JPH0435925Y2 - - Google Patents

Description

[Detailed explanation of the idea]

[Industrial Application Field] The present invention relates to a position detection mark used for guiding an unmanned mobile machine, and particularly to the structure of the position detection mark. [Prior Art] A method for guiding unmanned moving machines such as unmanned construction machines, unmanned trucks, and unmanned passenger cars along a predetermined travel route involves measuring the vehicle body using a direction detector such as a gyroscope and a traveling length measuring device. There is a navigation guidance method that estimates the current position and automatically steers an unmanned mobile machine to pass through a scheduled passage point on a planned route that has been taught in advance. [Problems to be Solved by the Invention] However, in the navigation guidance described above, the current position calculated from the travel distance and the direction of travel has an error of about 30 cm when the vehicle travels 50 m on an uneven surface, for example. For this reason, every 100 to 50m
It is necessary to detect the current position of the vehicle body. Therefore, conventional methods have been devised to detect the vehicle's position, such as installing a current position detection station such as a phototube and correcting the position error, but in this case, it is necessary to connect a power cable to the station. Because of this, installation costs were high, and the route of guidance could not be easily changed, making it impractical. The present invention was developed in view of the above circumstances, and is a sign suitable for detecting the position of unmanned mobile machines that are guided by navigation.It does not require a power source, and can be easily carried and used to guide the travel route regardless of the road surface condition. It is an object of the present invention to provide a position detecting sign that can be changed. [Means for Solving the Problems] According to the present invention, there is provided a sign for detecting the position of an unmanned mobile machine having at least two line segments that are not parallel to each other, the line segments being at least one of magnetic and inductive. The line segment is made of a flexible material that does not hinder the detection of the line segment, and is flexible, and at least the geometrical arrangement of the line segment is It is constructed by being coated to retain it. [Operation] The line segment with the above configuration can be detected by a detector that detects changes in magnetic permeability or electrical conductivity, and from the geometrical arrangement of the line segment, it is possible to detect an unmanned mobile machine that crosses the line segment and its line. You can know the relative positional relationship with the minute (marker). Furthermore, since the entire sign is flexible, it can be installed regardless of uneven road surfaces. [Example] Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. First, a method for detecting the position of an unmanned mobile machine using a position detecting marker according to the present invention will be explained. Now, consider a marker 1 having two line segments 1a and 1b as shown in FIG. 3 as a position detection marker. The line segment 1a of this sign 1 is perpendicular to the planned travel route 3 of the unmanned mobile machine 2, and the line segment 1b is inclined at an angle φ with respect to the line segment 1a. Here, the unmanned mobile machine 2 passes over the sign 1,
At this time, the line segment 1a mounted on the unmanned mobile machine 2,
Two left and right sensors 4 and 5 detect 1b
However, when drawing trajectories 6 and 7, respectively, the sensor 4 detects the intersection points l ₁ and l ₂ between the line segments 1a and 1b and the trajectory 6, and the sensor 5 detects the intersection point r between the line segments 1a and 1b and the trajectory 7. ₁ , detect r ₂ . Assuming that sensors 4 and 5 are arranged on the same straight line in the width direction of unmanned mobile machine 2 with an interval L, when sensor 5 reaches intersection _r1 , sensor 4 is located at point P, Triangles r ₁ , l ₁ , and P are right triangles. Therefore, the angle θ formed between the traveling direction of the unmanned mobile machine 2 and the line segment 1a, and this angle θ, are equal to the planned traveling route 3.
The angle θ is an angle that indicates the relationship between _the direction of
It can be determined by the following equation: θ=tan ⁻¹ L/Pl ₁ (1). Note that distance ₁ is
Sensor 5 detects the intersection _r1 , then sensor 4 detects the intersection
It can be determined by measuring the travel distance of the unmanned mobile machine 2 until detecting l ₁ using a measuring wheel or the like. The angle θ obtained in this way, line segments 1a and 1b
The distance ₁ from the reference point O (intersection of line segments 1a and _1b ) of sign ₁ to the intersection _{l 1 is} calculated by the following formula, based on the angle φ _formed by the , ₁ = _{1 2} (cosθ+cotφ・sinθ) ...(2). Therefore, by providing the sign 1 at a known position on the planned travel route 3, the correct position of the unmanned mobile machine 2 when it passes over the sign 1 can be detected. Furthermore, the number of line segments constituting the sign and the geometrical arrangement of each line segment are not limited to those in the above embodiment. For example, three Z-shaped line segments 8a, 8 as shown in FIG.
The mark 8 may have lines b and 8c, and the line segments 8a and 8c are parallel to each other. When this marker 8 is used, line segments 8a, 8
Only one sensor is required to detect b and 8c, and the three intersections where the sensor trajectory and each line segment intersect are n ₁ ,
If n ₂ and n ₃ , the position of the intersection n ₂ in the illustrated xy coordinate system is based on the distance between the intersections of _{1 2} and _{2 3} ,
The following formula, It can be found by Note that W indicates the width of the marker 8 in the x direction, and L indicates the interval in the y direction. By adding one or more line segments to at least one of the front and rear sides of these marks, it is also possible to distinguish between these marks and other disturbances (metal rods, etc.). Next, the specific structure of the position detection marker according to the present invention will be explained. FIG. 1 is a cutaway perspective view showing an embodiment of a position detection marker according to the present invention. This marker 10 is a linear detected object 11a, 11 corresponding to the above-mentioned line segment.
b, 11c, and these detected objects 11a, 11
a fiberboard 12 covering b, 11c, and a rubber sheet 13 bonded to the upper and lower surfaces of this fiberboard 12.
and 14. The materials of the objects to be detected 11a, 11b, and 11c have at least one of magnetic and conductive properties, and for example, those listed in Table 1 can be considered. Of course, the sensor for detecting the object to be detected is one that can detect changes in magnetic permeability and electrical conductivity, and the sensors listed in Table 1 can also be considered.

[Table] For the purpose of providing flexibility, the shape of the object to be detected is one made of wire-like material woven, foil-like or chain-like, or powdered material made of highly flexible rubber. or enclosed in a tube made of highly flexible rubber. The fiberboard 12 is formed by knitting or overlapping non-magnetic and non-conductive fibers to form gaps between the fibers, and then infiltrating and fixing them with adhesive or molten rubber. Incidentally, since the objects to be detected 11a, 11b, 11c are placed in the fibers at a timely time before the fibers are fixed, after the fibers are fixed, the objects to be detected 11a, 11b, 1
1c is also fixed, and each detected object 11 is fixed within the fiberboard 12.
The geometrical arrangement of a, 11b, 11c is maintained.
Moreover, the fiberboard 12 is also configured to have flexibility as a whole. Further, as the fiber material, scientific fibers, natural fibers, and other fibrous rubbers can be used.
It is necessary that the detection of c is not inhibited. In other words, if the sensor detects changes in magnetic permeability, use a non-magnetic fiber material.
If the sensor detects changes in conductivity,
The fiber material used is non-conductive. Rubber sheets 13 and 14 are each fiberboard 1
It is joined to the upper and lower surfaces of 2. here,
The rubber in the rubber sheet includes not only natural rubber but also highly flexible materials, such as those listed in Table 2.

[Effect of idea]

As explained above, according to the present invention, since the object to be detected is not exposed, even if an unmanned mobile machine or a manned vehicle passes over it, the object to be detected is unlikely to be worn out or damaged, and is flexible. Because of this, it is possible to provide a highly durable sign that will not tear even when installed on an uneven road surface. Furthermore, when changing the scheduled route for guiding the unmanned mobile machine, it can be easily carried to a new installation location. Furthermore, compared to a station device for position detection that requires a power source, the production cost is lower, making it suitable for mass production.

[Brief explanation of drawings]

FIG. 1 is a cutaway perspective view showing one embodiment of the position detection marker according to the present invention, FIG. 2 is a plan view showing another embodiment of the detected object, and FIGS. 3 and 4 are respectively according to the present invention. FIG. 2 is a diagram used to explain the principle of a method for detecting the position of an unmanned mobile machine using such a position detecting marker. 10... Position detection mark, 11a, 11b, 1
1c, 21a, 21b...Object to be detected, 12...Fibreboard, 13, 14...Rubber sheet.

Claims (1)

[Claims for Utility Model Registration] (1) A plurality of line segments made of magnetic or conductive material are arranged in a certain geometric relationship so that at least two line segments are not parallel to each other. A position where a sign is laid on the road surface and the relative position of the mobile machine with respect to the sign is detected by detecting the sign with a detector mounted on the mobile machine that detects changes in magnetic permeability or conductivity. In the detection label, the plurality of line segments are formed of a flexible material, the plurality of line segments are covered with non-magnetic or non-conductive fibers, and an adhesive material is placed between the covered fibers. A position detection label which is formed by infiltration. (2) The covered fiber is plate-shaped, and the rubber sheet is fixed to the fiberboard by bringing the rubber sheet into contact with one or both sides of the fiberboard and infiltrating the fixing material. The position detection mark described in paragraph (1) of the claims for new patent registration.