JPS60233712A - Light beam generator for guide of traveling object - Google Patents
Light beam generator for guide of traveling objectInfo
- Publication number
- JPS60233712A JPS60233712A JP59091459A JP9145984A JPS60233712A JP S60233712 A JPS60233712 A JP S60233712A JP 59091459 A JP59091459 A JP 59091459A JP 9145984 A JP9145984 A JP 9145984A JP S60233712 A JPS60233712 A JP S60233712A
- Authority
- JP
- Japan
- Prior art keywords
- light beam
- light
- mirror
- spread
- beam generator
- 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.)
- Granted
Links
- 230000001678 irradiating effect Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 3
- 230000007257 malfunction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000034 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Switches Operated By Changes In Physical Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、例えば自動車や工場内の無人搬送車等の移動
体を予め設定された軌跡に沿って自動的に移動させるた
めに、前記軌跡に沿って配列され、入射方向に光を反射
する複数の光反射手段に向けて所定の広がりを有する光
ビームを発生するとともに、前記光反射手段からの反射
光を受光する手段を備えた移動体誘導用光ビーム発生装
置に関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention provides a method for automatically moving a moving body such as a car or an automatic guided vehicle in a factory along a preset trajectory. a moving body, the moving body comprising means for generating a light beam having a predetermined spread toward a plurality of light reflecting means arranged along the incident direction and reflecting light in the incident direction, and for receiving reflected light from the light reflecting means. The present invention relates to a guiding light beam generator.
上記この種の光ビーム発生装置は、例えば、特開昭５９
−１５８８１号（特願昭５７−１２７２１４号）公報に
開示されている「移動体の自動操舵装置」において用い
られている光ビーム発生装置があるが、この装置によっ
て発生される光ビームは一方向に向けてのみ所定の広が
りをもって発生される構成であった。The above-mentioned type of light beam generating device is, for example, disclosed in Japanese Patent Application Laid-open No. 59
There is a light beam generating device used in the "automatic steering system for mobile objects" disclosed in Japanese Patent Application No. 15881 (Japanese Patent Application No. 127214/1981), but the light beam generated by this device is unidirectional. The structure was such that the light was generated with a predetermined spread only toward the direction of the light.
しかしながら、上記従来構成のものは、以下に示すよう
な不都合があり、改善の余地があった。However, the conventional structure described above has the following disadvantages, and there is room for improvement.
即ち、移動体の移動すべき軌跡からのずれを効率良く検
出するためには少なくとも隣接した２点の光反射手段に
向けて光ビームを照射する必要があるが、前記光反射手
段の配置位置間隔が広い場合は前記光ビームの広がね角
を大きくしなければならない。That is, in order to efficiently detect deviation from the trajectory of the moving object, it is necessary to irradiate a light beam toward at least two adjacent light reflecting means, but the distance between the positions of the light reflecting means If the distance is wide, the spread angle of the light beam must be increased.
ところが、上記光ビームの広がり角を大きくすると光ビ
ームの強度（明るさ）を大きくしなければ光反射手段か
らの反射光強度が小さくなって受光が困難となるため自
動操舵装置が誤動作する不都合があり、強い光ビームを
発生するためＫは装置が大がかりになるという不都合が
あった。However, if the spread angle of the light beam is increased, unless the intensity (brightness) of the light beam is increased, the intensity of the reflected light from the light reflecting means will decrease, making it difficult to receive the light, resulting in the inconvenience that the automatic steering system may malfunction. However, since K generates a strong light beam, it has the disadvantage of requiring a large-scale device.
又、前記光ビームの広がり角を大きぐしてもその範囲に
は限度があって、前記２点の光反射手段の間隔はあまり
広くすることができないために、移動体の軌跡が直線で
あるような場合にも多くの光反射手段を軌跡上に配置す
る必要があって、光反射平反が多数個必要になる不都合
があった。Furthermore, even if the spread angle of the light beam is increased, there is a limit to its range, and the distance between the two points of the light reflecting means cannot be made very wide, so that the trajectory of the moving object is straight. Even in such a case, it is necessary to arrange many light reflecting means on the trajectory, and there is a problem that a large number of light reflecting planes are required.
本発明は、上記実情に鑑みてなされたものであって、そ
の目的は、広い範囲に亘って所定の広が抄を有する光ビ
ームを発生可能な手段を備えた光ビーム発生装置を提供
することＫある。The present invention has been made in view of the above-mentioned circumstances, and an object thereof is to provide a light beam generating device equipped with means capable of generating a light beam having a predetermined spread over a wide range. There is K.
上記目的を達成すべく、本発明による移動体誘導用光ビ
ーム発生装＠は、光源より発生された光ビームを複数の
異なる方向に向けて同時に発生すべく前記光ビームを異
なる方向に分岐する光ビーム分岐手段を設けである点に
特徴を有する。In order to achieve the above object, the present invention provides a light beam generator for guiding a moving body. It is characterized by the provision of beam branching means.
即ち、光ビーム分岐手段によって光源からの光ビームを
分岐することにより、所望の異なる方向に向けて同時に
所定の広が抄を有する光ビームを複数発生させるのであ
る。That is, by splitting the light beam from the light source by the light beam branching means, a plurality of light beams having a predetermined spread are simultaneously generated in different desired directions.
上記特徴故に、下記の如き優れた効果が発揮されるに至
った。Because of the above characteristics, the following excellent effects have been achieved.
即ち、前記移動体の移動軌跡を示す位置に配置した光反
射手段の配置間隔が比較的広いような場合であっても前
記光ビーム分岐手段によって、隣接した光反射手段のあ
る方向に向けて同時に光ビームを発生できるので、前記
移動軌跡が比較的直線状である場合には光反射手段の配
置個数を大幅に少なくできるに至った。That is, even if the distance between the light reflecting means arranged at positions indicating the movement locus of the moving body is relatively wide, the light beam branching means simultaneously directs the light beams in the direction of adjacent light reflecting means. Since a light beam can be generated, the number of light reflecting means to be arranged can be significantly reduced when the movement locus is relatively linear.
又、光ビーム分岐手段によって、所定の方向にのみ光ビ
ームを分岐するので、不必要な範囲には光ビームを発生
する必要がなくなるとともに、分岐後の光ビームの広が
りも少ないものＫできる。 従って、光ビームを所定範
囲に広げるための手段もｆＩＲ素化できるとともに５分
岐後の光ビームの強度低下が少なくなるから、異なる方
向に光ビームを複数発生させているにも拘らず、その光
源の発生光ビームの強度は小さくてもよ（、装置の構成
をコンパクトなものにできるという効果もある。Further, since the light beam branching means branches the light beam only in a predetermined direction, there is no need to generate the light beam in an unnecessary range, and the spread of the light beam after branching can be reduced. Therefore, the means for spreading the light beam over a predetermined range can be made into fIR elements, and the decrease in the intensity of the light beam after splitting into five is reduced, so even though multiple light beams are generated in different directions, the light source The intensity of the generated light beam may be small (but it also has the effect of making the device configuration more compact).
以下、本発明の実施例を図面に基いて説明する。 Embodiments of the present invention will be described below with reference to the drawings.
第１図〜第３図に示すように、光ビーム発生装置囚は、
横軸芯閃回りにモータ（Ｍｌ）によって回動自在に軸支
された同筒状部材ｆｉ＋の内部に光源としてのレーザ発
光器（２）を設け、このレーザ発光器（２）より発生さ
れた光ビーム（ｓｉを、所定範囲に広げる手段としての
円筒レンズ（３）により前記円筒状部材用の長手方向す
なわち横軸芯（力方向に広がる光ビーム（Ｓｉにして、
光ビーム分岐手段としてのプリズムミラー（４）に頂部
方向から照射することによって分岐し、前記横軸芯（Ｘ
）方向かつ前記プリズムミラー（４）の両側方向に夫々
所定の広が９を有する２つの光ビーム（８１）。As shown in Figures 1 to 3, the light beam generator is
A laser emitter (2) as a light source is provided inside the cylindrical member fi+, which is rotatably supported by a motor (Ml) around the horizontal axis. A cylindrical lens (3) serving as a means for spreading the light beam (si) over a predetermined range spreads the light beam (Si) in the longitudinal direction, that is, the horizontal axis (force direction) for the cylindrical member.
The light beam is split by irradiating it from the top direction onto a prism mirror (4) serving as a light beam splitting means, and the light beam is split from the horizontal axis (X
) direction and two light beams (81) each having a predetermined spread 9 in the direction on both sides of the prism mirror (4).
（Ｓ２）を発生するように構成しである。(S2).
更に、前記円筒状部材１１）全体はモータ（Ｍ２）によ
って前記横軸芯（３）に直交する縦軸芯（■周りに回動
自在に軸支してあり、光ビーム（Ｓ、）、。Further, the entire cylindrical member 11) is rotatably supported by a motor (M2) around a vertical axis (2) perpendicular to the horizontal axis (3), and a light beam (S, ) is supported.
（Ｓ２）の照射方向を可変できるように構成しである。The structure is such that the irradiation direction in (S2) can be varied.
一方％前記円筒状部材（１）の外側表面には前記プリズ
ムミラー（４）によって分岐された光ビーム（Ｓ、）
、 （８２）が後記構成になる光反射手段としてのコー
ナーキューププリズ４６６）Ｋよって反射した反射光を
受光する受光器（５）を設けるとともに、前記各モータ
（Ｍｌ） 、 （Ｍ、）による円筒状部材＋１１の回１
角（θ１）、（θ２）全検出するエンコーダ（ＥＣ１）
、 （ＥＣ２）を設け、＃ｒＪ記受先受光器）カコー
ナーキューププリズム（６乙）からの反射光を受光した
時点の光ビーム（Ｓ、） 、 （Ｓ、）の照射方向を検
出可能に構成しである。On the other hand, on the outer surface of the cylindrical member (1), there is a light beam (S,) split by the prism mirror (4).
, (82) is provided with a light receiver (5) for receiving the light reflected by the corner cup prism 466)K as a light reflecting means, which will be described later. shape member +11 times 1
Encoder (EC1) that detects all angles (θ1) and (θ2)
, (EC2) is installed to make it possible to detect the irradiation direction of the light beam (S,), (S,) at the time of receiving the reflected light from the corner cup prism (6). It is composed.
そして、第４図に示すように、前記構成になる光ビーム
発生装置（Ａｔを移動体（■上部に設けるとともに、前
記移動体Ｍの移動軌跡の上方に所定距離を隔ててコーナ
ーキューブプリズム（Ｏｔ、）の複数個を配設して、移
動体（■が前記軌跡に沿って自助的に移動するように操
「ｅするのである。As shown in FIG. 4, a light beam generator (At) having the above-mentioned configuration is provided on the upper part of the moving body (■), and a corner cube prism (Ot , ) are arranged and operated so that the moving object (■) moves along the trajectory on its own.
尚、前記分岐された光ビーム（Ｓ、） 、 （Ｓ、）の
照射方向は前記プリズムミラー（４）の頂角（Ｆ）を変
更することによって上下方向に変更可能であり、例えば
移動体（■を所定の２点間を直線的に誘導するような場
合は、移動体（■の前後方向に光ビーム（ｓ、） 、
（Ｓ２）を発生させて、誘導範囲の両端に夫々コーナー
キューブプリズム（ごと） 、 Ｃ６Ｃ） を１個すり
配置するという最小限の構成で自＃操舵することが可能
である。Incidentally, the irradiation direction of the branched light beams (S,), (S,) can be changed in the vertical direction by changing the apex angle (F) of the prism mirror (4). When guiding ■ linearly between two predetermined points, a light beam (s, ) in the front and back direction of the moving object (■),
(S2) and self-steering is possible with a minimum configuration of arranging one corner cube prism (C6C) at each end of the guidance range.
又、前記レーザ発光器（２）より発生された光ビーム（
ｓｉを所定範囲に広げる手段としては前記同筒レンズ（
３）に変えて、例えはビームデフレクタやガルバノミラ
−等の光走査手段を用いて、光ビームｆｓｉを所定角度
範囲に亘って調速に走査することによって実質的に広げ
てもよい。Moreover, the light beam (
As a means of expanding si to a predetermined range, the same cylinder lens (
Instead of 3), the light beam fsi may be substantially spread by scanning the light beam fsi over a predetermined angular range using a light scanning means such as a beam deflector or a galvanometer mirror.
図面は本発明に係る移動体誘導用光ビーム発生装置の実
施例を示し、第１図は全体斜視図、第２図は要部の縦断
面図、第３図は側断面図、そして、第４図は応用例を示
す図面である。
Ｍ・・・・移動体、（ごｅ＞・・・・・光反射手段、（
２）・・・・・・光源、（Ｓ）・・・・・光ビーム、（
４）・・・・・・光ビーム分岐手段、１６ｉ・・・・・
受光手段。
代理人 弁理士 北 村 修The drawings show an embodiment of the light beam generating device for guiding a moving object according to the present invention, in which FIG. 1 is an overall perspective view, FIG. 2 is a vertical sectional view of the main part, FIG. 3 is a side sectional view, and FIG. Figure 4 is a drawing showing an example of application. M...Moving object, (e>...Light reflecting means, (
2)...Light source, (S)...Light beam, (
4)...Light beam branching means, 16i...
Light receiving means. Agent Patent Attorney Osamu Kitamura
Claims (1)
、前記軌跡に沿って配列され、入射方向に光を反射する
複数の光反射手段（ｅ＜）に向けて所定の広がりを有す
る光ビームを発生するとともに、前記光反射手Ｒ（ｔｅ
’ｄｔｈらの反射光を受光する手段（５）ヲ備えた移動
体誘導用光ビーム発生装置であって、光源（２）より発
生された光ビームを複数の異なる方向に向けて同時に発
生すべく前記光ビームを異なる方向に分岐する光ビーム
分岐手段（４）を設けであることを特徴とする移動体誘
導用光ビーム発生装置。In order to move the moving body M along a preset trajectory, a light beam having a predetermined spread is directed toward a plurality of light reflecting means (e<) arranged along the trajectory and reflecting light in the incident direction. At the same time, the light reflecting hand R(te
A light beam generating device for guiding a moving object, which is equipped with a means (5) for receiving reflected light from a light source (2), and is capable of simultaneously generating light beams generated from a light source (2) in a plurality of different directions. A light beam generating device for guiding a moving body, characterized in that a light beam branching means (4) for branching the light beam into different directions is provided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59091459A JPS60233712A (en) | 1984-05-07 | 1984-05-07 | Light beam generator for guide of traveling object |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59091459A JPS60233712A (en) | 1984-05-07 | 1984-05-07 | Light beam generator for guide of traveling object |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60233712A true JPS60233712A (en) | 1985-11-20 |
| JPH056689B2 JPH056689B2 (en) | 1993-01-27 |
Family
ID=14026950
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59091459A Granted JPS60233712A (en) | 1984-05-07 | 1984-05-07 | Light beam generator for guide of traveling object |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60233712A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012215522A (en) * | 2011-04-01 | 2012-11-08 | Denso Corp | On-vehicle radar device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4837150A (en) * | 1971-09-01 | 1973-06-01 | ||
| JPS5275240U (en) * | 1975-11-29 | 1977-06-04 | ||
| JPS5962917A (en) * | 1982-09-30 | 1984-04-10 | Tsubakimoto Chain Co | Introduction method of unattended car |
-
1984
- 1984-05-07 JP JP59091459A patent/JPS60233712A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS4837150A (en) * | 1971-09-01 | 1973-06-01 | ||
| JPS5275240U (en) * | 1975-11-29 | 1977-06-04 | ||
| JPS5962917A (en) * | 1982-09-30 | 1984-04-10 | Tsubakimoto Chain Co | Introduction method of unattended car |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012215522A (en) * | 2011-04-01 | 2012-11-08 | Denso Corp | On-vehicle radar device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH056689B2 (en) | 1993-01-27 |
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