JPH0281105A - Automatic steering control system - Google Patents
Automatic steering control systemInfo
- Publication number
- JPH0281105A JPH0281105A JP63232853A JP23285388A JPH0281105A JP H0281105 A JPH0281105 A JP H0281105A JP 63232853 A JP63232853 A JP 63232853A JP 23285388 A JP23285388 A JP 23285388A JP H0281105 A JPH0281105 A JP H0281105A
- Authority
- JP
- Japan
- Prior art keywords
- mark
- vehicle body
- camera
- automatic steering
- course
- 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
Links
- 238000006073 displacement reaction Methods 0.000 claims abstract description 14
- 238000000034 method Methods 0.000 claims description 10
- 230000003287 optical effect Effects 0.000 description 5
- 238000003384 imaging method Methods 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000014509 gene expression Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
Landscapes
- Steering Controls (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、無人搬送車等を指定した走行速度、進行方向
で指定した走行コース上を連軸走行させるとともに荷役
等の必要な動作を行わせるための自動操舵制御方式に関
するものである。[Detailed Description of the Invention] (Industrial Application Field) The present invention allows an automatic guided vehicle, etc. to travel along a designated travel course at a designated travel speed and direction, and performs necessary operations such as cargo handling. The invention relates to an automatic steering control system for controlling the vehicle.
（従来の技術）
従来、無人搬送車等の自動操舵制御方式としては、走行
コースに沿って交流電流を流した誘導線を埋設し発生す
る磁界を検出して走行する電Ｔ１１誘導方式、走行コー
スに沿って光学テープを設置して光学テープからの反射
光を検出して走行する光学誘導方式、走行コースに沿っ
て磁気テープを設置してテープの磁気を検出して走行す
る磁気誘導方式がある。(Prior art) Conventionally, as automatic steering control systems for automatic guided vehicles, etc., there has been an electric T11 induction method in which a guide wire through which an alternating current is passed is buried along the travel course and the generated magnetic field is detected to travel. There are optical guidance methods, in which an optical tape is installed along the running course and the vehicle travels by detecting the reflected light from the optical tape, and magnetic guidance methods, in which a magnetic tape is installed along the travel course and the vehicle travels by detecting the tape's magnetism. .
（解決すべき課題）
電Ｔ６１誘導方式の場合、地上に誘導線を埋設するため
の床面のカッティング工事が必要となり、床面強度が問
題となる場所では適用できず、光学誘導方式、磁気誘導
方式の場合、テープを地上に設置するためテープが損傷
しやすく、また、電磁誘導方式、光学誘導方式、磁気誘
導方式とも無人搬送車等で走行速度、進行方向、停止、
分岐、荷役等の制御を行う場合には、これらの制御用に
走行コースに追従させるための電Ｍ１：Ｐ：ＲＮｉＡ、
光学テープ、磁気テープおよびその検出装置とは別の信
号系が必要となり、車体のｉ＃ＪＩＩＩが複雑になると
いう課題があった。(Issues to be solved) In the case of the electric T61 induction method, it is necessary to cut the floor surface in order to bury the guide wire on the ground, and it cannot be applied in places where floor strength is a problem. With the electromagnetic induction method, optical guidance method, and magnetic induction method, the tape is easily damaged because it is installed on the ground.
When controlling branching, cargo handling, etc., electric M1:P:RNiA,
A signal system separate from the optical tape, magnetic tape, and their detection device is required, which poses a problem in that the i#JIII of the vehicle body becomes complicated.
（課題を解決する手段） 本発明の自動操舵制御方式（以下本発明という。(Means to solve problems) Automatic steering control system of the present invention (hereinafter referred to as the present invention).
）は走行コースと平行な壁面に取付けたバーコードを有
するマークを車体に取付けられたＩＴＶカメラ（本明細
書に使用しているＩＴＶカメラはインダストリアル・テ
レビジョンカメラの略称である）で検出し、マーク画像
の形状とコード番号に基づき自動操舵制御を行ない、ま
た必要箇所ではバーコードのコード番号をＬＥＤ表示等
で地上管理機等からの指示信号により変更可能とした構
成をとって、上述の課題を解決している。) detects a mark with a barcode attached to a wall parallel to the driving course with an ITV camera attached to the vehicle body (ITV camera used in this specification is an abbreviation for Industrial Television Camera), Automatic steering control is performed based on the shape of the mark image and the code number, and the code number of the barcode can be changed by an instruction signal from a ground management machine using an LED display or the like where necessary. has been resolved.
（実 施 例） 本発明の実施例を図面に基づいて説明する。(Example) Embodiments of the present invention will be described based on the drawings.
第１図において、ｌは車体、２は車体１の左右いずれか
の既知の位置に外むけに取付けられたＩＴＶカメラ、３
は予め設定された走行コース（以下単に走行コースと称
す。）、４は走行コース３の直線部と平行に設置する壁
面上のマーク、５は必要箇所にのみ設置するマーク表示
機、６はマーク表示機５に表示するコード番号の指示を
送る地上管理機である。第２図は車体ｌが走行コース３
に対して横変位ｌと姿勢角φを生じた状態の一例であり
、７は車体ｌの旋回中心の並ぶ軸、８は車体ｌの走行コ
ース３上に追従させる点（以下車体代表点）、９は操舵
を行わない車輪（以下固定輪）である。In FIG. 1, l is the vehicle body, 2 is an ITV camera mounted outward at a known position on either the left or right side of the vehicle body 1, and 3
is a preset driving course (hereinafter simply referred to as a driving course); 4 is a mark on the wall that is installed parallel to the straight section of driving course 3; 5 is a mark display device that is installed only in necessary places; 6 is a mark This is a ground control device that sends instructions for the code number to be displayed on the display device 5. Figure 2 shows vehicle l traveling course 3.
This is an example of a state in which a lateral displacement l and an attitude angle φ are generated, where 7 is an axis on which the turning center of the vehicle body I is aligned, 8 is a point where the vehicle body I is made to follow on the running course 3 (hereinafter referred to as a representative point of the vehicle body), 9 is a wheel (hereinafter referred to as a fixed wheel) that is not steered.
第３図は第２図の状態の車体ｌのＩＴＶカメラ２がマー
ク４を取込んだマーク画像の一例である。FIG. 3 is an example of a mark image captured by the ITV camera 2 of the vehicle body l in the state shown in FIG.
第３図のマーク画像に画像処理を施し、辺の長さａ、ｂ
、ｃを検出し、（１）式を用いることにより第２図の状
態の車体１の横変位ｌと姿勢角ψを演算することができ
る。Image processing is applied to the mark image in Figure 3, and the side lengths a and b are
, c, and using equation (1), it is possible to calculate the lateral displacement l and attitude angle ψ of the vehicle body 1 in the state shown in FIG.
（１）弐において、ｄａ、ｄｂおよびｄｃは第２図の車
体１のＩＴＶカメラ２の撮像面とマークの左右の辺およ
びＩＴＶカメラ中心軸上の点との距離、ｆｄ （ｎ）
（ｎはマーク画像の辺の長さ）はマーク画像の辺の長さ
に対応して車体に取付けられたＩＴＶカメラ２の撮像面
とマークの距離を与える関数であって、ｆｄ （ａ）
、ｆｄ （ｂ）。(1) In 2, da, db and dc are the distances between the imaging plane of the ITV camera 2 of the vehicle body 1 in Fig. 2 and the left and right sides of the mark and the point on the ITV camera center axis, fd (n)
(n is the length of the side of the mark image) is a function that gives the distance between the mark and the imaging surface of the ITV camera 2 attached to the vehicle body in accordance with the length of the side of the mark image, and fd (a)
, fd (b).
ｆｄ （ｃ）はマーク画像の辺の長さが第３図に図示
されているａ、ｂ、ｃで特定された値である。fd(c) is the value of the length of the side of the mark image specified by a, b, and c shown in FIG.
Ｌｌはマークの寸法、Ｌ２はマーク４と走行コースとの
距離、Ｌ、は車体代表点８に対するＩＴＶカメラ中心軸
の位置、Ｌ４は車体代表点８に対するＩＴＶカメラ撮像
面の位置でいずれも既知の量である。Ll is the dimension of the mark, L2 is the distance between the mark 4 and the running course, L is the position of the ITV camera center axis with respect to the vehicle body representative point 8, and L4 is the position of the ITV camera imaging surface with respect to the vehicle body representative point 8, all of which are known. It is quantity.
（１）式はＩＴＶカメラ２がマーク画像を取込んだ時点
の横変位ｌと姿勢角ψの演算式であるが、マーク４の存
在しない直線コース上、旋回コース上および画像処理に
要する時間中の車体移動に伴う横変位ｌと姿勢角ψの変
化については第２図の左右固定輪９各々の逐次移動距離
をエンコーダ等を取付けて検出し、
算する。Equation (1) is the calculation formula for the lateral displacement l and the attitude angle ψ at the time when the ITV camera 2 captures the mark image, but it can be used on a straight course where there is no mark 4, on a turning course, and during the time required for image processing. Changes in the lateral displacement l and attitude angle ψ due to the movement of the vehicle body are calculated by detecting the sequential movement distance of each of the left and right fixed wheels 9 in FIG. 2 by installing an encoder or the like.
（２）〜（５）式を用いて演
（２）〜（５）式において、ｉは演算毎の逐次値を示す
。Expressions (2) to (5) are used. In equations (2) to (5), i indicates a sequential value for each calculation.
（２）式は第２図に示すような走行コース上に仮想した
座標軸ｘ−ｙに対する車体代表点位置Ｘム ｙｉ と
車体方向θ直を演算する式で、△１１１、Δｊ！！１は
エンコーダ等で検出した左右固定輪９の逐次移動量、Ｗ
、ωは第２図の左右固定輪９の位置を表す既知の量であ
る。（３）式はマーク４の存在しない直線コース上での
横変位Ａ！１と姿勢角ψ１の演算式である。（４）式は
ＩＴＶカメラ２がマーク４を取込み画像処理を終了した
時点の横変位１！と姿勢角ψムの演算式で、！、ψは（
１）式の演算値、ｙｓ、θ、はＩＴＶカメラ２がマーク
画像を取込んだ時点の（２）式のｙ１θ１演算値、Ｖｔ
ｒ θ□はマーク画像の画像処理を終了した時点の（
２）式のｙｊ、θ１演算値である。（５）式は旋回コー
ス上での横変位１１と姿勢角ψ１の演算式でＲは旋回コ
ースの曲率半径で後述する車体１に記憶しているデータ
に含まれている。Equation (2) is an equation for calculating the vehicle body representative point position Xmu yi and the vehicle body direction θ with respect to the coordinate axis x-y imaginary on the driving course as shown in FIG. 2. Δ111, Δj! ! 1 is the sequential movement amount of the left and right fixed wheels 9 detected by an encoder etc., W
, ω are known quantities representing the positions of the left and right fixed wheels 9 in FIG. Equation (3) is the lateral displacement A on a straight course where mark 4 does not exist! 1 and the attitude angle ψ1. Equation (4) is the lateral displacement 1! at the time when the ITV camera 2 captures the mark 4 and finishes image processing. and the calculation formula for the attitude angle ψm, ! , ψ is (
The calculated values of equation (1), ys, θ, are the calculated values of y1θ1 of equation (2) at the time when the ITV camera 2 captures the mark image, Vt
r θ□ is (
2) These are the calculated values of yj and θ1 in equation. Equation (5) is an arithmetic expression for the lateral displacement 11 and attitude angle ψ1 on the turning course, where R is the radius of curvature of the turning course and is included in data stored in the vehicle body 1, which will be described later.
なお、（２）式を演算するための座標軸ｘ−ｙの原点位
置は、旋回コース走行時はコース上の旋回開始もしくは
終了点に座標変換する。Note that the origin position of the coordinate axis xy for calculating equation (2) is coordinate-transformed to the turning start or end point on the course when traveling on a turning course.
このように（３）〜（４）式で演算された横変位ｌと姿
勢角ψを横変位！および姿勢角ψが零という目標値に対
してネガティブフィードバックし、操舵出力を決定すれ
ば車体１を走行コース３に追従させることができる。In this way, the lateral displacement l and attitude angle ψ calculated using equations (3) and (4) are the lateral displacement! The vehicle body 1 can be made to follow the traveling course 3 by giving negative feedback to the target value of zero attitude angle ψ and determining the steering output.
また、第３図のマーク画像からコード番号を読み取り、
該コード番号に対応してあらかじめ車体１に記憶してい
る走行速度、前後進、直進、旋回、停止、荷役等の各制
御用データの中から読み取ったコード番号に対応するデ
ータを選択し、そのデータに基づく出力や（３）式と（
５）式どちらを使用するかの判断をする。出力時期や演
算式の切換え時期は車***置として、記憶しているデー
タに含めておき、（２）式の車***置演算値との比較に
より判断する。Also, read the code number from the mark image in Figure 3,
The data corresponding to the read code number is selected from among various control data such as traveling speed, forward/backward, straight-ahead, turning, stopping, cargo handling, etc. stored in advance in the vehicle body 1 corresponding to the code number, and the data corresponding to the read code number is selected. Output based on data and equation (3) and (
5) Decide which formula to use. The output timing and the switching timing of the calculation formula are included in the stored data as the vehicle body position, and are determined by comparison with the vehicle body position calculation value of equation (2).
さらに、走行コースの分岐、荷役動作等条件によって異
なる動作を要求される箇所においては、壁面上のマーク
４を、地上管理機６からの指示によりコード番号がＬＥ
Ｄ表示等の方法で変化するマーク表示機５にて表示し、
条件に応じて地上管理１１６よりコード番号そのものを
変化させることにより車体ｌの動作を変化させる。Furthermore, at locations where different operations are required depending on conditions such as branching of the travel course or cargo handling operations, mark 4 on the wall is marked with code number LE according to instructions from ground management machine 6.
It is displayed on the mark display device 5 that changes by a method such as D display,
By changing the code number itself from the ground management 116 according to conditions, the operation of the vehicle body l is changed.
（１）〜（５）式の演算はマイコン等を車体１に搭載し
て行う。The calculations of equations (1) to (5) are performed by mounting a microcomputer or the like on the vehicle body 1.
（効 果）
以上説明したように、走行コースの横に設置した壁面上
のマークを車体のＩＴＶカメラで検出することにより自
動操舵制御を行うため、マーク設置による床面強度の低
下、マークの損傷がなく、適用範囲の広い確実な自動操
舵制御が行なえる利点がある。(Effects) As explained above, automatic steering control is performed by detecting marks on the wall installed next to the running course using the ITV camera on the car body, so the installation of the marks may reduce the strength of the floor surface and cause damage to the marks. This has the advantage of providing reliable automatic steering control with a wide range of applications.
また、必要に応じてマーク表示機によりコード番号を変
化させることができるバーコードの検出により、コード
番号に対応した各制御を行うため無人搬送車等の複雑な
制御を必要とする車体においても、コード番号に対応す
るデータを準備するだけでよく車上で受は持つ制御を単
純化できる利点がある。In addition, by detecting a barcode that can change the code number using a mark display device as needed, various controls corresponding to the code number can be performed, even in vehicles that require complex control such as automatic guided vehicles. This has the advantage of simplifying the control of the receiver on the vehicle by simply preparing data corresponding to the code number.
第１図は本発明の実施例１、第２図は車体が走行コース
に対して横変位と姿勢角を生じた場合の一例、第３図は
車上のＩＴＶカメラが壁面上のマークを検出した場合の
マーク画像の一例である。
１−・・−・・車 体 ２・・・・−・−ＩＴＶ
カメラ３ ・・・・・走行コース ４・−・・−・
・マーク５ ・−・・マーク表示機 ６・−・・・・
・地上管理機７−・車体の旋回中心の並ぶ軸
−・・車体の走行コースに追従させる点（車体代表点）Figure 1 shows the first embodiment of the present invention, Figure 2 is an example of a case where the vehicle body has a lateral displacement and attitude angle with respect to the driving course, and Figure 3 shows the ITV camera on the vehicle detecting a mark on the wall. This is an example of a mark image when 1-・・・・Car body 2・・・・・−ITV
Camera 3... Driving course 4...
・Mark 5 ・−・・Mark display device 6・−・・・
・Ground management machine 7 - Axes on which the turning center of the car body is lined up - Point to follow the running course of the car body (representative point of the car body)
Claims (2)
おいて、車体の左右のいずれかの既知の位置に外むけに
ＩＴＶカメラを取付け、一方、予め設定された走行コー
スの直線部と既知の距離の地点に平行に離散的に設置し
た壁面上に矩形状のマークを取付け、上記ＩＴＶカメラ
で壁面上のマークを取込み、マーク画像の矩形からのひ
ずみ度合と辺の長さより車体と予め設定された走行コー
スの横変位と姿勢角を検出することを特徴とする自動操
舵制御方式。(1) In a vehicle body that requires automatic steering control, such as an automated guided vehicle, an ITV camera is installed facing outward at a known position on either the left or right side of the vehicle body, and one is attached to a known position on a straight line of a preset travel course. A rectangular mark is installed on a wall that is placed discretely in parallel to points at a distance of This automatic steering control system is characterized by detecting the lateral displacement and attitude angle of the travel course.
おいて、車体の左右いずれかの既知の位置に外向けにＩ
ＴＶカメラを取付け、一方、予め設定された走行コース
の直線部と既知の距離の地点に平行に離散的に設置した
壁面上にバーコードを有した矩形状のマークを取付け、
そのマークは必要箇所においては、ＬＥＤ表示等の方法
によりバーコードのコード番号が地上管理機等からの指
示信号により変更されるマーク表示機にて表示されるも
のとし、車体のＩＴＶカメラで壁面上のマークを取込み
、そのマーク画像の矩形からのひずみ度合と辺の長さよ
り、車体と予め設定された走行コースの横変位と姿勢角
を検出するとともに、マーク画像よりコード番号を読み
取り、あらかじめ車体に記憶している走行速度、前後進
、直進、旋回、停止、荷役等の各制御用データの中から
コード番号に対応するデータを選択することにより逐次
必要な制御を行うことを特徴とする自動操舵制御方式。(2) In a vehicle body that requires automatic steering control such as an unmanned guided vehicle, an external I
A TV camera is installed, and rectangular marks with barcodes are installed on walls that are discretely installed parallel to the straight line part of the preset driving course and at known distances.
Where necessary, the mark shall be displayed on a mark display device in which the code number of the barcode is changed by an instruction signal from a ground control device, etc. using a method such as an LED display, and the ITV camera on the vehicle body shall be used to display the code number on the wall. The mark is captured, and the lateral displacement and attitude angle of the vehicle body and the preset driving course are detected from the degree of distortion from the rectangle of the mark image and the length of the sides.The code number is also read from the mark image and the An automatic steering system that sequentially performs necessary control by selecting data corresponding to a code number from stored control data such as traveling speed, forward/backward, straight-ahead, turning, stopping, cargo handling, etc. control method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63232853A JPH0281105A (en) | 1988-09-17 | 1988-09-17 | Automatic steering control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63232853A JPH0281105A (en) | 1988-09-17 | 1988-09-17 | Automatic steering control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0281105A true JPH0281105A (en) | 1990-03-22 |
Family
ID=16945842
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63232853A Pending JPH0281105A (en) | 1988-09-17 | 1988-09-17 | Automatic steering control system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0281105A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998004480A1 (en) * | 1996-07-31 | 1998-02-05 | Komatsu Ltd. | Apparatus and method for controlling travel of unmanned conveyance car, unmanned cargo handling method, cargo handling control apparatus, travel guiding tape, tape failure discriminating apparatus and method of repairing tape |
| WO2018163699A1 (en) * | 2017-03-06 | 2018-09-13 | 株式会社Ｓｐｉｒａｌ | Control system for flight vehicle, and control device and marking for same |
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|---|---|---|---|---|
| JPS6159507A (en) * | 1984-08-30 | 1986-03-27 | Toshiba Corp | Guiding device of selfcontrol running truck |
| JPS62285115A (en) * | 1986-06-03 | 1987-12-11 | Shinko Electric Co Ltd | Drive control method for unmanned carrier |
| JPS63173105A (en) * | 1987-01-13 | 1988-07-16 | Matsushita Electric Ind Co Ltd | Self-traveling vehicle |
-
1988
- 1988-09-17 JP JP63232853A patent/JPH0281105A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6159507A (en) * | 1984-08-30 | 1986-03-27 | Toshiba Corp | Guiding device of selfcontrol running truck |
| JPS62285115A (en) * | 1986-06-03 | 1987-12-11 | Shinko Electric Co Ltd | Drive control method for unmanned carrier |
| JPS63173105A (en) * | 1987-01-13 | 1988-07-16 | Matsushita Electric Ind Co Ltd | Self-traveling vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1998004480A1 (en) * | 1996-07-31 | 1998-02-05 | Komatsu Ltd. | Apparatus and method for controlling travel of unmanned conveyance car, unmanned cargo handling method, cargo handling control apparatus, travel guiding tape, tape failure discriminating apparatus and method of repairing tape |
| WO2018163699A1 (en) * | 2017-03-06 | 2018-09-13 | 株式会社Ｓｐｉｒａｌ | Control system for flight vehicle, and control device and marking for same |
| JP6473888B2 (en) * | 2017-03-06 | 2019-02-27 | 株式会社Ｓｐｉｒａｌ | Aircraft control system, control device and mark part thereof |
| JPWO2018163699A1 (en) * | 2017-03-06 | 2019-03-22 | 株式会社Ｓｐｉｒａｌ | Control system for flying object, control device and marker thereof |
| JP2019077446A (en) * | 2017-03-06 | 2019-05-23 | 株式会社Ｓｐｉｒａｌ | Control system for flight vehicle, and marking portion |
| US11231725B2 (en) | 2017-03-06 | 2022-01-25 | Spiral Inc. | Control system for a flying object, control device therefor, and marker thereof |
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