JP2509551B2 - Optical beam transmitter / receiver for guiding a moving body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention is directed to automatically moving a moving body such as an automobile or an automated guided vehicle in a factory along a preset guide line. Light for guiding a moving body, which is arranged along a guide line, generates light beams toward a plurality of light reflecting means for reflecting light in an incident direction, and has means for receiving reflected light from the light reflecting means. The present invention relates to a beam transmitting / receiving device.

[Prior art]

An example of this type of light beam transmitting / receiving device is disclosed in Japanese Patent Laid-Open No.
Although a light beam transmission / reception device used in the "automatic steering device for a moving body" disclosed in Japanese Patent Publication No. 15881 is conventionally known, a light beam generated by this conventional light beam transmission / reception device is The light beam itself has a predetermined spread so that the light beam can be optically expanded and the light beam can be irradiated toward a plurality of light reflecting means.

[Problems to be Solved by the Invention]

As described above, in the related art in which the light beam has a spread and is swung around two axes to scan the space, the direction of the guide line and the direction of the spread light beam surface are It is possible to compare, and if it is possible to detect the deviation of the direction of the light beam plane with respect to the direction of the guide line,
The moving body can be conveniently guided because it can be guided in parallel even at a position away from directly below the guiding line.

However, the above-mentioned conventional structure has the following inconveniences and has room for improvement.

As shown in FIG. 1, a light beam transmitting / receiving device (A) mounted on a moving body (V) outputs a light beam (SO) having a predetermined spread toward a corner cube prism (cc) as a light reflecting means. By scanning in the left-right direction around the horizontal axis (X) along the traveling direction and detecting the scanning angle at the time when the reflected light from the corner cube prism (cc) is received, the moving body (V) makes a corner. It was configured to automatically steer to follow a cube prism (cc), that is, a predetermined moving body guiding line. Then, with one scanning of the light beam (SO), there is a possibility that the light receiving state of the reflected light may be one of the following three cases.

 That is, (I) the reflected light cannot be received at all.

(II) Receive the reflected light once.

(III) Receive reflected light multiple times.

Here, when the reflected light of the above (I) cannot be received, it means that the corner cube prism (cc) does not exist within the scanning range of the light beam (SO) as long as the operation of the device is normal. This means that automatic steering control cannot be performed in this state.

In addition, the above cases (II) and (III) may be as follows.

That is, when only one corner cube prism (cc) exists in the area of the scanning range of the light beam (SO), the number of received reflected light from the corner cube prism (cc) is one. .

Then, when two corner cube prisms (cc) exist in the area of the scanning range of the light beam (SO) and the traveling direction of the moving body (V) is different from the direction of the guide line, Since the difference in the time of receiving the reflected light from the corner cube prism (cc) is clearly discriminated by the difference in scanning angle around the horizontal axis (X), the number of received light is recognized as two.

However, even if there are two corner cube prisms (cc) in the area of the scanning range of the light beam (SO),
When the traveling direction of the moving body (V) is parallel to the direction of the guide line, the difference in the light reception time of the reflected light from each corner cube prism (cc) is taken as the scanning angle around the horizontal axis (X). Since it cannot be recognized as a difference, it is impossible to determine that a plurality of received lights have been received, and the number of received lights is recognized as one.

As described above, in the conventional technology, the case where there is only one corner cube prism (cc) in the scanning range of the light beam (SO) and the case where the plurality of corner cube prisms (cc) simultaneously receive reflected light, that is, move It cannot be distinguished from the case where the body (V) is parallel to the guide line, and it is difficult to perform appropriate automatic steering control in this state.

The present invention has been made in view of the above circumstances,
Its purpose is not to require a large-sized light beam transmission / reception device which requires a large output, and to detect the reflected light from a plurality of light reflection means of the generated light beam separately for each light reflection means. Another object of the present invention is to provide a light beam transmission / reception device for guiding a moving body.

[Means for solving the problem]

The technical means of the present invention taken to achieve the above object is directed to a plurality of light reflecting means arranged along a preset guide line and configured to reflect light in the incident direction. A light source for emitting and receiving a light beam, and a light guide device for guiding a moving body, comprising a means for receiving the reflected light from the light reflecting means, and a light source for generating a spot-like light beam, and the light beam is rotationally scanned. A second light beam scanning device for rotating and scanning the light beam around a vertical axis centering in a direction orthogonal to the traveling direction of the moving body. A first light beam scanning means for rotationally scanning a light beam around a horizontal axis that intersects the vertical axis, and a light around a predetermined axis that intersects both of these axis. For rotating and scanning the beam In combination with the third light beam scanning means, the light beam is configured to be rotatable and scannable about each of the three directional axis centers as swing centers, and both the horizontal axis and the vertical axis axis. Scanning the light beam with the predetermined axis that intersects with respect to the swing center as a swing center
The light beam scanning means repeatedly scans the spot-shaped light beam over the entire predetermined angle range with the predetermined axis as the swing center, and the repetitive scanning speed is set to the horizontal direction and the vertical direction. Is set to be sufficiently higher than the rotational scanning speed of the light beam around the two axis cores, to form a virtual light beam surface having a spread corresponding to the predetermined angle range. Second scanning angle detecting means for detecting a scanning angle of the second light beam scanning means around the vertical axis at the time of receiving the reflected light, and scanning angle of the first light beam scanning means around the horizontal axis. And a third scanning angle detecting means for detecting a scanning angle of the spot-shaped light beam around the predetermined axis, and a third scanning angle detecting means for detecting the scanning angle around the predetermined axis. Freely change the beam irradiation range A beam irradiation range changing device is provided, and a control command based on a detection signal from each of the scanning angle detecting means is output to the beam irradiation range changing device to form an irradiation range formed by the first to third light beam scanning means. The irradiation range control means for changing and adjusting the irradiation range of the beam is provided so that the light beam of (1) enters a plurality of light reflecting means.

[Action]

The effect of taking the above technical means is as follows.

That is, a light beam scan capable of rotating and scanning a light beam around both axial cores of a vertical axis perpendicular to the traveling direction of the moving body and a horizontal axis intersecting the vertical axis. In the device, the irradiation range of the light beam is not pre-irradiated with a predetermined divergence angle so as to irradiate a plurality of light reflecting means, but is irradiated with a range much smaller than the predetermined divergence angle range. By scanning the spot-like light beam, which is to be used, at a high speed over the predetermined spread angle range, an irradiation function for a wide range substantially equivalent to a light beam having a predetermined spread similar to the conventional one. It is possible to form a virtual light beam surface having

Therefore, while the virtual light beam surface can be used to irradiate a plurality of light reflecting means that are similar to the light beam having the predetermined spread, the light beam that is actually irradiated is a spot-like one. Also, since the scanning angle during high-speed repetitive scanning of the spot-shaped light beam in the virtual light beam plane can be detected, even when the traveling direction of the moving body is parallel to the direction of the guide line. In addition, light is not simultaneously received from a plurality of light reflecting means. This makes it possible to determine the light-receiving direction no matter how many times the light is received during one scan, and to prevent a plurality of reflected lights from being mistaken as one signal.

〔The invention's effect〕

 The following effects can be obtained from the above configuration.

The direction of the guide line can be compared with the direction of the divergent light beam surface so that the moving body can be guided in parallel even at a position away from directly below the guide line, but the light with a predetermined spread Since it is possible to avoid simultaneous reception of the reflected light from a plurality of light reflecting means within the irradiation range of the light beam, which is inevitable in the conventional configuration using the beam, it is possible to avoid all light beams within the irradiation range of the light beam. When the reflected light from the light reflecting means is received individually, and when a plurality of reflected light from the light reflecting means is detected, the deviation between the direction of the guide line and the direction of the light beam surface is determined based on the detected light. The moving direction of the moving body can be accurately controlled.

Moreover, the light generated by the light source is not emitted in a state where it is widely spread over a wide range using a lens for spreading, and the light beam itself is a spot-shaped light beam. Moreover, since the irradiation is performed at a high speed and the scanning angle is detected, it is also advantageous in that there is no inconvenience that the intensity of the light beam is weakened by the spread over a wide range.

〔Example〕

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

<Overall Configuration of Device> As shown in FIG. 2 to FIG.
A laser generator (2) as a light source for generating a spot-shaped parallel light beam (SO) and a light beam scanning device (A) capable of rotating and scanning the light beam (SO) are provided. .

The laser generator (2) as the light source is provided inside a cylindrical member (1) which is rotatably and rotatably supported by a motor (M1) around the horizontal axis (X). The cylindrical member (1) is generated by a generator (2) and converted into a spot-shaped parallel light beam (SO) of a predetermined size by a lens (3) and then by the beam scanner (4).
Irradiation is performed from a slit (5) provided on the peripheral surface of the.

The cylindrical member (1) is moved by the motor (M1) around the horizontal axis (X) with respect to the moving body (V),
Further, it is rotatably supported by a motor (M2) around the vertical axis (Y) so that the scanning direction of the light beam (SO) emitted from the slit (5) can be changed. I am doing it.

The light beam scanning device (A) rotationally scans the light beam (SO) around a vertical axis (Y) in a direction orthogonal to the traveling direction of the moving body (V). A motor (M2) as a second light beam scanning means for rotating the cylindrical member (1) and a light beam (X) around a horizontal axis (X) intersecting the vertical axis (Y). A motor (M1) as a first light beam scanning means for rotationally operating the cylindrical member (1) so as to rotationally scan SO), and both axial cores (Y), (X) thereof. In combination with a beam scanner (4) as third light beam scanning means for rotationally scanning a light beam (SO) around a predetermined axis (Z) intersecting with each other, the above-mentioned three-direction axis is provided. (X),
The light beam (SO) is configured to be rotatable and scannable about each of (Y) and (Z) as a swing center.

The beam scanner (4) is configured to polarize the irradiation direction of the parallel light beam (SO) at high speed in proportion to a change in the input signal from the driver (6),
Any material such as a galvanometer capable of mechanically changing the light reflection direction or electromagnetically polarized light may be used as long as it can be polarized at a high speed within a predetermined angle (φ) range. The beam scanner (4) drive signal from the driver (6) is detected by the control device (B), and the position of the irradiation light from the beam scanner (4) at the time of receiving the drive command from the driver (6) is determined. It is configured for detection.

That is, the repetitive scanning speed of the spot-shaped parallel light beam (SO) by the beam scanner (4) is set to the light beam (SO) around both the horizontal and vertical axial centers (X) and (Y). Is set to be sufficiently higher than the rotational scanning speed of the virtual light beam surface (S) having a spread corresponding to the predetermined angle (φ) range. The third scanning angle (θs) position of the light beam (SO) itself within the beam surface (S) can be detected by using the drive signal of the beam scanner (4) from the driver (6) as a detection signal. Configured.

Further, the laser emitter (2), the lens (3), and the beam scanner (4) pass through the polarization scanning center (a) of the parallel light beam (SO) inside the cylindrical member (1). It is mounted on a support frame (7) rotatably supported around an axis (Z), and the entire support frame (7) is moved by a motor (M3) as a beam irradiation range changing device. The direction of generation of the light beam (SO) can be changed by rotating around the axis (Z). The change of the beam irradiation range by the motor (M3) is performed based on a command from the control device (B) as the beam irradiation range control means.
Further, the cylindrical member (1) is
A motor (M2) is rotatably supported around a vertical axis (Y) in a direction orthogonal to the traveling direction and a rotational axis (X) by the motor (M1), and the moving body (V )
The light beam (SO) is configured to be capable of changing the direction of the repetitive scanning direction at high speed.

<Explanation of Function and Operation> In the following, the light beam transmitting / receiving apparatus having the above-mentioned configuration is provided with a plurality of corner cube prisms (cc) so as to automatically move the moving body (V) along the guide line (L). The light beam (SO) is generated toward the moving body (SO) based on the reflected light reception result by the light receivers (8), (8) as reflected light receiving means provided in the vicinity of the slit (5). The case of application to the control device (B) for automatically steering the moving direction of V) will be described.

As shown in FIG. 5, the control device (B) outputs signals of encoders (EC1), (EC2), (EC3) for detecting the rotation angles of the motors (M1), (M2), (M3). , Receiver (8),
Each signal of the received light signal from (8) and the scanning signal of the driver (6) of the beam scanner (4) is input, and each encoder (EC1 at the time of receiving the reflected light by the light receivers (8), (8) ), (EC2), (EC3), and the driver (6) signals are used to automatically correct the direction of the moving body (V) with respect to the corner cube prism (cc) and the traveling direction of the steering motor ( It is configured to drive M4).

Reference numeral (ROM) in the drawing is a memory in which a control program is stored in advance, and (RAM) is various counters (C) and registers (θx, θy, θF, θx1, θx2, θ) necessary for actual control.
s1, θs2) etc. is a memory for temporarily storing various detection information and control parameters, and (cpu) is a microcomputer constituting a main part of the control device (B).

Then, as shown in FIGS. 6 to 8, the moving body (V)
Directly above, that is, the vertical axis (Y) direction of the light beam scanning device (A), the reference angle of the encoder (EC1) for detecting the first scanning angle (θx) around the horizontal axis (X). And

On the other hand, the encoder (EC2) forms a virtual line segment (L ') parallel to the guide line (L) composed of the line segments connecting the plurality of corner cube prisms (cc) ... As shown in FIG. As a reference, the second scanning angle (θy), which is a deviation angle between the virtual line segment (L ′) and the straight traveling direction (b) of the moving body (V) around the vertical axis (Y), is detected. To do.

It should be noted that the area (e
1) shows the scanning range of the light beam (SO) when the horizontal axis (X) is aligned with the moving direction (b) of the moving body (V), and is shown by a two-dot chain line. The area (e2) indicated by a line is a scanning range of the light beam (SO) when the horizontal axis (X) is along an imaginary line segment (L ') parallel to the guide line (L). Is shown.

And, the vertical axis (Y) and the horizontal axis (X)
The third scanning angle (θs) around the predetermined axis (Z) intersecting with is detected by the drive signal of the beam scanner (4) from the driver (6). The third scanning angle (θs) is a signal corresponding to the detection rotation angles (θs1) and (θs2) on both sides of the light beam (SO) in the light beam scanning direction from the reference vertical axis (Y). Is detected.

The received light signals from the photodetectors (8) and (8) are input to an OR gate (G1) as shown in FIG. 5, and the output of this OR gate (G1) is input to the encoder ( EC
1), AND gate (G2) to which signals from (EC2) are input
2) and (G3) are connected to the other input, and this AND gate (G
2), from (G3), the first and the lateral directions and the traveling direction with respect to the guide line (L) of the moving body (V) at the time of receiving reflected light.
The second scanning angles (θx) and (θy) are output to the microcomputer (cpu).

The received light signals from the light receivers (8) and (8) are
The signal corresponding to the scanning angle of the beam scanner (4) from the driver (6) is also transmitted to the AND gate (G4) connected to one input, and the scanning corresponding to the light beam generation direction at the time of receiving the reflected light. It is configured to output the angle (θs) to a microcomputer (cpu).

Regarding the procedure for automatic steering control of a moving body (V) equipped with the light beam transmitting / receiving device having the above-mentioned configuration along a traveling direction along a guide line (L) composed of a plurality of corner cube prisms (cc) explain.

In the actual work, first, the moving body (V) is guided by a guide line (L) composed of a plurality of corner cube prisms (cc)
It is common to start the vehicle by moving it along the direction of travel and locating in the vicinity thereof, but in order to make it easier to understand the function of the device of the present invention, the direction of travel (b) of the moving body (V) is set to the guide line ( As an example, a case of starting in a state that is significantly different from L) will be described.

In this example, since none of the corner cube prisms (cc) are present in the area (e) at the start point, which is set as the range in which the moving body (V) scans the light beam, the moving body (V) is moved. The body (V) moves forward while maintaining the steering angle at the start.

While the moving body (V) is moving, the motor (M1) is driven while the light beam (SO) is scanned at high speed by the beam scanner (4) over a predetermined angle (φ) in the front-back direction with respect to the moving direction. By alternately operating forward and reverse, the light beam (SO) is scanned around the axis (X), that is, in the lateral direction with respect to the moving body (V), and the reflected light from a plurality of corner cube prisms (cc) is received. The above operation is repeated until.

Go forward for a while and move each corner cube prism (c
Even if one of the corner cube prisms (cc) in (c) is captured in the area (e), the direction of the guide line (L) cannot be identified at this point, so the moving body (V) moves forward as it is. To do.

When further moving forward and two corner cube prisms (cc) are captured in the area (e), the moving body (V) is moved from the positions of the two corner cube prisms (cc).
After identifying the direction of the guide line (L) with respect to the guide line (L), the traveling direction of the moving body (V) is automatically steered so as to follow the guide line (L) while changing the direction of the area (e). That is, when the reflected light from the two corner cubes (cc) is received, the guide line (L) is generated based on the reflected light from the two corner cube prisms (cc).
Is detected, the second scanning angle (θy) corresponding to the deviation of the direction of the moving body (V) with respect to the guide line (L) is detected, and based on the detection result of the second scanning angle (θy). If necessary, the steering motor (M4) is driven to automatically correct the moving direction of the moving body (V) so as to follow the guide line (L).

That is, the respective positions of the two corner cube prisms (cc) are detected by the encoder (EC1) with an angular difference around the horizontal axis (X), and include the straight traveling direction (b) of the moving body (V). Since the angle of each corner cube prism (cc) position with respect to the vertical plane can be known, the vertical axis of the cylindrical member (1) is set to the direction in which the angle difference at the time of receiving light from both corner cube prisms (cc) is reduced. The motor (M2) is driven by a motor (M2) around Y) and the angle difference becomes zero, that is, the virtual line segment (L ') parallel to the guide line (L) is determined. Is stopped, and the amount of movement of the cylindrical member (1) around the vertical axis (Y) at this time is detected by the encoder (EC2), and this is recognized as the second scanning angle (θy).

Then, when the direction of the moving body (V) starts to change again due to some factor, if a plurality of corner cube prisms (cc) are captured in the area (e), the moving body (V The direction of V) is corrected. In addition, if only one corner cube prism (cc) is captured in the area (e), the steering angle is maintained as it is, and the corner cube prism is moved forward, and a plurality of corner cube prisms are arranged in the area (e). When (cc) is captured, automatic steering control is performed as described above.

Next, when it is detected that the moving direction of the moving body (V) is along the guide line (L), the encoder (EC
Based on the signal of 1), the first scanning angle (around the horizontal axis (X) from the vertical axis (Y) of the light beam scanning device (A) right above the moving body (V)). θx) is detected. That is, when the moving direction of the moving body (V) is along the guide line (L), the positional deviation between the moving body (V) and the guiding line (L) is detected, and the amount of the deviation is equal to or more than a predetermined value. , The steering motor (M4) is driven so that the moving body (V) approaches the guide line (L).

Then, as shown in FIG. 6, when the scanning angles (θs1) and (θs2) at the time of receiving the reflected light from the two corner cube prisms (cc1) and (cc2) are detected, the scanning angles (θs1 ), (Θs2) is checked, and if the difference is greater than or equal to a predetermined angle (Δθs), the operation of the motor (M1) is stopped, and it is determined whether the difference has occurred on the positive or negative side. Operate the motor (M3) in forward or reverse direction,
Light is received by the two corner cube prisms (cc1) and (cc2) at the same scan angle (θs), that is, within a predetermined angle (φ) corresponding to the scan angle range of the light beam (SO) generated by the light beam transmitter / receiver. Light beam scanning device (A) so that two corner cube prisms (cc1) and (cc2) can be inserted
Controls the irradiation direction of the light beam (SO).

The difference between the detection scan angles (θs1) and (θs2) is a predetermined angle (Δ
When it becomes smaller than θs), the motor (M3) is stopped, and from the output of the encoder (EC3) at this time, a predetermined angle (φ) range corresponding to the scanning angle range of the beam with respect to the vertical axis (Y) and the vertical line. The deviation angle (θF) with respect to the center line (a) is detected, and this deviation angle (θF) is properly adjusted according to the progress of the machine.

The shift angle (θF) is used to detect the respective scan angles (θs1) and (θs2) at the time when the reflected light from the two corner cube prisms (cc1) and (cc2) is received. In other words, two corner cube prisms (cc
Only by receiving the reflected light from 1) and (cc2), it is possible to determine only the angle of the sum of the scanning angles (θs1) and (θs2), but the vertical line (Y) and the deviation angle (θF) from it can be determined. Therefore, each of the scanning angles (θs1) and (θs2) can be identified.

That is, in the shift angle (θF), as shown in the example shown in FIG. 6, the center line (a) of the predetermined angle (φ) corresponding to the beam scanning angle range is the vertical axis (Y). In the same predetermined angle (φ1) range, the shift angle (θF) is zero. However, when the predetermined angle (φ) of the beam with respect to the moving body (V) is kept in this state, as the moving body (V) advances, the detected rotation angle (θs1) at the rear side becomes the detected rotation angle (θs2) at the front side. ), The corner cube prism (cc1) on the rear side comes out of the predetermined angle (φ) range corresponding to the scanning angle range of the beam.

Therefore, as described above, as the moving body (V) advances, the two corner cube prisms (cc1) and (cc2) are placed within a predetermined angle (φ) range corresponding to one scanning angle range. As described above, the motor (M3) is normally or reversely operated to change the irradiation direction of the light beam (SO) generated by the light beam scanning device (A). For that purpose, the center line of a predetermined angle (φ) is changed. The position of (a) is changed to a state where a predetermined angle difference with respect to the vertical axis (Y), that is, the deviation angle (θF) is generated. As a result, the center line (a) of the predetermined angle (φ2) of the beam whose irradiation direction has been changed causes an angle difference between the center line (a) and the vertical axis (Y), and the deviation angle (θF) adjusted as shown in the figure. ) Is a moving body (V)
The light beam (SO) is generated so that the angle difference between the front detected rotation angle (θs2) and the rear detected rotation angle (θs1) is reduced. The irradiation direction of is controlled.

<Description of Flowchart> The operation of the control device described above will be described based on the flowcharts shown in FIGS. 9 and 10. In this control device, as the means for controlling the steering of the moving body (V), a device similar to the known technique disclosed in the above-mentioned JP-A-59-15881 has been proposed by the inventor of the present application. You can use it.

First, in step 1-0 of FIG. 9, the beam scanner (4) scans the spot-like light beam (SO) at high speed over a predetermined angle (φ) in the front-rear direction in the traveling direction of the moving body (V). Drive the driver (6) as described above, and is formed by repetitive scanning of the spot-shaped parallel light beam (SO) around the horizontal axis (X), that is, in the lateral direction with respect to the moving body (V). The motor (M1) is alternately operated in the forward and reverse directions so as to swing and scan the virtual light beam surface (S) having a spread corresponding to the predetermined angle (φ) range.

Then, in step 1-1 of FIG. 9, the light receiving device detects the presence or absence of the reflected light from the corner cube prisms (cc1) and (cc2), and determines whether or not there are a plurality of them. When no reflected light is detected or only one reflected light is detected, the steering operation is not performed.

Next, when a plurality of reflected lights from the corner cube prisms (cc1) and (cc2) are detected, step 1 in FIG. 9 is performed.
-2, the direction of the guide line (L) is determined from the directions of the plurality of reflected lights, and the motor (M2) is operated so as to follow the direction of the guide line (L).

Then, in step 1-3 of FIG. 9, it is determined whether or not the second scanning angle (θy) is detected. This second scanning angle (θy) is, as shown in FIG. 7, relative to an imaginary line segment (L ′) parallel to the guide line (L) connecting the corner cube prisms (cc1) and (cc2). Moving body (V)
Is the angle formed by the straight traveling direction (b).

In step 1-3, the output θy from the AND gate (G3) to which the value of the encoder (EC2) that detects the operation amount of the motor (M2) is input is read and stored in the RAM.

Next, in step 2, it is determined whether or not the detected second scanning angle (θy) is 0. If θy is not 0, go to step 3.

In step 3, the steering motor (M4) steers the moving body (V) based on θy. In the steering in step 3, for example, the steering motor (M4) is normally or reversely rotated depending on whether the y is positive or negative.
Further, the turning angle of the steering motor (M4) is controlled according to the magnitude of θy. Next, in step 4, the θy register is cleared. Then, the operations from step 1 onward are repeated.

When the moving direction of the moving body (V) becomes parallel to the line segment connecting the corner cube prisms (cc1) and (cc2) by the steering in step 3, θy becomes 0. That is determined in step 2.

In step 5, θx is detected. This θx is the opening angle of the reflected light from the corner cube prism (cc1) (or (cc2)) with respect to the reference angle of the rotary encoder (EC1). In the operation of step 3, since the straight traveling direction of the moving body (V) is already parallel to the line segment connecting the corner cube prisms (cc1) and (cc2), the reflected light of the corner cube prism (cc1) is The opening angle is equal to the opening angle of the reflected light from the corner cube prism (cc2).

Next, in step 6, it is judged whether or not the difference between θx and θE is equal to or less than a predetermined value. If not less than the predetermined value, the operation of step 7 is repeated. When it is determined in step 6 that the difference between θx and θE has become equal to or less than the predetermined value, the angle (θx) stored in the θx register is cleared. In the steering control in steps 5 to 7, the moving body (V) is brought close to the predetermined guide line (L).

In step 7, the detected first scanning angle (θ
x) and the angle (θE) stored as an initial setting value in the θx register in advance, the steering motor (M4) is controlled. That is, in step 7, the steering motor (M4) is controlled so that the difference between θx and θE becomes zero. Therefore, when θE is initially set to 0, the moving body (V) is controlled so as to run directly below the line segment connecting the corner cube prisms (cc). On the other hand, when θE is initially set to a positive or negative value, the moving body (V) moves to each corner cube prism (cc).
It is controlled to run to the lower right or the lower left of the line segment connecting the.

Then, in step 8, θF is set and changed. Details of the subroutine in step 8 are shown in FIG.

In FIG. 10, in step 101, the scanning angles (θs1), () around the predetermined axis (Z) at the time when the reflected light from the two corner cube prisms (cc1), (cc2) is received. θs2) is detected, the scanning angle (θs2
Check the difference between the absolute values of 1) and (θs2). And
If the difference is greater than or equal to the predetermined angle (Δθs), step 102
Proceed to.

In step 102, the operation of the motor (M1) that has been oscillating and scanning the virtual light beam surface (S) around the horizontal axis (X) is stopped, and the process proceeds to step 103.

Each of the scanning angles (θs1) and (θs2) has a positive value on one side and a negative value on the other side with a center line (a) of a predetermined angle (φ) corresponding to the beam scanning angle range as a boundary. A value is set, and in step 103, it is determined whether the sum of both scanning angles (θs1) and (θs2) is a positive value or a negative value.

In step 104, the motor (M3) is controlled to rotate normally when the result of the determination in step 103 is positive, and when it is negative, the motor (M3) is controlled to reverse in step 105. .

By repeating steps 101 to 105,
When the difference between the absolute values in step 101 becomes smaller than the predetermined angle (Δθs), the motor (M3) is stopped in step 106. Then, in step 107, based on the output of the encoder (EC3) at this time, the deviation angle (θF) with respect to the center line (a) of the predetermined angle (φ) range corresponding to the beam scanning angle range with respect to the vertical line is set. To do.

[Brief description of drawings]

FIG. 1 is a drawing for explaining a conventional example of a light beam transmitting / receiving apparatus, and FIGS. 2 to 10 are drawings showing an embodiment of a light beam transmitting / receiving apparatus for guiding a moving body according to the present invention. An overall perspective view of the light beam transmitting / receiving device, FIG. 3 is a longitudinal sectional view thereof, and FIG.
FIG. 5 is a side sectional view, FIG. 5 is a block diagram of a control system, FIGS. 6 to 8 are explanatory views showing the relationship between a light beam (SO) and a guide line (L), FIGS. 9 and 10. Is a flow chart showing the operation of the control device. (A) ... light beam scanning device, (B) ... irradiation range control means, (V) ... moving body, (cc) ... light reflecting means,
(S) ... Virtual light beam surface, (SO) ... Spot light beam, (φ) ... Predetermined angle, (θs), (θx),
(Θy) …… scanning angle, (X) …… horizontal axis,
(Y) ... longitudinal axis, (Z) ... predetermined axis, (2)
...... Light source, (M1) …… First light beam scanning means, (M2) ・ ・ ・
Second light beam scanning means, (4) Third light beam scanning means, (EC1) First scanning angle detecting means, (EC2) Second scanning angle detecting means, (6) 3 scanning angle detection means,
(8) …… Reflected light receiving means, (M3) …… Beam irradiation range changing device.

Front page continuation (72) Inventor Hiroshi Tatsumi 64 Ishizukita-machi, Sakai City Kubota Iron Works Co., Ltd. Sakai Works (56) References JP 59-62917 (JP, A) JP 59-15881 (JP, JP, A) JP-A-58-77605 (JP, A)

Claims (1)

(57) [Claims] 1. A light beam (SO) is emitted toward a plurality of light reflecting means (cc) arranged along a preset guide line and configured to reflect light in an incident direction. A light beam transmitting / receiving device for guiding a moving body, comprising a means (8) for receiving reflected light from the light reflecting means (cc), and a light source (2) for generating a spot-like light beam (SO) When,
And a light beam scanning device (A) capable of rotating and scanning the light beam (SO). The light beam scanning device (A) is arranged in a vertical direction perpendicular to the traveling direction of the moving body (V). A second light beam scanning unit (M2) for rotationally scanning the light beam (SO) around the axis (Y) and a horizontal axis (X) intersecting the vertical axis (Y). First light beam scanning means (M1) for rotationally scanning the light beam (SO), and their both axial cores (Y),
In combination with a third light beam scanning means (4) for rotationally scanning a light beam (SO) around a predetermined axis (Z) intersecting with (X), the axis in the three directions described above. (X),
The light beam (SO) is configured to be rotatable and scannable about the swing centers of (Y) and (Z), respectively, and the horizontal and vertical axes (X) and (Y) are provided. In the third light beam scanning means (4) that scans the light beam (SO) around the predetermined axis (Z) intersecting with each other as the swing center, the predetermined axis (Z) is used as the swing center. Spot-shaped light beam (SO) over the entire predetermined angle (φ) range
And the repetitive scanning speed is set to be sufficiently higher than the rotational scanning speed of the light beam (SO) around both the horizontal and vertical axis (X) and (Y). By doing so, the virtual light beam surface (S) having a spread corresponding to the predetermined angle (φ) range is formed, and further, the vertical axis (Y) around the time when the reflected light is received. Second scanning angle detecting means (EC2) for detecting the scanning angle (θy) of the second light beam scanning means (M2) and the first light beam scanning means (M1) around the horizontal axis (X). ) Scanning angle detection means (EC1) for detecting the scanning angle (θx)
And a third scanning angle detecting means (6) for detecting a scanning angle (θs) of the spot-shaped light beam (SO) around the predetermined axis (Z), and the predetermined axis A beam irradiation range changing device (M3) which can freely change the beam irradiation range around the (Z) axis is provided, and the scanning angle detecting means (EC1), (EC2), ( 6) outputs a control command based on the detection signal to output the first to third light beam scanning means (M
1, M2, 4) is provided with irradiation range control means (B) for changing and adjusting the beam irradiation range so that the light beam (SO) in the irradiation range enters a plurality of light reflecting means (cc). A light beam transmission / reception device for guiding a moving body, which is characterized in that: