JP3397336B2 - Unmanned vehicle position / direction detection method - Google Patents
Unmanned vehicle position / direction detection methodInfo
- Publication number
- JP3397336B2 JP3397336B2 JP05542392A JP5542392A JP3397336B2 JP 3397336 B2 JP3397336 B2 JP 3397336B2 JP 05542392 A JP05542392 A JP 05542392A JP 5542392 A JP5542392 A JP 5542392A JP 3397336 B2 JP3397336 B2 JP 3397336B2
- Authority
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- Japan
- Prior art keywords
- unmanned vehicle
- ceiling
- light
- detecting
- specified
- 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 - Fee Related
Links
- 238000001514 detection method Methods 0.000 title claims description 19
- 238000005286 illumination Methods 0.000 claims description 26
- 238000000034 method Methods 0.000 claims description 17
- 230000000007 visual effect Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 8
- 239000003990 capacitor Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000000284 extract Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、誘導線や磁気テープ等
のガイド線を設けない無人車システムにおいて用いられ
るガイドレス式無人車の位置・方向検出方法に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a guideless type unmanned vehicle position / direction detecting method used in an unmanned vehicle system having no guide wire such as a guide wire or a magnetic tape.
【０００２】[0002]
【従来の技術】この種の無人車の現在位置および方向の
検出方法としては、例えば天井に光反射板を張りつけ、
無人車に搭載したレーザ発振器から上記光反射板へレー
ザスポットを投影し、このレーザスポットを地上に設け
たＩＴＶカメラ等の視覚装置で撮影してその画像データ
から無人車の現在位置および方向を検出する方法があ
る。2. Description of the Related Art As a method for detecting the current position and direction of an unmanned vehicle of this type, for example, a light reflecting plate is attached to the ceiling,
A laser spot is projected from the laser oscillator mounted on the unmanned vehicle to the light reflecting plate, the laser spot is photographed by a visual device such as an ITV camera provided on the ground, and the current position and direction of the unmanned vehicle are detected from the image data. There is a way to do it.
【０００３】しかし、この方法では、天井の全面に光反
射板を張りつけなくてはならない上、ＩＴＶカメラも複
数台配置する必要があるので、システムが高価になる欠
点がある。However, this method has a drawback that the system becomes expensive because it is necessary to attach a light reflecting plate to the entire surface of the ceiling and it is necessary to dispose a plurality of ITV cameras.
【０００４】[0004]
【発明が解決しようとする課題】この欠点を解消するた
め、例えば、特開昭６０−８９２１３号公報に記載され
ているように、天井照明灯を利用する検出方法が提案さ
れているが、この検出方法は、ＩＴＶカメラ等の視覚装
置で撮影した天井の一部の画像を、予めメモリに格納し
た天井全体の画像と比較するパターンマッチング方法で
あるため、既存の天井照明灯を利用できる利便さはある
が、ソフトウエア処理が複雑であり、天井照明灯の配列
が規則的である場合や視覚装置の視野に入る天井照明灯
の数が少ない場合には不正確になる恐れがある。In order to solve this drawback, a detection method using a ceiling illumination lamp has been proposed as described in, for example, Japanese Patent Application Laid-Open No. 60-89213. The detection method is a pattern matching method that compares a partial image of the ceiling taken by a visual device such as an ITV camera with an image of the entire ceiling that is stored in memory in advance. However, it may be inaccurate if the software processing is complicated, the arrangement of the ceiling lights is regular, and the number of the ceiling lights in the visual field of the visual device is small.
【０００５】本発明はこの問題を解消するためになされ
たもので、天井照明灯を利用してシステムを安価に構築
することができ、位置検出のための演算は簡単な演算で
済み、確実に、かつ高い精度をもって無人車の位置・方
向を検出することができる無人車の位置・方向検出方法
を提供することを目的とする。The present invention has been made in order to solve this problem. It is possible to construct a system at a low cost by using a ceiling illuminating lamp, and a calculation for position detection can be a simple calculation, which can be surely performed. An object of the present invention is to provide a position / direction detection method for an unmanned vehicle that can detect the position / direction of the unmanned vehicle with high accuracy.
【０００６】[0006]
【課題を解決するための手段】本発明は上記目的を達成
するため、請求項１では、天井照明灯をガイドレス式無
人車の位置検出指標とする無人車の位置検出方法におい
て、各天井照明灯がそれぞれ個別に識別可能な特徴を持
つ発光を行い、無人車側では、ある天井照明灯に対する
位置関係を検出するとともに、その天井照明灯に向けて
受光素子を向け、上記天井に向けた受光素子の出力の上
記特徴から当該受光素子が受光している天井照明灯を特
定し、特定された天井照明灯の座標データと前記位置関
係とに基づいて位置・方向を検出する構成とした。In order to achieve the above-mentioned object, the present invention provides a position detecting method for an unmanned vehicle in which a ceiling illumination lamp is used as a position detection index for a guideless unmanned vehicle. Each of the lights emits light with a characteristic that can be individually identified .
Detecting the positional relationship and aiming at the ceiling lighting
The light receiving element is directed, and the ceiling illuminating light received by the light receiving element is specified based on the characteristics of the output of the light receiving element directed to the ceiling, and the coordinate data of the specified ceiling illuminating light and the position relationship are specified.
The position and the direction are detected based on the operator .
【０００７】[0007]
【０００８】請求項２では、各天井照明灯の発光がそれ
ぞれ相異なる変調周波数を持つものとした。In the second aspect, the light emitted from each ceiling illumination lamp has a different modulation frequency.
【０００９】請求項３では、天井の一部を無人車搭載の
視覚装置で撮影して画面内の天井照明灯画像の中心座標
から当該中心座標に対する上記無人車のチルト角とパン
角を演算し、当該チルト角とパン角に基づき上記無人車
上に設けた受光素子の姿勢を制御して対応する天井照明
灯の光を受光させ、この受光素子の出力周波数から上記
天井照明灯を特定し、照明灯番号と対応する座標を書き
込んだ照明灯データメモリから上記特定した天井照明灯
の位置を特定し、この位置と上記チルト角から上記無人
車の位置を演算により検出する構成とした。According to a third aspect of the present invention, a part of the ceiling is photographed by a visual device mounted on an unmanned vehicle, and the tilt angle and pan angle of the unmanned vehicle with respect to the central coordinates are calculated from the central coordinates of the ceiling illuminating light image on the screen. , The attitude of the light receiving element provided on the unmanned vehicle is controlled based on the tilt angle and the pan angle to receive the light of the corresponding ceiling illumination lamp, and the ceiling illumination lamp is specified from the output frequency of the light receiving element, The position of the specified ceiling illuminating lamp is specified from the illuminating lamp data memory in which the coordinates corresponding to the illuminating lamp number are written, and the position of the unmanned vehicle is detected by calculation from this position and the tilt angle.
【００１０】請求項４では、特定した天井照明灯の位置
の基準面への投影位置と検出した無人車の位置を結ぶ方
向が基準方向に対してなす角度と、パン角とから無人車
の基準方向に対する方向を検出するようにした。According to a fourth aspect of the present invention, the reference angle of the unmanned vehicle is determined from the angle formed by the direction connecting the projected position of the specified ceiling illumination lamp onto the reference plane and the detected position of the unmanned vehicle with respect to the reference direction, and the pan angle. The direction to the direction is detected.
【００１１】請求項５では、無人車の向きはジャイロス
コープにより検出する構成とした。In the fifth aspect, the direction of the unmanned vehicle is detected by the gyroscope.
【００１２】[0012]
【作用】本発明では、撮影した天井画像内の天井照明灯
像の画像データから当該天井照明灯の無人車に対するチ
ルト角とパン角が検出され、受光素子がこの天井照明灯
へ向けられ、その出力を索引にして天井照明灯の特定と
位置の検出が行なわれ、この位置とチルト角に基づき無
人車の位置が演算される。In the present invention, the tilt angle and pan angle of the ceiling illumination lamp with respect to the unmanned vehicle are detected from the image data of the ceiling illumination lamp image in the captured ceiling image, and the light receiving element is directed to the ceiling illumination lamp. The output is used as an index to identify the ceiling illuminating lamp and detect its position, and the position of the unmanned vehicle is calculated based on this position and the tilt angle.
【００１３】[0013]
【実施例】以下、本発明の１実施例を図面を参照して説
明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
【００１４】図１において、１０は工場の建屋、１１は
建屋１０の水平な天井、Ｌ1 〜ＬNは天井１１の内面に
配設された蛍光灯である。２０は建屋１０内を走行する
ガイドレス方式の無人車であって、ＩＴＶカメラ２１お
よび受光ユニット２２を搭載している。In FIG. 1, 10 is a building of a factory, 11 is a horizontal ceiling of the building 10, and L 1 to L N are fluorescent lamps arranged on the inner surface of the ceiling 11. Reference numeral 20 denotes a guideless unmanned vehicle that travels inside the building 10, and is equipped with an ITV camera 21 and a light receiving unit 22.
【００１５】蛍光灯Ｌ1 〜ＬN はインバータ蛍光灯であ
って、各々が異なる周波数Ｆ1 〜ＦN で変調された変調
光を発生する。図３にその一例を示す。同図において、
１２は電源、１３はダイオード整流器、１４は平滑コン
デンサ、１５は発振回路、１６は蛍光管である。The fluorescent lamps L 1 to L N are inverter fluorescent lamps, each of which emits modulated light modulated at different frequencies F 1 to F N. FIG. 3 shows an example thereof. In the figure,
Reference numeral 12 is a power source, 13 is a diode rectifier, 14 is a smoothing capacitor, 15 is an oscillation circuit, and 16 is a fluorescent tube.
【００１６】ＩＴＶカメラ２１は天井１１の一部を視野
に収めうるように、ある仰角をもって取付けられてお
り、また、受光ユニット２２は、図２に示すように、受
光素子２３、左右および上下回動駆動機構２４および制
御装置２５を有し、受光素子２３の無人車２０に対する
チルト角α及びパン角β（図５に示す）を調整可能に設
けてある。The ITV camera 21 is mounted at a certain elevation angle so that a part of the ceiling 11 can be accommodated in the field of view, and the light receiving unit 22 is provided with a light receiving element 23, right and left and up and down as shown in FIG. A dynamic drive mechanism 24 and a control device 25 are provided, and the tilt angle α and the pan angle β (shown in FIG. 5 ) of the light receiving element 23 with respect to the unmanned vehicle 20 are adjustable.
【００１７】図４は、ＩＴＶカメラ２１が撮影した画像
であり、ＩＴＶカメラ２１からの画像信号は図２に示す
ように２値化回路３１で２値データ（明〔１〕と暗
FIG. 4 shows an image taken by the ITV camera 21, and the image signal from the ITV camera 21 is binary data (bright [1] and dark [1] as shown in FIG.
〔０〕）に変換されたのち、画像メモリ３２に格納され
る。図５の（Ａ）はＩＴＶカメラ２１の視野の縦断面を
示し、図３の（Ｂ）はＩＴＶカメラ２１の視野の水平断
面を示す。図２の３３は演算装置ＣＰＵ、３４は照明灯
データメモリである。この照明灯データメモリ３４は蛍
光灯番号Ｌ1 〜ＬN 、周波数Ｆ1 〜ＦN および蛍光灯の
座標ｇ1 〜ｇN のテーブルを格納している。３４Ａは演
算装置ＣＰＵ３３の演算結果を格納するデータメモリで
ある。After being converted into [0]), it is stored in the image memory 32. 5A shows a vertical section of the field of view of the ITV camera 21, and FIG. 3B shows a horizontal section of the field of view of the ITV camera 21. In FIG. 2, reference numeral 33 is a processor CPU, and 34 is an illumination lamp data memory. The illumination lamp data memory 34 stores a table of fluorescent lamp numbers L 1 to L N , frequencies F 1 to F N, and fluorescent lamp coordinates g 1 to g N. 34A is a data memory for storing the calculation result of the arithmetic unit CPU 33.
【００１８】（１）演算装置ＣＰＵ３３では、画像メモ
リ３２に格納された１フレーム分の画像データの蛍光灯
像（明領域）Ｌ1 ' 〜Ｌ4 ' のうちの完全画像Ｌ1 ' と
Ｌ2 'の像中心Ｇ1 、Ｇ2 の座標Ｇ1 （ｉ1 ，ｊ1 ）、
座標Ｇ2 （ｉ2 ，ｊ2 ）を演算する。像中心Ｇ1 、Ｇ2
の画素の位置は像中心Ｇ1 、Ｇ2 をずらすことによりず
れるので、像中心Ｇ1 、Ｇ2 の画素の、全画素中の位置
すなわち横方向画素アドレスおよび縦方向画素アドレ
ス）は無人車２０から見たチルト角α1 、α2 およびパ
ン角β1 、β2 に対応する。このチルト角α1 、α2 お
よびパン角β1 、β2 はデータメモリ３４Ａに格納され
る。(1) In the arithmetic unit CPU 33, complete images L 1 ' and L 2 of the fluorescent lamp images (bright areas) L 1 ' to L 4 ' of one frame of image data stored in the image memory 32 are stored. image center G 1, coordinates G 1 of G 2 of '(i 1, j 1) ,
The coordinates G 2 (i 2 , j 2 ) are calculated. Image center G 1 , G 2
Since the positions of the pixels of the image centers G 1 and G 2 are displaced by shifting the image centers G 1 and G 2 , the positions of the pixels of the image centers G 1 and G 2 in all the pixels, that is, the horizontal pixel address and the vertical pixel address) are set to the unmanned vehicle 20. Corresponds to the tilt angles α 1 and α 2 and the pan angles β 1 and β 2 as viewed from above. The tilt angles α 1 and α 2 and the pan angles β 1 and β 2 are stored in the data memory 34A.
【００１９】（２）このチルト角α1 とパン角β1 およ
びチルトα2 とパン角β2 を受光ユニット２２の制御装
置２５へ入力し、先ず、受光素子２３をその受光面が蛍
光灯Ｌ1 に向く姿勢へ制御して、蛍光灯Ｌ1 からの光を
受光させ、受光素子２３の出力を周波数検出回路３５に
入力して変調周波数Ｆ1 を検出する。続いて、受光素子
２３の受光面が蛍光灯Ｌ2 に向く姿勢へ当該受光素子２
３を制御し、受光素子２３の出力を周波数検出回路３５
に入力して変調周波数Ｆ2 を検出する。(2) The tilt angle α 1 and pan angle β 1 and the tilt α 2 and pan angle β 2 are input to the control device 25 of the light receiving unit 22. First, the light receiving surface of the light receiving element 23 is a fluorescent lamp L. By controlling the posture toward 1 , the light from the fluorescent lamp L 1 is received, and the output of the light receiving element 23 is input to the frequency detection circuit 35 to detect the modulation frequency F 1 . Subsequently, the light receiving element 2 to the position in which the light receiving surface of the light receiving element 23 faces the fluorescent lamp L 2
3 and controls the output of the light receiving element 23 to the frequency detection circuit 35.
To the modulation frequency F 2 to be detected.
【００２０】（３）演算回路ＣＰＵ３３は、このように
した求めた変調周波数Ｆ1 とＦ2 を照明灯データメモリ
３４の上記テーブルと照合して、画像Ｌ1 ' とＬ2 ' に
対応する実像が蛍光灯Ｌ1 とＬ2 であることを特定す
る。(3) The arithmetic circuit CPU 33 collates the thus obtained modulation frequencies F 1 and F 2 with the above table of the illuminating lamp data memory 34 to obtain real images corresponding to the images L 1 ′ and L 2 ′. Are fluorescent lamps L 1 and L 2 .
【００２１】（４）演算回路ＣＰＵ３３は、蛍光灯Ｌ1
とＬ2 の座標ｇ1 ｇ2 を照明灯データメモリ３４から読
み出し、座標ｇ1 とデータメモリ３４Ａから読み出した
チルト角α1 とから図６に示す円Ｏ1 を演算し、同様
に、照明灯データメモリ３４から読み出した座標ｇ2 と
チルト角α2 とから図６に示す円Ｏ2 を演算する。無人
車２０はこの２つの円Ｏ1 とＯ2 の周上の交点Ａまたは
Ｂ上に位置していることになり、パン角β1 とβ2 の大
小関係（Ｇ1 とＧ2 の左右関係）で無人車２０の位置Ｐ
を特定する。(4) The arithmetic circuit CPU 33 uses the fluorescent lamp L 1
And reads out the coordinates g 1 g 2 of L 2 from the lighting data memory 34, calculates a circle O 1 shown in FIG. 6 from the tilt angle alpha 1 Metropolitan read from coordinates g 1 and the data memory 34A, similarly, lighting A circle O 2 shown in FIG. 6 is calculated from the coordinate g 2 read from the data memory 34 and the tilt angle α 2 . The unmanned vehicle 20 is located on the intersection A or B on the circumference of these two circles O 1 and O 2 , and the magnitude relationship between the pan angles β 1 and β 2 (the left-right relationship between G 1 and G 2 ). ) Is the position P of the unmanned vehicle 20
Specify.
【００２２】（５）無人車２０の方向（姿勢）δを検出
する場合には、このようにして特定した無人車２０の位
置Ｐと蛍光灯Ｌ1 の位置ｇ1 （もしくは蛍光灯Ｌ2 の位
置ｇ2）から図７に示す基準方向Ｘに対する角度γを演
算し、角度γとパン角β1 （もしくはパン角β2 ）との
和から、無人車２０の方向δを演算する。[0022] (5) when detecting a δ direction of the unmanned vehicle 20 (position) is thus positioned g 1 position P and the fluorescent lamp L 1 of the unmanned vehicle 20 identified by (or the fluorescent lamp L 2 The angle γ with respect to the reference direction X shown in FIG. 7 is calculated from the position g 2 ) and the direction δ of the unmanned vehicle 20 is calculated from the sum of the angle γ and the pan angle β 1 (or the pan angle β 2 ).
【００２３】このように、本実施例では、各蛍光灯Ｌ1
〜ＬN に固有の変調周波数Ｆ1 〜ＦN を持たせたことに
より、位置検出指標となる蛍光灯Ｌ1 、Ｌ2 を容易に特
定することができ、この特定した蛍光灯の座標を用いて
無人車２０の位置および方向を検出するので、前記従来
のパターンマッチング方法による場合に比して、簡単な
ソフトウエアで済み、しかも蛍光灯Ｌ1 、Ｌ2 の特定を
確実に行なうことができるので、検出失敗の恐れがな
く、確実に、かつ高精度に位置および方向を検出するこ
とができる。As described above, in this embodiment, each fluorescent lamp L 1
˜L N have unique modulation frequencies F 1 to F N , it is possible to easily identify the fluorescent lamps L 1 and L 2 as position detection indexes, and use the coordinates of the identified fluorescent lamps. Since the position and the direction of the unmanned vehicle 20 are detected by using the conventional pattern matching method, the software is simpler and the fluorescent lamps L 1 and L 2 can be reliably identified. Therefore, there is no risk of detection failure, and the position and direction can be detected reliably and with high accuracy.
【００２４】また、変調周波数から天井照明灯の位置を
特定するから、蛍光灯の配列方法に制約はない利点があ
る。Further, since the position of the ceiling illumination lamp is specified from the modulation frequency, there is an advantage that there is no restriction on the fluorescent lamp arrangement method.
【００２５】なお、上記実施例では、無人車２０の方向
を演算により求めているが、図８に示すように、無人車
２０にジャイロスコープを搭載して当該ジャイロスコー
プにより無人車２０の方向を検出させるようにしてもよ
い。In the above embodiment, the direction of the unmanned vehicle 20 is calculated. However, as shown in FIG. 8, a gyroscope is mounted on the unmanned vehicle 20 and the direction of the unmanned vehicle 20 is determined by the gyroscope. You may make it detect.
【００２６】受光素子２３は、例えば数十ＫＨＺの周波
数に応答できる光電変換素子、具体的にはフォトダイオ
ードが用いられるが、ダイオードにメガフォン状のフー
ドをつけ、指向性をよくすれは、特定の周波数成分のみ
を強調され、後段の周波数検出回路３５で弁別しやすく
なる。As the light receiving element 23, for example, a photoelectric conversion element capable of responding to a frequency of several tens of KHZ, specifically, a photodiode is used. However, if the diode is provided with a megaphone hood and the directivity is improved, a specific Only the frequency component is emphasized, and it becomes easier to discriminate in the frequency detection circuit 35 in the subsequent stage.
【００２７】また、上記周波数検出回路３５は受光素子
２３からの出力が含む複数の周波数成分の中から最も波
高値の高いものを抽出する。具体的には、フーリエ変換
の手法を用いたＦＦＴアナライザ等があるが、上記した
方法で受光素子２３の指向性を良くした場合には、単な
るバルスカウンタで間に合わせることができる。Further, the frequency detection circuit 35 extracts the one having the highest peak value from the plurality of frequency components included in the output from the light receiving element 23. Specifically, there is an FFT analyzer using a Fourier transform method, but when the directivity of the light receiving element 23 is improved by the above method, it is possible to make do with a simple pulse counter.
【００２８】また、ＩＴＶカメラ２１がその視野の中に
１箇の蛍光灯しかを捉えられなかった場合には、ＩＴＶ
カメラ２１の角度を変えて最低もう１箇の蛍光灯の画像
を取り込む。この場合、ＩＴＶカメラ２１の角度を変え
る場合、チルト角よりもパン角を優先させた方が演算時
間の面からは有利である。If the ITV camera 21 can capture only one fluorescent lamp in its field of view, the ITV
The image of at least another fluorescent lamp is captured by changing the angle of the camera 21. In this case, when changing the angle of the ITV camera 21, it is advantageous in terms of calculation time to prioritize the pan angle over the tilt angle.
【００２９】高精度の位置決めが要求される場合には、
元の角度による画像と今回の角度の画像とを合成し、仮
想的に拡大された視野の画像を扱うようにする。さほど
の精度が要求されない場合は、１箇の視野の中に複数個
の蛍光灯が捉えられたら、その視野の画像だけで処理す
るようにすればよい。When high precision positioning is required,
The image of the original angle and the image of the current angle are combined to handle the image of the virtually expanded field of view. If a certain degree of accuracy is not required, if a plurality of fluorescent lamps are captured in one visual field, it is sufficient to process only the image in that visual field.
【００３０】[0030]
【発明の効果】本発明は以上説明した通り、天井照明灯
をガイドレス無人車の位置（および方向）検出指標とす
る場合に、各天井照明灯の発光にそれぞれ固有の変調周
波数を持たせ、ある天井照明灯に対する位置関係を検出
するとともに、その天井照明灯に向けて受光素子を向
け、前記変調周波数から天井照明灯を特定し、特定され
た天井照明灯の座標データと前記位置関係とに基づいて
位置・方向を検出する構成としたことにより、天井照明
灯を利用してシステムを安価に構築することができ、位
置検出のための演算は簡単な演算で済み、確実に、高い
精度をもって無人車の位置および方向を検出することが
できる。As described above, according to the present invention, when the ceiling illumination light is used as the position (and direction) detection index of the guideless unmanned vehicle, the light emission of each ceiling illumination light has its own modulation frequency, Detects the positional relationship with a ceiling lamp
The light receiving element toward the ceiling lighting.
However, the ceiling illumination lamp is specified from the modulation frequency, and the position / direction is detected based on the coordinate data of the specified ceiling illumination lamp and the positional relationship. Can be constructed at low cost, and the calculation for position detection can be simple calculation, and the position and direction of the unmanned vehicle can be detected reliably and with high accuracy.
【図１】本発明の実施例の構成を示す模式図である。FIG. 1 is a schematic diagram showing a configuration of an example of the present invention.
【図２】上記実施例における検出プロセスを説明するた
めの制御ブロック図である。FIG. 2 is a control block diagram for explaining a detection process in the above embodiment.
【図３】上記実施例における蛍光灯の回路図である。FIG. 3 is a circuit diagram of the fluorescent lamp in the above embodiment.
【図４】上記実施例におけるＩＴＶカメラの撮影画像の
１例を示す図である。FIG. 4 is a diagram showing an example of a captured image of the ITV camera in the above embodiment.
【図５】上記実施例におけるチルト角とパン角を説明す
るための図である。FIG. 5 is a diagram for explaining a tilt angle and a pan angle in the above embodiment.
【図６】上記実施例におけ無人車の位置検出演算を説明
するための図である。FIG. 6 is a diagram for explaining position detection calculation of an unmanned vehicle in the above embodiment.
【図７】上記実施例におけ無人車の方向検出演算を説明
するための図である。FIG. 7 is a diagram for explaining the direction detection calculation of the unmanned vehicle in the above embodiment.
【図８】上記実施例におけ無人車の位置と方向を検出す
る他の例を説明するための図である。FIG. 8 is a diagram for explaining another example of detecting the position and direction of the unmanned vehicle in the above embodiment.
１０ 建屋 １１ 天井 ２０ 無人車 ２１ ＩＴＶカメラ ２２ 受光ユニット ３１ ２値化回路 ３２ 画像メモリ ３３ 演算回路 ３４ 照明灯データメモリ ３４Ａ データメモリ ３５ 周波数検出回路 Ｌ1 〜ＬN 天井照明灯である蛍光灯10 Building 11 Ceiling 20 Unmanned Vehicle 21 ITV Camera 22 Light-Receiving Unit 31 Binarization Circuit 32 Image Memory 33 Arithmetic Circuit 34 Illumination Lamp Data Memory 34A Data Memory 35 Frequency Detection Circuit L 1 to L N Fluorescent Lamp which is a Ceiling Illumination Lamp
───────────────────────────────────────────────────── フロントページの続き (72)発明者 今林 弘資 三重県伊勢市竹ケ鼻町100番地 神鋼電 機株式会社伊勢製作所内 (56)参考文献 特開 昭48−87287（ＪＰ，Ａ) 特開 昭62−78612（ＪＰ，Ａ) 特開 平１−243104（ＪＰ，Ａ) 特開 昭62−272307（ＪＰ，Ａ) 特開 平１−319804（ＪＰ，Ａ) 特開 平１−298407（ＪＰ，Ａ) ─────────────────────────────────────────────────── ─── Continued front page (72) Inventor Hiroshi Imabayashi 100, Takegahana-cho, Ise-shi, Mie Shinkoden Machine Ise Factory (56) References JP-A-48-87287 (JP, A) JP 62-78612 (JP, A) JP-A-1-243104 (JP, A) JP 62-272307 (JP, A) JP-A-1-319804 (JP, A) JP-A-1-298407 (JP, A)
Claims (5)
検出指標とする無人車の位置検出方法において、各天井
照明灯がそれぞれ個別に識別可能な特徴を持つ発光を行
い、無人車側では、ある天井照明灯に対する位置関係を
検出するとともに、その天井照明灯に向けて受光素子を
向け、上記天井に向けた受光素子の出力の上記特徴から
当該受光素子が受光している天井照明灯を特定し、特定
された天井照明灯の座標データと前記位置関係とに基づ
いて位置・方向を検出することを特徴とする無人車の位
置・方向検出方法。1. A method for detecting the position of an unmanned vehicle using a ceiling illumination light as a position detection index for a guideless unmanned vehicle, wherein each ceiling illumination light emits light having a characteristic that can be individually identified, and on the unmanned vehicle side. , The positional relationship with a certain ceiling light
In addition to detecting, place a light receiving element toward the ceiling lighting.
, The ceiling illuminating light received by the light receiving element is specified from the characteristics of the output of the light receiving element toward the ceiling, and the position / direction is determined based on the coordinate data of the specified ceiling illuminating light and the positional relationship. A method for detecting the position / direction of an unmanned vehicle, which is characterized by detecting
変調周波数を持つことを特徴とする請求項１記載の無人
車の位置・方向検出方法。2. The method for detecting the position / direction of an unmanned vehicle according to claim 1, wherein the respective lights emitted from the ceiling illumination lights have different modulation frequencies.
影して画面内の天井照明灯画像の中心座標から当該中心
座標に対する上記無人車のチルト角とパン角を演算し、
当該チルト角とパン角に基づき上記無人車上に設けた受
光素子の姿勢を制御して対応する天井照明灯の光を受光
させ、この受光素子の出力周波数から上記天井照明灯を
特定し、照明灯番号と対応する座標を書き込んだ照明灯
データメモリから上記特定した天井照明灯の位置を特定
し、この位置と上記チルト角から上記無人車の位置を演
算により検出することを特徴とする請求項２記載の無人
車の位置・方向検出方法。3. A part of the ceiling is photographed by a visual device mounted on an unmanned vehicle, and a tilt angle and a pan angle of the unmanned vehicle with respect to the center coordinates are calculated from the center coordinates of a ceiling illumination image in the screen,
Based on the tilt angle and the pan angle, the attitude of the light receiving element provided on the unmanned vehicle is controlled to receive the light of the corresponding ceiling illumination lamp, and the ceiling illumination lamp is specified from the output frequency of the light receiving element to perform illumination. 7. The position of the specified ceiling illuminating lamp is specified from the illuminating lamp data memory in which the coordinates corresponding to the lamp number are written, and the position of the unmanned vehicle is detected by calculation from this position and the tilt angle. The method for detecting the position and direction of an unmanned vehicle as described in 2.
投影位置と検出した無人車の位置を結ぶ方向が基準方向
に対してなす角度と、パン角とから無人車の基準方向に
対する方向を検出することを特徴とする請求項３記載の
無人車の位置・方向検出方法。4. A direction with respect to the reference direction of the unmanned vehicle based on an angle formed by a direction connecting a projection position of the specified position of the ceiling illumination lamp onto the reference surface and the detected position of the unmanned vehicle with respect to the reference direction and a pan angle. 4. The method for detecting the position / direction of an unmanned vehicle according to claim 3, wherein:
検出することを特徴とする請求項３記載の無人車の位置
・方向検出方法。5. The method for detecting the position / direction of an unmanned vehicle according to claim 3, wherein the orientation of the unmanned vehicle is detected by a gyroscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05542392A JP3397336B2 (en) | 1992-03-13 | 1992-03-13 | Unmanned vehicle position / direction detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05542392A JP3397336B2 (en) | 1992-03-13 | 1992-03-13 | Unmanned vehicle position / direction detection method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05257527A JPH05257527A (en) | 1993-10-08 |
| JP3397336B2 true JP3397336B2 (en) | 2003-04-14 |
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ID=12998172
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP05542392A Expired - Fee Related JP3397336B2 (en) | 1992-03-13 | 1992-03-13 | Unmanned vehicle position / direction detection method |
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| JP (1) | JP3397336B2 (en) |
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| KR101248308B1 (en) * | 2011-01-31 | 2013-03-27 | 고려대학교 산학협력단 | Method for recognizing the self position of a mobile robot unit using the lamp directionality on the ceiling image/feature map and mobile robot unit using the method |
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|---|---|
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