JPS5860272A - Course indicator for moving object - Google Patents

Abstract

PURPOSE:To order a moving object such as aircraft to move along the course as specified by checking to see whether the moving object is moving along two scanning surfaces formed with the scanning of sharply directional signals. CONSTITUTION:If a detector 31 provided on a main wing detects a laser beam 20a scanned vertically at the center of an aircraft 1, a horizontal direction controlling circuit 51 won't works a direction rudder mechanism 61. For example, when a detector 31 on the left main wing detects a laser beam 20a, the horizontal direction controlling circuit 51 works a direction rudder controlling circuit 61 to turn the direction rudder to the left. A detector 32 provided on a vertical tail wing detects a laser beam 20b horizontally scanned. After amplified with an amplifier 42, detection signals are applied to a vertical direction controlling circuit 52 to determined a deviation of the aircraft 1 with respect to the vertical course based on output signals. A lift rudder control mechanism 62 works to lift the aircraft when it is below the level formed by the laser beam 20b.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a route indicating device for a moving object, which generates an instruction signal for moving a moving object such as an airplane that can move horizontally and vertically along a predetermined route. The present invention relates to a route indicating device for a moving object.

For example, it would be very convenient if instructions could be given to aircraft so that they follow a predetermined route.

Therefore, the main objective of the present invention is to provide a novel moving object routing indicator that can meet such requirements.

To summarize the invention, there is provided a device for instructing a moving path of a moving object such as an aircraft capable of moving in a first plane direction and a second plane direction, the device scanning a signal having sharp directivity. 2 corresponding to the first and second surfaces, respectively.
This device forms two scanning planes and is provided with a detection means for detecting whether a moving object is moving along the scanning planes corresponding to the first plane and the second plane.

The above-mentioned objects and other objects and features of the present invention will become apparent from the detailed description given with reference to the drawings.

FIG. 1A and FIG. 1B are illustrations of one embodiment of the present invention.
! FIG. In the figure, a first laser beam generator 2a is provided on the ground for instructing the movement path of the aircraft 1 in the horizontal direction. This laser beam generator 2a scans a laser beam 20a upward from the ground to form a scanning surface. Further, a second laser beam generating device 2b for instructing the vertical movement direction of the aircraft 111 is provided on the ground.

This laser beam generation 1112b sequentially scans a laser beam 20b having a sharp directivity, for example, in the horizontal direction.

Aircraft-1 is provided with detectors (not shown) for detecting the vertically and horizontally scanned laser beams 208, 20b, respectively.

Then, based on these detection outputs, it is determined whether the aircraft 1 is misaligned with respect to the horizontal plane and the vertical plane.

FIGS. 2A and 2B are diagrams showing a pupil for scanning a laser beam.

Referring to FIGS. 2A and 2B, the laser beam generator 1B21 generates a laser beam 20 with sharp directivity. As shown at 281I, the housing 22 includes a motor 23 having a reflecting mirror 24 attached to its rotating shaft. And a laser beam is generated! I21
The laser beam generated at
Laser beam 20a or 20tl shown in iii
A scanning plane is formed by

FIG. 3 is an external perspective view of an aircraft as an example of a moving object. In the figure, the aircraft 1 includes a main 1111 as a horizontal wing, a horizontal tail 1114, and a vertical tail 1113, as shown in FIG. The tailplane 11 is provided with a flap 14, the horizontal stabilizer 12 is provided with an elevator 15, and the vertical stabilizer 13 is provided with a rudder 16. The lower horizontal plane of the main tone 11 is provided with a laser beam 20a that is scanned in the vertical direction.
A detection 1131 is provided for detecting. Note that this detection 1131 may not be provided on the stomach 11 but may be provided on the lower horizontal surface of the horizontal stabilizer 12.

The vertical tail 13 has a laser beam 2 scanned in the horizontal direction.
A detection 132 is provided for detecting 0b. In addition,
For the detectors 1131J5 and 32, solar cells or the like are used, for example.

FIG. 4 is a schematic block diagram of an embodiment of the present invention.

In the figure, the detection signal of the detection 1131 provided in the main tone 11 is amplified to a predetermined level by an amplification [141] and is applied to the horizontal force wWWa path 51.

This horizontal direction control circuit 51 detects! Based on the detection signal of I31, the deviation of the aircraft 1 in the left and right directions in the first park, that is, in the horizontal plane with respect to the route is determined. Then, the horizontal direction control circuit 51 controls the rudder steering mechanism 61 based on the determination result. In addition, the detection signal of the detection 1132 arranged on the vertical tail 13 is amplified by the amplification 11.
42 and amplified. The output signal of the amplification 1142 is given to the vertical inner control eye 1I52. This vertical direction control circuit 52 controls the laser beam 2 scanned in the horizontal direction.
Based on the detection signal 0b, the vertical deviation of the aircraft 1 in the first mountain, that is, in the vertical plane, with respect to the route is determined. Then, the vertical direction control circuit 52 controls the elevator steering mechanism 62 based on the determination result.

Next, the operation will be explained. A detector 31 provided in the main l111 detects a laser beam 2 scanned in the vertical direction.
Detects 0a. If the laser beam 20a is detected at approximately the center of the aircraft 1, the horizontal direction wa@i path 51 does not move the rudder steering mechanism 61. However, for example, the detection 1131 of the left side 11 is detected by the laser beam 2.
If 0a is detected, the horizontal direction -w circuit 51 controls the rudder control circuit 61 to steer the rudder 16 to the left. Conversely, if the detector 31 of the right stomach 11 detects the laser beam 20a, the horizontal direction Ill II i
The J route 51 controls the rudder steering mechanism 61 so that the aircraft 111 is steered to the right by the rudder 16.

Further, the detector 32 provided at the vertical tail 1113 detects the laser beam 20b scanned in the horizontal direction. The detection signal of this detector 32 is amplified by an amplification 1142,
The signal is applied to the vertical direction control circuit 52. Then, the vertical direction W@ path 52 determines the deviation of the aircraft-1 with respect to the vertical path based on the output signal of the amplification 1142, and determines whether it is lower than the second plane, that is, the horizontal plane formed by the laser beam 20b. The elevator steering mechanism 6
2, and controls the elevator steering mechanism 62 to descend if it is above the horizontal plane.

As described above, according to this embodiment, the aircraft 1 as a moving object can be steered not only in the horizontal direction but also in the vertical direction.

In addition, in the above-mentioned embodiment, the steering of the aircraft 1 is controlled in both the horizontal direction and the vertical direction, but the present invention is not limited to this, and only one of them may be controlled.

Furthermore, in the embodiments described above, the laser beams 20a and 20b are scanned in the vertical and horizontal planes. However, without yielding to this, the laser beams 20a, 2
It is also possible to increase each frequency of 0b and scan diagonally upward so that they intersect. The aircraft 1 includes, for example, two laser beams 20a on the lower surface of the main tone 11, each having the above-mentioned frequency.
.

Two sets of detectors capable of detecting 20b may be arranged in parallel.

Figure 11i5A is a diagram showing another example of a laser beam generator that scans a laser beam along the path of the aircraft 1. FIG. 5A shows a device in which a plurality of laser beams are scanned upward from a fixed position on the ground at different frequencies. That is, as shown in the above-mentioned No. 31!1, the main 1111 is provided with the detector 31, but if the moving path of the aircraft-1 deviates significantly from the path scanned by the laser beam 20a, the detector 31 detects the 1131 cannot detect the laser beam 20a. In such a case, if a plurality of laser beams 20a to 2Of are scanned in parallel at different frequencies from the laser beam generator 2c on the ground, any one of the laser beams can be detected even if it deviates from the path. The probability increases. Then, the frequency of the detected laser beam is determined, and I! What is necessary is to determine how much the vehicle has deviated from the road.

No. 5811 uses an embodiment of this invention as a helicopter! FIG. In the figure, a helicopter 9 is provided with a horizontal stabilizer 91 and a vertical stabilizer 92. The horizontal tail 91 is provided with a detection 1193 for detecting the vertically scanned laser beam 20a shown in FIG. 1A described above. Further, the vertical tail 92 is provided with a detection 1194 for detecting the laser beam 20b that is similarly scanned in the horizontal direction. Then, by controlling the pitch of the main rotor 95 and the rotation pitch of the tail 96 based on the detection signals from the detectors 93 and 94, the helicopter 9 can be flown along a predetermined route.

Note that the present invention is not limited to moving objects such as the above-mentioned aircraft 111 and helicopter 9, but can also be applied to flying objects such as missiles.

Figures 68 to 6CI are diagrams showing other embodiments of the present invention. This embodiment is effectively used when, for example, a road is to be cleared by the bulldozer 7. First, referring to FIG. 6A, the bulldozer 7 includes a caterpillar 71 and a blade 73 as a movable member.
The caterpillar 71 runs on the ground and changes the direction of movement in the horizontal direction. The blade 73 is for removing earth and sand, and a hydraulic cylinder 72 as a movable member is provided to control the steering angle of the blade 73 in the vertical direction. Detectors 81 and 82 are provided at the chain portion of the bulldozer 7.

On the other hand, a laser beam 20a is scanned in the vertical direction from the laser beam generator 2o along the movement path of the bulldozer 7 to form a scanning surface, and similarly, a laser beam 20h is scanned in the horizontal direction from the laser beam generator 21. to form a scanning plane. The laser beam 20o scanned in the vertical direction is detected by the detector 181, and the laser beam 20h scanned in the horizontal direction is detected by the detector 1182.

FIG. 7 is a schematic block diagram of a route indicating device mounted on the bulldozer 7. In the figure, the detection signal of detection -81 is given to amplifier 1143 and amplified. Amplification lI43
The output signal is given to the horizontal direction control circuit 53. Horizontal direction control circuit 53 detects! Based on the detection signal of 181, the caterpillar drive mechanism 63 is set to w4Ill. This caterpillar drive mechanism 63 is for controlling the zero rotation of the left and right caterpillars 71, 71. Further, the detection signal of the detector 82 is applied to an amplifier 144 and amplified. The output signal of the amplifier 44 is then applied to a vertical direction control circuit 54. The vertical W* circuit 54 controls the hydraulic cylinder drive mechanism 64 based on the detection signal from the detector 82 . This hydraulic cylinder drive mechanism 64 is for driving the hydraulic cylinder 72 to control the rotation angle of the vertical hook of the blade 73.

Next, the operation will be explained. Among the plurality of detectors 81 arranged in the horizontal direction, the central detector receives the laser beam 2.
When 0g is detected, the horizontal direction control circuit 53 does not control the caterpillar drive mechanism 63. However, the detector 81
When the left and right detectors detect the laser beam 20Q, the horizontal direction control circuit 53 controls the caterpillar drive mechanism 63.

That is, when the right detector detects the laser beam 20o, the horizontal direction @wa path 53 is moved by the caterpillar drive mechanism 63.
Then, the bulldozer 7 is steered to the right by stopping the right side pivot 915 from rotating 10 times and turning the left caterpillar 71 once, by making a difference between the rotations of the left and right caterpillars, or by controlling the direction of rotation. Conversely, when the left detector detects the laser beam 20g, the horizontal WWa path 53 controls the caterpillar drive mechanism 63 to steer the bulldozer 7 to the right.

Further, when the central detector of the vertically arranged detectors 82 detects the laser beam 20h, the vertical direction control circuit 54 controls the hydraulic cylinder drive mechanism 64 to adjust the angle of the blade 73 in the vertical direction. Hold at a certain angle. However, for example, when the upper detector of the detector 182 detects the laser beam 20h, the vertical direction! 111
The 11 circuit 54 determines that the blade 73 has removed too much earth and sand, and drives the hydraulic cylinder 72 to control the angle of the blade 73 so that it faces upward. Conversely, when the lower detector detects the laser beam 20h, the vertical control circuit 54 changes the angle m- so that the blade 73 faces downward.

As described above, according to this embodiment, when leveling a road or the like, by scanning the laser beams 20a and 20h along the road to be graded, the laser beams 20a and 20h can be scanned along a predetermined path to create a predetermined path. It is possible to grade roads with great precision.

Furthermore, in this embodiment, since the laser beams 20Q and 20h are scanned on the vertical and horizontal surfaces,
When a plurality of bulldozers 7 level a road along a route, each bulldozer 7 can detect the laser beams 20Q, 20h without being obstructed by other bulldozers.

In addition, in the above-mentioned embodiment, the detection 1 is installed at the rear of the bulldozer 7.
81.82. However, bulldozer 7
Detectors similar to the detectors 81 and 82 may also be provided at the front of the vehicle. Then, based on detection signals from the front and rear detectors, deviations of the bulldozer 7 from the route in the horizontal and vertical movement directions may be determined.

Further, in the above-described embodiment, the present invention is applied to a bulldozer, but it may also be applied to a crane truck as a moving object.

In other words, the steering angle of the crane arm is tlIJI!
It is also possible to scan the laser beam so as to

FIG. 8 is a diagram for explaining a laser beam generator according to another embodiment of the present invention, and FIG. 9 is a diagram showing a reflection mirror drive section included in another embodiment of the present invention. 1
011 is the same (schematic block diagram of laser beam generation @ stomach).

In the embodiment shown in FIG.
01 is scanned. For this purpose, the reflection mirror drive unit 25 is configured to be able to drive the reflection mirror 24 in the X-axis direction and the Y-axis direction as shown in 9th @l. That is, the reflecting mirror 24 is held by the pointing member 251 so as to be rotatable in the X-axis direction and the Y-axis direction. The reflecting mirror 24 is rotatably driven in the X-axis direction by the X-wheel moving part 252, and rotatably driven in the Y-axis direction by the Y-axis moving part 253.

Referring to FIG. 10, operation 1126 is performed by
The reflecting mirror 24 is rotated by a predetermined angle in the X-axis direction and the Y-axis direction by manually operating the Y-wheel moving part 253. When the reflecting mirror 24 is manually rotated in the X-axis direction and the Y-axis direction by the operation unit 26, the X-wheel data and Y-axis data at that time are provided to the memory 27. The operation section 26 is provided with a changeover switch for switching between manual and automatic mode, and when switched to automatic mode, manual control of the reflection mirror drive section 25 is prohibited and the readout circuit 28 is activated. Readout circuit 2
Reference numeral 8 reads out the X data and Y data stored in the memory 27 and supplies the read data to the reflection mirror driving section 25. When the reflection mirror drive section 25 receives the X-axis data and Y-wheel data from the readout circuit 28, the X-axis movement section 252 moves the reflection mirror 24 by a predetermined angle (b) around the X-wheel, and The reflecting mirror 24 is moved by a predetermined angle around the Y-axis by the shaft driving section 253.

Next, the operation will be explained. First, as shown in FIG. 8, a line is drawn in advance along an arbitrary route.

Then, by operating the operation unit 26, the reflection mirror drive unit 2
Control 5. The X-axis data and Y-axis data at this time are stored in the memory 27.

This operation is repeated to teach a plurality of points on the route 200, and the X-axis data and Y-axis data at each point are stored in the memory 27.

When the X-axis data and Y-axis data at each point on the route 200 are stored in the memory 27, the operating section 26 is automatically switched to -. Then, the readout circuit 28 reads out the X-axis data and Y-axis data at each point from the memory 27 and provides the readout data to the reflection mirror drive unit 25.

Since the reflection mirror drive unit 25 is given the X-axis data and the Y-axis data, based on the respective data,
The X-axis moving section 252 and the Y-wheel moving section 253 control the respective angles of the reflecting mirror 24 about the X-axis and Y-axis. Therefore, the reflective mirror 24 is
The laser beam generated by the laser beam generator 21 is sequentially reflected by the reflecting mirror 24 onto the path 200 based on the X-axis data and Y-axis data read from the laser beam generator 21 .

Therefore, according to this embodiment, the route is not limited to just one line or a simple curve, but even a complex curve can be drawn with ease, and the direction in which a bulldozer, etc. should move according to this route can be easily drawn. can give instructions.

In the above-mentioned embodiments, the laser beam is scanned, and the ν laser beam is detected on a moving object. It is also possible to scan to form a scanning plane and thereby specify the movement wm.

In any of the above embodiments, after detecting the laser beam, the horizontal control circuit or the vertical control circuit 11
The horizontal and vertical i! of a moving object by the circuit! [Although one direction of movement on the surface is automatically controlled, the invention is not limited to this, and the system may be configured to detect the laser beam and display the direction in which it should move on a display, or to make a sound. Good too.

As described above, according to the present invention, the first signal having sharp directivity is scanned to form the scanning plane III, and the second signal having also sharp directivity is scanned to cross the first scanning plane. The moving object is scanned to form a second scanning plane, and in the case of a moving object, the first scanning signal forming the first scanning plane and the second scanning signal forming the second scanning plane are detected. Since it is determined whether a moving object is moving along the path defined by the first surface and the second surface based on the detection signal of the can be given instructions to move along a defined route.

[BRIEF DESCRIPTION OF THE DRAWINGS] FIGS. 1A and 1B show [1!
Explain! This is an illustrative diagram for understanding. Figures 2A and 28
@l is a diagram showing WtwI scanning a laser beam. FIG. 3 is an outside perspective view of an aircraft as an example of a moving object. Figure 4 shows Mtl! It is a schematic 10-step diagram of the instruction 17N-. Figures 5A and 5
FIG. B is a diagram for explaining another embodiment of the present invention. FIG. 6A, FIG. 6B, and FIG. 6C are diagrams for explaining the principle of another embodiment of the present invention. FIG. 7 is a schematic block diagram of a route indicating device that can be mounted on a bulldozer as a moving object. FIG. 8 is a diagram for explaining another embodiment of the present invention. FIG. 9 is a diagram showing a reflection mirror drive section. FIG. 10 is a schematic block diagram of an apparatus for scanning a laser beam along an arbitrary path. In the figure, 1 is an aircraft, 15 is an elevator, 16 is a rudder, 2.2a to 21 are laser beam generators, 21 is a laser beam generator, 24 is a reflecting mirror, 31.32.
81, 82, 93, 94 are detectors, 41 to 44 are amplifiers, 51.53 is a horizontal direction control circuit, 52.54 is a vertical direction -3110 circuit, 61 is a rudder control circuit, 62 is a lowering rudder control circuit, 63 is a caterpillar control circuit, 64 is a hydraulic cylinder control circuit, 7 is a bulldozer, 71 is a caterpillar, 72 is a hydraulic cylinder, and 73 is a blade. Me IA Figure 1B ■ Sword 1 \ 1 '', Figure 2A Figure 5 8th Figure 4

Claims (11)

[Claims] (1) A moving object route indicating device for instructing a moving object a path related to a ring where a first surface intersects with a second surface where the first surface intersects. , a signal generation means for generating first and second signals having sharp directivity, a first scanning surface corresponding to the first surface by scanning the first signal generated from the signal generation means; 11 forming
scanning means; a second scanning means for scanning a second signal generated from the signal generating means to form a second scanning direction corresponding to the second surface; provided on the moving object; a scanning signal detection means 1111 for detecting a first scanning signal forming the first scanning direction; a scanning signal detection means, and the moving object is provided with a scanning signal along a path defined by the first surface and the second surface based on the detection signals of the first and second scanning signal detection means. and a determining means for determining whether or not the moving object is moving.
A device for directing the path of moving objects. (2) The determining means includes a first unit that determines the displacement of the moving object with respect to the first surface based on the detection signal of the first scanning signal detecting means.
and a second device for determining a displacement of the moving object with respect to the second surface based on a detection signal of the second scanning signal detection means.
A moving object route instruction *W according to claim III, claim 1, further comprising a displacement determining means. (3) The first surface is a horizontal surface or a surface close to a horizontal surface, and the second surface is a vertical surface or a surface close to a vertical surface, and the moving object is located within the horizontal surface and within the vertical surface described in #I. The flying object is a flying object capable of moving: a horizontal direction control means for controlling the moving direction in the horizontal plane based on the output of the deviation determining means of 11!1; 3. The moving object route indicating device according to claim 2, further comprising vertical direction w4Ip means for determining the moving direction in the vertical plane by -w1j based on the output of the discriminating means. (4) The flying object is an aircraft including a horizontal wing and a vertical wing, and the horizontal direction control means includes a vertical wing control means for controlling the vertical wing based on the output of the first deviation determining means. , wherein the vertical direction 111J means includes a horizontal direction control means for controlling the horizontal opening based on the output of the second shift determining means. . (5) The moving object includes a movable member that can move along the first surface, and includes movable member control means for controlling the movable member roughly based on the output of the first deviation determining means. , patent claim I
The route indicating device for a moving object according to item 2 of i8. (6) The path of the moving object according to claim 2, wherein the moving object includes a steering means for controlling the direction of movement within the second park based on the output of the second deviation determining means. Instructions @w. (7) Furthermore, based on the isi and the output of the second discrimination means, it is determined that the moving object is the I! 3. A route indicating device for a moving object according to claim 2, further comprising display means for displaying direction indicating information for moving with a reduced deviation from a road. (8) Further, the apparatus further includes a sounding means for producing audible direction instruction information for the moving object to move with a reduced deviation with respect to the route, based on the outputs of the first and twelfth deviation determining means. A moving object route indicating device according to claim 2. (9) The signal generating means includes means for generating the sharply directional signal as an optical signal.
2. The moving object route indicating device according to claim 1. (10) The path indicating side L of a moving object according to claim 9, wherein the means for generating the optical signal includes means for generating a laser beam. (11) The route instruction for a moving object according to claim 1, wherein the signal generating means includes means for generating the sharply directional signal using ultrasonic waves.