JPH0256610A - Optical guidance system for moving vehicle - Google Patents
Optical guidance system for moving vehicleInfo
- Publication number
- JPH0256610A JPH0256610A JP63209125A JP20912588A JPH0256610A JP H0256610 A JPH0256610 A JP H0256610A JP 63209125 A JP63209125 A JP 63209125A JP 20912588 A JP20912588 A JP 20912588A JP H0256610 A JPH0256610 A JP H0256610A
- Authority
- JP
- Japan
- Prior art keywords
- moving vehicle
- guided path
- light beam
- sensor
- reflected
- 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
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- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 7
- 238000005286 illumination Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- JBRZTFJDHDCESZ-UHFFFAOYSA-N AsGa Chemical compound [As]#[Ga] JBRZTFJDHDCESZ-UHFFFAOYSA-N 0.000 description 1
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 1
- 229910001218 Gallium arsenide Inorganic materials 0.000 description 1
- OAICVXFJPJFONN-UHFFFAOYSA-N Phosphorus Chemical compound [P] OAICVXFJPJFONN-UHFFFAOYSA-N 0.000 description 1
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 239000011248 coating agent Substances 0.000 description 1
- 238000000576 coating method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000005674 electromagnetic induction Effects 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 229910052698 phosphorus Inorganic materials 0.000 description 1
- 239000011574 phosphorus Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 229910052710 silicon Inorganic materials 0.000 description 1
- 239000010703 silicon Substances 0.000 description 1
- 238000010186 staining Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Landscapes
- Platform Screen Doors And Railroad Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Communication System (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、走行床面に形成した誘導路を検知し、検知信
号によって操舵され、誘導路に沿って走行する移動車両
の光学誘導方式に係り、特に走行床面の色彩、模様など
の美観を保ったまま形成した誘導路に好適な移動車両の
光学誘導方式に関する。[Detailed Description of the Invention] <Industrial Application Field> The present invention detects a taxiway formed on a running floor surface, is steered by a detection signal, and is applied to an optical guidance system for a moving vehicle traveling along the taxiway. In particular, the present invention relates to an optical guidance system for moving vehicles that is suitable for creating a guidance path that maintains the aesthetic appearance of the running floor surface, such as color and pattern.
〈従来の技術〉
従来の移動車両の光学誘導方式は、誘導路として走行床
面上に敷設したステンレス又はアルミニウム等の光学反
射テープに可視光線を照射し、反射した光を受光検知し
て誘導路を識別するようになっている。<Prior art> Conventional optical guidance systems for moving vehicles irradiate visible light onto an optical reflective tape made of stainless steel or aluminum laid on the running floor as a taxiway, detect the reflected light, and guide the taxiway. It is designed to identify.
そして、移動車両はシャーシの前部に操舵輪を、シャー
シの後部左右に駆動輪を備えており、操舵モータ及び駆
動モータにより減速機構及び差動機構を介して移動する
ようになっている。また、シャーシの前部に誘導路を照
射する投光器と、誘導路と直交する左右方向に配設され
た複数個の検知器とを備えている。The mobile vehicle is equipped with a steering wheel at the front of the chassis and drive wheels at the rear left and right sides of the chassis, and is moved by a steering motor and a drive motor via a speed reduction mechanism and a differential mechanism. The vehicle also includes a floodlight that illuminates the guideway at the front of the chassis, and a plurality of detectors arranged in the left and right direction perpendicular to the guideway.
そして、投光器から照射された光が床面で反射し、この
反射光を検知器が検知する。このとき光量に従ってそれ
ぞれの検知器の検知信号が大小相違する。この検知信号
に基づいて、操舵モータ、駆動モータが移動車両に搭載
した制御装置によって制御され、移動車両が誘導路に沿
って操舵走行するようになっている。Then, the light emitted from the projector is reflected on the floor surface, and the detector detects this reflected light. At this time, the detection signals of the respective detectors differ in magnitude depending on the amount of light. Based on this detection signal, a steering motor and a drive motor are controlled by a control device mounted on the moving vehicle, so that the moving vehicle steers along the guideway.
〈発明が解決しようとする課題〉
従来の移動車両の光学誘導方式にあっては、光学反射テ
ープの敷設場所が主として生産現場や倉庫等に限られて
いた。このため、光学反射テープの敷設によって室内床
面の美観を損なうことについては、さほど問題視される
ことがなかった。<Problems to be Solved by the Invention> In the conventional optical guidance system for moving vehicles, the locations where optical reflective tape can be laid are mainly limited to production sites, warehouses, etc. For this reason, it has not been seen as a serious problem that the installation of optical reflective tape spoils the aesthetic appearance of indoor floors.
そして、前記方式による移動車両の普及は急速に拡大し
、オフィスや病院等においても広〈実施されるようにな
ってきた。The use of mobile vehicles using the above-mentioned method has rapidly expanded, and it has come to be widely used in offices, hospitals, and the like.
しかし、前記設置場所に従来の光学反射テープを床面に
敷設する場合、床面にＰタイルやカーペット等で美麗に
仕上げられでいるところでは、床の色彩や模様の調和を
損なうという問題点があった。また、光学反射テープが
破損したりまたは汚損したりして床面の美観を著しく損
なうことになる。However, when laying conventional optical reflective tape on the floor at the installation location, there is a problem that the color and pattern of the floor will be disrupted in areas where the floor is beautifully finished with P tiles or carpet. there were. Further, the optical reflective tape may be damaged or stained, resulting in a significant loss of aesthetic appearance of the floor surface.
一方、従来から実施されている電磁誘導方式にあっては
、誘導線を床面に埋設して移動車両の誘導路が形成され
ている。前記のような仕上げをした床面の美観を損なう
ことなく誘導線を埋設することはできる。しかしながら
、埋設及び経路変更等の際、施工が不便であるほか、誘
導路に沿って誘導磁界が発生する。それ故前記誘導磁界
を嫌う場所では使用できないという不具合がある。On the other hand, in the conventional electromagnetic induction system, a guide wire is buried in the floor to form a guide path for a moving vehicle. Guide wires can be buried without spoiling the aesthetic appearance of the finished floor surface as described above. However, when burying or changing the route, construction is not only inconvenient, but also an induced magnetic field is generated along the guideway. Therefore, there is a problem that it cannot be used in places where the induced magnetic field is disliked.
本発明は上記事情に鑑みて創案されたもので、人間の目
には見えないような誘導路を形成し、この誘導路に沿っ
て操舵走行される移動車両の光学誘導方式を提供するこ
とを目的としている。The present invention was devised in view of the above circumstances, and aims to provide an optical guidance system for a moving vehicle that forms a guideway that is invisible to the human eye and is steered along the guideway. The purpose is
く課題を解決するための手段〉
本発明に係る移動車両の光学誘導方式は、走行床面から
反射する可視外光線を検知することにより走行面に形成
された誘導路を識別し、この誘導路に沿って操舵走行す
る移動車両の光学誘導方式であって、前記誘導路は可視
外光線のみを選択的に吸収又は反射する透明塗料を塗布
したものであり、かつ移動車両は床面から反射する可視
外光線を検知し、この検知信号に基づいて操舵走行する
ようにしたことを特徴としている。Means for Solving the Problem> The optical guidance system for a moving vehicle according to the present invention identifies a taxiway formed on the running surface by detecting non-visible light reflected from the running floor, and This is an optical guidance system for a moving vehicle that steers along a guideway, and the guideway is coated with a transparent paint that selectively absorbs or reflects only non-visible light, and the moving vehicle reflects from the floor surface. The vehicle is characterized in that it detects visible light and steers the vehicle based on this detection signal.
〈作用〉
誘導路は可視外光線のみを選択的に吸収する透明塗料を
塗布して形成される。投光器から照射された可視外光線
は床面から反射されるが、誘導路の部分は可視外光線を
吸収するので反射されない。<Function> The guide path is formed by applying a transparent paint that selectively absorbs only non-visible light. The non-visible light emitted from the floodlight is reflected from the floor surface, but the guideway absorbs the non-visible light and is not reflected.
移動車両に設けられたセンサは、前記可視外反射光線を
検知することにより誘導路を識別し、誘導路に沿って走
行する。移動車両が誘導路からずれた場合には、センサ
の検知信゛号がＯＮ、ＯＦＦ変化することによってずれ
方向を検知し操舵制御される。A sensor provided on the moving vehicle identifies the guideway by detecting the non-visible reflected light, and the vehicle travels along the guideway. When the moving vehicle deviates from the guideway, the direction of the deviation is detected and the steering is controlled by changing the detection signal of the sensor from ON to OFF.
〈実施例〉
以下、図面を参照して本発明に係る一実施例を説明する
。<Example> Hereinafter, an example according to the present invention will be described with reference to the drawings.
第１図は本発明に係る移動車両の底面を示す説明図であ
る。FIG. 1 is an explanatory diagram showing the bottom surface of a moving vehicle according to the present invention.
１０は誘導路で可視外光線吸収用透明塗料を床面に塗布
して形成したものである。以下の説明においては、可視
外光線として紫外線を用いる場合について説明する。Reference numeral 10 is a guideway formed by coating the floor surface with a transparent paint for absorbing visible light. In the following description, a case will be described in which ultraviolet rays are used as the visible light.
２０は移動車両、２１はシャーシ、２２は操舵モータ２
３によって操舵される操舵輪、２４．２５は駆動モータ
２６によって駆動される駆動輪、２７は減速、差動機構
である。なお、操舵輪２２は誘導路１０の外方を踏面と
するように設けてあり、誘導路１０の操舵輪２２による
汚損を少なくするようにしている。20 is a moving vehicle, 21 is a chassis, 22 is a steering motor 2
3 is a steered wheel, 24 and 25 are drive wheels driven by a drive motor 26, and 27 is a deceleration and differential mechanism. Note that the steering wheel 22 is provided so that the outside of the taxiway 10 is a tread surface, so as to reduce staining of the taxiway 10 by the steering wheel 22.
３０は床面を照射する紫外線ランプ等の投光器で、シャ
ーシ２１の下面に誘導路１０と直交する方向に設けられ
ている。４０は床面から反射する可視外光線を検知する
紫外線センサである。センサ４０は、シャーシ２１下面
に誘導路１０の中央部及び誘導路１０と直交する左右方
向に一定間隔を以て３個のセンサ４０ａ 、４０ｂ 、
４０ｃが一列に配列され、センサユニット４１を構成し
ている。そして、前記３個のセンサのうち中央のセンサ
４０ｂが誘導路１０の中央部に位置するときに、移動車
両２０が誘導路１０に対し正常な位置となるようにセン
サユニット４１が移動車両２０に取り付けられている。Reference numeral 30 denotes a floodlight such as an ultraviolet lamp that illuminates the floor surface, and is provided on the lower surface of the chassis 21 in a direction perpendicular to the guideway 10. 40 is an ultraviolet sensor that detects visible light reflected from the floor surface. The sensors 40 include three sensors 40 a , 40 b , which are arranged on the lower surface of the chassis 21 at a constant interval in the center of the guideway 10 and in the left and right direction perpendicular to the guideway 10 .
40c are arranged in a line to constitute a sensor unit 41. When the central sensor 40b among the three sensors is located at the center of the taxiway 10, the sensor unit 41 is attached to the moving vehicle 20 so that the moving vehicle 20 is in a normal position with respect to the taxiway 10. installed.
なお、実施例ではセンサ４０に紫外線のみを選択的に検
知するシリコンフォトダイオード或いはガリウムリンフ
ォトダイオードを用いている。また、図示例ではセンサ
ユニット４１を投光器３０の前後に各１列設けているが
、１列のみであってもよい。In the embodiment, the sensor 40 uses a silicon photodiode or a gallium phosphorus photodiode that selectively detects only ultraviolet rays. Further, in the illustrated example, one row of sensor units 41 is provided before and after the light projector 30, but it is also possible to provide only one row of sensor units 41.
第２図は本発明に係る移動車両２０の制御部５０のブロ
ック図である。FIG. 2 is a block diagram of the control unit 50 of the mobile vehicle 20 according to the present invention.
制御部５０はセンサユニット４１の検知信号を増幅する
信号増幅器５０１ と、センサユニット４１の出力信号
によってセンサユニッ）４１のずれ方向を判断し操舵角
を決定し、操舵駆動指令を発する中央演算装置５０２と
、操舵輪制御回路５０７と、駆動輪制御回路５０９とか
ら構成されている。The control unit 50 includes a signal amplifier 501 that amplifies the detection signal of the sensor unit 41, and a central processing unit 502 that determines the direction of deviation of the sensor unit 41 based on the output signal of the sensor unit 41, determines the steering angle, and issues a steering drive command. , a steering wheel control circuit 507, and a driving wheel control circuit 509.
中央演算装置５０２はセンサユニットずれ方向判別部５
０３と、操舵方向決定部５０４と、操舵角度決定部５０
５と、操舵輪制御回路５０７に指令する操舵指令部５０
６と、駆動輪制御回路５０９に指令する駆動指令部５０
８とをそれぞれ内蔵している。そして前記操舵輪制御回
路５０７及び駆動輪制御回路５０９を介し、操舵モータ
２３及び駆動モータ２６が制御されるようになっている
。The central processing unit 502 is a sensor unit displacement direction determining section 5
03, a steering direction determining section 504, and a steering angle determining section 50.
5, and a steering command section 50 that instructs the steering wheel control circuit 507.
6, and a drive command section 50 that instructs the drive wheel control circuit 509.
8 and 8 respectively. The steering motor 23 and the drive motor 26 are controlled via the steered wheel control circuit 507 and the drive wheel control circuit 509.
次に、本発明の動作について説明する。Next, the operation of the present invention will be explained.
■移動車両２０の走行床面を照射する照明光に含まれる
紫外線がセンサユニット４１の各センサ４０ａ１４０ｂ
、４０ｃで検知され、その検知信号が信号増幅器５０
１に入力される。■Each sensor 40a140b of the sensor unit 41 is exposed to ultraviolet light contained in the illumination light that illuminates the running floor surface of the moving vehicle 20.
, 40c, and the detection signal is sent to the signal amplifier 50.
1 is input.
■信号増幅器５０１からの出力信号は各センサ４０ａ、
４０ｂ 、４０ｃごとにＯＮ、ＯＦＦのセンサ信号で表
される。このセンサ信号はセンサユニット４１と誘導路
１０との相対位置関係で次の３種類のパターンに区別さ
れる。■The output signal from the signal amplifier 501 is
Each of 40b and 40c is represented by an ON/OFF sensor signal. This sensor signal is classified into the following three types of patterns depending on the relative positional relationship between the sensor unit 41 and the guideway 10.
（イ）パターンＡ
第３図に示すように、センサユニット４１の中央部セン
サ４０ｂが誘導路１０の中央部に位置する場合。(A) Pattern A A case where the center sensor 40b of the sensor unit 41 is located at the center of the guideway 10, as shown in FIG.
（ロ）パターンＢ
センサユニット４１が右方にずれ、センサ４０ａが誘導
路１０の上方にきた場合。(b) Pattern B When the sensor unit 41 shifts to the right and the sensor 40a comes above the taxiway 10.
（ハ）パターンＣ
センサユニット４１が左方にずれ、センサ４０ｃが誘導
路１０の上方にきた場合。(C) Pattern C When the sensor unit 41 shifts to the left and the sensor 40c comes above the taxiway 10.
パターンＡにおいては、誘導路１０は紫外線を吸収する
ので誘導路１０からの反射光は零であり、センサ４０ｂ
は検知せず、ＯＦＦ信号となる。一方、他のセンサ４０
ａ 、４０ｃは床面からの反射光を検知するのでＯＮ信
号を発する。パターンＢ、Ｃにおいても上記に準じ、前
記各パターンにおける各センサ４０ａ 、４０ｂ 、４
０ｃのセンサ信号の変化は第１表に示すようになる。In pattern A, since the guideway 10 absorbs ultraviolet rays, the reflected light from the guideway 10 is zero, and the sensor 40b
is not detected and becomes an OFF signal. On the other hand, the other sensor 40
A and 40c detect the reflected light from the floor surface and therefore emit an ON signal. Similarly to the above for patterns B and C, each sensor 40a, 40b, 4 in each pattern is
Changes in the sensor signal at 0c are shown in Table 1.
第１表
■中央演算装置５０２では、前記センサ信号のパターン
Ａ−Ｃに基づいてセンサユニット４１のずれ方向をセン
サユニットずれ方向判別部５０３によって判断する。そ
して、パターンＡのときは移動車両２０の操舵指令信号
は出力されない。パターンＢ又はＣのときは左右いずれ
かの操舵方向を判断し、操舵方向決定部５０４で操舵方
向が決定され、操舵角度決定部５０５で操舵角の大きさ
が決定される。Table 1 (2) In the central processing unit 502, the sensor unit deviation direction determining section 503 determines the deviation direction of the sensor unit 41 based on the patterns A to C of the sensor signals. In the case of pattern A, the steering command signal for the moving vehicle 20 is not output. In the case of pattern B or C, either the left or right steering direction is determined, the steering direction is determined by the steering direction determining section 504, and the magnitude of the steering angle is determined by the steering angle determining section 505.
なお、誘導路１０からずれた移動車両２０を誘導路１０
に戻す場合には、一定の走行距離内で戻すことが必要で
ある。このため、移動車両２０の速度が大きい場合には
、操舵角を大きくすることが望ましい。そして前記操舵
角決定部５０５は移動車両２０の速度に応じて操舵角の
大きさを決定するようになっている。Note that the moving vehicle 20 that has deviated from the taxiway 10 is
If you want to return it to normal, it is necessary to do so within a certain mileage. Therefore, when the speed of the moving vehicle 20 is high, it is desirable to increase the steering angle. The steering angle determination unit 505 determines the magnitude of the steering angle according to the speed of the moving vehicle 20.
■操舵方向と操舵角が決まると、操舵指令部５０６から
操舵輪制御回路５０７に操舵指令が与えられ、操舵輪制
御回路５０７からの出力により操舵モータ２３が制御さ
れる。(2) Once the steering direction and steering angle are determined, a steering command is given from the steering command unit 506 to the steering wheel control circuit 507, and the steering motor 23 is controlled by the output from the steering wheel control circuit 507.
■一方、信号増幅器５０１からのセンサ信号は駆動指令
部５０８にも入力され、駆動指令部５０８から駆動輪制
御回路５０９に駆動指令が与えられ、駆動輪制御回路５
０９からの出力により駆動モータ２６が制御される。On the other hand, the sensor signal from the signal amplifier 501 is also input to the drive command section 508, and a drive command is given from the drive command section 508 to the drive wheel control circuit 509.
The drive motor 26 is controlled by the output from 09.
上記のように移動車両２０は誘導路１０に沿って光学誘
導される。なお、本実施例ではセンサ４０の数を３個と
したが、誘導路１０の識別をセンサユニット４１のずれ
方向が判別できる数であればよ（，１個でも又は３個以
上でもよい。As described above, the moving vehicle 20 is optically guided along the guideway 10. In this embodiment, the number of sensors 40 is three, but any number may be used as long as the direction of deviation of the sensor unit 41 can be determined to identify the guideway 10 (it may be one or three or more).
また、センサ４０は前記したもののほか、ガリウムひ素
リンダイオードなど紫外線検出可能な半導体でもよく、
検出結果を高めるために紫外線フィルタの使用も可能で
ある。Further, the sensor 40 may be a semiconductor capable of detecting ultraviolet rays, such as a gallium arsenide phosphide diode, in addition to those described above.
It is also possible to use ultraviolet filters to enhance detection results.
さらに、前記説明において投光器３０は移動車両２０に
搭載するものとしたが、誘導路１０周辺に照明灯や自然
光の紫外線があれば、前記投光器３ｏを省略してもよい
。Further, in the above description, the floodlight 30 is mounted on the moving vehicle 20, but if there are illumination lights or ultraviolet rays of natural light around the guideway 10, the floodlight 3o may be omitted.
第４図は投光器３０を省略した移動車両２ｏの底面を示
す説明図である。センサユニット４１は前記照明灯や自
然光を検知しやすくするためにシャーシ２１から前方に
突、出して設けられている。FIG. 4 is an explanatory diagram showing the bottom surface of the moving vehicle 2o without the projector 30. The sensor unit 41 is provided so as to protrude forward from the chassis 21 in order to easily detect the illumination light or natural light.
また、本実施例では可視外光線として紫外線を用いる場
合について説明を行ったが、これは紫外線に限定される
ことはなく紫外線以外の可視外光線でも可能なのは勿論
である。Further, in this embodiment, the case where ultraviolet rays are used as the non-visible light has been described, but this is not limited to ultraviolet rays, and it is of course possible to use non-visible rays other than ultraviolet rays.
さらに、本実施例では誘導路は可視外光線を吸収する場
合について説明を行ったが、誘導路は可視外光線を吸収
する場合についても可能である。Further, in this embodiment, a case has been described in which the guide path absorbs non-visible light, but the guide path may also absorb non-visible light.
〈発明の効果〉
以上説明したように、本発明は走行床面に形成された誘
導路を可視外光線のみを選択的に吸収又は反射する透明
塗料で構成している。また、移動車両は床面から反射す
る可視外光線を検知し、この検知信号に基づいて操舵制
御するようになっている。それ故、次のような効果があ
る。<Effects of the Invention> As explained above, in the present invention, the guide path formed on the running floor is made of a transparent paint that selectively absorbs or reflects only non-visible light. Furthermore, the moving vehicle is configured to detect non-visible light reflected from the floor surface and perform steering control based on this detection signal. Therefore, it has the following effects.
■誘導路は塗料を塗布するのみで簡単に形成できるので
、複雑なレイアウトも容易に、かつ正確に構成できる。■Since taxiways can be easily formed by simply applying paint, complex layouts can be constructed easily and accurately.
また、これの変更もきわめて容易となる。Also, it is extremely easy to change this.
■床面の材質の如何にかかわらず誘導路を塗装により形
成させることできる。■A guideway can be formed by painting regardless of the material of the floor surface.
■透明塗料を用いるため、人間の視覚の邪魔にならず、
床面の模様や美観を保ったまま誘導路を形成させること
ができる。■Because transparent paint is used, it does not interfere with human vision.
A taxiway can be formed while preserving the pattern and aesthetics of the floor surface.
第１図〜第４図は本発明に係る図面であって、第１図は
移動車両の底面を示す説明図、第２図は移動車両の制御
部のブロック図、第３図は誘導路とセンサユニットとの
相対位置関係を示す説明図、第４図は移動車両の他の実
施例を示す底面説明図である。
１０・・・誘導路、２０・・・移動車両、２２・・・操
舵輪、２３・・・操舵モータ、２４．２５・・・駆動輪
、２６・・・駆動モータ、３０・・・投光器、４ｏ・・
・センサ、４１・・・センサユニット、５０・・・制御
部。1 to 4 are drawings according to the present invention, in which FIG. 1 is an explanatory diagram showing the bottom of the moving vehicle, FIG. 2 is a block diagram of the control section of the moving vehicle, and FIG. 3 is a guideway and An explanatory diagram showing the relative positional relationship with the sensor unit, and FIG. 4 is a bottom explanatory diagram showing another embodiment of the moving vehicle. DESCRIPTION OF SYMBOLS 10... Taxiway, 20... Moving vehicle, 22... Steering wheel, 23... Steering motor, 24.25... Drive wheel, 26... Drive motor, 30... Floodlight, 4o...
- Sensor, 41... sensor unit, 50... control section.
Claims (1)
により走行床面に形成された誘導路を識別し、この誘導
路に沿って操舵走行する移動車両の光学誘導方式であっ
て、前記誘導路は可視外光線のみを選択的に吸収又は反
射する透明塗料を塗布したものであり、かつ移動車両は
床面から反射する可視外光線を検知し、この検知信号に
基づいて操舵制御するようにしたことを特徴とする移動
車両の光学誘導方式。(1) An optical guidance system for a moving vehicle that identifies a taxiway formed on a running floor by detecting non-visible light reflected from the running floor and steers the vehicle along this taxiway, the method comprising: The taxiway is coated with a transparent paint that selectively absorbs or reflects only non-visible light, and moving vehicles are designed to detect non-visible light reflected from the floor and control steering based on this detection signal. An optical guidance system for moving vehicles characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63209125A JPH0256610A (en) | 1988-08-23 | 1988-08-23 | Optical guidance system for moving vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63209125A JPH0256610A (en) | 1988-08-23 | 1988-08-23 | Optical guidance system for moving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0256610A true JPH0256610A (en) | 1990-02-26 |
Family
ID=16567699
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63209125A Pending JPH0256610A (en) | 1988-08-23 | 1988-08-23 | Optical guidance system for moving vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0256610A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5622236A (en) * | 1992-10-30 | 1997-04-22 | S. C. Johnson & Son, Inc. | Guidance system for self-advancing vehicle |
| US5650702A (en) * | 1994-07-07 | 1997-07-22 | S. C. Johnson & Son, Inc. | Controlling system for self-propelled floor cleaning vehicles |
| JPH11244517A (en) * | 1998-03-03 | 1999-09-14 | Seiko Precision Inc | Race game device |
| JP2010218388A (en) * | 2009-03-18 | 2010-09-30 | Tsubakimoto Chain Co | Unmanned carrier |
| US10496100B1 (en) | 2018-09-11 | 2019-12-03 | Universal City Studios Llc | Ultraviolet paint-based vehicle guidance |
| US11693420B2 (en) | 2019-08-09 | 2023-07-04 | Universal City Studios Llc | Vehicle guidance via infrared projection |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62148339A (en) * | 1985-12-23 | 1987-07-02 | Matsushita Electric Works Ltd | Transparent substrate coated with ultraviolet ray absorbing film |
-
1988
- 1988-08-23 JP JP63209125A patent/JPH0256610A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62148339A (en) * | 1985-12-23 | 1987-07-02 | Matsushita Electric Works Ltd | Transparent substrate coated with ultraviolet ray absorbing film |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5622236A (en) * | 1992-10-30 | 1997-04-22 | S. C. Johnson & Son, Inc. | Guidance system for self-advancing vehicle |
| US5650702A (en) * | 1994-07-07 | 1997-07-22 | S. C. Johnson & Son, Inc. | Controlling system for self-propelled floor cleaning vehicles |
| JPH11244517A (en) * | 1998-03-03 | 1999-09-14 | Seiko Precision Inc | Race game device |
| JP2010218388A (en) * | 2009-03-18 | 2010-09-30 | Tsubakimoto Chain Co | Unmanned carrier |
| US10496100B1 (en) | 2018-09-11 | 2019-12-03 | Universal City Studios Llc | Ultraviolet paint-based vehicle guidance |
| US11693420B2 (en) | 2019-08-09 | 2023-07-04 | Universal City Studios Llc | Vehicle guidance via infrared projection |
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