JPH0814766B2 - Mobile object guidance device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a moving body guiding apparatus, and particularly to a moving body guiding apparatus using light.

[Prior Art] For example, in order to guide an airplane to a predetermined spot (an area where passengers and crew members get on and off) in an airport, it has to be stopped at a predetermined position on a predetermined course. Therefore, for the guidance, it is necessary to prevent the airplane from deviating from the course and surely stop at the predetermined position. Conventionally, there have been the following methods for guiding an airplane.

(1) A staff member guides with a flag signal.

(2) A loop coil is embedded in the apron along the course to detect the position of the front wheels of the airplane. The detection result is displayed on the display board on the wall of the airport building at the back of the spot.

(3) An indicator is installed at a fixed position on the ground so that different patterns can be seen depending on the viewing direction. That is, when a certain fixed position on the ground side is viewed from the pilot, the fact that an angle difference occurs in the line of sight of the pilot depending on the position of the airplane is used.

In addition, as the method shown in (2) above, SAFEGA
"SAFEGA developed by TE AVIATION SYSTEMS INC.
TE DOCKING GUIDANCE SYSTEM "and R ・ L ・ G & Co.
There is a guidance system etc. developed by. In addition, as the method of (3) above, “BURROUGHS OPTICAL LENS DOCKING SYSTE” developed by BURROUGHS CORPORATION
M "and" ZA708 AZIMUTH NOSE-IN GUIDANCE LIGHTS "developed by GENERAL ELECTRIC COMPANY LTD.

[Problems to be Solved by the Invention] In the above method (1), there is a problem that it is troublesome because it depends on human labor, and a staff member must work in the jetting sound, which causes hearing loss. It was

In addition, the above-mentioned method (2) has a problem that the construction cost is high and a lot of scratches are put on the apron, which deteriorates the condition of the road surface.

Further, in the above method (3), there is a problem that the eye height of the pilot has an error due to individual differences and lacks reliability. Furthermore, in the method of (3), the indicator for the course deviation and the indicator for the stop position are provided at positions apart from each other, so the pilot has to look at both indicators alternately, which makes it difficult to control. There was also a problem.

Therefore, an object of the present invention is to provide a device capable of guiding a moving body accurately with a simple and inexpensive structure.

[Means for Solving Problems] A moving body guiding apparatus according to the present invention irradiates a moving body that is moving along a predetermined course on a predetermined plane from a fixed position outside the predetermined plane toward a moving body. By doing so, an optical mark for guiding and guiding is projected on the moving body. This light is a light beam whose cross-sectional shape becomes smaller as it approaches a predetermined position on a predetermined plane, and becomes the smallest at the predetermined position.

[Operation] In the present invention, the position where the light mark is projected on the moving body is displaced as the moving body moves. And
As the moving body approaches the predetermined position, the smallest part of the cross section of the light beam approaches the reference portion on the moving body, and when the moving body reaches the predetermined position, the reference position on the moving body and the light beam The smallest part of the cross section overlaps. Therefore, the light mark acts so as to represent a left-right deviation from the course of the moving body and a deviation between the moving body and the stop position, and enables guidance of the moving body.

[Embodiment] FIG. 1 is a perspective view showing a usage state of an embodiment of the present invention. In the figure, on the apron 1 at the spot, a course 3 on which the airplane 2 should travel is drawn. In addition, the front wheel 5 of the airplane 2 is provided at a predetermined portion of the course 3.
A stop mark 4 is drawn to stop at that position. On the other hand, the mark irradiation means 7, which is a feature of this embodiment, is attached to the wall surface of the airport building 6. A light beam 8 is emitted from the mark irradiation means 7 toward the window of the cockpit of the airplane 2 traveling on the course 3.

FIG. 2 is a perspective view showing an optical mark formed by the light beam 8 emitted from the mark emitting means shown in FIG. In the figure, a light mark 8a is formed on the plane at the height of the cockpit window of the airplane 2, and a light mark 8b is formed on the plane of the apron 1. Because of the straightness of light,
The light marks 8a and 8b naturally have similar shapes. What is required in this embodiment is the optical mark 8a. This light mark 8a
Is projected in the cockpit window. The pilot will know the deviation from the course and the stop position by looking at the projected light mark 8a.

FIG. 3 is an internal configuration diagram showing an example of the mark irradiation means 7 shown in FIG. In the drawing, a motor 72 capable of rotating in both positive and negative directions is housed inside a housing 71. A mirror 74 is attached to the rotary shaft 73 of the motor 72,
Rotate with 73. A laser light source 75 is housed in the housing 71. The light emitted from the laser light source 75 is reflected by the mirror 74.
Is reflected by and is emitted to the outside through the opening 76 of the housing 71. Further, an optical deflector 77 is arranged in the optical path until the light emitted from the laser light source 75 reaches the mirror 74. The light deflector 77 deflects the light emitted from the laser light source 75 along the axial direction of the rotating shaft 73. Therefore, due to the change in the reflection angle due to the rotation of the mirror 74 and the deflection action of the optical deflector 77,
The light beam 8 is emitted in the shape shown in FIG.

FIG. 4 is a perspective view showing another structure of the mark emitting means 7 shown in FIG. In the figure, a light source 75 'emits a plane beam 8c which spreads in a plane at a predetermined opening angle. for that reason,
Inside the light source 75 ', a laser light source and a lens system for spreading the light emitted from the laser light source in a plane are housed. The plane beam 8c is a mirror attached to the rotary shaft 73 of the motor 72.
Reflected by 74. The slit plate 78 is arranged so as to receive this reflected light. The slit plate 78 is provided with a slit 79 having a shape similar to that of the above-described optical mark 8a.
Therefore, the reflected light of the mirror 74 that scans the slit plate 78 is transmitted only through the slit 79 to form the light beam 8 having the shape shown in FIG. If a polygon mirror is used as the mirror 74, the motor 72 may be continuously rotated in one direction.

It is most preferable to use a laser light source having a sharp directivity as the light source used for the mark irradiating means, but other light sources (for example, a xenon tube) may be used.

The light beam 8 produced as described above is applied to the window of the cockpit of the airplane 2, but as it is, it passes through the window glass and no optical mark is projected. Therefore, at the time of guidance, a semitransparent screen, for example, is stretched over the window of the cockpit so that the light mark is projected. However, it is preferable that the semi-transparent screen is stretched while avoiding the window in front of the pilot so as not to obstruct the front view of the pilot. Further, a reference line for representing the course 3 and the stop position is drawn in advance on the semitransparent screen.

FIG. 5 is a diagram showing the relationship between the position of the airplane 2 and the light mark displayed on the cockpit window 2a. Incidentally, in FIG. 5, (a) and (d) correspond to each other, and (b)
And (c) correspond to each other, and (c) and (f) correspond to each other. First, the shift in the front-back direction of the airplane 2 will be described. As shown in FIGS. 5B and 5C, the airplane 2
Is before the predetermined stop position, the cross point 10 of the light mark 8a is located below the horizontal reference line (drawn on the semitransparent screen) 9a. The crosspoint 10 approaches the horizontal reference line 9a as the airplane 2 approaches the predetermined stop position, and when the airplane 2 reaches the predetermined stop position, the crosspoint 10
Coincides with the horizontal reference line 9a.

Next, the lateral shift of the airplane 2 will be described.
As shown in FIGS. 5 (f) and 5 (e), when the airplane 2 is deviated to the right and left with respect to the course 3 as shown in FIGS. 5 (c) and 5 (b), respectively. The light marks 8a are respectively shifted to the left and to the right with respect to the vertical reference line (drawn on the semitransparent screen) 9b. Then, as shown in FIG. 5A, when the airplane 2 is positioned on the course 3, the cross point 10 of the optical mark 8a coincides with the vertical reference line 9b. Therefore, when combined with the above-mentioned front-back direction deviation, when the airplane 2 is present at the predetermined stop position on the course 3, the cross point 10 is the horizontal reference line.
The intersection of 9a and the vertical reference line 9b coincides, and the vertical center of the optical mark 8a coincides with the vertical reference line 9b.

As is clear from the above description, the operator can recognize the deviation in the front-rear and left-right directions of the aircraft 2 and the approximate deviation amount by the deviation of the light mark 8a with respect to the horizontal and vertical reference lines 9a and 9b. Therefore, the pilot can accurately stop the airplane 2 along the course 3 at a predetermined stop position by manipulating the light mark 8a so as not to be displaced from the horizontal and vertical reference lines 9a and 9b.

As can be easily understood from the above description, when the airplane 2 exceeds the predetermined stop position, the cross point 10 of the light mark 8a is located above the horizontal reference line 9a.

In the above embodiment, the light mark was projected on the semitransparent screen stretched over the cockpit window.
A light mark may be displayed on the cockpit dashboard or the like, and in this case, a semitransparent screen is unnecessary. In addition, if the light beam 8 is once reflected by a mirror in the cockpit and projected on a dashboard or the like, the deviation direction of the airplane 2 with respect to the course 3 and the deviation of the optical mark 8a with respect to the horizontal and vertical reference lines 9a and 9b. Since the directions of and are the same, there is no misunderstanding in the recognition of the pilot, which is preferable.

Further, in the above embodiment, the optical mark shown in FIG. 2 is used, but the optical mark may have any shape capable of recognizing the lateral shift and the longitudinal shift of the airplane 2. Other examples of optical marks are shown in FIGS. 6 (a), (b), and (c).

Furthermore, in the above description, the case where the present invention is applied to an airplane traveling in an airport has been described, but the present invention can be applied to any mobile body traveling on the ground or on the floor.

[Advantages of the Invention] As described above, according to the present invention, it is possible to accurately guide and guide a moving body with an extremely simple and inexpensive structure, and it is not necessary to perform construction on the road surface. The condition is also good.

[Brief description of drawings]

FIG. 1 is a perspective view showing a usage state of an embodiment of the present invention. FIG. 2 is a three-dimensional geometrical diagram showing a light mark formed by the light beam 8 emitted from the mark emitting means 7 shown in FIG. FIG. 3 is an internal configuration diagram showing an example of the mark irradiation means 7 shown in FIG. FIG. 4 is a perspective view showing another example of the mark irradiation means 7. FIG. 5 is a diagram showing the relationship between the position of the airplane 2 and the light mark displayed on the window of the cockpit. FIG. 6 is a diagram showing another example of the optical mark. In the figure, 2 is an airplane, 3 is a course, 7 is a mark irradiation means, 8 is a light beam, 8a and 8b are optical marks, 72 is a motor, 73 is a rotation axis, 74 is a mirror, 75 is a laser light source, and 77 is a light beam. The deflector 78 is a slit plate.

Claims (6)

[Claims] 1. A device for guiding a moving body to a predetermined position along a predetermined course on a predetermined plane, the device being provided at a fixed position outside the predetermined plane, and directing light toward the course. The mark irradiation means for irradiating and thereby projecting a light guide light on a moving body moving on the course is provided, wherein the mark irradiation means comprises a light source, and light emitted from the light source in the shape of the mark. And a means for emitting the light beam to the outside, the cross-sectional shape on the predetermined plane of the light beam becomes smaller as it approaches the predetermined position on the course, and becomes the smallest at the predetermined position. The moving body guidance device. 2. The cross-sectional shape of the light beam on the predetermined plane is smaller on both sides of the predetermined position on the course as it approaches the predetermined position. The moving body guiding device described. 3. The moving body guiding apparatus according to claim 1, wherein the light source is a laser light source. 4. The moving body according to any one of claims 1 to 3, wherein a reference line is drawn on the moving body for recognizing the deviation of the light mark. Guidance device. 5. The moving body guiding apparatus according to any one of claims 1 to 4, wherein the moving body is an object traveling in an airport. 6. The moving body guiding apparatus according to claim 5, wherein the moving body is an airplane.