achieve such an object, the present invention converts the emitted light from the rotating light source of the traveling unit into an original spot using a convex lens, converts the movement of the original spot into a linear light change by converting it into a linear light change.
In other words, the technical arrangement is to detect the orientation based on the position of the optical slot 1 at the center of the change meter and the optical axis of a convex lens or the like.

Below, one embodiment of the present invention will be described based on the drawings.
FIG. 1 is a schematic plan view showing a state in which the phenomenon 1 and the handset 2 are used to detect the orientation of the trackless traveling unit 3 moving at an arbitrary speed in the direction t. The turntable 4, which is rotatably mounted on the base unit 1, is provided with an azimuth angle sensor 5 whose rotation center No. 6 is aligned with the optical center. Rotation consisting of motor 6, worm gear 7, etc. (by vomiting mechanism).

For example, it has the ability to reciprocate from side to side at a swing angle of 270' and 2.5'/sec. And turntable 4
is provided with a rotary encoder 8 for detecting the rotation angle with a resolution of, for example, o, oi'.

On the other hand, the slave device 2 is provided with a rotating light source 9 having a rotating surface parallel to the rotating surface of the turntable 4 and the width direction of the azimuth angle sensor 5. The rotation source 9 emits a laser beam generated by a built-in laser diode (not shown) from a top mirror 11 attached to the top of the light emitting lighthouse 10 in all directions of 360 degrees along the running surface of the running unit 3. 1 The light emitting lighthouse 10 includes a drive motor 12, a pulley 13. A high-speed rotation mechanism consisting of a bell) 14 etc. is connected to generate rotating light of, for example, about 3000 r+p*m. To explain, the azimuth angle sensor 5 is set so that its optical center is located on the rotation center line of the turntable 40, and includes a convex lens 15 for blocking the emitted light from the rotation source 9, and this convex lens 15. The focal point l! has its left and right center on the optical axis of i! Alternatively, it may be used as a photoelectric conversion element 16 arranged at a position slightly near the optical center to convert the movement of the light spot into an electrical signal. And this photoelectric variable yA element 16 is.

A light sensor is applied to the so-called 1, which outputs the position of a linearly moving optical spot as a signal that changes continuously, and the light spot changes depending on the distance between the electrodes on both sides of the light receiving element and the light spot. The flow is divided proportionally.

The position of the light spot is detected over a range of, for example, 34 gates.

The main device 3 is also equipped with a calculation means such as a central processing unit (CPU), and uses the output signal of the photoelectric conversion element 16 of the azimuth angle sensor 5 to operate the convex lens 15 and the photoelectric conversion element 16 in a manner to be described later. The azimuth angle of the rotating light source 9 is calculated and detected based on the direction of the optical axis and the position of the optical spot F.

Hereinafter, a method for detecting the azimuth angle will be explained based on FIGS. 2 and 3.

First, the main unit 1 and the slave unit 2 are set to operating status ■, and the laser beam is emitted from the rotating light source 9 of the slave @2 in each direction of 3606! I5! When emitted, the range that the laser beam reaches is from the base unit 1 at the reference position to the rotating light source 9 of the slave unit 2.
It is within the range that we can face.

Regardless of the azimuth, distance, moving speed, etc. of the traveling unit 3, the moment when the laser beam irradiates the azimuth angle sensor 5 occurs intermittently (50 times per second, assuming 3000 r*pem).

At this time, the optical axis Bm of the azimuth angle sensor 5 is directed toward the rotary light source 9 as shown in FIG.
An image of the shape is formed.

This imaging distance MFt is between the azimuth angle sensor 5 and the rotating light source 9.
Since the distance PaL from the convex lens 15 is finite (for example, within 3 m), it is slightly larger than the focal length F of the convex lens 15. Therefore, the distance between the convex lens 15 and the photoelectric conversion element 16 is 1l.
IIf: If the focal length is set to be equal to or slightly smaller than the focal length F, the rotating light source 9 as shown in FIG.
Based on the movement of , the position of the optical slot 1 is A,
G, BK: A phenomenon of sequential movement occurs.

That is, the direction of the laser beam changes as shown by the arrow in FIG. Final irradiation when crossed @ Pb
The spot moves to the final spot position B corresponding to II
Then, the image of the photoelectric transformer P element 16 is "fJ, %ka,
+10, the light spot moves within the range of the effective length sl in the electrical conversion element 16. Signals as shown in FIGS. Just in case, both electrodes A, , n.

The outputs of I and B are shown in Figure 3 (A).

As shown by the broken line in (B), it is N consecutive, but
The amount of change in the output signal of both electrodes A, B, when the light spot hits only a part of the effective length Sβ is shown in Figure 3 (
As shown by solid lines in A) and (B), respectively.

The relationship between the shift distance of the light spot 11 nl The center of movement is X.

X”Ftan Δθ −−−−−−−−It) Therefore, when the laser beam reaches the point A of the light beam WJ, the belief of the electrode A of the conversion element 16, however, C□
Nigain constant. It is also a photoelectric conversion element.

1 car 1 here! If we take the difference in signal output of poles AO+no.

The sum of the i-minute outputs of AO and BO is the light N variable t1!!Element 16
According to the principle, as is clear from FIG. 3, when there is a light spot, it becomes equal to C1.

therefore.

The angle Δ0° between the optical axis Bm and the direction line Pg in the rotating light source central tube passing through the optical center of the convex lens 15 is Δ0°, that is,
The direction of the handset 8 can be set.

Also, as is clear from the equation (Vll), the one-rotation light source 9 is one
Every time it rotates and intersects (scans) the convex lens 15, a change meter of the output signal of both electrodes Ag, Bo and a focal length pa of the convex lens 15 (photoelectric conversion element 16) which can be known in advance are measured.
The separation distance ) F and ) are the effective length S of the electric conversion element 16
, e, the azimuth angle of the handset 8 can be quickly detected.

On the other hand, as is clear from Figure @2, if the angle Δ0 between the optical axis Bm and the direction line Pg is in the range θ≦tan-' Although it is possible to detect the azimuth angle without having to face the azimuth angle, the azimuth angle detection 1'W degree depends mainly on the accuracy of the rotary encoder 7 that sets the direction of the direction as the reference direction. ■It is not affected by the distance to the handset 8, etc., as shown in formula 11.

Note that when the azimuth angle sensor 5 is arranged to face the rotating light source 9, the turntable 4 is oscillated by the rotation wAm+mm, and when the azimuth angle sensor 5 is within the oscillating angle of the rotation wAm+mm, this can be easily detected. Although it is possible,
Once the direction of the rotating light source is detected, in addition to the method of continuously repeating the rocking, the direction f of the turntable 4 is corrected little by little based on the direction angle detected several times every second, and the direction f of the turntable 4 is corrected to keep it facing directly. It can be done by any method.

As explained above, according to the present invention, the following excellent effects are achieved.

■ By using rotating light or laser beams to measure the azimuth, the azimuth of a traveling unit t moving at any position, any direction, and any speed can be determined as quickly and accurately as a static deaf person. can be detected.

■ The detection range can be expanded because the azimuth can be measured at the location where the light from the rotating light source or laser beam reaches.

■ 4 fs ) C spot movement f with a convex lens
By using TII t, the azimuth angle 1r can be detected even if the direction of the azimuth angle sensor and the traveling unit are slightly different, and the actual neutrality is high.

■ Linear movement of the light spot as the rotating cow source rotates f@By converting it into an output signal, the light receiving part? -One piece can be made into a pure structure.

[Brief explanation of drawings]

The drawings show one embodiment of the present invention, and Fig. 1 is a schematic plan view of the relationship between the parent unit and the slave unit, Fig. 2 is a schematic diagram of the optical system, and Fig. 3 (A). , (B) is an explanatory diagram of sensor signal output status 1. 1... Parent fi, 2... Slave device, 3...
...Thermal orbit traveling unit, 4...Turntable, 5...Azimuth angle sensor, 6...
Drive motor, 8...Rotary encoder, 9
......Synchronous light source, 12... Drive motor,
15...convex lens, 16...) and electric conversion element.

Claims (1)

[Claims] A convex lens is provided to fully focus the emitted light from a rotating light source mounted on a traveling unit, etc., and a convex lens 3'e is provided near the focal point of the convex lens to convert the movement of the (spot) into an electrical signal.
An m-conversion element 1 is provided, and the optical variable element has a position corresponding to the midpoint of a signal level change meter proportionally divided according to the position of the optical unit on the light receiving part, and an optical axis of the convex lens and the photoelectric conversion element. An azimuth angle detection device for a traveling unit 1, etc., characterized in that it comprises means for detecting an azimuth angle of a rotating light source.