JPS54145881A - Automatic transfer system - Google Patents

Automatic transfer system

Info

Publication number
JPS54145881A
JPS54145881A JP5419478A JP5419478A JPS54145881A JP S54145881 A JPS54145881 A JP S54145881A JP 5419478 A JP5419478 A JP 5419478A JP 5419478 A JP5419478 A JP 5419478A JP S54145881 A JPS54145881 A JP S54145881A
Authority
JP
Japan
Prior art keywords
value
mark
found
estimated
divergency
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.)
Granted
Application number
JP5419478A
Other languages
Japanese (ja)
Other versions
JPS5710445B2 (en
Inventor
Hidehiko Takano
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National Institute of Advanced Industrial Science and Technology AIST
Original Assignee
Agency of Industrial Science and Technology
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Agency of Industrial Science and Technology filed Critical Agency of Industrial Science and Technology
Priority to JP5419478A priority Critical patent/JPS54145881A/en
Priority to US06/020,042 priority patent/US4278142A/en
Priority to DE2910490A priority patent/DE2910490C2/en
Publication of JPS54145881A publication Critical patent/JPS54145881A/en
Publication of JPS5710445B2 publication Critical patent/JPS5710445B2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Steering Controls (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

PURPOSE: To enable a car to automatically run to a required place after finding a divergency from an estimated course, by projecting a picture of a mark put on the estimated course and measuring a centroid position of the picture.
CONSTITUTION: A figure of a mark M put on an estimated course is projected by means of a ITV camera mounted on a vehicle V, and a diode signal is generated. A maximum width Ax in the direction of a X axis in a projection figure, a width Ap between a X cordinate of a point, which is determined by a maxium height Ay in the direction of a Y axis, and an area Aa of the figure are obtained on the basis of the aforesaid signal. A Q value, which is found following the equation of Q = Ap / Ax, is considered as a parameter, and an attitude angle θ found, and a centroid position of the figure also is measured. A divergency from the estimated cource thus is found. And the mark is recognized by a shape eigenvalue S being obtained following the equation of S = Aa / (AX + Ay), and the vehicle V is controlled corresponding to the value, a position value and the S value.
COPYRIGHT: (C)1979,JPO&Japio
JP5419478A 1978-05-08 1978-05-08 Automatic transfer system Granted JPS54145881A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP5419478A JPS54145881A (en) 1978-05-08 1978-05-08 Automatic transfer system
US06/020,042 US4278142A (en) 1978-05-08 1979-03-13 Automatic guidance system for vehicles
DE2910490A DE2910490C2 (en) 1978-05-08 1979-03-16 Method for automatically guiding vehicles along a predetermined path and device for carrying out such a method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP5419478A JPS54145881A (en) 1978-05-08 1978-05-08 Automatic transfer system

Publications (2)

Publication Number Publication Date
JPS54145881A true JPS54145881A (en) 1979-11-14
JPS5710445B2 JPS5710445B2 (en) 1982-02-26

Family

ID=12963722

Family Applications (1)

Application Number Title Priority Date Filing Date
JP5419478A Granted JPS54145881A (en) 1978-05-08 1978-05-08 Automatic transfer system

Country Status (1)

Country Link
JP (1) JPS54145881A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58155419A (en) * 1982-03-10 1983-09-16 Nippon Yusoki Co Ltd Unattended lift truck
JPS5975315A (en) * 1982-10-21 1984-04-28 Nippon Yusoki Co Ltd Unattended carrying car
JPS59112312A (en) * 1982-12-20 1984-06-28 Nippon Yusoki Co Ltd Guiding band of unmanned carrier car
JPS59112314A (en) * 1982-12-20 1984-06-28 Nippon Yusoki Co Ltd Unmanned lift truck
JPS6065307A (en) * 1983-09-21 1985-04-15 Hitachi Ltd Drive detector of travelling object
JPS60160413A (en) * 1984-02-01 1985-08-22 Hitachi Ltd Guiding device of mobile body
JPS60189512A (en) * 1984-03-09 1985-09-27 Jgc Corp Unmanned carrier control system
JPS6198412A (en) * 1984-10-19 1986-05-16 Mitsubishi Electric Corp Guiding system of unmanned carrying vehicle

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58155419A (en) * 1982-03-10 1983-09-16 Nippon Yusoki Co Ltd Unattended lift truck
JPS5975315A (en) * 1982-10-21 1984-04-28 Nippon Yusoki Co Ltd Unattended carrying car
JPS6256522B2 (en) * 1982-10-21 1987-11-26 Nippon Yusoki Kk
JPH0375890B2 (en) * 1982-12-20 1991-12-03 Nippon Yusoki Kk
JPS59112312A (en) * 1982-12-20 1984-06-28 Nippon Yusoki Co Ltd Guiding band of unmanned carrier car
JPS59112314A (en) * 1982-12-20 1984-06-28 Nippon Yusoki Co Ltd Unmanned lift truck
JPS6065307A (en) * 1983-09-21 1985-04-15 Hitachi Ltd Drive detector of travelling object
JPH0472245B2 (en) * 1983-09-21 1992-11-17 Hitachi Ltd
JPS60160413A (en) * 1984-02-01 1985-08-22 Hitachi Ltd Guiding device of mobile body
JPH0410645B2 (en) * 1984-02-01 1992-02-26
JPS60189512A (en) * 1984-03-09 1985-09-27 Jgc Corp Unmanned carrier control system
JPH0374402B2 (en) * 1984-10-19 1991-11-26
JPS6198412A (en) * 1984-10-19 1986-05-16 Mitsubishi Electric Corp Guiding system of unmanned carrying vehicle

Also Published As

Publication number Publication date
JPS5710445B2 (en) 1982-02-26

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