JPH01124008A - Guiding device - Google Patents

Abstract

PURPOSE:To easily evade mutual collision of plural rapid moving bodies by detecting the moving variables of an opposite moving body by means of laser beams and controlling a steering device by a computer. CONSTITUTION:A laser beam identifying device 12 sends a difference between the radiation time of laser beams from a laser oscillator 2 and its receiving time based on a photosensor 5 and the direction of the laser beams at the time of reading out data from a rotary encoder 6 to an opposite moving variable computer 13 as data. A collision position is calculated from the moving variables of the opposite moving body and that of the self-vehicle, an evading route based on an evading rule is determined and steering is controlled so that the self-vehicle is moved on the evading route. Consequently, the mutual collision of plural rapid moving bodies can be evaded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a guidance device that uses steering to avoid collisions between movable bodies moving on a plane.

[Conventional technology]

Conventionally, this is a method for avoiding collisions between moving objects.

In addition to visual inspection by operators of mobile units, there were other methods such as emitting radio waves or ultrasonic waves and using the echoes returned from the other unit to notify the operator of the position and movement of the other unit.

[Problem that the invention seeks to solve]

Collision avoidance is an important issue for moving objects that move on a flat surface. Conventionally, in the case of a manned vehicle, collisions have been avoided using human senses and judgment, but this becomes inaccurate as speeds increase and the number of moving objects increases.

In unmanned situations, there were methods using radio waves or ultrasonic echoes, but these had problems such as noise and interference.

This invention was made to solve these problems, and uses a computer to avoid collisions with multiple moving objects at high speed, using a laser beam that is free from noise and interference. This is a guidance device that controls steering in real time.

[Means for solving problems]

The guidance device according to the present invention includes a laser beam oscillator that emits a laser beam, and a corner cube prism that reflects the laser beam in the direction from which it comes.

A laser beam identification device that identifies the emitted laser beam when it is reflected from the other vehicle, an opponent movement specification calculator that calculates the position, heading, and speed of the other moving object, and the position and heading of the own vehicle. .

The vehicle is equipped with a vehicle movement specification calculator that calculates the speed, a collision avoidance route calculator that automatically calculates the path to avoid a collision by steering, and a steering control device that controls the steering method. be.

[Effect]

In this invention, the collision position is calculated from the movement specifications of the other moving body and the movement specifications of the own vehicle, and an avoidance route is determined in accordance with the 9-avoidance rule. Collision avoidance is achieved by steering the vehicle so that it moves along this avoidance route.

〔Example〕

FIG. 1 (A1) is a two-sided view of a moving body used in an embodiment of the guidance device according to the present invention. m is the main body of the moving body, and a laser oscillator (2
1. Laser oscillator (2) Laser oscillator rotation motor 131 for full rotation. ．． 4 corner cube prisms (
41, laser oscillator (optical sensor (5) attached to the emission port of 21, rotary encoder 16 attached to the rotation axis of the laser oscillator 12+), gyro (7),
A computer that processes data from each device in real time (
81, all steering motors (9) are installed.

A laser oscillator (21, optical sensor (51, rotary encoder (6), gyro C7), steering motor (91 is connected to a computer (8)K).

In Fig. 2, the relationship between own vehicle H and the other moving object (Ill) is expressed as follows: own vehicle position (Xos Yo) - own vehicle speed vo, own vehicle traveling direction θ., other party's position (Xl, Yl), and other party's speed v1.
゜Opponent's heading θ1. Collision position (x, y),
It is defined by the predicted collision time t required to reach the collision position and the collision avoidance start time T at which collision avoidance begins.

Figure 3 is an overall configuration diagram of the laser oscillator (2
The laser beam emitted from the other corner cube prism (41) is reflected by the optical sensor 151.The received laser beam is transmitted to the laser beam identification device (12).
Only the laser beam you emit is considered fully effective. If the laser beam is valid, the laser beam identification device a'a
Next, we will calculate the movement specifications of the other party using the difference between the time when the laser oscillator (21) emits the laser beam and the time when the optical sensor (51) receives the laser beam, and the direction of the laser beam at that time read from the rotary encoder (6). Vessel a
Send to 3.

Opponent movement specification calculator (I3 calculates the opponent's position based on the round trip time of the laser beam sent and the direction of the laser beam)
Xl + Yl) e Opponent's speed v1. Calculate the opponent's traveling direction θ1 and send it to the collision avoidance route calculator agc.

Own vehicle movement specification calculator (141 is own vehicle position (Xo, Yo) and own vehicle speed V based on data from gyro (7).

. The vehicle's traveling direction θ0 is calculated and sent to the collision avoidance route calculator a51.

The collision avoidance route calculator ui calculates the collision position (x, y) and predicted collision time ti, and when t('l' is reached), calculates the collision avoidance route and sends it to the steering control device OB.

The steering control device 1161 controls the steering motor 191 :i so that the own vehicle moves on a collision avoidance route.

In Figure 4, the logic of one avoidance process in the collision avoidance cross road calculator ti is shown in a flowchart. When there is a possibility of a collision between the own vehicle and the other vehicle, it is determined at 41G that t<T'e. Under the condition that t<T, that is, the predicted collision time is shorter than the collision avoidance start time, at 119, the mode is changed from normal mode (manual control has control) to avoidance mode (control is controlled by manual control). the calculator has).

Next, in (2), one is selected from three types of avoidance route patterns: (Ql), (2), and (3) depending on the information on which side of the vehicle's traveling direction the opponent's position is located.

If the other party's position is on the left in the direction of travel of the host vehicle, select the pattern Ql) in which the vehicle steers to the left.

If the other party's position is to the right of the own car's direction of travel, select the pattern of going straight ahead.

If the other party's position is in the direction of travel of the own vehicle, select pattern (■) in which the vehicle is steered to the left.

In (2), a collision avoidance route is calculated based on the selected avoidance route pattern, and c! At 51, those data are sent to the steering controller.

Finally, in ■, return from avoidance mode to normal mode.

〔Effect of the invention〕

As described above, according to the present invention, a laser beam is used to detect the movement specifications of the other party, and a computer is used to control the steering device, so collisions can be easily avoided even when multiple moving objects are moving at high speed. can be realized.

[Brief explanation of the drawing]

Figure 1 (B1) is a two-sided view of a moving body used in an embodiment of the guidance device according to the present invention, Figure 2 is a diagram defining the relationship between the moving bodies and the collision position, and Figure 3 is a The overall configuration diagram, Fig. 4, is a flowchart explaining the logic of one-time avoidance processing. (4) is a corner cube prism, (5: is an optical sensor, (6) is a rotary encoder, (7) is a gyro, (8) is a calculator, (91 is a steering motor. The same reference numerals in the middle indicate the same or corresponding parts.

Claims (1)

[Claims] A laser oscillator that emits a laser beam to the surrounding area,
A corner cube prism that reflects the laser beam emitted by another moving object in the direction from which it came, and an optical sensor that outputs a signal when it receives a laser beam that it has emitted and is reflected from the corner cube prism of another moving object. , a laser beam identification device that identifies a received laser beam based on a signal from an optical sensor, a laser oscillator rotation motor that rotates the laser oscillator, a rotary encoder that detects the rotation angle of the laser oscillator rotation motor, a laser beam identification device and a rotary An opponent movement specification calculator that calculates the position, heading, and speed of the moving object to avoid collision based on the output from the encoder, a gyro that detects acceleration on a plane, and a gyro that calculates the position and progress of the own vehicle based on the output from the gyro. The collision position is calculated from the outputs of the own vehicle movement specification calculator that calculates the direction and speed, the other vehicle movement specification calculator, and the own vehicle movement specification calculator, and the collision avoidance route is automatically determined by steering. A vehicle comprising a collision avoidance route calculator that calculates a collision avoidance route, a steering control device that controls the steering method based on the output of the collision avoidance route calculator, and a steering motor that changes the direction of the vehicle's wheels based on the output of the steering control device. Guidance device.