JPH0327049B2 - - Google Patents
Info
- Publication number
- JPH0327049B2 JPH0327049B2 JP59099145A JP9914584A JPH0327049B2 JP H0327049 B2 JPH0327049 B2 JP H0327049B2 JP 59099145 A JP59099145 A JP 59099145A JP 9914584 A JP9914584 A JP 9914584A JP H0327049 B2 JPH0327049 B2 JP H0327049B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- beam light
- scanning device
- light scanning
- scanning
- 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.)
- Expired - Lifetime
Links
- 238000001514 detection method Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C15/00—Surveying instruments or accessories not provided for in groups G01C1/00 - G01C13/00
- G01C15/002—Active optical surveying means
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices By Optical Means (AREA)
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明は、移動体の移動軌跡のガイド手段等と
して用いられるビーム状の光を発生するとともに
その照射方向を変更自在に構成されたビーム光走
査装置を備えている移動体の自動走行装置に関す
る。[Detailed Description of the Invention] [Industrial Application Field] The present invention is directed to a light beam that generates a beam of light used as a means for guiding the locus of movement of a moving body, and is configured such that the irradiation direction of the light can be changed freely. The present invention relates to an automatic traveling device for a mobile body equipped with a scanning device.
従来、上記この種の移動体の自動走行装置は単
一のビーム光走査装置を移動体に装備し、この単
一のビーム光走査装置を走査して障害物を検出し
て、障害物との干渉を避け乍ら自動走行するもの
であつた。（例えば特開昭57−108777号公報）
〔発明が解決しようとする課題〕
しかしながら、上記従来構成のものにあつて
は、単一のビーム光走査装置である為に、移動途
中で目標やビーム光を見失う場合があり、また、
位置検出等の場合は複数の基準点に対する角度や
距離を測定する必要があるが、測定中に対象が移
動するため１つのビーム光では各基準点に対する
測定結果に誤差を生じるという不都合があつた。
Conventionally, this type of automatic traveling device for a moving body has been equipped with a single beam light scanning device on the moving body, and this single beam light scanning device scans to detect obstacles. It was designed to run automatically while avoiding interference. (For example, Japanese Patent Application Laid-Open No. 57-108777) [Problem to be Solved by the Invention] However, since the conventional configuration described above is a single beam light scanning device, the target or beam You may lose sight of the light, and
In cases such as position detection, it is necessary to measure angles and distances with respect to multiple reference points, but since the target moves during measurement, a single beam of light causes errors in the measurement results for each reference point. .
本発明は、上記実情に鑑みてなされたものであ
つて、その目的は、複数の目標に対して同時にビ
ーム光を反射可能な手段を備え、移動体を正確・
迅速に走行させることができる移動体の自動走行
装置を提供することにある。 The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide means capable of simultaneously reflecting beam light to a plurality of targets, and to accurately and accurately target a moving object.
An object of the present invention is to provide an automatic traveling device for a moving body that can be made to travel quickly.
本発明による特徴構成は各固定基準点毎に設け
られてある光反射手段各々に対して、１対１の対
応を持つてビーム光を発射する複数のビーム光走
査装置を移動体に装備し、このビーム光走査装置
に、光源より発射されたビーム光を上下方向所定
範囲に亘つて走査するビーム光走査手段を備える
とともに、前記複数のビーム光走査装置を縦軸芯
周りで各々独立して回動駆動する回動手段を、前
記ビーム光走査装置毎に装備している点にあり、
その作用・効果は次の通りである。
The characteristic configuration according to the present invention is that a moving body is equipped with a plurality of beam light scanning devices that emit light beams in one-to-one correspondence to each of the light reflecting means provided for each fixed reference point, The beam light scanning device is provided with a beam light scanning means for scanning the beam light emitted from the light source over a predetermined range in the vertical direction, and the plurality of beam light scanning devices are each independently rotated around the vertical axis. Each of the beam light scanning devices is equipped with a dynamically driven rotation means,
Its actions and effects are as follows.
各ビーム光走査装置は対応する光反射手段に向
けてビーム光を反射し、そのビーム光を上下及び
縦軸芯周りに走査して、ひかり反射手段を追尾す
る。
Each beam light scanning device reflects a light beam toward a corresponding light reflection means, scans the light beam vertically and around the vertical axis, and tracks the light reflection means.
したがつて、複数個のビーム光走査装置が、
各々、光反射手段を同時に追尾するので、移動体
の移動に伴う検出誤差を従来に比して小さなもの
にできる。又、目標としての光反射手段・ビーム
光を見失うことも少なくなる。
Therefore, a plurality of beam light scanning devices,
Since each of the light reflecting means is tracked simultaneously, the detection error caused by the movement of the moving object can be made smaller than in the past. Furthermore, it is less likely that the light reflecting means or beam light will be lost as a target.
以下、本発明の実施例を図面に基づいて説明す
る。
Embodiments of the present invention will be described below based on the drawings.
第１図に示すように、光源としてのレーザ発光
器１より発生されたビーム光Ｓを、ミラー２によ
つて発射方向を上方に変え、ガルバメータ等のビ
ーム光走査手段としてのスキヤン装置３により上
下方向に走査するとともに、目標や基準点に設け
たコーナーキユープ等の光反射手段ccによつて反
射された前記ビーム光Ｓの反射光を集光レンズ４
を介して受光する受光器５を支持フレーム６に設
けて、もつて、１つのビーム光走査装置Ａを構成
してある。 As shown in FIG. 1, a light beam S generated by a laser emitter 1 as a light source is directed upward by a mirror 2, and is moved upward and downward by a scan device 3 as a beam light scanning means such as a galvanometer. The light beam S is scanned in the direction and reflected by a light reflecting means cc such as a corner cup provided at a target or a reference point.
A light receiver 5 that receives light through the support frame 6 is provided on the support frame 6, thereby configuring one beam light scanning device A.
更に、前記構成になる３つのビーム光走査装置
A1，A2，A3を、夫々、同一軸芯Ｙ周りに回動自
在に軸支してあり、回動手段としてのモータＭに
よつて、夫々のビーム光走査装置Ａの水平方向の
ビーム光Ｓ発射方向を相対的に変更自在に構成し
てある。 Furthermore, three beam light scanning devices having the above configuration are provided.
A 1 , A 2 , and A 3 are each rotatably supported around the same axis Y, and the horizontal direction of each beam light scanning device A is controlled by a motor M serving as a rotation means. The direction in which the beam light S is emitted is configured to be relatively changeable.
以下、上記構成になるビーム光走査装置Ａを用
いて、移動体を誘導する手段について説明する。 Hereinafter, means for guiding a moving object using the beam light scanning device A having the above-mentioned configuration will be explained.
即ち、第２図に示すように、ビーム光走査装置
Ａを移動体に搭載するとともに基準方向Ｆに対し
て予め既知の３つの固定基準点毎に光反射手段cc
を夫々配置する。 That is, as shown in FIG. 2, the beam light scanning device A is mounted on a moving body, and the light reflecting means cc is mounted at each of three fixed reference points known in advance with respect to the reference direction F.
Place them respectively.
そして、前記ビーム光走査装置Ａより各光反射
手段ccに向けて各１つのビーム光Ｓを発射すると
ともに受光器５によりその反射光を受光した時点
の前記軸筒Ｙ周りの基準方向Ｆに対するずれ角を
検出し、その検出角度θ1，θ2，θ3に基いて移動方
向が前記基準方向Ｆに一致するように、すなわ
ち、常時各ビーム光走査装置A1，A2，A3が対応
する光反射手段ccからの反射光を受光するよう
に、操舵するのである。 Then, the deviation from the reference direction F around the shaft tube Y at the time when the beam light scanning device A emits one beam S toward each light reflecting means cc and the reflected light is received by the light receiver 5. The angle is detected, and based on the detected angles θ 1 , θ 2 , θ 3 , the moving direction matches the reference direction F, that is, each beam light scanning device A 1 , A 2 , A 3 always corresponds. The vehicle is steered so as to receive the reflected light from the light reflecting means cc.
つまり、第３図のフローチヤートにも示すよう
に、各モータＭを正回転させて、各受光器５が反
射光を受光したかどうかをチエツクし、反射光を
受光した時点における各モータＭの回動角θ′1，
θ′2，θ′3より、下記（）〜（）式に基いて前
記基準方向Ｆに対する受光角θ1，θ2，θ3を算出
し、この受光角θ1，θ2，θ3に基いて三角測量の原
理により現在位置や移動方向を検出するのであ
る。 That is, as shown in the flowchart of FIG. 3, each motor M is rotated in the forward direction, and it is checked whether each light receiver 5 has received reflected light. Rotation angle θ′ 1 ,
From θ′ 2 and θ′ 3 , the light receiving angles θ 1 , θ 2 , θ 3 with respect to the reference direction F are calculated based on the following formulas () to (), and the light receiving angles θ 1 , θ 2 , θ 3 are Based on this, the current position and direction of movement are detected using the principle of triangulation.
θ1＝θ′1 ………（）
θ2＝θ′2＋θ′1 ………（）
θ3＝θ′3＋θ′2＋θ′1 ………（）
尚、上記（）〜（）式に示すように、各モ
ータＭの回動角θ′1，θ′2，θ′3と反射光受光角θ1
，
θ2，θ3が一致しないのは、上述したように、各ビ
ーム光走査装置A1，A2，A3は夫々下側にあるビ
ーム光走査装置に対して相対的に回動操作される
ためである。 θ 1 = θ′ 1 ………() θ 2 = θ′ 2 +θ′ 1 ………() θ 3 = θ′ 3 +θ′ 2 +θ′ 1 ………() In addition, the above () to () As shown in the formula, the rotation angles θ′ 1 , θ′ 2 , θ′ 3 of each motor M and the reflected light receiving angle θ 1
，
The reason why θ 2 and θ 3 do not match is that, as mentioned above, each beam light scanning device A 1 , A 2 , A 3 is rotated relative to the beam light scanning device located below. It's for a reason.
以下、本発明の別実施例を図面に基いて説明す
る。
Hereinafter, another embodiment of the present invention will be described based on the drawings.
本実施例は、第４図および第５図に示すよう
に、前記第１図に示した各ビーム光走査装置A1，
A2，A3を夫々相対的に軸芯Ｙ周りに回動操作す
るのではなく、取付枠７に対して、夫々独立して
回動操作すべく、軸芯Ｙに対する各ビーム光走査
装置A1，A2，A3の支持軸８ａ，８ｂ，８ｃを同
軸構造に構成してある。 In this embodiment, as shown in FIGS. 4 and 5, each beam light scanning device A 1 ,
Rather than rotating A 2 and A 3 relative to each other around the axis Y, each beam light scanning device A is rotated with respect to the axis Y in order to rotate each of them independently with respect to the mounting frame 7. The support shafts 8a, 8b, and 8c of 1 , A2 , and A3 are constructed in a coaxial structure.
次に、更に別の実施例を第６図イ，ロに基いて
説明する。 Next, still another embodiment will be described based on FIGS. 6A and 6B.
本実施例は、前記第１〜第５図に示した各実施
例では３つのビーム光走査装置A1，A2，A3より
発生されるビーム光Ｓは夫々独立して設けた３つ
の光源１より発生されるように構成してあつたの
に対して、１つの光源１を用いて、同時に異なる
方向へ３つのビーム光Ｓを発生させるべく構成し
てあることを特徴とするものである。 In this embodiment, in each of the embodiments shown in FIGS. 1 to 5, the beam light S generated from the three beam light scanning devices A 1 , A 2 , and A 3 is transmitted from three light sources provided independently. The present invention is characterized in that it is configured to simultaneously generate three beams of light S in different directions using one light source 1. .
即ち、取付枠７上に光源としてのレーザ発光器
１を固着し、ミラー２によつて軸芯Ｙの中心上を
上方に向かつてビーム光Ｓが発射されるべく向き
を変えるとともに、ハーフミラー２′によつて
夫々各ビーム光走査装置A2，A3のスキヤン装置
３に光を分岐すべく構成してある。 That is, a laser emitter 1 as a light source is fixed on a mounting frame 7, and a mirror 2 changes the direction of the beam S to be emitted upward on the center of the axis Y, and a half mirror 2 ', the light is branched to the scanning devices 3 of the beam light scanning devices A 2 and A 3 , respectively.
尚、最上段に設けたビーム光走査装置A1は光
を分岐する必要がないため、直接スキヤン装置３
にビーム光Ｓを入射すべく構成してある。 In addition, since the beam light scanning device A 1 installed at the top stage does not need to split the light, it can be directly connected to the scanning device 3.
The beam S is configured to be incident on the beam S.
そして、前記各実施例同様にモータＭによつて
軸芯Ｙ周りに各ビーム光走査装置A1，A2，A3を
回動操作して、３つのビーム光Ｓの発射方向を変
更するのである。 Then, as in each of the embodiments described above, the beam light scanning devices A 1 , A 2 , A 3 are rotated around the axis Y by the motor M to change the emission direction of the three light beams S. be.
尚、第１図〜第６図イ，ロ中、９，１０，１１
はモータＭの回転を支持軸８ａ，８ｂ，８ｃに伝
達するためのギアである。 In addition, Figures 1 to 6 A, B, middle, 9, 10, 11
are gears for transmitting the rotation of the motor M to the support shafts 8a, 8b, and 8c.
図面は本発明に係る移動体の自動走行装置の実
施例を示し、第１図は全体構成を示す一部切欠き
側面図、第２図は移動体を誘導する手段の説明
図、第３図はその角度検出手段のフローチヤー
ト、第４図は別実施例の構成を示す一部切欠き全
体側面図、第５図は回動手段の構成を示す平面
図、そして、第６図イ，ロは更に別実施例の構成
を示す一部切欠き側面図である。
１……光源、３……ビーム光走査手段、Ａ……
ビーム光走査装置、CC……光反射手段、Ｍ……
回動手段、Ｓ……ビーム光、Ｙ……縦軸芯。
The drawings show an embodiment of the automatic traveling device for a moving body according to the present invention, in which FIG. 1 is a partially cutaway side view showing the overall configuration, FIG. 2 is an explanatory diagram of means for guiding the moving body, and FIG. 3 4 is a partially cutaway overall side view showing the structure of another embodiment, FIG. 5 is a plan view showing the structure of the rotating means, and FIGS. FIG. 7 is a partially cutaway side view showing the configuration of yet another embodiment. 1... Light source, 3... Beam light scanning means, A...
Beam light scanning device, CC...light reflecting means, M...
Rotating means, S...beam light, Y...vertical axis center.
Claims (1)
cc各々に対して、１対１の対応を持つてビーム光
を発射する複数のビーム光走査装置Ａを移動体に
装備し、このビーム光走査装置Ａに、光源１より
発射されたビーム光Ｓを上下方向所定範囲に亘つ
て走査するビーム光走査手段３を備えるととも
に、前記複数のビーム光走査装置Ａを縦軸芯周り
で各々独立して回動駆動する回動手段Ｍを、前記
ビーム光走査装置Ａ毎に装備している移動体の自
動走行装置。1 Light reflecting means provided at each fixed reference point
A moving body is equipped with a plurality of beam light scanning devices A that emit beam light with a one-to-one correspondence to each cc, and the beam light S emitted from the light source 1 is sent to the beam light scanning device A. The beam light scanning means 3 is provided for scanning the beam light over a predetermined range in the vertical direction, and the rotation means M for rotating the plurality of beam light scanning devices A independently around the vertical axis is provided. An automatic traveling device for mobile objects that is installed in each scanning device A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9914584A JPS60242313A (en) | 1984-05-16 | 1984-05-16 | Beam light scanning device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP9914584A JPS60242313A (en) | 1984-05-16 | 1984-05-16 | Beam light scanning device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS60242313A JPS60242313A (en) | 1985-12-02 |
| JPH0327049B2 true JPH0327049B2 (en) | 1991-04-12 |
Family
ID=14239528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP9914584A Granted JPS60242313A (en) | 1984-05-16 | 1984-05-16 | Beam light scanning device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS60242313A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4159153B2 (en) * | 1998-12-03 | 2008-10-01 | 株式会社トプコン | Rotating laser device and light receiving device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57108777A (en) * | 1980-12-26 | 1982-07-06 | Toshiba Corp | Position detector |
| JPS5830525A (en) * | 1981-08-18 | 1983-02-23 | Nippon Seiko Kk | Dynamically pressurized fluid bearing device |
-
1984
- 1984-05-16 JP JP9914584A patent/JPS60242313A/en active Granted
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57108777A (en) * | 1980-12-26 | 1982-07-06 | Toshiba Corp | Position detector |
| JPS5830525A (en) * | 1981-08-18 | 1983-02-23 | Nippon Seiko Kk | Dynamically pressurized fluid bearing device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPS60242313A (en) | 1985-12-02 |
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