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JPS62105508U - - Google Patents

Info

Publication number
JPS62105508U
JPS62105508U JP1985195292U JP19529285U JPS62105508U JP S62105508 U JPS62105508 U JP S62105508U JP 1985195292 U JP1985195292 U JP 1985195292U JP 19529285 U JP19529285 U JP 19529285U JP S62105508 U JPS62105508 U JP S62105508U
Authority
JP
Japan
Prior art keywords
bogie
camera
image sensor
deviation
amount
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
Application number
JP1985195292U
Other languages
Japanese (ja)
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed filed Critical
Priority to JP1985195292U priority Critical patent/JPS62105508U/ja
Priority to AU66492/86A priority patent/AU6649286A/en
Priority to GB08630348A priority patent/GB2186398A/en
Priority to FR8617837A priority patent/FR2593941A1/en
Priority to DE19863643631 priority patent/DE3643631A1/en
Publication of JPS62105508U publication Critical patent/JPS62105508U/ja
Pending legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Description

【図面の簡単な説明】[Brief explanation of the drawing]

図面は本考案の実施例を示し、第１図は正面図
、第２図は底面図、第３図は誘導帯の平面図、第
４図はカメラの視野の説明図、第５図は制御回路
図、第６図はずれ量検出の説明図、第７図、第８
図、第９図、第１０図は異なる誘導帯の検出動作
説明図である。 １は台車、１３はＣＣＤイメージセンサ、１４
はカメラ。 The drawings show an embodiment of the present invention; Fig. 1 is a front view, Fig. 2 is a bottom view, Fig. 3 is a plan view of the guide zone, Fig. 4 is an explanatory diagram of the field of view of the camera, and Fig. 5 is a control diagram. Circuit diagram, Fig. 6, explanatory diagram of deviation amount detection, Fig. 7, Fig. 8
9 and 10 are explanatory diagrams of detection operations for different induction bands. 1 is a trolley, 13 is a CCD image sensor, 14
is a camera.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 台車１を路面Ａに設置した誘導帯１５に沿つて
走行させる無人走行車において、前記台車１にラ
イン型イメージセンサを備えたカメラ１４を誘導
帯１５と対向して取付けると共に、このカメラ１
４の視野中心と誘導帯１５とのずれ量をライン型
イメージセンサからの出力信号で検出し、そのず
れ量に基づいて台車１を操向するようにしたこと
を特徴とする無人走行車の制御装置。 In an unmanned vehicle in which a bogie 1 runs along a guide strip 15 installed on a road surface A, a camera 14 equipped with a line-type image sensor is mounted on the bogie 1 facing the guide strip 15, and the camera 1
Control of an unmanned vehicle characterized in that the amount of deviation between the center of visual field 4 and the guide zone 15 is detected using an output signal from a line-type image sensor, and the bogie 1 is steered based on the amount of deviation. Device.
JP1985195292U 1985-12-20 1985-12-20 Pending JPS62105508U (en)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP1985195292U JPS62105508U (en) 1985-12-20 1985-12-20
AU66492/86A AU6649286A (en) 1985-12-20 1986-12-12 Apparatus and method for controlling automatically controlled wagon
GB08630348A GB2186398A (en) 1985-12-20 1986-12-19 Automatically controlled wagon
FR8617837A FR2593941A1 (en) 1985-12-20 1986-12-19 APPARATUS AND METHOD FOR CONTROLLING AUTOMATIC CONTROL TROLLEY
DE19863643631 DE3643631A1 (en) 1985-12-20 1986-12-19 DEVICE AND METHOD FOR CONTROLLING A SELF-CONTROLLED CAR

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1985195292U JPS62105508U (en) 1985-12-20 1985-12-20

Publications (1)

Publication Number Publication Date
JPS62105508U true JPS62105508U (en) 1987-07-06

Family

ID=16338727

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1985195292U Pending JPS62105508U (en) 1985-12-20 1985-12-20

Country Status (5)

Country Link
JP (1) JPS62105508U (en)
AU (1) AU6649286A (en)
DE (1) DE3643631A1 (en)
FR (1) FR2593941A1 (en)
GB (1) GB2186398A (en)

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2619639A1 (en) * 1987-08-19 1989-02-24 Centre Tech Ind Habillement Method of steering a trolley along a track including a set of points, and installation configured for implementing it
IT215609Z2 (en) * 1988-03-10 1990-10-17 Ballotti Sistemi Srl AUTOMATIC-GUIDED TROLLEY FOR INDUSTRIAL TRANSPORT, CONTROLLED BY AERIAL CATADIOTTRIC TAPE
DE3828447C2 (en) * 1988-08-22 1998-03-12 Eisenmann Kg Maschbau Optical guidance device for driverless transport systems
EP0374294A1 (en) * 1988-12-22 1990-06-27 Siemens Aktiengesellschaft Information transmission device to a track-bound vehicle
AUPM971694A0 (en) * 1994-11-29 1994-12-22 University Of Southern Queensland, The Vision guidance for agricultural vehicles
DE29507429U1 (en) * 1995-05-04 1995-09-28 Birle, Sigmund, 88239 Wangen Automatic steering sensor
CN100495274C (en) * 2007-07-19 2009-06-03 上海港机重工有限公司 Control method for automatic drive of large engineering vehicle and system thereof
CN116281261B (en) * 2023-05-18 2023-09-26 眉山金豆智能科技有限公司 Full-automatic cargo loader and control method thereof

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4307791A (en) * 1978-12-06 1981-12-29 Bell & Howell Company Line follower vehicle with scanning head
GB2068587B (en) * 1980-01-29 1984-08-15 Carrago Transportsystem Ab Automatic steering means for a driverless carriage
SE423839B (en) * 1980-10-02 1982-06-07 Volvo Ab SET AND DEVICE FOR STEERING A STEERABLE WHEEL VEHICLE
FR2535068B1 (en) * 1982-10-21 1988-04-22 Nippon Yusoki Co Ltd OPTICALLY GUIDED VEHICLE
WO1984001731A1 (en) * 1982-11-01 1984-05-10 Nat Res Dev Automatic welding
JPS59132009A (en) * 1983-01-18 1984-07-30 Daifuku Co Ltd Automatic operation controller of unattended vehicle
JPS6017506A (en) * 1983-07-11 1985-01-29 Daifuku Co Ltd Light beam guidance device of unmanned car

Also Published As

Publication number Publication date
DE3643631A1 (en) 1987-07-02
FR2593941A1 (en) 1987-08-07
AU6649286A (en) 1987-06-25
GB2186398A (en) 1987-08-12
GB8630348D0 (en) 1987-01-28

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