JPH098743A - Light receiving device for optical guidance system - Google Patents
Light receiving device for optical guidance systemInfo
- Publication number
- JPH098743A JPH098743A JP7155054A JP15505495A JPH098743A JP H098743 A JPH098743 A JP H098743A JP 7155054 A JP7155054 A JP 7155054A JP 15505495 A JP15505495 A JP 15505495A JP H098743 A JPH098743 A JP H098743A
- Authority
- JP
- Japan
- Prior art keywords
- light
- light receiving
- receiving elements
- guided
- receiving device
- 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.)
- Pending
Links
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- Light Receiving Elements (AREA)
- Optical Communication System (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、光誘導により、搬送台
車などの移動ロボット装置を誘導する光誘導システムに
おける受光装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a light receiving device in a light guiding system for guiding a mobile robot device such as a carrier by light guiding.
【０００２】[0002]
【従来の技術】一般に、移動ロボット装置、例えば搬送
台車を、無人で誘導および走行制御を行う誘導システム
においては、レーザ光線、赤外線などの光線を用いた光
通信（光誘導）が利用されている。2. Description of the Related Art Generally, a mobile robot apparatus, for example, a guidance system for unmanned guidance and traveling control of a carrier truck uses optical communication (light guidance) using light rays such as laser rays and infrared rays. .
【０００３】従来、この種の搬送台車には、旋回台に載
置されて光線を受光する受光素子と、この受光素子から
の受光信号を入力して、搬送台車の走行を制御するため
の制御信号を検出する走行制御装置と、同じく受光信号
を入力して、常に、受光素子が誘導用の光線方向に向く
ように、旋回台を駆動するサーボモータを制御する方向
制御装置とが設けられている。Conventionally, in this type of carriage, a light-receiving element mounted on a swivel and receiving a light beam, and a light-receiving signal from the light-receiving element are input to control the traveling of the carriage. A traveling control device for detecting a signal and a direction control device for controlling a servo motor for driving a swivel so that a light receiving element is always input and a light receiving element is always directed in a guiding light beam direction are provided. There is.
【０００４】そして、この誘導システムにおいて、搬送
台車の進行方向（姿勢）は、上記受光素子の受光面の方
向であると認識されていた。In this guiding system, it has been recognized that the traveling direction (posture) of the carriage is the direction of the light receiving surface of the light receiving element.
【０００５】[0005]
【発明が解決しようとする課題】上記従来の誘導システ
ムによると、搬送台車の進行方向が、受光素子の受光面
の方向、すなわちサーボモータによる旋回台の回転角度
とされており、したがって旋回台の回転角度の指示が出
た後、旋回台が駆動されるまでに時間を要するため、旋
回台が回転した時と、その時の搬送台車の方向との間に
はずれが生じており、その応答が遅く、したがって緻密
な方向制御を行うことが難しいという問題があった。According to the above-mentioned conventional guidance system, the traveling direction of the carriage is set to the direction of the light receiving surface of the light receiving element, that is, the rotation angle of the swivel base by the servo motor. Since it takes time for the swivel to be driven after the rotation angle is instructed, there is a gap between when the swivel is rotated and the direction of the transport carriage at that time, and the response is slow. Therefore, there is a problem that it is difficult to perform precise direction control.
【０００６】そこで、本発明は上記問題を解消し得る光
誘導システムにおける受光装置を提供することを目的と
する。Therefore, an object of the present invention is to provide a light receiving device in a light guiding system which can solve the above problems.
【０００７】[0007]
【課題を解決するための手段】上記課題を解決するた
め、本発明の光誘導システムにおける受光装置は、光線
により被誘導体を所定の経路に沿って誘導する光誘導シ
ステムにおける上記被誘導体に設けられる受光装置であ
って、上記被誘導体に複数個の受光素子を同一円周上で
かつ等間隔置きで配置するとともに、これら各受光素子
に、その受光範囲角度を所定角度に絞るためのカバー体
を設け、かつこれら各受光素子により、受光した受光素
子を特定するための信号処理装置を設けたものである。In order to solve the above problems, the light receiving device in the light guiding system of the present invention is provided in the light guiding system for guiding the guided object along a predetermined path with a light beam. In the light-receiving device, a plurality of light-receiving elements are arranged on the dielectric member on the same circumference at equal intervals, and a cover body for narrowing the light-receiving range angle to a predetermined angle is provided for each of these light-receiving elements. In addition, a signal processing device for identifying the light receiving element that receives light is provided by each of these light receiving elements.
【０００８】また、この受光装置において、受光素子の
配置個数および配置位置を、隣接する受光素子同士の受
光範囲角度が一部重なるように、かつ中央部においては
互いに受光範囲が重ならないようにしたものである。Further, in this light receiving device, the number of light receiving elements and the positions of light receiving elements are set so that the light receiving range angles of adjacent light receiving elements partially overlap each other and the light receiving ranges do not overlap each other in the central portion. It is a thing.
【０００９】[0009]
【作用】上記の構成によると、誘導光を検出する受光素
子を円周上にかつ等間隔置きに複数個配置したので、誘
導光を電気的信号として検出することができるととも
に、信号処理装置にて、誘導光の方向を、瞬時に判断す
ることができる。According to the above construction, since the plurality of light receiving elements for detecting the guided light are arranged on the circumference at equal intervals, the guided light can be detected as an electrical signal and the signal processing device can be provided. Thus, the direction of the guided light can be instantly determined.
【００１０】[0010]
【実施例】以下、本発明の一実施例の光誘導システムに
おける受光装置を、図１〜図６に基づき説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A light receiving device in a light guiding system according to an embodiment of the present invention will be described below with reference to FIGS.
【００１１】図１において、１は被誘導体である搬送台
車で、誘導光発射装置２から発射される誘導光（例え
ば、赤外線、レーザ光線などが使用される）Ａにより、
所定の経路に沿って誘導されるものである。In FIG. 1, reference numeral 1 denotes a carrier truck which is a guided object, and is guided by a guide light (for example, infrared rays, a laser beam or the like) A emitted from a guide light emitting device 2
It is guided along a predetermined route.
【００１２】そして、この搬送台車１には、上記誘導光
発射装置２から発射される誘導光Ａを受光して、その発
射方向を検出することにより、搬送台車１の方向（姿
勢）を検出する受光装置３が具備されている。Then, the guided vehicle 1 receives the guided light A emitted from the guided light emitting device 2 and detects the emitting direction thereof, thereby detecting the direction (posture) of the carried vehicle 1. A light receiving device 3 is provided.
【００１３】この受光装置３は、図２〜図４に示すよう
に、搬送台車１の所定の基台１１上に、同一円周上で等
間隔置きにそれぞれ配置されかつそれぞれ受光素子１２
を有する複数個例えば８個の受光器１３と、これら各受
光器１３で受光された受光信号を入力するとともに、そ
の受光した受光素子１２を検出し、かつこの検出した受
光素子１２の位置から、誘導光発射装置２の方向を検出
する信号処理装置１４とから構成されている。As shown in FIGS. 2 to 4, the light receiving devices 3 are arranged on a predetermined base 11 of the carriage 1 at equal intervals on the same circumference, and each light receiving element 12 is arranged.
A plurality of, for example, eight photodetectors 13 having the following, and the photodetection signals received by the photodetectors 13 are input, the photodetector 12 that has received the photodetector 13 is detected, and from the position of the detected photodetector 12, The signal processing device 14 detects the direction of the guided light emitting device 2.
【００１４】なお、この受光素子１２により検出された
信号には、搬送台車１の走行を制御するための制御信号
も一緒に含まれており、この制御信号も信号処理装置１
４にて検出され、そしてその搬送台車１の駆動部（図示
せず）に出力されて、搬送台車１の走行が制御される。
勿論、誘導光Ａに含まれている走行用の制御信号を、別
の処理装置に取り出すようにしてもよい。The signal detected by the light receiving element 12 also includes a control signal for controlling the traveling of the carrier vehicle 1. This control signal is also included in the signal processing device 1.
4 is detected and output to a drive unit (not shown) of the carrier vehicle 1 to control the traveling of the carrier vehicle 1.
Of course, the traveling control signal included in the guide light A may be taken out to another processing device.
【００１５】また、上記受光素子１２には、図４に示す
ように、その受光範囲角度（指向角）θW を所定角度に
絞るための筒状のカバー体１５が設けられており、また
図２に示すように、互いに隣接する受光素子１２におけ
る受光範囲が重なる重複受光範囲角度θN も所定角度に
設定される。Further, as shown in FIG. 4, the light receiving element 12 is provided with a cylindrical cover body 15 for narrowing the light receiving range angle (directivity angle) θ W to a predetermined angle. As shown in FIG. 2, the overlapping light receiving range angle θ N at which the light receiving ranges of the light receiving elements 12 adjacent to each other overlap is also set to a predetermined angle.
【００１６】さらに、各受光素子１２の受光範囲角度θ
W の中央部の所定範囲については、隣接する受光素子１
２における受光範囲角度θW が、互いに重ならないよう
にされている。Further, the light receiving range angle θ of each light receiving element 12
For the specified area in the center of W , the adjacent light receiving element 1
The light receiving range angles θ W in 2 do not overlap each other.
【００１７】各受光素子１２(0) 〜１２(7) における受
光範囲角度θW ，θN の全体を図５に示し、また各受光
範囲角度θWn，θNnの具体的数値を図６に示す。上記構
成において、例えば図１および図５に示すように、誘導
光発射装置２から搬送台車１に誘導光Ａが発射されて、
例えば両受光素子１２(0) ，１２(1) により受光される
と、θW0とθW1との重なる範囲θN1内で検出される。す
なわち、第０番目の受光素子１２(0) と第１番目の受光
素子１２(1) との両方にて検出されるため、誘導光Ａが
θN1の方向から来たと信号処理装置１４にて判断がなさ
れる。FIG. 5 shows the entire light receiving range angles θ W and θ N in each of the light receiving elements 12 (0) to 12 (7), and FIG. 6 shows specific numerical values of the respective light receiving range angles θ Wn and θ Nn . Show. In the above configuration, as shown in FIG. 1 and FIG. 5, for example, the guide light A is emitted from the guide light emitting device 2 to the carrier vehicle 1,
For example, when light is received by both light receiving elements 12 (0) and 12 (1), it is detected within a range θ N1 where θ W0 and θ W1 overlap. That is, since it is detected by both the 0th light receiving element 12 (0) and the 1st light receiving element 12 (1), the signal processing device 14 determines that the guided light A has come from the direction of θ N1 . Judgment is made.
【００１８】また、誘導光Ａが図５の波線にて示す方向
から来た場合には、第２番目の受光素子１２(1) だけで
受光されるため、誘導光ＡがθW1から両側のθN1とθN2
とを除いたその中間方向から来たことが、信号処理装置
１４により判断される。Further, the induction light A when coming from the direction indicated by broken line in FIG. 5, to be received by only the second light receiving element 12 (1), inducing light A from theta W1 sides of θ N1 and θ N2
It is determined by the signal processing device 14 that the signal comes from the intermediate direction except for and.
【００１９】このように、誘導光Ａの方向が電気的信号
として信号処理装置１４により検出されるとともにその
方向についても瞬時に検出され、しかも従来のように、
誘導光Ａを検出するために、受光器などを追従回転させ
る必要がなく、したがって搬送台車１における方向制御
を、素早くかつ正確に行うことができる。As described above, the direction of the guided light A is detected as an electric signal by the signal processing device 14 and the direction is also instantaneously detected.
In order to detect the guide light A, it is not necessary to rotate the light receiver or the like so that the directional control of the carrier 1 can be performed quickly and accurately.
【００２０】また、搬送台車の方向すなわち姿勢角を検
出する装置として、複数個の受光素子および信号処理装
置だけで構成することができるので、安価であるととも
に、小型・軽量化を図ることができ、さらに検出精度の
劣化および校正などを行う必要もない。Further, since the device for detecting the direction of the carrier vehicle, that is, the posture angle, can be composed of only a plurality of light receiving elements and the signal processing device, it is inexpensive and can be made compact and lightweight. Moreover, it is not necessary to perform deterioration of detection accuracy and calibration.
【００２１】なお、上記実施例においては、受光素子を
８個設けたものを説明したが、勿論、８個に限定される
ものではなく、誘導制御の精度に応じて、その配置個数
の増減を行うことができ、またカバー体により、誘導光
の受光範囲角度θW ，θN を自由に調節することができ
る。In the above embodiment, the case where the eight light receiving elements are provided has been described, but the number of light receiving elements is not limited to eight, and the number of the light receiving elements may be increased or decreased depending on the accuracy of the guidance control. Moreover, the light receiving range angles θ W and θ N of the guided light can be freely adjusted by the cover body.
【００２２】また、上記実施例においては、移動ロボッ
ト装置として搬送台車について説明したが、例えば移動
するロボット装置の軌道制御にも適用することができ、
制御の高速化を図ることができる。Further, in the above-mentioned embodiment, the carrier cart is explained as the mobile robot device, but it can be applied to the trajectory control of the moving robot device, for example.
It is possible to speed up the control.
【００２３】[0023]
【発明の効果】以上のように本発明の構成によると、誘
導光を検出する受光素子を円周上にかつ等間隔置きに複
数個配置したので、誘導光を電気的信号として瞬時に検
出することができ、しかも従来のように、誘導光を検出
するために、受光器などを追従回転させる必要がなく、
したがって被誘導体における方向制御を、素早くかつ正
確に行うことができる。As described above, according to the configuration of the present invention, since a plurality of light receiving elements for detecting guided light are arranged on the circumference at equal intervals, the guided light is instantly detected as an electric signal. In addition, it is not necessary to rotate the light receiver and the like to detect the guided light as in the conventional case,
Therefore, the direction control in the derivative can be performed quickly and accurately.
【図１】本発明の一実施例の光誘導システムの全体構成
を示す平面図である。FIG. 1 is a plan view showing the overall configuration of a light guiding system according to an embodiment of the present invention.
【図２】同実施例における受光装置の要部平面図であ
る。FIG. 2 is a plan view of a main part of a light receiving device in the example.
【図３】同実施例における受光装置の要部側面図であ
る。FIG. 3 is a side view of a main part of the light receiving device in the example.
【図４】同実施例における受光器の断面図である。FIG. 4 is a cross-sectional view of a light receiver in the example.
【図５】同実施例の受光装置における受光素子の受光可
能範囲を示す平面図である。FIG. 5 is a plan view showing a light receiving range of a light receiving element in the light receiving device of the embodiment.
【図６】同実施例における受光素子の受光可能範囲の具
体的数値を示す図表である。FIG. 6 is a table showing specific numerical values of the light receiving range of the light receiving element in the embodiment.
１ 搬送台車 ２ 誘導光発射装置 ３ 受光装置 １２ 受光素子 １３ 受光器 １４ 信号処理装置 １５ カバー体 DESCRIPTION OF SYMBOLS 1 Transport vehicle 2 Guided light emitting device 3 Light receiving device 12 Light receiving element 13 Light receiving device 14 Signal processing device 15 Cover body
Claims (2)
誘導する光誘導システムにおける上記被誘導体に設けら
れる受光装置であって、上記被誘導体に複数個の受光素
子を同一円周上でかつ等間隔置きで配置するとともに、
これら各受光素子に、その受光範囲角度を所定角度に絞
るためのカバー体を設け、かつこれら各受光素子によ
り、受光した受光素子を特定するための信号処理装置を
設けたことを特徴とする光誘導システムにおける受光装
置。1. A light receiving device provided on the guided object in a light guiding system for guiding the guided object along a predetermined path by a light beam, wherein the guided object has a plurality of light receiving elements on the same circumference. While arranging them at equal intervals,
Each of these light receiving elements is provided with a cover body for narrowing the light receiving range angle to a predetermined angle, and a signal processing device for specifying the received light receiving element by these light receiving elements is provided. Light receiving device in the guidance system.
接する受光素子同士の受光範囲角度が一部重なるよう
に、かつ中央部においては互いに受光範囲が重ならない
ようにしたことを特徴とする請求項１記載の光誘導シス
テムにおける受光装置。2. The number of light-receiving elements and the number of light-receiving elements arranged are such that the light-receiving range angles of adjacent light-receiving elements partially overlap with each other and the light-receiving ranges do not overlap with each other in the central portion. The light receiving device in the light guiding system according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7155054A JPH098743A (en) | 1995-06-22 | 1995-06-22 | Light receiving device for optical guidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7155054A JPH098743A (en) | 1995-06-22 | 1995-06-22 | Light receiving device for optical guidance system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH098743A true JPH098743A (en) | 1997-01-10 |
Family
ID=15597669
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7155054A Pending JPH098743A (en) | 1995-06-22 | 1995-06-22 | Light receiving device for optical guidance system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH098743A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012209747A (en) * | 2011-03-29 | 2012-10-25 | Seiko Epson Corp | Non-contact communication device, communication method, and robot device |
-
1995
- 1995-06-22 JP JP7155054A patent/JPH098743A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012209747A (en) * | 2011-03-29 | 2012-10-25 | Seiko Epson Corp | Non-contact communication device, communication method, and robot device |
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