JPH0687203B2 - Optical reflective tape reader for guiding automated guided vehicles - Google Patents
Optical reflective tape reader for guiding automated guided vehiclesInfo
- Publication number
- JPH0687203B2 JPH0687203B2 JP60046071A JP4607185A JPH0687203B2 JP H0687203 B2 JPH0687203 B2 JP H0687203B2 JP 60046071 A JP60046071 A JP 60046071A JP 4607185 A JP4607185 A JP 4607185A JP H0687203 B2 JPH0687203 B2 JP H0687203B2
- Authority
- JP
- Japan
- Prior art keywords
- light
- tape
- guided vehicle
- photodetector
- reflecting tape
- 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.)
- Expired - Lifetime
Links
- 230000003287 optical effect Effects 0.000 title 1
- 239000004065 semiconductor Substances 0.000 claims description 12
- 230000001678 irradiating effect Effects 0.000 claims description 3
- 238000001514 detection method Methods 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 1
- 230000001360 synchronised effect 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
- G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
-
- 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
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optical Elements Other Than Lenses (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【発明の詳細な説明】 （イ）産業上の利用分野 この発明は誘導コースに沿って配設された再帰反射性を
有する光反射テープと床面との再帰反射光量の違いより
再帰反射性を有する光反射テープの位置を検出し、無人
搬送車の走行制御装置に所定の制御信号を与える無人搬
送車の誘導及び情報検知用光反射テープの読み取り装置
に関する。DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention provides a retroreflectivity based on a difference in the amount of retroreflected light between a light-reflective tape having a retroreflective property arranged along a guide course and a floor surface. The present invention relates to a light reflection tape reader for guiding and detecting information of an automatic guided vehicle, which detects a position of the light reflective tape and has a predetermined control signal to a traveling control device of the automatic guided vehicle.
（ロ）従来技術 近年、精密電子部品等の生産工場内においては、作業環
境を明るくするため、色彩調節を施しており、床面等に
は反射率の高い材料が用いられている。そのめた、無人
搬送車は床面の高い反射率により外乱などの影響を受け
光反射テープの読み取りが不正確となり、誤走行する等
の問題点があった。(B) Conventional Technology In recent years, in a factory for producing precision electronic parts and the like, color adjustment is performed in order to brighten the working environment, and a material having high reflectance is used for the floor surface and the like. In addition, the unmanned guided vehicle is affected by disturbances due to the high reflectance of the floor surface, which makes the reading of the light-reflecting tape inaccurate and causes a problem such as erroneous running.
（ハ）目的 この発明は高い反射率の床面でも使用できるようにした
無人搬送車の誘導及び情報検知用光反射テープの読み取
り装置を提供することを目的としている。(C) Purpose The present invention has an object to provide a reading device of a light reflecting tape for guiding and detecting information of an automatic guided vehicle, which can be used even on a floor having a high reflectance.
（ニ）構成 この発明は、光反射テープを走行経路として用い、無人
搬送車より光反射テープ及び床面に照射するとともに、
光反射テープ及び床面から反射される反射光量の多少に
より無人搬送車と走行経路との相対位置を検出する無人
搬送車の誘導用光反射テープの読み取り装置において、
前記光反射テープは再帰反射性を有するものであり、前
記読み取り装置は発光源としての半導体発光素子と、反
射光を受光する光検出器と、光反射テープから再帰する
反射光を光検出器に向けて分離するビームスプリッタ
と、照射光及び反射光を集光する光反射テープ及び光検
知器上で結像するように配列されたレンズ系を含んでお
り、かつ半導体発光素子からの照射光が光反射テープに
対して斜めに照射させることにより再帰反射光成分を選
択的に検出するようにしたことを特徴としている。(D) Structure The present invention uses a light reflecting tape as a traveling route and irradiates the light reflecting tape and the floor surface from an unmanned guided vehicle,
In a device for reading a light reflecting tape for guiding an unmanned guided vehicle, which detects the relative position between the unmanned guided vehicle and a traveling route depending on the amount of light reflected from the light reflecting tape and the floor surface,
The light reflecting tape has retroreflectivity, and the reading device uses a semiconductor light emitting element as a light emitting source, a photodetector for receiving reflected light, and a reflected light returning from the light reflecting tape to the photodetector. It includes a beam splitter that separates the light toward a target, a light reflection tape that collects the irradiation light and the reflected light, and a lens system that is arranged so as to form an image on a photodetector, and the irradiation light from the semiconductor light emitting element is It is characterized in that the retroreflective light component is selectively detected by irradiating the light reflecting tape obliquely.
（ホ）実施例 第１図はこの発明にかかわる無人搬送車の誘導及び情報
検知用光反射テープの読み取り装置が搭載された無人搬
送車の構成を略示した説明図である。同図に於いて、10
1は走行経路に沿って貼られた再帰反射性を有する誘導
用光反射テープ102及び情報検知用テープ107、108（以
下特記以外は単に光反射テープという）を検出して走行
する無人搬送車である。この無人搬送車101には前記光
反射テープ102、107、108を検出する手段としての読み
取り装置110が設けられている。前記読み取り装置110は
無人搬送車101の前部及び後部に光反射テープ102と直交
した位置に設けられた前部読み取り装置103と後部読み
取り装置104からなっており、両者とも同じ構成を有し
ている。なお、105は操舵輪、106は駆動輪をそれぞれ示
している。さらに107、108は無人搬送車101の通過する
床面上で光反射テープ102と所定距離離れた位置に設置
された、情報検知用光反射テープを示している。この情
報検知用光反射テープ107、108は，この表面に２次元よ
りなるバーコードを付したもの又は無表示とし、所定長
と所定巾をもち且つ前記光反射テープ102と同材質より
なるもので、バーコード又は、無表示を後記する前部読
み取り装置103と後部読み取り装置104で読み取るのであ
る。(E) Embodiment FIG. 1 is an explanatory view schematically showing the structure of an automatic guided vehicle equipped with a reader for guiding and information detecting light reflecting tape of the automatic guided vehicle according to the present invention. In the figure, 10
Reference numeral 1 denotes an automated guided vehicle that travels by detecting a retroreflecting light guide tape 102 having a retroreflective property and information detecting tapes 107 and 108 (hereinafter, simply referred to as light reflective tapes) attached along a traveling route. is there. The automatic guided vehicle 101 is provided with a reading device 110 as a means for detecting the light reflecting tapes 102, 107 and 108. The reading device 110 is composed of a front reading device 103 and a rear reading device 104, which are provided on the front and rear of the automated guided vehicle 101 at positions orthogonal to the light reflection tape 102, and both have the same configuration. There is. In addition, 105 is a steering wheel and 106 is a driving wheel, respectively. Reference numerals 107 and 108 denote light detecting tapes for detecting information, which are installed at a position separated from the light reflecting tape 102 by a predetermined distance on the floor where the automated guided vehicle 101 passes. The light-reflective tapes 107 and 108 for detecting information are formed by attaching a two-dimensional bar code on the surface or without displaying, have a predetermined length and a predetermined width, and are made of the same material as the light-reflective tape 102. The barcode is read by the front reading device 103 and the rear reading device 104, which will be described later.
前記バーコード、無表示の組合せは、予め設定されてお
りこれを検知することにより無人搬送車の行先、車速、
分岐方向等を当該無人搬送車に情報を伝達させるもので
ある。The combination of the bar code and non-display is set in advance, and by detecting this, the destination of the automatic guided vehicle, the vehicle speed,
Information is transmitted to the automatic guided vehicle such as a branching direction.
第２図は前部読み取り装置103又は後部読み取り装置104
の構成を示す説明図である。前部読み取り装置103は、
床面に向けて照射する複数個の半導体発光素子111と光
反射テープ102、107、108から再帰した再帰反射光を検
出する複数個の光検出器114と、再帰反射光を光検出器1
14側に分離するビームスプリッタ112と、前記半導体発
光素子111からの光を光反射テープ102上に結像させるレ
ンズ系113と、制御部120とを具備している。半導体発光
素子111からの光が光反射テープ102に対して入射角αで
もって斜めに照射されるように構成されている。また半
導体発光素子111に対応してビームスプリッタ112、レン
ズ系113及び光検出器114がそれぞれ所定位置に設けら
れ、外わく115内に収納されている。前記外わく115は防
塵用ガラス又は防塵兼外乱半導体発光素子111からの光
除去用ガラスフィルタ116が下面に取付けられている。FIG. 2 shows the front reader 103 or the rear reader 104.
It is explanatory drawing which shows the structure of. The front reading device 103
A plurality of semiconductor light emitting elements 111 for irradiating toward the floor surface, a plurality of photodetectors 114 for detecting retroreflected light returning from the light reflecting tapes 102, 107, 108, and a photodetector 1 for the retroreflected light.
It includes a beam splitter 112 that splits light to the 14 side, a lens system 113 that forms an image of light from the semiconductor light emitting device 111 on the light reflection tape 102, and a control unit 120. The light from the semiconductor light emitting device 111 is configured to be obliquely applied to the light reflection tape 102 at an incident angle α. A beam splitter 112, a lens system 113, and a photodetector 114 are provided at predetermined positions corresponding to the semiconductor light emitting device 111, and are housed in an outer frame 115. The outer frame 115 is provided with a dustproof glass or a glass filter 116 for removing light from the dustproof and disturbing semiconductor light emitting element 111 on the lower surface.
発光ダイオード111から照射された光はビームスプリッ
ター112を透過し、さらにレンズ系113によって集光さ
れ、光反射テープ102上において結像する。そして光反
射テープ102で再帰反射された再帰反射光117は前記レン
ズ系113で集光され、さらにビームスプリッター112で反
射され、光検出器114に入射する。このとき正反射した
正反射光118はレンズ系113に戻らない。The light emitted from the light emitting diode 111 passes through the beam splitter 112, is further condensed by the lens system 113, and forms an image on the light reflection tape 102. The retroreflected light 117 retroreflected by the light reflection tape 102 is condensed by the lens system 113, further reflected by the beam splitter 112, and incident on the photodetector 114. At this time, the specularly reflected light 118 specularly reflected does not return to the lens system 113.
即ち前記光反射テープ102への発光ダイオード111からの
照射光の入射角αを零以外の適当な角度に設定すること
により、正反射光118を除き、再帰反射光117の成分のみ
検出されることができる。しかして光反射テープ102が
傾斜していても再帰反射光117はレンズ系113によって集
光されるので光検出器114から逸脱することはない。そ
して床面が高い反射率の材質で形成されていても、床面
は再帰反射性は有していないので、これからの反射光は
光検出器側に戻ってこない。That is, by setting the incident angle α of the light emitted from the light emitting diode 111 to the light reflecting tape 102 to an appropriate angle other than zero, only the component of the retroreflected light 117 can be detected except the specular reflected light 118. You can Therefore, even if the light reflection tape 102 is inclined, the retro-reflected light 117 is condensed by the lens system 113 and does not deviate from the photodetector 114. Even if the floor surface is made of a material having a high reflectance, the floor surface does not have retroreflectivity, so that the reflected light from this point does not return to the photodetector side.
第３図は制御部120の回路構成を略示したブロック図
で、制御部120はA/D変換器125、コントロール回路126、
マイコン127を含んでいる。すなわち発光ダイオード111
は発振回路121の出力を与えられるドライブ回路122によ
って断続駆動される。その結果照射されたパルス光は光
反射テープ102によって反射し光検出器114に入射され、
増幅器123で増幅される。増幅された出力はフィルター1
24を介してA/D変換器125に入力される。デジタル変換さ
れた電気信号はマイコン127に入力される。マイコン127
は前記入力に基づいて車体の光反射テープ102に対する
傾斜角度を算出し、この傾斜角度が零となるようにコン
トロール回路126を介して操舵輪105を操舵する。前記に
於ける発振回路121は、発光ダイオード111からの照射光
をバルス変調せしめ、光検出器114からの検出入力信号
と同期検出させることにより、更に正反射光、外乱光に
よるノイズ検知防止を図るためのものであるが、床面状
況によっては、省略してもよい。FIG. 3 is a block diagram schematically showing the circuit configuration of the control unit 120. The control unit 120 includes the A / D converter 125, the control circuit 126,
Includes microcomputer 127. That is, the light emitting diode 111
Is intermittently driven by a drive circuit 122 to which the output of the oscillation circuit 121 is applied. As a result, the pulsed light emitted is reflected by the light reflection tape 102 and is incident on the photodetector 114,
It is amplified by the amplifier 123. Amplified output is filter 1
It is input to the A / D converter 125 via 24. The digitally converted electric signal is input to the microcomputer 127. Microcomputer 127
Calculates the inclination angle of the vehicle body with respect to the light reflection tape 102 based on the input, and steers the steered wheels 105 via the control circuit 126 so that the inclination angle becomes zero. The oscillating circuit 121 in the above performs pulse-modulated irradiation light from the light emitting diode 111 and performs synchronous detection with the detection input signal from the photodetector 114, thereby further preventing noise detection due to specular reflection light and disturbance light. However, it may be omitted depending on the floor condition.
又、前記情報検知用光反射テープ107に付されたバーコ
ードは前記に準じ光検出器114によって検知され、マイ
コン127に入力し演算処理され、この出力によってバー
コードに定められた指令に基づいて制御される。Further, the barcode attached to the information detecting light reflecting tape 107 is detected by the photodetector 114 according to the above, is input to the microcomputer 127 and is subjected to arithmetic processing, and the output is based on the instruction set in the barcode. Controlled.
尚、無表示の光反射テープ108に於いては、光検知器114
による前記光反射テープ108の検出回数をカウントする
ことにより、このカウント数毎に付与された情報を検知
するようになされる。これらの情報検知用光反射テープ
107、108は必要に応じ適宜何れがに採択しうるものであ
る。上述の実施例では、発光ダイオードから照射された
光を透過し、反射光を反射するようにビームスプリッタ
を配設したがこの発明はこれに限られるものではない。
このビームスプリッタは例えば、発光ダイオードから照
射された光を反射し、反射光を光検出器に向けて反射す
るように配設されるものであってもよい。In the non-display light reflecting tape 108, the light detector 114
By counting the number of times the light reflecting tape 108 is detected by the above, the information given for each count number is detected. Light reflection tape for detecting these information
107 and 108 can be appropriately selected as needed. In the above-described embodiment, the beam splitter is arranged so as to transmit the light emitted from the light emitting diode and reflect the reflected light, but the present invention is not limited to this.
This beam splitter may be arranged, for example, so as to reflect the light emitted from the light emitting diode and reflect the reflected light toward the photodetector.
（ヘ）効果 以上説明したように、本発明に係る無人搬送車の誘導及
び情報検知用光反射テープの読み取り装置は、同一構成
の前部読み取り装置103と後部読み取り装置104とを含ん
でおり、それぞれ半導体発光素子と光検出器とビームス
プリッタとレンズ系を具備しており、半導体発光素子か
らの光が光反射テープに対して斜めに照射されるととも
に、各光検出器で検出した検出結果に基づいて操舵制御
するように構成されている。従って、床面が高い反射率
を有する材料で形成されていても光反射テープを正確に
読み取ることができるので、誤走行したりすることがな
いので、都合がよい。(F) Effects As described above, the reader of the guided and information detecting light reflecting tape of the automatic guided vehicle according to the present invention includes the front reader 103 and the rear reader 104 having the same configuration, Each is equipped with a semiconductor light emitting element, a photodetector, a beam splitter, and a lens system, and the light from the semiconductor light emitting element is obliquely applied to the light reflecting tape, and the detection result detected by each photodetector is displayed. The steering control is performed based on the above. Therefore, even if the floor surface is made of a material having a high reflectance, the light-reflecting tape can be accurately read, which prevents the vehicle from running erroneously, which is convenient.
さらに本発明は発光源として半導体発光素子を用いてい
るのでこれをパルス駆動することができる。その結果外
乱光との識別が一層容易になるという効果をも奏する。Further, since the present invention uses the semiconductor light emitting element as the light emitting source, it can be pulse-driven. As a result, there is an effect that it is easier to distinguish from ambient light.
第１図はこの発明にかかわる読み取り装置の一実施例を
搭載した無人搬送車の構成を略示した説明図、第２図は
光反射テープ読み取り装置の構成を略示した説明図、第
３図は本発明に使用する電気回路図である。 101……無人搬送車、102……光反射テープ、103、104…
…光反射テープ読み取り装置、107、108……情報検知用
光反射テープ、111……発光ダイオード、112……ビーム
スプリッター、113……レンズ系、114……光検出器。FIG. 1 is an explanatory view schematically showing the structure of an automated guided vehicle equipped with an embodiment of a reading device according to the present invention, and FIG. 2 is an explanatory view schematically showing the structure of a light reflecting tape reading device. FIG. 3 is an electric circuit diagram used in the present invention. 101 …… Automated guided vehicle, 102 …… Light-reflecting tape, 103, 104…
Light-reflective tape reader, 107, 108 Light-reflective tape for information detection, 111 ... Light emitting diode, 112 ... Beam splitter, 113 ... Lens system, 114 ... Photodetector
フロントページの続き (56)参考文献 特開 昭59−153211（ＪＰ，Ａ) 実開 昭55−167106（ＪＰ，Ｕ) 実開 昭56−30155（ＪＰ，Ｕ)Continuation of the front page (56) References JP-A-59-153211 (JP, A) Actually opened 55-167106 (JP, U) Actually opened 56-30155 (JP, U)
Claims (1)
搬送車より光反射テープ及び床面に照射するとともに、
光反射テープ及び床面から反射される反射光量の多少に
より無人搬送車と走行経路との相対位置を検出する無人
搬送車の誘導用光反射テープの読み取り装置において、
前記光反射テープは再帰反射性を有するものであり、前
記読み取り装置は発光源としての半導体発光素子と、反
射光を受光する光検出器と、光反射テープから再帰する
反射光を光検出器に向けて分離するビームスプリッタ
と、照射光及び反射光を集光して光反射テープ及び光検
知器上で結像するように配列されたレンズ系を含んでお
り、かつ半導体発光素子からの照射光が光反射テープに
対して斜めに照射させることにより再帰反射光成分を選
択的に検出するようにしたことを特徴とする無人搬送車
の誘導用光反射テープの読み取り装置。1. A light-reflecting tape is used as a traveling route to irradiate the light-reflecting tape and a floor surface from an automated guided vehicle,
In a device for reading a light reflecting tape for guiding an unmanned guided vehicle, which detects the relative position between the unmanned guided vehicle and a traveling route depending on the amount of light reflected from the light reflecting tape and the floor surface,
The light reflecting tape has retroreflectivity, and the reading device uses a semiconductor light emitting element as a light emitting source, a photodetector for receiving reflected light, and a reflected light returning from the light reflecting tape to the photodetector. A beam splitter that splits the light toward the target and a lens system that is arranged so as to collect the irradiation light and the reflected light and form an image on the light reflection tape and the photodetector, and the irradiation light from the semiconductor light emitting element. The apparatus for guiding a light reflection tape for guiding an automated guided vehicle, wherein the retroreflection light component is selectively detected by irradiating the light reflection tape at an angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60046071A JPH0687203B2 (en) | 1985-03-07 | 1985-03-07 | Optical reflective tape reader for guiding automated guided vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP60046071A JPH0687203B2 (en) | 1985-03-07 | 1985-03-07 | Optical reflective tape reader for guiding automated guided vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS61204714A JPS61204714A (en) | 1986-09-10 |
| JPH0687203B2 true JPH0687203B2 (en) | 1994-11-02 |
Family
ID=12736762
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP60046071A Expired - Lifetime JPH0687203B2 (en) | 1985-03-07 | 1985-03-07 | Optical reflective tape reader for guiding automated guided vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0687203B2 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070276558A1 (en) * | 2004-03-27 | 2007-11-29 | Kyeong-Keun Kim | Navigation system for position self control robot and floor materials for providing absolute coordinates used thereof |
| US20110301757A1 (en) * | 2008-02-21 | 2011-12-08 | Harvest Automation, Inc. | Adaptable container handling robot with boundary sensing subsystem |
| US8915692B2 (en) | 2008-02-21 | 2014-12-23 | Harvest Automation, Inc. | Adaptable container handling system |
| JP5633972B2 (en) * | 2011-03-31 | 2014-12-03 | 三井造船株式会社 | Crane equipment |
| US9147173B2 (en) | 2011-10-31 | 2015-09-29 | Harvest Automation, Inc. | Methods and systems for automated transportation of items between variable endpoints |
| US8937410B2 (en) | 2012-01-17 | 2015-01-20 | Harvest Automation, Inc. | Emergency stop method and system for autonomous mobile robots |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55167106U (en) * | 1979-05-18 | 1980-12-01 | ||
| JPS5630155U (en) * | 1979-08-17 | 1981-03-23 | ||
| JPS59153211A (en) * | 1983-02-19 | 1984-09-01 | Tsubakimoto Chain Co | Guiding method of unmanned carrier car |
-
1985
- 1985-03-07 JP JP60046071A patent/JPH0687203B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPS61204714A (en) | 1986-09-10 |
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