JPS62234434A - Signal reflection type communication equipment - Google Patents

Abstract

PURPOSE:To attain the satisfactory communication of a signal reflection type by using a posture information setting means which sets the posture information of a signal reflecting member in response to the reception level and a drive energizing means which energizes a drive source means of a drive mechanism in accordance with said posture information. CONSTITUTION:The elevation angles of an optical signal transmitter 100 and an optical signal receiver 300 are set so that the optical axes of the transmitter 100 and the receiver 300 are turned to the center of a reflecting plate 200 of a reflecting plate unit 200. Under such conditions, a posture setting unit 310 connected to the receiver 300 has the maximum optical signal. The posture information on the plate 210 is set and converted into radio signals to be transmitted through a transmission antenna Ant1. Receiving the radio signals through a reception antenna Ant2, the unit 200 performs the posture control of the plate 210 based on the posture information included in the radio signals. In such a way, the posture of the plate 210 is controlled and therefore the direct optical signal 110 received from the transmitter 100 is reflected by the plate 210 and received accurately by the receiver 300 in the form of a reflected optical signal 120.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention provides a signal reflection type communication in which a signal transmitted from a transmitting means is reflected by a reflecting means, and the reflected signal is received by a receiving means. The present invention relates to a device, and particularly to attitude control of a reflecting means.

(Prior Art) For example, in optical space communication or microwave communication, direct wave (optical) communication is performed because the IQ signal, that is, the light beam or microwave that transmits in space has a high straightness. therefore.

If communication is to be conducted outside the network where there is an obstacle between the sending end and the receiving end, it is necessary to use relay communication where a relay station is installed between the sending end and the receiving end, or between the sending end and the receiving end. Reflection type communication is carried out by installing a reflector on the ground. Among these, reflective communication requires only the installation of a reflector, so it is particularly effective for communication systems temporarily installed in large halls and the like.

(Problems to be solved by the invention) (However, in 1-reflection type communication, it is necessary to accurately reflect the signal transmitted from the transmitting device toward the receiving device, and the problem is that the installation of the reflecting plate is awkward. Another problem is that after the -bearing reflector is installed, the direction of signal reflection changes, making it impossible to easily change the attitude of the transmitting device and/or the receiving device.

The present invention provides a signal reflection system that automatically controls the attitude of the reflecting means to obtain good communication in a communication device in which a signal transmitted from a transmitting means is reflected by one means and the reflected signal is received by a receiving means. The purpose is to provide communication equipment.

[41st feature of the invention] (Means for solving the problem) In order to achieve the above object, one aspect of the present invention includes a transmitting means for transmitting a signal; a reflecting means for reflecting the signal;
and a signal reflection type communication device comprising a receiving means for receiving a signal reflected by the reflecting means: the reflecting means is a signal reflecting member supported rotatably; a drive mechanism for rotationally driving the signal reflecting member; ; Reception level detection means for detecting the reception level of the reception means; Attitude information setting means for setting the attitude information of the signal reflecting member according to the reception level;
and a drive energizing means for energizing the drive source means of the drive mechanism according to posture information.

(Operation) According to this, the attitude information setting means sets the attitude information of the signal reflecting member according to the reception level, and the drive energizing means energizes the drive source means of the drive mechanism according to the attitude information. Therefore, the attitude of the signal reflecting member that can ensure good communication is automatically set.

Other aspects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

(Example) FIG. 1 shows an example of a communication system l according to the invention.

Referring to FIG. 1, 100 is an optical signal transmitter, 200
3 is a reflector unit, and 300 is an optical signal receiver. The elevation angles of the optical signal transmitter 100 and the optical signal receiver 200 are such that their respective optical axes are aligned with the reflector 2 of the reflector unit 200.
It is set to face the center of 10. In this state,
The attitude setting unit 1-310 connected to the optical signal receiver 300 sets the attitude information of the reflector 210 that maximizes the received optical signal, converts it into a wireless signal, and transmits it from the transmitting antenna Anti. When the reflector unit 200 receives this radio signal from the reception antenna Ant2, it controls the attitude of the reflector 210 based on the attitude information contained in the radio signal.When the attitude of the reflector 210 is controlled in this way, The direct optical signal 110 from the optical signal transmitter 100 is reflected by the reflection plate 210 and accurately received by the optical signal receiver 300 as a reflected optical signal 120, thereby ensuring good communication (a) in the communication system 11 shown in FIG. The details of each component will be explained in detail below.

FIG. 2a is a cross-sectional view of the reflector unit 200 (cross-sectional view taken along the line II A-JI A in FIG. 2b), and FIG. 2b is a cross-sectional view of the reflector unit 200.
II B-■B sectional view in the figure, Figure 2c is I in Figure 2a
It is a sectional view taken along the line I C-II C.

The reflecting plate 210 is an assembly of a rectangular acrylic reflecting plate (example) 211 whose front surface is a mirror surface and a support base material 212, and the joint arm of the joint member 220 is formed by the ball joints 1 to 1. 221.

The supporting base material 212 has a cross section extending in the Y-axis direction (in FIG. 2a, the vertical direction of the paper surface is the Y-axis direction).
A figure-11 Y-axis guide channel 213 is formed, into which one end of a Y-axis push rod 246 is engaged. See Figure 2c. FIG. 2c is a cross-sectional view taken along the line ■c-nc in FIG. The arm 247 is fixed, and the slide arm A 247 is first inserted along the opening of the Y-axis guide channel 213.

Rotate the Y-axis bushing pull rod 246 90 degrees to
engaged as shown. The slide arm 247 has a circular cross section, and as the Y-axis push rod 246 reciprocates, the slide arm 247 relatively reciprocates within the Y-axis guide channel 213. Although not shown in FIG. 2a, the supporting base material 212 has an LLC''-shaped cross section extending in the X-axis direction (in FIG. An axis guide channel is formed in which the X-axis bush pull rod 25 is inserted.
6 (see Figure 2b) is engaged in the same manner as above.

The Y-axis bush pull rod 24G connects member 2 to join 1.
20 through the clearance hole 222 of the housing member 2
A male screw that enters the inside of the rod 246 and is formed in the midsection of the rod 246 meshes with a female screw formed in the center of the Y4III spur gear 245 to form a screw pair. Y-axis spur gear 245 is rotatably supported by housing member 230.

The Y-axis bush pull rod 246 further extends through a clearance hole formed in the housing member 230, and the inside of the rod 246 (meaning the inside of the housing member 230) is supported by a guide 248 that also serves as a rotation stopper. There is.

PHY 1 is a reflective photosensor that detects the extrusion limit of the Y-axis push pull rod 246;
Y2 is a reflective photosensor that detects the retraction limit of the Y-axis bush pull rod 246.

X-axis bushing pull rod 2 not shown in Figure 2a
56 also has exactly the same configuration as the Y-axis bush pull rod 246, and the X-axis spur gear 255 (second b
(see figure) and a guide that also serves as a rotation stopper. In this case, a reflective photosensor PHXI (see FIG. 3a) that detects the pushing limit of the X-axis bush pull rod 256 and a reflective photosensor PHX2 (a third
(see figure a).

See Figure 2b. The Y-axis spur gear 245 , which has a female screw formed in the center that engages with the male screw of the Y-axis push-pull rod 246 , is rotatably supported by the housing member 230 , and is connected to the X-axis drive motor 2 .
It meshes with a worm gear 243 fixed to a rotation shaft 242 of 40. The X-axis drive motor 240 is fixed to the housing member 230, and the rotation shaft 24 of the motor 240
A rotary encoder 241 that outputs one positive pulse every rotation of the rotary encoder 241 is coupled to the rotary encoder 241. 244 is a bearing for the rotating shaft 242.

When the X-axis drive motor 240 is energized for normal rotation, the rotation shaft 242
The rotation in the positive direction is transmitted to the spur gear 245 via the worm gear 243, and rotates the gear 245 clockwise, so that the Y-axis bush pull rod 24G, which forms a slide ball with the gear, is pushed out and driven. As a result, the reflection plate 210 is rotated counterclockwise in FIG. 2a about the X-axis.

Furthermore, when the X-axis drive motor 240 is reversely energized, the rotation of the rotating shaft 242 in the opposite direction is transmitted to the spur gear 245 via the worm gear 243, and the gear 245 is rotated counterclockwise. The pair of Y-axis bush pull rods 246 are driven to retract. As a result, the reflector 210 is rotated clockwise in FIG. 2a about the X-axis.

On the other hand, the X-axis spur gear 255 , which has a female screw formed in its center that meshes with the male screw of the X-axis bush pull rod 256 , is rotatably supported by the housing member 230 .
It meshes with a worm gear 253 fixed to the worm gear 253. The X-axis drive motor 250 is fixed to the housing member 230, and is connected to a rotary encoder 251 that outputs one positive pulse for every rotation of the rotating shaft 252 of the motor 250. 254 is a bearing for the rotating shaft 252.

When the Xl1llll drive motor 250 is energized to rotate in the forward direction, the forward rotation of the rotating shaft 252 is transmitted to the spur gear 255 via the worm gear 253, and the gear 255 is rotated clockwise, so that it forms a screw pair with the gear. The X-axis bush pull rod 256 is driven to push out. As a result, the reflector 210 is rotated about the Y-axis so that the front surface (31st surface) of the acrylic reflector 211 faces toward the front in the drawing in FIG. 2a. Furthermore, when the X-axis drive motor 250 is reversely energized, the rotation of the rotating shaft 252 in the opposite direction is transmitted to the spur gear 255 via the worm gear 253, and the gear 255 is rotated counterclockwise. The pair of X-axis bush pull rods 256 are driven to retract. As a result, the reflector 210 is rotated about the Y-axis so that the front surface of the acrylic reflector 211 faces toward the back of the paper in FIG. 2a.

Referring again to FIG. 2a, housing member 230 includes receiving subunits 260 . Control subunit 270
and a power supply subunit 1-280. A receiving antenna Ant, 2 extending outside the housing member 230 is connected to the receiving subunit l-260.

With reference to FIGS. 3a and 3b, receiving subunit 1
~260. Control subunit I-270 and power subunit I-280 will be described. In Fig. 3b, the NC contact (normally closed contact) is indicated by a, and the No contact (normally open contact) is indicated by b.

The power subunit l-280 consists of a battery Ba and a constant voltage circuit, and constant voltages vO2Vl, V2 are applied to each component.
11, but illustration of these power supply lines is omitted in FIG. 3a.

Reception: 1 subunit t-21301:t, FM reception 'a Rcv O and D'r MF receiver (monolithic dual-tone multi-frequency receiver) DTMF is the main component. FM reception (
The Ft machine Rev receives and demodulates the radio wave containing the attitude information from the attitude setting unit 310 via the receiving antenna Δnt2f&, and outputs the DTMF analog signal from the output terminal 0UT1 as an analog trJ signal of audio frequency '41F including the attitude information. Output toward input terminal in. The attitude information included in the radio wave is determined by one step of the X-axis drive motor 250 (
Corresponds to one rotation of the rotating shaft 252 (hereinafter) 10-indication code '1100'' which instructs normal rotation energization"
1000''', y+lnl+[dynamic mo'l 2 /I
Instruction code "OO" that instructs 1 step forward rotation of O
11'', or the instruction code ``QC)10'''' which instructs one-step reverse energization of the Y-axis drive motor 241).

When the analog signal corresponds to the instruction code "1100", the DTMF receiver outputs 1-level (high level) to output terminals Di and D2 as parallel 4-bit digital attitude data, output terminal 1) 3 O, J: h1]
15 level (low level) is output to 4 (outputs digital attitude data ``It l-I L L''), and when the analog 1n number corresponds to 1n indication code ``1ooo'', the parallel 4-pi 1-digital As attitude data, the output terminal D1 outputs ■ level, and the output terminals D2, 113 and Di output L level (digital attitude data 'Lll-L,
output L'''), the analog signal is the instruction code '0'.
011'', L level is output to output terminals D1 and 1)2 as parallel 4-bit digital attitude data.
Outputs 14 levels to output terminals D3 and Di (outputs digital attitude data "LLI eye 1"), and when the analog signal corresponds to instruction code '0010', parallel 4
Output terminals DI and D2 as bit digital posture data.
and outputs L level to Di and I+ level to output terminal D3 (outputs digital attitude data "L L HL '"). In other words, the DTMr" receiver has the functions of a frequency discriminator, a decoder, etc. In the example, D'
The one-chip DTM I?receiver 5S1202 manufactured by Silicon Systems is used as the ``MI'i'' receiver.The DV terminal (data valid terminal) of the DTMF is.

Predetermined pulse width (40 msec) for analog input q input
If more than 1 valid pair is input, 1 level is output.

D'I'MI? (7) DV, Di, D2. D3 and D
The four outputs are provided to the first relay block 271 of control subunit I-270. The first relay block 271 is a control circuit that energizes the X-axis drive motor 250 and the Y-axis drive motor 240 in the forward and reverse directions for each step, and includes the flip-flop FFI, the four Nant gates AN1. ΔN2
．． AN3. ΔN4゜Relay driver, 4 relays RX
I, leX2゜RYI, RY2. And, the relay contact r x 1 of relay RXI shown in figure f53b * relay 1 concubine point rx21, rx22 of relay RX2, relay contact ryl of relay RYI, relay contact r:/21tr'/22+ of relay RY2, and waveform shaping circuit 273
It consists of

1± to input terminal S to cellar 1 of flip-flop 17F1
DTM l? I) When the V output is applied, the reset 1-input terminal is connected to the waveform shaping circuit 27 shown in Figure 3b.
Rotary encoder 241 or 2 whose waveform was shaped by 3
51 output pulses Rosat are provided. In other words, FF
I is reset 1-pulse Ra+e from DV high output rise
Until the rising edge of j, I! is applied to output terminal Q. Output the level. The output of this output terminal Q is NAND game -1 to ΔNl
, AN2. It is applied to one input terminal of each of AN3 and AN4L. On the other hand, is there DTMI on the other input terminals of Nando Game 1 ANI? The D1 output of .

The other input terminal of Nantes gate AN2 is the D2 output of DTMF, the other input terminal of Nantes gate AN3 is the D3 output of DTMF, and the other input terminal of Nantes gate AN4 is DTMF.
The D4 outputs of the MFs are respectively given.

The output terminal of the Nant gate AN1 is connected to the power line on/off relay R of the X-axis motor 250 via a relay driver.
(1 is the forward/reverse switching relay R of the X-axis motor 250 via the relay driver to the output terminal of the Nant gate AN2.
X2 is connected to the output terminal of the Nant gate AN3 via a relay driver to the failE line on/off relay RYI of the Y-axis motor 240, and the output terminal of the Nant gate AN4 is connected to the forward/reverse switching relay of the Y-axis motor 240 via the relay driver. RY2 are connected to each other.

When the DTMF receiver outputs the digital posture data "HT-ILL" from the output terminals D1 to D4 (FFI is set because there is a valid pair and the DV high output level is set), X-axis drive motor 2
50 power line on/off relay RXI and forward/reverse switching relay RX2 are activated.

As a result, the relay contact rxl of RXl is connected to the b contact, and the power line of the X-axis drive motor 250 is connected.
Since the two relay contacts rx21 and rx22 of RX2 make contact with their respective b contacts and switch the connection of the motor 250 to the normal rotation side, the motor 250 is urged to rotate in the normal rotation. Due to this forward rotation bias, the rotating shaft 2 of the X-axis drive motor 250
52 makes one rotation (that is, I step), the rotary encoder 251 outputs one positive pulse, and this pulse triggers the reset input terminal of the FFI via the waveform shaping circuit 273 to reset the FFI.

Relays RXI and RX2 are deenergized, X4IllI drive motor 250 is deenergized, and normal rotation of motor 250 for one step is completed.

When the DTMF receiver outputs the digital attitude data "HLLL" from the output terminal Di-D4, only the power line on/off relay RX1 of the X-axis drive motor 250 is energized, and the motor 250 is energized in reverse. FFI is reset by Re5et pulse of rotary encoder 251)
When the relay RXI is deenergized at ~9, the X-axis drive motor 250 is deenergized and the reverse energization for one step is completed.

When the DTMF receiver outputs the digital attitude data ``L L l-I 11'' from the output terminals D1 to D4, the power line on/off relay R of the Y-axis drive motor 240 is activated.
Y1 and forward/reverse switching relay RY2 are energized, and the motor 250 is energized to rotate forward. Rotary encoder 24
When FF1 is reset by the pulse Re5et of 1 and relays RYI and RY2 are deenergized, the Yill drive motor 240 is deenergized and the normal rotation energization for one step is completed.

The D T M Ir receiver outputs digital attitude data from the output terminals D1 to D4, YII! ll1g.

Only the power line on/off relay RY1 of the dynamic motor 240 is energized, and the motor 240 is energized in the reverse direction. When FFI is reset by the Re5et pulse of rotary encoder 241 and relay RYI is deenergized, Y! The III drive motor 240 is deenergized and the reverse energization for one step is completed.

The second relay block 272 is connected to the X1lill push pull rod 256 and the Y axis push pull rod 24.
6, the control circuit prevents the extrusion drive exceeding the extrusion limit and the retraction drive exceeding the retraction limit, and includes a detector DI, a comparator CP 1 , a photosensor PHX
1, PHX2. A detection circuit connected to each of PHY 1 and PHY 2, a Nant gate AN5. AN6.
AN7 and AN8. Relay driver, relay RX3.
RX4. RY3゜RY4. and relay contact rx3 of relay RX3, relay contact rx4 of relay RX4. Relay contact ry3 of relay RY3. It is composed of relay contact ry4 of relay RY4.

The detector DI and comparator CP1 constitute a zero glossing detector, and the detector TWDI has an F
M reception @Rcν OU-“2 outputs are given.

The OUT 2 output is the output of the high frequency amplifier inside the Rev, and in this zero crossing 5C techer, the F? M
Receiver Rev is receiving 11'? The comparator CPI output is set to H level only when the
3. RX4. Battery Ba is prevented from being consumed by energizing RY3 and/or RY4.

Based on the digital attitude data, the X-axis drive motor 25
0 or the Y-axis drive motor 240 is energized for normal rotation (that is, CPl is outputting H level), the X-axis bush pull rod 256 or the Y-axis bush pull rod 246
When the extrusion limit is reached, the reflective photosensor P1-IXI or PHY1 for extrusion limit detection is turned off. This allows Nantes Gate AN5 or AN7
The output becomes L level and forward rotation blocking relay RX3 or R
Since Y3 is activated (4 times), its relay contact rx3 or FF3 and a contact break, and the motor 250 or 2
The power line for normal rotation energization of motor 40 is cut off, and normal rotation energization of motor 250 or 240 is prevented.

X-axis drive motor 25 based on digital posture data
0 or Y l1ill drive motor 240 is reverse energized (i.e. CPI is outputting I-lebel)
, when the X-axis push-pull rod 256 or the Y+1 curve push-pull rod 246 reaches the retraction limit, the reflection type sensor PHX2 or p for detecting the retraction limit is activated.
II V 2 is turned on. As a result, Nando game-1
Since the AN6 or AN8 output goes to L level and the reverse rotation prevention relay RX4 or RY4 is energized, its relay contact rx4 or ry4 and the a contact break, cutting off the power line for reverse energization of the motor 250 or 240. , reverse energization of motor 250 or 240 is prevented.

FIG. 4a is a block diagram showing a schematic electrical configuration of attitude control unit 1-310. Referring to FIG. 4a, this unit 310 includes a microcomputer (MPU) 32
0 as the center, the operation & display board 330. Level detector 3
40. Parallel-in serial register 1-shift register (hereinafter abbreviated as P/S register) 350. Serial-in/parallel-out shift register (hereinafter abbreviated as S/T' register) 360. It is composed of an FM transmitter 370 and a constant voltage circuit 380.

The level detector 340 is connected to the received signal output terminal of the optical signal receiver fi 300, and outputs parallel 6-bit received level data corresponding to the signal received level of the receiver 300. The P/S register 350 serially converts this output (reception level data) to M I ) U 32
0's input Capo-1-1'' Give to 0.

When the MPU 320 reads the reception level data, it converts it into a relative reception (i level) of the optical signal receiver 300 and displays it on the display 338 of the operation and display board 330.

Referring to FIG. 4b, which shows the outside 1131 of the operation and display board 330, the operation and display board 330 includes a
a Key switch for instructions (hereinafter referred to as the X4 key)
331, X+1Tol! J! A key switch (hereinafter referred to as the "X-key") 332 that indicates 4d one-step reverse energization of the dynamic motor 250. A key switch (hereinafter referred to as Y+
)334. A key switch (hereinafter referred to as Y-key) 333 for instructing one-step reverse energization of the Yldl drive motor 240. A key switch (hereinafter referred to as ΔUTo key) 335 for instructing automatic attitude control of the reflector 210. A key switch (hereinafter referred to as 5TOP key) 336 that indicates the cancellation of automatic attitude control of the reflector plate 210. X1! A source on/off switch 337 and a display are provided to display the relative reception level of the optical I8 receiver 300 based on the reception/ff level data. Although not shown in FIG. 4b, a buzzer I3z is provided on the back side of the operation and display board 330.

Referring again to FIG. 4a, power on/off switch 33
7 is an alternate switch, the switch contact of which is inserted into the power supply line of the constant current detour 23380.

The switch contacts of the key switches 331 to 336 are arranged and sunk in a switch matrix 2 connected to the key encoder 339, and the operation of each key switch is read by the TJ 320 through the key encoder 330e.
Sill.

display! ! : +338 is a light emitting diode and is a 3 digit 7
Segment 1~ Equipped with numerical display. Each of the 7 segments 1-numerical display A: '4 is connected to the power supply line VP at the anode common, and each cathode terminal is connected to the decoder and driver DD. Decoder and driver DD I: J, B CD 4p (- No. e 7
Seg: A 'J I' (to M) Contains a decoder that converts R and a driver that energizes/deenergizes each segment 1 to 7 segments 1 to numeric display. Decoder and driver D
The three sets of input terminals of D have latches LAI and LA, respectively.
2 and A 3 h month concubinage, the latch LAI, LA2 Onibi 1. The data input terminals of Δ3 are commonly connected to the output port 02 of the M I' U320. Each latch LΔI, LA2 and LA3 is MP
Control 311 is performed by three signals output from output capo 1.03 of U320.

The buzzer L1 is energized/deenergized by a signal output from the output port I.04 of the MPU.

MI) The U 320 sets an instruction code (posture information) "1100" to energize the X-axis 1ψ motion motor 250 to forward rotation by 1 step when the X+Goat-31 is operated.

When X'l"-332 is made IQ, the X-axis drive motor 25
100
0” t-?Jt fixed, Y” key 334 is '54
Make J then Y 1lill Ig! dynamic motor 240
1 step forward rotation energization offset instruction code "0011" is set, and when the Y-key 333 is operated, YllIlth
I? to energize the drive motor 240 in one step reverse direction? Set f indication code '0010'.Jjf set by these people
The display code is serially output from the output capo-I-Of,
It is parallel-converted in the S/I' register 360 and provided to the I''M transmitter 370.IBM transmitter 37
0, the given instruction code is converted into a 1-- pair selected from two frequency groups, and the 1-- pair is used for a predetermined period of time ( FM modulated carrier wave (radio wave f1 (radio wave containing attitude information)) is transmitted from transmitting antenna 80L.

Furthermore, when the AUTO gear 335 is operated, the MI'U 320 sets one of the instruction codes for the four dishes described above according to the reception level data read from the human capo 1 to PO, and transmits it in the same manner as above. . III of MPtJ320 in this case
(The approximate control operation will be explained with reference to FIGS. 5a and 5b.

Please refer first to Figure 5a. MI'U3'20 is.

When the reception level data indicates a value lower than the predetermined value, a "search process" is performed to find one posture of the reflector 210 whose reception level data exceeds the predetermined value. In other words,
As the locus of the reflected optical signal -120 of the optical signal transmitter 100 scans the spherical surface, every time the X4++b drive motor 250 is rotated one step forward,
The lI drive motor 240 is energized to rotate in the normal direction from the retraction limit to the extrusion limit, or reversely energized from the extrusion limit to the retraction limit to bring the position to IW b'15. In this Jt, when the attitude cannot be searched, the buzzer 132. Activate to cause error 931. Also, when searching for the posture,
Mr'U 320 executes "Cera 1-processing" to set the reflector 210 in a position where the received level data is maximum.

Please refer to Fig. 5b. Fig. 511 is a plan view in which the locus of the reflected optical signal 120 in the "set processing" is developed on a plane including receiving point 0 (optical signal bone (8 receivers of 300)). , in which the square is X in the plane
The locus indicates the unit of movement by one-step forward and reverse biasing of the axis drive motor 250 and the Y-axis drive motor 240. Note that when the X-axis 1 TODO motor 250 is energized in the forward rotation, the locus moves in the x4 direction, and when the
It is assumed that when the axis 1 translation motor 240 is energized in the forward direction, the locus moves in the Y4 direction, and when the Y-axis drive motor 240 is energized in the reverse direction, the locus moves in the Y direction.
2. The reception level is inversely proportional to the distance jlj from reception point 0 of the locus.

The following description will be made assuming that the "Cera 1-processing" is started when the trajectory of the 1st reflective optical system 120 is at point a.

l) After storing the received f1 level data when the 1 reflective optical system 120 is facing 1n to point a, the X-axis drive motor 2
The reflected optical signal I20fJ is directed to point 1 by energizing the normal rotation in 50 kl steps (hereinafter referred to as +re
Compare the receiving level data (+'? level data (11) data) when the target was facing the target and the receiving level data (new data) when the target was facing the target.In this case, the new data is larger than the old data, so The biasing direction of the X-axis 1 TODO motor 250 is not changed (the shift direction remains at X+).

2) After storing the reception level data when the 1st reflection optical signal 120 is facing the point 11, direct the reflection optical signal 120 to the point C by 1 step shift in the Y + force direction, and then direct the reflection optical signal 120 to the point C. Uke (Q level data (
II'' data) and the received level data (new data) when heading 18 to point C.

In this case, the new data is larger than the old data.

The biasing direction of the YIIllll drive motor 2/10 is not changed (shift 1 to direction remains Y+).

3) When the 1 reflection optics 120 is facing 1n to the point C (1" after storing the 7 level data, the X + force direction 1
Step shift the reflected optical signal +20 to point d to 111
White, 1 here at point C? ? Reception level data (11” data) when facing toward point d and reception level data (11” data) when facing point d
ij level data C1Jt data).

In this case, the old data is larger than the new data, so
The biasing direction of the IIIll drive motor 250 is changed to the opposite direction (the shift direction is changed to X'''').

11) After storing the reception level data when the 1 reflected optical signal 120 is directed toward point d, shift it by 1 step in the X direction and direct the reflected optical signal (ff1 120 toward point C. 1 The old 111 point is received (71 points are moved back from point O, so it is returned to the original point), and here the reception level data (old data) when it was directed to point d and the reception when it was directed to point C l?i Compare the level data (new data).Since the new data is larger than the old data, the X-axis drive motor 25
0 biasing direction is not changed (Shift 1~ direction is changed to X-
).

5) After recording the reception level data when the 0 reflected optical signal 120 is directed to point C, shift the reflected optical signal 120 by 1 step in the Y+ direction to direct the reflected optical signal 120 to point 0, and here Reception level data when pointing to point C (
old data) and reception level data when pointing to point 0 (
(new data).

In this case, the new data is larger than 111 data.

Do not change the A4 direction of the V+G motor 240 (leave the shift direction as Y+).

6) After storing the reception level data when the 1st reflection optical No. A 120 is directed to the point O, step-shifted in the X'''' direction, the reflection optical No. Here, the reception level data when pointing to point O (
old data) and reception level data when pointing to point 0 (
(new data).

In this case, the old data is larger than the new data, so
++il Change the biasing direction of the IW4 motor 250 to the positive direction (change the shift direction to X+).

7) After storing the reception level data when the 1 reflected optical signal 120 is directed to point 0, perform a 1 step shift in the X4'' direction to direct the reflected optical signal 120 to point 0. The receiving point moved away from the receiving point ohs, so it was returned to its original state), and the receiving level data (old data) when it was pointing to point 0 and the receiving level data (new data) when it was pointing to point O. data). Since the new data is larger than the old data, do not change the biasing direction of the X-axis drive motor 250 (leave the shift direction as X+).
.

8) After storing the received level data when the 6 reflected optical signal 120 is directed to point 0, shift the reflected optical signal 120 by 1 step in the Y+ force direction and direct the reflected optical signal 120 to point f, where 117 is directed to point O. Compare the reception level data (old data) when the robot was pointing toward point f with the reception level data (new data) when it was pointing toward point f.

In this case, the old data is larger than the new data, so Y
The biasing direction of the IIllII drive motor 240 is changed to the opposite direction (the shift direction is changed to Y-).

9) 1 reflection optical (After recording the reception level data tα when No. 8 120 is directed to point f, shift by one step in the Y″″ direction to direct the reflection optical signal 120 to point O, The Jfl heading point of 120 has moved away from reception point 0, so it is returned to its original state), and here the reception level data (i level data (old data) when it was directed to point r and the reception level data (old data) when it was directed to point 0). (new data).Since the new data is larger than the old data, yllill + drive motor 24
Do not change the direction of 0 (change one direction of shift l to Y-
).

lo) After memorizing the receiver 48 level data when the 0 reflective optical unit 120 is facing 1n to the point O, move the reflective optical unit (fi 120 to the point g
When the Uke (i
The l level data (old data) is compared with the received level data (new data) when directed to point g.

In this case, the old data is larger than the new data, so
! The biasing direction of the Ill drive motor 250 is changed to the opposite direction (the shift direction is changed to X-).

11) After storing the reception level data when the 8-reflected optical signal 120 is directed to point g, shift the reflected optical signal 120 by 1 step in the X-'' direction to direct it to point O. The point has moved away from the reception point O, so it is returned to its original state), and here the reception when it was directed to point g (FT level data (old data) and reception level data (new data) when it was directed to point 0) Since the new data is larger than the old data, the biasing direction of the X-axis Q motion motor 250 is not changed (the direction toward Shift! remains X-).

12) Reception when the 1 reflected optical signal 120 is directed to point 0 (after storing the n level data, shift 1 step in the Y direction to direct the reflected optical In No. 120 to point C and IiV, and here Compare the reception (Fj level data (old data) when the signal was directed to point 0 with the reception level data (new data) when the signal was directed to point C.

In this case, the old data is larger than the new data, so
Y 1lill Change the biasing direction of the II dynamic motor 240 to the positive direction (change the direction from Shin 1 to the Y+ force direction)
.

13), return to 5) above.

14), In the above "Cera 1~Processing", 5) to 13
).

Since the processes up to this point are repeated, the attitude of the first reflector 210 changes constantly. However, the maximum value of the reception level data in the "set process" is calculated, and the number of steps from the first step after the start of the "set process" is set to a predetermined value. After that, the current reception level data is compared with the maximum value while continuing the processing J to cellar 1, and when the reception level data exceeds the maximum value, "set processing" is performed. For example, if the predetermined value is "l 6", in the above [set process], the process of 12) is finished, and the process of 5) is completed.
Returning to the process of step 8), the total number of shift steps becomes 16 by performing the process of step 8). At this time, if the reception level data when the reflected optical signal 120 is directed to point 0 is set to the maximum value, In the next process 9), the reception level DAKE becomes equal to the maximum value, so the "Cera 1 process" is ended. As a result, the reflection plate 210.

The reflected optical signal 120 is set in an attitude that accurately points to the reception point 0.

The above is the general control operation of Mr'U320. Next, Fig. 6, Fig. 7a, Fig. 7b, Fig. 7C, Fig. 7d
Figures 7e, 7f, and 7g.

More specific control operations of the MPU 320 will be described with reference to the flowcharts shown in FIGS. 7h and 71. In the following explanation, "s--" indicates the step number of flowchart 1~ (however, "s" is omitted from flowchart 1~)
.

Referring to FIG. 6, in steps 81 to S8, system initialization is performed in which the reflector 210 is placed in the standard position.

In this case, first, the input/output ports and internal registers are initialized in Sl, and the register Rx is set to
Number of steps required to push and drive the shaft bush pull rod 256 from the retraction limit position to the extrusion limit position Xm
ax is set to Cera 1~, and the number of steps Ymax required to drive the Y-axis push pull rod 246 from the pull-in limit position to the extrusion limit position is set in the register Ry. After this, when the FM transmitter 370 is activated in S3, F
The M transmitter 370 starts transmitting unmodulated radio waves.

In this example, X 1lill push pull rod 25
6 is at the retraction limit position as the reference posture of the reflector 210 in the X-axis direction, so by S4 and S5,
A loop is formed for retracting and driving the rod 256 to the retracting limit position. The "X-routine" of S4 is a subroutine for rotating the X-axis drive motor 250 one step in the reverse direction, and is shown in FIG. 7c.

Referring to FIG. 7c, in this subroutine, the output capos 1 to 01 output an instruction code "1000" instructing the reverse subdivision of the XIII drive motor 250.

Koreniyo IJ, FM transmitter a machine 370 Teha Xl1iIll
Since the carrier wave is FM modulated and transmitted based on the instruction code for a time sufficient to reversely energize the drive motor 250 by one step, a delay corresponding to this transmission time is performed, and the register Rx is set by one decrement and one cycle. Then, the process returns to the main routine shown in FIG.

In the loop consisting of S4 and S5, the "X-routine" is executed X max times, so unless the X-axis push rod 256 is initially at the extrusion limit position, the push rod 256 is
56 will be retracted and driven (however, the original
The position of the X-axis bush pull rod 256 cannot be known), but as described above, the X-axis bush pull rod 2
56 is not retracted beyond the retraction limit, so there is no problem) 11 In this example, Y 4i 111 push pull rod 246
Since the posture in which the rod 24G is at the retraction limit position is defined as the base q posture of the reflector 210 in the Y-axis direction, S6 and S7 form a loop that retracts and drives the rod 24G to the retraction limit position. Y-routine” is YII
This is a subroutine for energizing the Ill drive motor 240 one step in the reverse direction, and is shown in FIG. 7e.

Referring to FIG. 7e, in this subroutine, the output boat 01 outputs an instruction code "0010" instructing the reverse rotation of the Y-axis drive motor 240.

As a result, in the FM transmission Ia370, the Y-axis drive motor 2
Since the carrier wave is FM-modulated and transmitted based on the instruction code for a time sufficient to reversely energize 40 by one step, a delay corresponding to this transmission time is performed, and the register RY is decremented by 1, as shown in FIG. Return to the main routine shown in .

In the loop consisting of S6 and S7, "Y'" routine
is executed Ymax times, so unless the Y-axis push-pull rod 246 is initially at the extrusion limit position, the rod 246 will be pulled extra and driven (however, if the
(the position of the Y-axis bush pull rod 246 cannot be known), but as described above, the Y-axis bush pull rod 2
Since the retracting drive exceeding the retracting limit of 46 is not performed, there is no problem.

In S8, the FM transmission fi 370 is deactivated to complete system initialization.

In S9, the reception level of the optical signal receiver 300 is read and the key switch 3 provided on the operation & display board 330 is used.
31 to 336 are read. The "Read Routine" is shown in Figure 7f. Referring to FIG. 7f, S20
The contents of register Ra are loaded into register Rh. As will become clear from the following explanation, this register Ra stores reception level data corresponding to the reception (fi level) of the optical signal receiver 300 read in the previous "reading routine" (however, (It is cleared immediately after system initialization) In 9S21, the reception level data corresponding to the reception level of the optical signal receiver 300 given via the level detector 340 and the P/S register 350 is read, and the data is stored in the register Ra. In other words, register Ra contains the current reception level data (
The register Rh holds the received level data when the "read routine" is executed one time.

In S22, the optical signal receiver 300
and displays it on the display 338 of the operation and display board 330.

323 to S35, the register S
Set the value of That is, when the 5TOP key 336 is operated, the register S is set to 0 in S24 and the 6th TOP key 336 is operated.
Return to the main routine shown in the figure; X+key 331
is operated, register S is set to 1 at 326.
After that, the FM transmitter 370 is energized in S35 and the process returns to the main routine: If the X-key 332 is operated, the register S is set to 2 in S28, and then S3
Step 5 activates the FM transmitter 370 and returns to the main routine; if the Y+ key 334 is operated, register S is set to 3 in step S30.

In S35, the FM transmitter 370 is activated and the process returns to the main routine; if the Y-key 333 is operated, the process proceeds to S3.
After setting the register S to 4 in step 2, energize the FM transmitter 370 in step S35 and return to the main routine; A
If the UTO key 335 is operated, the register S is set to 1 in 324, and then the FM transmission @ 370 is activated in S35 and the process returns to the main routine; in other cases, the value of the register S is not changed. Then, return to the main routine.

The steps below SlO branch according to the value of register S, and are executed as follows:
"Y+ Sil-n", "Y-Routine".

Execute the rSearcb routine or the rset routine.

“X+Silence” in S13 is a subroutine that energizes the Xll1ll drive motor 2503+step for normal rotation.
Shown in Figure 7b. Referring to Figure 7b.

In this subroutine, if the value of register Rx is less than Xmax, the X-axis drive motor 250 is
An instruction code ``1100'' is output that instructs normal rotation energization. X411 for 1”M transmitter 370 by 2J
! Since the carrier wave is FM modulated and transmitted based on the instruction code for a time sufficient to energize the drive motor 240 for one step forward rotation (the transmitter 370 performs a "read routine")
A delay corresponding to this transmission time is performed, the register 9RX is incremented by 1, and the process returns to the main routine shown in FIG. When returning to the main routine, register S is set in S16.
The value of is set to O, but if the X+ key 331 is continuously operated, the register S is set to 1 again in the "read routine" of S9, so S9→
In a loop of SIO→S12→SL6→S9→..., the X-axis drive motor 250 is continuously urged to rotate in the normal direction.

When the X+ key 331 is no longer operated, the value of the register S remains set to 0 in S16, so in the next loop, the process advances from S10 to Sll, where a "standby routine" is executed. Referring to FIG. 7a, this "wait routine" involves FM transmission [370].

The "X""" routine of S13 is a subroutine for energizing the aforementioned XIII drive motor 250 in one step in the reverse direction. When this subroutine returns to the main routine shown in FIG. 6, the value of the register S is set to 0 in S16, but if the X-key 332 is continuously operated as described above, Since register S is set to 2 again in the read routine, S
9→SIO→S13→S16→S9→・・・・・・.

In this loop, the X-axis drive motor 250 is continuously energized in the reverse direction (however, when the value of the register Rx becomes O or less, the reverse energization is not performed). When the X-key 332 is no longer operated, the value of the register S is set to O at 31G, and the first loop progresses from S9 to StO to Sll.
Execute the "standby routine" on the Sll and turn on the FM transmitter 370.
Deactivate.

The "Y+ routine" in S14 is a subroutine that urges the Y11111 drive motor 240 to rotate forward by one step.
Shown in Figure 7d. Referring to FIG. 7d, in this subroutine, if the value of register Ry is less than Ymax,
An instruction code "0011" which instructs normal rotation energization of the Y-axis drive motor 240 is output from the output port ○l. As a result, in the FM transmitter 370, the YIII drive motor 240
This transmission A delay corresponding to the time is performed, the register it_y is incremented by one, and the process returns to the main routine shown in FIG. When returning to the main routine, the value of the register S is set to 0 in 816, but if the Y+ key 334 is continuously operated as described above, the "read routine" in S9 is executed.
Since register S is set to 2 again in S
9→810→S14→S16→S9→-...-.

In this loop, the YlilliI drive motor 240 is continuously energized in the reverse direction. When the Y" key 334 is no longer operated, the value of the register S is set to 0 in S16, and in the next loop, the process proceeds from S9 to sio to Sll, and then to S11.
Execute the "standby routine" with FM transmitter 37 Ot&
disappear.

The “Y″″″ routine of S15, the above-mentioned YI! l1ll
This is a subroutine for energizing the drive motor 240 in one step in the reverse direction. When returning from this subroutine to the main routine shown in FIG. 6, in S16 register S
The value of is set to 0, but as above, the Y-key 333
If is being operated continuously, the register S is set to 4 again in the "read routine" of S9, so S9→SIO-+Sl5→S16→S9→
.......

In this loop, the YililIl drive motor 240 is continuously energized in the reverse direction (however, if the value of the register Ry becomes 0 or less, the reverse energization is not performed). Y″″″ key 3
When 33 works are exhausted, the value of register S is set to 0 in 816, and in the next loop, S9→SIO→S
Proceed with ll, execute the "standby routine" with Sll, and select FM
Transmitter 370 is de-energized.

When the AUTO key 335 is operated and register S is set to 5 in the "read routine" of S9, the SI
0→S17→S9→SIO→・・・・・・ Execute the ``search routine'' in a loop (the above ``search routine''
``Search Processing'').

7g. 7th
Referring to figure g, the contents of register Ra are determined in S40.

That is, the reception level data obtained with the current attitude of the reflector 210 is compared with the first threshold value THI.

In this case, if the received level data is less than the first threshold T81, the register FY is checked in S41.

Register FY indicates a shift in the Y+ force direction at II O#l, and a shift 1- in the Y direction at l''', so Fy=o
If the value of register Ry is less than Y+nax, S43
Execute the ``Y''routine'' (Figure 7d). After this, the process returns to the main routine shown in FIG.

While monitoring the reception level data in a loop such as S9→SIO→S17→S9→..., the Ylillill drive motor 240 is energized for normal rotation one step at a time. In this loop, when the value of the register RY exceeds Ymax (that is, the pushing limit of the Y-axis push pull rod 246), r
In the search routine, the process advances from S42 to 5S44, where the register Fyttl is set, and in S49, the
4-Routine” (Figure 7b) and X1ll!
The drive motor 250 is energized for one step forward rotation. Next time,
Since Fy=1, S9→SIO→S17→S9→・
. . . While monitoring the received level data in a loop, the Y-axis drive motor is reversely energized in steps of 240 kl.

In this loop, when the value of the register RY becomes 0 or less (that is, the retraction limit of the Y-axis bush pull rod 246),
The register Fy is set to 0 to energize the X4i111 drive motor 250 for one step forward rotation.

In this manner, as shown in FIG.
While changing the attitude of the reflector 210, the attitude of the reflector 210 in which the received level data is equal to or greater than the first threshold value THI is searched, but if the value of the register Rx is greater than or equal to If the attitude cannot be searched even if the position is searched, the process proceeds from S48 to 850 of the ``search routine'', where the buzzer Bz is energized for a short time to notify the error, and then the process proceeds to 83 of the main routine.
Then, the attitude of the reflector 210 is reset to the reference position.

S9→SIO→S17→S9→・・・・・・, Naru S
When the attitude of the reflector 210 in which the received level data is equal to or greater than the first threshold value THI is searched for in the loop that executes "search routine", the process proceeds from S40 to S51 in FIG. 7g,
Set the value of register S to 6. S=6 means execution of "rsej routine", so in 852 to S61,
The conditions before starting the rsat routine are set. In S52, the maximum value that the reception level data can take (the reception level data in this embodiment is 6 bits, so "11111 bits") is set in the register Ref, the register Rn+ax is set to 0 in S53, and the register Re is set to 0 in S54. The register Rmax is rSat
This register is used to search for the maximum value of the received level data in the loop that executes "routine" (performs the aforementioned "set processing"), and the register RC is rsel; This is a register for counting.

As mentioned above, in the "setting process", the J
1. The shift in the X-axis direction or the shift in the Y-axis direction is set by comparing the reception level data (new data) obtained with the current posture and the reception level data (old data) obtained with the posture before updating. In S55 to S61, dummy processing is performed to create the old data. Register FG indicates a shift of 1- in the X-axis direction at 0''.#
Since 1'l indicates a shift in the Y-axis direction, this register FC is set to 0 at 855. S56 and S5
7, the current posture in the Y-axis direction is at the center (246
(center between the extrusion limit and the retraction limit of ” itself).

If it is on the pull-in limit side, execute "Y+sil-n" in 358, then set the register Fy to O in S59 to set Y+ force direction shift, and if it is on the push-out limit side,
After executing "Y-routine" in S60, S61
Set register FY to 1 and shift 1- in the Y-force direction.
Set.

Returning to the main routine, the value of register S is set to 6.
Since it is set to 318 from SlO, rS
etc., execute the routine.

In the following, in accordance with the explanation with reference to FIG. 5b above, the rsel=routine shown in FIGS. 7h and 71 is
10→S18→S9→・・・・・・・・・

We will explain the "set processing" that is executed in a loop.

Please also refer to FIG. 5b. That is, the aforementioned r
According to the attitude of the reflector 210 when proceeding from 340 to S51 in the "Search routine", the reflected optical signal 120 is directed to a point in the Y"" direction (this is referred to as point a-) by one step from point a. It should be understood that the dummy processing causes a shift in the Y+ force direction and directs the signal 120 to point a. Therefore, the reception level data when the signal 120 was directed to point a- is stored in the register Rh as old data. Note that the numbers given in the following explanation correspond to the contents of the previous explanation indicated by the same numbers (however, there are deviations due to control reasons).

1) In S70, the contents of register Ra (new data) are compared with the contents of register Ref. Since the maximum value Max is set in the register Ref, proceed to S72. Since 0 is set in the register Rmax, proceed to S73.
The new data was published in Sera 1.

At S74, the register Re is incremented by one.

Since the value of the register Re is less than the predetermined value C, the flow advances to step 879 shown in FIG. 71, where the new data and the old data are compared.

Since the new data is larger than the old data, proceed to S80, but
Since register FG is set to O, furthermore,
Proceed as S81→S82 (Fx=O) and press “X”
7b) and returns. This causes a one step shift in the X+ force direction and directs the reflected optical signal 120 toward the point.

In the next loop, register Rmax is updated to new data, register Rc lj41 is incremented by 1, and S
At step 79, the new data and the old data are compared.

In this case, since the new data is larger than the old data, S80
However, since the register FG is set to 1 this time, the process proceeds from S80 to S85 to S86, where "Y+SIL" is executed. This causes a one step shift in the Y+ force direction and causes the reflected optical signal 120 to be directed to point C. Register I at 888? Set G to 0 and return to the main routine.

2) In the sixth loop, the contents of the register Rmax are updated to new data, and the register Tlc is incremented by 1-
After that, the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, S8
0, but the register FG is set to O, so it progresses from S80 to S81 to S82, and here "X+Sil-
Execute " As a result, a one-step shift 1- in the X+ force direction is performed, and the reflected optical signal 120 is directed to the point d. In S84, the register FC is set to 1 and the process returns to the main routine.

3) In the 0th order loop, the register R+aax is larger than the new data, so Rmax is not updated and the register Rc is incremented by 1-1, and then the new data and the old data are compared in S79. In this case, since the old data is larger than the new data, the process advances to S90. Since the register FC is set to 1, it means that there was a shift 1- in the X-axis direction in the previous rseL nil-chin, and the process proceeds from S90 to S91. Since the register F x is O, the process advances to S94, where the "X-routine" is executed. As a result, a step shift of 1 in the X direction is performed, and the pointing point of the reflected optical signal 120 returns to point C. S
At step 95, the register Fx is set to 1, the shift 1~ in the X-axis direction is changed to the opposite direction, and the program returns to the main routine.

4) In the first loop, the contents of register Rmax and the new data are the same, so Rmax is not updated.

After incrementing the register Rc by 1, the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, the process advances to S80, but since the register FC remains set to l, S80
→S85→S86, and here "Y+Silence" is executed. This causes a one step shift in the Y+ force direction and directs the reflected optical signal 120 to point 0. 888
Then, set L/register G to O and return to the main routine.

5) In the 0th order loop, the contents of the register Rmax are updated to new data, and the register Re is incremented by 1, and then the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, the process advances to S80, but since register FG is set to O,
The process proceeds as follows: S80→S8]→S83, where the "X-routine" is executed. As a result, a one-step shift in the X direction is performed, and the reflected optical signal 120 is directed to point e.

In S84, the register FC is set to 1 and the process returns to the main routine.

6) In the first loop, the contents of register Rmax are larger than the new data, so Rll1ax is not updated, register Ret&l is incremented, and then 579
Compare the new data with the old data.

In this case, the old data is larger than the new data, so S
Proceed to 90. Since the register FG is set to 1, it means that there was a shift in the X-axis direction in the previous rSet routine, and the process proceeds from S90 to S591. Since register Fx has been updated to 1, proceed to 5892,
Here, the "x4-routine" is executed. This results in
A one step shift in the x4 direction is performed, and the pointing point of the reflected optical signal 120 returns to point 0. In S93, register F
Set x to O, change the shift in the X-axis direction to the positive direction, and return to the main routine.

7) In the first loop, since the contents of the register Rmax and the new data are equal, Rmax is not updated and the register Rc is incremented by 1, and then the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, the process advances to S80, but the register FG
remains set to 1, so S80→S
The process proceeds from 85 to S86, where "Y+Silence" is executed. This causes a one step shift in the Y+ force direction and directs the reflected optical signal 120 to point f. At step 388, the register FC is set to 0 and the process returns to the main routine.

8) In the 9th loop, the contents of the register R+naX are larger than the new data, so Rrnax is not updated and the register Re is incremented by 1, and then the new data and the old data are compared in S79.

In this case, since the 1 [co data is larger than the new data, the process advances to S90. Since the register FG is set to 0, it means that there was a shift in the Y-axis direction in the previous rseL routine, and the process proceeds from S90 to S96. Since the register Fy is set to 0, the process advances to S99, where the "Y-routine" is executed. This results in
A one step shift in the Y direction is performed and the pointing point of the reflected optical signal 120 returns to point C). At step 5100, the register Fy is set to 1 to change the shift l- in the Y-axis direction to the opposite direction, and the process returns to the main routine.

9) In the ninth loop, the contents of register Rmax and the new data are the same, so Rmax is not updated and register Re is incremented by 1, and then the new data and old data are compared in S79. . In this case, since the new data is larger than the old data, the process advances to S80, but the register F
Since G remains set to O, S80→
The process proceeds from S81 to S82, where "X+Silence" is executed. As a result, a one step shift in the X+ force direction is performed and the reflected optical signal is directed to 12011 point g. S84
Then, set register FG to 1 and return to the main routine.

10) In the 8th loop, the contents of register Rmax are larger than the new data, so Rmax is not updated, and register Re is incremented by 1-.

In S79, the new data and old data are compared.

In this case, the old data is larger than the new data, so S
Proceed to 90. Since the register F'G is set to l, it means that there was a shift in the X-axis direction in the previous rSet routine, and the process proceeds from S90 to S91. Since the register Fx has been updated to O, the process advances to S94, where the "X-routine" is executed. This results in X″″
” direction step shift is performed and the reflected optical signal 120
The pointing point of returns to point 0. In S95, the register Fx is set to 1, the shift in the X-axis direction is changed to the opposite direction, and the process returns to the main routine.

11) In the first loop, since the contents of the register Rmax and the new data are equal, Rmax is not updated and the register Re is incremented by 1, and then the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, the process advances to S80, but the register F
Since G remains set to 1, S80→
The process proceeds from S85 to S87, and the "Y-routine" is executed here. As a result, a one-step shift in the Y direction is performed, and the reflected optical signal 120 is directed to point C. At step 38g, the register FG is set to 0 and the process returns to the main routine.

12) In the 0th order loop, the contents of the register Ru+ax are larger than the new data, so Rmax is not updated and the register Re is incremented by 1, and then the new data is compared with the 111 data in S79.

In this case, the old data is larger than the new data, so S
Since the register FG is set to 0, it means that there was a shift in the Y-axis direction in the previous rSet routine, and the process advances from S90 to S96. Since the register FM has been changed to 1, the process advances to S97, where the "Yh routine" is executed. As a result, a one step shift in the Y+ force direction is performed, and the reflected optical signal 120
The pointing point of returns to point 0. At 898, the register Fy is set to 0, the shift in the Y-axis direction is changed to the positive direction, and the process returns to the main routine.

13) In the 0th order loop, since the contents of the register Rmax and the new data are equal, Rmax is not updated, and the register Re is incremented by 1 to 1, and then the new data and the old data are compared in S79. In this case, since the new data is larger than the old data, the process advances to S80, but since the register FC remains set to 0 to cell 1, S8
Proceed to 0 → 581-+S83, and here "X-routine"
Execute. As a result, a one-step shift in the X direction is performed, and the reflected optical signal 120 is directed to point e. At S84, the register FG is set to 1 and the process returns to the main routine.

14), The following is S9 → SIO → S18 → S9 →...
. . . The above process is repeated in a loop, but when the number of cumulative shift steps indicated by the contents of the register Re exceeds the predetermined value C, the steps 575 to 3 in the flow of FIG. 7c are executed.
Proceed to step 76. In S76, the register Rc is cleared (set to 0), and in S77, the contents of the register R+max and the second threshold value TH2 are compared. In this embodiment, the second threshold T112 is set to a value slightly higher than the 11th JITHI.
If it is H2 or higher, the contents of register Rmax are loaded into register Ref. In the embodiments described in 1) to 13) above, the contents of register Rll1ax are as follows:
Since this is the received level data when the reflected optical signal 120 is directed toward point 0, the primary signal 20 is the point 0.
If you turn to , you will exit this loop from S70.

In S71, the register S is set to 0.

As a result, when returning to the rain routine, S
9→SIO→Sll, execute the "standby routine" and de-energize the FM transmitter 370.

As described above, in the communication system shown in FIG.
10 is reflected by the reflection plate 210, and the reflected optical signal 12
0, the attitude of the reflector 210 that is accurately received by the optical A3 receiver 300 is controlled, and good communication is ensured.

In the above embodiments, 100 is an optical signal transmitter and 300 is an optical signal receiver, but the former may be a microwave transmitter and the latter a microwave receiver.

Furthermore, the attitude setting unit 310 is configured to receive an optical signal Ja3.
00 and transmits the radio waves containing attitude information to the reflector plate 22I-
200, the transmitting unit 1- that transmits radio waves including received level data is connected to the receiver 300, and the 1-reflector unit I-200 receives the radio waves and detects the received level data. A configuration may also be adopted in which a receiving unit and the MPU 320 of the attitude setting unit I-310 are incorporated. In this case, the MPU 320 can control the attitude of the reflector 2]0 in exactly the same way as the above process.
I dare not explain it here.

〔Effect of the invention〕

As explained above, according to the present invention, the attitude information setting means sets the attitude information of the signal reflecting member according to the reception level, and the drive energizing means drives the drive mechanism according to the attitude information. Since the source means is energized, the attitude of the signal reflecting member that ensures good communication is automatically set.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of a system according to an embodiment of the present invention. FIG. 2a is a cross-sectional view of the reflector units 1 to 200 shown in FIG. 2d is a sectional view taken along the line IIB-IIB, and FIG. 2c is a sectional view taken along the nc-uc line of FIG. 2a. FIG. 3a shows the receiving subunit 260 shown in FIG.
Control subunit 270 and power subunit l-28
FIG. 3b is a block diagram showing a schematic configuration of the third
FIG. 3 is a block diagram showing connections between the relay contacts and motors 240 and 250 in FIG. FIG. 4a is a block diagram showing a schematic configuration of the figure setting unit 1-310 shown in FIG. 1, and FIG. 4b is a plan view showing the external view of the motion and display board 330 shown in FIG. 4a. The 5th ali is Reflection Optics No. 13 No. 1 in “Search Processing”
5b is a perspective view showing the trajectory of IJ
FIG. 3 is a plan view showing the locus of a reflected optical signal 120 in FIG. FIG. 6 is a flowchart showing the processing operation of the microcomputer 320 shown in FIG. 4a. Figure 7a, Figure 7b, Figure 7c, Figure 7d, Figure 7Q,
Figure 7f, Figure 7g, Figure 7h and Figure 71 are
3 is a flowchart showing a subroutine of the microcomputer 320 shown in FIG. 100: Optical signal transmitter (transmission means) 110: Direct optical signal 120: Reflected optical signal 200: Reflection plate unit 1- (reflection means) 210: Reflection plate (signal reflection member) 211 Near acrylic reflection plate 212: Support base material 213 :Y-axis guide channel 2
20: Join 1 member 221: Join 1 hair 11 222: Clearance pole 230: Housing member 11O: Direct optical signal 240: Y-axis drive motor (drive source means) 24I: Rotary encoder 242: Rotating shaft 243: Worm gear 244:
Bearing 245: Y-axis spur gear 24G n Y
Shaft push puller 11247: slide arm 248 guide 213.240, 242.2/13, 244, 245,
246,247.2/18: (Y direction N4t&,h
η) 250:X1llllll drive motor (drive source means) 25
1: Rotary encoder 252: Rotating shaft 253: Worm gear 254:
Bearing 255: X-axis spur gear 25G: X-axis bush pull arm 250.252, 25: 1,254, 255.25G:
(x direction drive mechanism) 213, 240.242, 24
3, 244.2/Is, 246.2/17.248
．． 250.252゜253.254, 255.256
: (Driver mechanism) 260: Receiving subunit 1~(/j5
minute information receiving means) 270: Control subunit (driving means) 271: First relay block 272: Second relay block 273: Waveform shaping circuit 280: Power supply subunit 30
0: Optical signal receiver (receiving means) 310: To attitude setting unit 1 320: Microcomputer (attitude information setting means. Memory means) 330: Operation & display board 270: Control subunits 1 to (drive energizing means) 331.
332, 333, 334, 3: 35, 336: Crystal key switch 337: Power on/off switch 338: Display 339: Key encoder 340
2-level detector (reception level detection means) 350: Parallel-in/serial-out shift register 360 2-level in/parallel 1-/shift 1-register 370: FM transmitter (attitude information sending 13 means) 380: Constant voltage circuit pHX1 ．． I'11'/l: Photosensor for extrusion limit detection P)lX2. pHY2: Pho I-sensor for retraction limit detection Ba: Battery Rev: FM reception 4D
TMF: DTMF receiver RXI, RYI: Power line on/off relay RX2
．． R'/2: Forward/reverse switching relay llX3. RY3
: Forward rotation prevention relay RX4. RY4: Reverse prevention relay rxl, rx2. rx3. rx4. ryl, ry2. r
y3. ry4: Relay contact FFI: Flip-flop cpi: Comparator D: Detector LAI, LA2
．． LA3: Latch DD=Decoder & Driver Bz: Buzzer Ant, ]: Transmitting antenna Δn+l: Receiving antenna ANI, AN2. AN3. AN/I, AN5. , AN6
．． AN7. AN8: Nando game one voice 3b figure Vri5j71r5bll ■+ voice 78 figure voice 7b figure 7d
Figure East 7c El Voice 7e Figure Door 7h Figure

Claims (11)

[Claims] (1) In a signal reflection type communication device comprising a transmitting means for transmitting a signal; a reflecting means for reflecting the signal; and a receiving means for receiving the signal reflected by the reflecting means: The reflecting means: A movably supported signal reflecting member; A drive mechanism that rotationally drives the signal reflecting member; A reception level detection means that detects the reception level of the receiving means; Attitude information that sets attitude information of the signal reflection member according to the reception level A signal reflection type communication device comprising: setting means; and drive energizing means for energizing the drive source means of the drive mechanism according to attitude information. (2) The attitude information setting means sequentially updates and sets the attitude information of the signal reflecting member, searches for attitude information of the signal reflecting member having a high reception level, and sets the attitude information of the searched signal reflecting member. A signal reflection type communication device according to scope item (1). (3) The attitude information setting means compares the reception level with a predetermined threshold, and sets the attitude information of the signal reflecting member such that the reception level is equal to or higher than the predetermined threshold. Reflective communication device. (4) The attitude information setting means includes a memory means for updating and storing the reception level; the reception level is compared with the reception level stored in the memory means, and the attitude information of the signal reflecting member is sequentially updated and set to obtain a high reception level. A signal reflection type communication device according to claim (2). (5) The attitude information setting means sequentially updates and sets the attitude information of the signal reflecting member a predetermined number of times, searches for attitude information of the signal reflecting member with a high reception level, and detects the signal for which the maximum value of the reception level is obtained in the search. The signal reflection type communication device according to claim 4, wherein posture information of a reflecting member is set. (6) The transmitting means, the reflecting means and the receiving means are spatially separated from each other.
Signal reflection type communication device as described in . (7) The signal reflection type communication device according to claim 6, wherein the attitude information setting means includes an attitude information transmitting means that is disposed close to the receiving means and transmits the attitude information as a radio wave. (8) The signal reflection type communication device according to claim (7), wherein the drive energizing means includes attitude information receiving means for receiving attitude information transmitted as radio waves. (9) The drive mechanism includes an X-direction drive mechanism that rotates the signal reflection member in the X direction, and a Y-direction drive mechanism that rotates the signal reflection member in the Y direction. Signal reflection type communication device as described in . (10) Posture information includes rotational drive information in the X direction and Y
Claim No. 9 consisting of direction rotational drive information
) Signal reflection type communication device described in item 2. (11) The drive biasing means includes X-direction drive biasing means that biases the drive source means of the X-direction drive mechanism in accordance with rotational drive information in the X-direction, and The signal reflection type communication device according to claim 10, comprising a Y-direction drive biasing means for biasing the drive source means of the Y-direction drive mechanism.