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JPS62282307

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DESCRIPTION JPS62282307
[0001]
3. Detailed description of the invention (industrial application field) The present invention is
directed to automatically direct a predetermined object to a remote movable body by using a
wave beam having directivity such as light or sound wave. Automatic orientation control device.
2. Description of the Related Art Conventionally, there has been known an apparatus
configuration in which a stationary device such as a display or a speaker is mounted on a
rotating table and directed in any direction. Generally, such a turntable is manual, and the user
can use his / her hand to turn the device directly left, right, up and down to adjust in the desired
orientation. In addition, it is also considered to adjust the orientation of the device by remote
control using a remote control. In such a device, the remote control transmitter is provided with
keys for instructing the left, right, up and down directions, the remote control signal
corresponding to the keys is decoded and the rotation means is deciphered. For example, when
the "left" key of the remote control transmitter is pressed, the turntable rotates to the left, and
when the "down" key is pressed, the turntable rotates downward. (Problems to be solved by the
invention) In the above-mentioned manual rotation table, the user has to be at or to the side of
the device for each adjustment, and the device is rotated by one's own hand. There is the
inconvenience of having to In addition, although remote control is possible and remote control is
possible and the user does not need to use his own hand, in order to direct the device to that
according to the movement of the user, he has to work hard at each movement. It is
inconvenient, and there is no way to automatically direct equipment towards a non-human
object, such as the movement of a robot. The present invention has been made in view of the
above-mentioned problems of the prior art, and an object thereof is to provide an automatic
direction control device for automatically directing a predetermined object toward a remote
movable body. (Means for Solving the Problems) According to the configuration of the present
invention for solving the above object, there is provided an automatic orientation control device
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for automatically pointing a predetermined surface of a predetermined object toward a remote
movable body, wherein A rotatably supporting support; wave beam emitting means mounted in
the same direction as a predetermined surface of the object and emitting a wave beam having a
certain directivity; mounted on the movable body, wave beam emitting means Retroreflecting
means for reflecting the wave beam from the light toward the wave beam emitting means;
disposed in proximity to the reflected beam emitting means and receiving the wave beam from
the retroreflecting means into an electrical signal Wave beam receiving means for converting;
Control means for determining the position of the movable body based on the electric signal
obtained from the reflected beam receiving means, and generating a direction control signal for
directing the object toward the direction; Direction control signal Characterized by comprising a;
and driving means for the support is driven to rotate in response to.
In the present invention, an object means not only a stationary device such as a display or a
speaker but also any object that requires control of the orientation of a predetermined surface
such as a fan or a figurine. Moreover, a movable body means movable objects, such as a person
other animals and a robot. When the wave beam emitted from the wave beam emitting means on
the object side whose direction is to be controlled strikes the movable body, the wave beam is
reflected toward the object by the retroreflecting means attached thereto, and the wave beam is
received. The light is incident on the means and converted into an electrical signal. Since this
wave beam has a certain directivity, the intensity upon entering the wave beam receiving means
changes with the position (direction) of the movable body. Therefore, such a change also appears
in the electrical signal, and based on this, the control means can determine the position of the
movable body by appropriate calculation. Then, in response to the direction control signal from
the control means, the drive means rotationally drives the support, and the object is positioned
when the predetermined surface of the object faces the movable body. In this way, a servo loop
consisting of wave beam emitting means, reoccurring reflection means, wave beam receiving
means, control means, driving means, and a support works to follow the reflexive reflection
means as a mark, thereby operating the object. Control is performed such that the direction
follows the position of the movable body. Preferred embodiments of the present invention will
now be described with reference to the accompanying drawings. FIG. 1 shows a display device to
which the automatic orientation control device of one embodiment of the present invention is
applied. In this figure, the display 10 is a conventional CRT display, but is supported by a motordriven turntable 12 and can be rotated left and right, that is, in the directions of arrows Fa and
Fb. Furthermore, on the top surface of the display 10, two light emitting elements 14.16 made of,
for example, infrared light emitting diodes are disposed close to each other in the same direction
as the screen 10a, and for example, at the central position between the light emitting elements
14.18. A light receiving element 18 formed of a photodiode is disposed. The light emitting
elements 14.16 are alternately pulse-driven to emit pulse-form infrared rays RQa and RQb
repeatedly in a time-division manner. These infrared rays RQa and RQb respectively have
directivity characteristics as shown in FIG. That is, the light output is at its maximum at the
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optical axis and decreases at a constant rate as it is angularly away therefrom. Referring again to
FIG. 1, a human 20 as a movable body of the present embodiment is located in front of the
display 10, and a retroreflective member 22 is provided in front of the human 20, for example, a
chest pocket.
The retroreflecting material 22 has, for example, a configuration in which a glass sheet is
embedded in a plastic sheet, and has a retroreflecting effect of returning incident light straight in
the direction of the light source. Therefore, when the human 20 turns to the display 10 as shown,
the infrared rays RQa and RQb from the light emitting element 14.18 enter the retroreflecting
material 22, and the reflected lights RQa 'and RQb' from there emit light. It is returned to the
element 14.16 and enters the light receiving element 18 where it is converted into an electrical
signal corresponding to the intensity or output of the light. Then, as will be described later, the
drive motor is operated by the functions of the signal processing system and the control system
to rotationally drive the turntable 12 so that the screen 10 a of the display 10 faces the person
20. FIG. 2 shows a system configuration of this automatic direction control device. The light
emitting element 14.16 is alternately pulse driven by the light emitting element drive circuit 24,
whereby the light receiving element 18 alternately receives the pulsed infrared reflected lights
RQa 'and RQb' from the retroreflecting material 22 of the movable body 20. The voltage signals E
a and E b corresponding to the respective light intensities La and L b are generated timedivisionally. These voltage signals Ea and Eb are sampled by the sampling circuit 28, then
converted to digital signals Da and Db by the A / D converter 28, and supplied to the position
detection operation unit 30. The position detection calculation unit 30 may be configured by a
digital calculation circuit or a microcomputer, and calculates the position of the movable body 20
according to the following equation based on the digital signals D a and D b. P = (Da-Db) / (Da +
Db) "(1) This equation is equivalent to the following equation. P = (La-Lb) / (La + Lb) "-(2) That is,
when the movable body 20 is closer to the light emitting element 14 than the light emitting
element 16, the movable body seen from the display 10 in FIG. When the (human) 20 is closer to
the left, the value P of the equation (1) is positive, and the absolute value thereof is larger as the
movable body (human) 20 is closer to the left. Conversely, when the movable body (human) 20 is
closer to the right when viewed from the display 10, the value P of the equation (1) is negative
and the absolute value thereof is as far as the movable body (human) 20 is closer to the right It
gets bigger. The value P obtained by the position detection calculation unit 30 is converted into
an analog signal Sp by the D / A converter 32 and then supplied to the motor drive circuit 34 as
an error signal. Thus, the drive circuit 34 supplies a drive signal MD to the drive motor 36 so as
to amplify the input signal Sp and reduce the error signal.
Thus, for example, as shown in FIG. 3 (A), when the movable body 20 is on the left side when
viewed from the CRT display 10, the rotation base 12 is rotated in the direction of the left (arrow
Fa). The gear 36 is designed to rotate. Also, conversely, as shown in FIG. 3 (0), when the movable
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body 20 is on the right side, the motor 36 is rotated in such a direction as to rotate the rotary
table 12 to the right (arrow Fb). It has become. Then, as shown by the dotted line 10 'in FIG. 3 ((),
(a), when the screen 10a of the display 10 directly faces the movable body 20 (more precisely,
the retroreflecting material 22), the motor 36 rotates. Therefore, the rotation of the turntable 12
is stopped. In addition, the direction of the display 10 is fixed (in this case, the retroreflective
member 22 is removed from the movable body 20 or the operation of the automatic direction
control device is covered with a non-reflective or irregularly reflective cover) You may make it
stop. In addition, although the turntable 12 of the above-described embodiment is configured to
be rotatable only in the left and right direction, it can be configured to rotate up and down. In
that case, the movable body position in the up and down direction is detected A light emitting
element, a light receiving element, a signal processing system, and a driving system may be
provided. Further, the movable body 20 is not limited to a human, and other movable objects
such as a robot are also possible. The size and shape of the retroreflective member 22 can be
arbitrarily selected, and may be attached, for example, over substantially the entire surface of the
movable body. In addition to infrared rays, wave beams having a certain directivity, such as
sound waves, can also be used. Further, the object whose orientation is controlled according to
the present invention is not limited to the above-described display, and various objects such as
speakers, fans, figurines, exhibits, etc. are possible. (Effects of the Invention) As described above,
according to the present invention, a predetermined object can be automatically directed toward
the position of the movable body following the position of the movable body to which the
retroreflecting means is attached. Since it is possible, the conventional manual operation and
remote control operation do not require human direction operation which is bothersome.
[0002]
Brief description of the drawings
[0003]
FIG. 1 is a perspective view showing a display apparatus to which an automatic direction control
device according to an embodiment of the present invention is applied. FIG. 2 is a block diagram
showing a stem / arrangement of the automatic direction control gK. The schematic plan view for
demonstrating the effect ¦ action of the said automatic direction control apparatus, and FIG. 4 are
figures which show the directional characteristic of the infrared rays radiated ¦ emitted from the
light emitting element used by the said Example.
DESCRIPTION OF SYMBOLS 10 ...... CRT display, 10a ... Screen 12, 12 ... Rotating table 14.16 ...
Light emitting element 18 ... Light receiving element 20 ... Movable body (human 22 · · · · · · ·
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retroreflecting material, 30 · · · · · · · · movable body position calculation unit, 34 · · · motor drive
circuit, 36 · · · · · · · drive motor.
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