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
Links
- 230000000007 visual effect Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 2
- 230000006698 induction Effects 0.000 description 1
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)
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.
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 |
DE19863643631 DE3643631A1 (en) | 1985-12-20 | 1986-12-19 | DEVICE AND METHOD FOR CONTROLLING A SELF-CONTROLLED CAR |
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 |
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)
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)
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 |
DE3332615C2 (en) * | 1982-10-21 | 1987-01-22 | DAC Engineering Co. Ltd., Kyoto | Optically guided vehicle |
JPS59501940A (en) * | 1982-11-01 | 1984-11-22 | ブリティッシュ・テクノロジー・グループ・リミテッド | Material placement control device and method for 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 |
-
1985
- 1985-12-20 JP JP1985195292U patent/JPS62105508U/ja active Pending
-
1986
- 1986-12-12 AU AU66492/86A patent/AU6649286A/en not_active Abandoned
- 1986-12-19 FR FR8617837A patent/FR2593941A1/en not_active Withdrawn
- 1986-12-19 DE DE19863643631 patent/DE3643631A1/en not_active Withdrawn
- 1986-12-19 GB GB08630348A patent/GB2186398A/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
GB8630348D0 (en) | 1987-01-28 |
FR2593941A1 (en) | 1987-08-07 |
AU6649286A (en) | 1987-06-25 |
DE3643631A1 (en) | 1987-07-02 |
GB2186398A (en) | 1987-08-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JPS62105508U (en) | ||
JPS5956580U (en) | Vehicle obstacle detection device | |
JPS59122607U (en) | unmanned automated guided vehicle | |
JPS63107008U (en) | ||
JPS61155704U (en) | ||
JPS63151009U (en) | ||
JPS5996700U (en) | work vehicle | |
JPS5885205U (en) | driverless car | |
JPS6039105U (en) | Self-driving transport vehicle | |
JPH0415081U (en) | ||
JPS59122606U (en) | Automatic guided vehicle control device | |
JPS5998705U (en) | tractor | |
JPS58101208U (en) | Unmanned vehicle guidance system | |
JPH048106U (en) | ||
JPH02149404U (en) | ||
JPS59116393U (en) | Crane skew prevention device | |
JPS5964892U (en) | Crane boom collision prevention device | |
JPS5958900U (en) | Vehicle obstacle detection device | |
JPH047277U (en) | ||
JPS61183265U (en) | ||
JPS62148915U (en) | ||
JPS61188809U (en) | ||
JPS63183607U (en) | ||
JPH024813U (en) | ||
JPS6320208U (en) |