| 摘要 |
PURPOSE:To accurately guide an unmanned car by providing the titled device with a means for correcting the scanning direction of an optical beam. CONSTITUTION:If a fixing tool 19 of a laser scanner 1 is deflected by an angle theta, a scanning beam LBS is not made incident upon the center of a coner cube 2. When an distance between the scanning beam LBS and the center of the coner cube 2 is defined as (d), the a distance between the scanning beam LBS and its return beam LBR in the coner cube 2 is shifted by 2d and the return beam LBR is made incident upon a point P3 of a scanning mirror 13 and reflected. The scanning beam LBS is made incident upon a point P1 of the coner cube 2 and reflected on a point P2 as the return beam LBR, and since the scanning mirror 13 is kept at a state (b) shown by a solid line, the return beams LBR is made incident upon the point P3, reflected by the scanning mirror 13 and converted into a sensor 174 out of photosensors 17. A signal from the sensor 174 is inputted to a control device, a direction correcting motor is rotated in accordance with the sheared distance and the scanning mirror 13 is turned to a state (a) shown by an alternate long and two short dashes line to control the scanning beam LBS so that the scanning face of the scanning beam LBS is not sheared from a route 4 and made incident upon the center of the coner cube 2. |
