JPS59121507A - Controller for self-traveling dolly - Google Patents

Abstract

PURPOSE:To attain a low-cost and high-precision controller, by picking up an optical reflective tape in the front and the rear with a single camera to detect the front part and the rear part divisionally. CONSTITUTION:A camera 10 is mounted on an unattended vehicle 1a, and an optical reflective tape 2 stuck to a running course is picked up and detected by this camera to guide the unattended vehicle 1a. The single camera 10 is used for this picking-up and detection, and the first visual field 2-1a in the front of the vehicle 1a and the second visual field 2-2a in the rear are detected divisionally through a lens 11, a reflective mirror 14, and a V-shaped mirror 15 by two image pickup elements 12 provided in parallel. The deviation of the vehicle 1a from the running course is calculated on a basis of said both detection values by a processing circuit, and steering control is performed automatically to guide the vehicle 1a.

Description

[Detailed description of the invention] The present invention relates to a stop control device.

? As shown in the perspective view of the figure, in a known system that provides temperature guidance along optical reflective tape (hereinafter referred to as tape) installed in the building, '4ii 4-person vehicle I and the tape, i.e., the running course. As shown in the plan view of Figure 2, two detection signals are required as the relative positional deviation signal of ``2:1 stone'', the attitude angle error △θ and the lateral deviation error X.
Conventionally, two optical cameras IOa, 10b are mounted on a vehicle, and two different line segment fields of view 271, 2- at the front and rear of the vehicle are mounted.
2, as shown in the $3 figure, tape positions 2-1', 2
-2' is detected, and ΔX and Δθ are calculated using the following formulas from the geometric relationship shown in FIG.

However, N is the field of view, α and β are coefficients, respectively -0, 5<α
<0.5 -0.5 <β<0.5 However, in such an unmanned vehicle system, two cameras are attached to the vehicle, so variations in the mounting accuracy of each camera will affect the calculation accuracy. However, since two cameras are required, the cost is high.

The present invention was proposed in view of the above circumstances, and aims to provide a low-cost and high-precision self-propelled trolley control device. An optical reflective tape is attached to the vehicle and is attached to the vehicle in two directions, the front and rear. The present invention is characterized by comprising a single camera that images a visual field of the vehicle, and a processing circuit that separates and detects images of the tape in the front and rear visual fields of the vehicle from the images taken by the camera.

An embodiment of the present invention will be explained with reference to the drawings.
Kayu, 2-Il-, -44 pickled brown, No. 5 Do 1 is a perspective view showing the overlap, and FIGS. 6 and 7 are No. J example and '9- FIG. 8 is a vertical sectional view showing the J2 embodiment, and FIG. 8 is a perspective view showing the third actual example of FIG. , Figure 9 is a three-sided view showing the linear image of the camera in Figures 6 to 8, and a +IQ diagram (8).
CB) Hariro Figure 6 - 81 The power of evil, Mira's imaging method (child's output drawing diagram, the same figure (AJ is Figure 6. In the case of Figure 7 5 The same figure (IJ) is the 8th one 1. Figure 11 shows the block line section 1 of the output processing circuit of the camera in Figure J5.
It is 1.

In Figures 6 to 8, the same symbol as the j factor is l = j figure and the opposite capital 8''t zl: and 1a, respectively.
According to the present invention, 1. An unmanned heavy vehicle (hereinafter referred to as a wind vehicle),
A camera IO is inventively attached to one of the cut pillars.
1 is set up, and images are simultaneously taken of the 3% I tjA area 2-1a and the Q42jM IF' 2-2a in the nth row of the car pile J, so that the image is taken at the same time.

zl is a lens, 12 hachi S9 is a Bozu linear imaging confectionery,
IJ is a connection iRfm, I4 is a reflection mirror, IJ is a V-type mirror, Z6 is a reflection mirror, and I7 is a V-type mirror.

Next, in the camera of FIG. Le:
20,000 times of momme/J vision away from αI! I! 1; As 2-Ia and the second field of view 2-2a are shown in Figure 5430 (A),
can get.

In the camera shown in Figure 7, there are two
It is equipped with two reflecting mirrors 14, 14 and a V-shaped mirror I5, with an angle α larger than α1, and a field of view 2 in two separate directions.
-Za, 2-2a, 1d1, as shown in FIG. 10(A), one camera can be taken.

The camera No. 8121 is connected to the mirror bar 4 in the same way as in FIG.
The lens ((two reflective mirrors 16 and 16 on the j+ side
9. Convert the incident light into a one-dimensional field of view using the V-shaped mirror I7.9
Two parallel views 〒1-2-Ia, 2-
2a is a one-dimensional photograph of a city with a large number of clusters (as shown in Figure 10, lined up on the -1 page line, pixel number θ). It can be divided into two fields of view.

The output of the imaged confectionery I2 obtained in this way is processed by the processing circuit of the Jl factor. That is, in FIG. 11, the video output is input to the image sensor Z2 from the start pulse C2 output from S2θ at the same time as the clock pulse of the clock generator 20, and up2
After increasing the video signal width at I, the envelope of the pulse output is set to the south by the assembly hold section 22, and the reflective tape image is set by the comparator 23 to the south.
A k of 1 clock in 24 and 24
Go to Y, and at gates 25 and 26, the pulse output rises and falls.

27 is a counter which is reset by a start pulse and counts clocks. 28゜29 is Shichirezoreu, Tutsi,
JIIl: 1st order increasing counter 27θ-193 gate 25.26C) J self memorizes the timing of the gate output, this) 1 self registers the position signal on the field of view of the 5 earth pressure tape, and the Figure 12 shows η as a square for one field of view.
m and n are measured and sent to the 1: section 30, and similarly M and n' (as shown in the figure) are sent to the second field of view.
) is sent to 81 Santo 3o, and the total 'fjx'-=lx
+? (In 1', the lateral deviation h1゛λ difference △X and the attitude angle error △θ are calculated from the geometrical relationship shown in Fig. 4, and based on this, the vehicle is controlled in a neutral manner. be done.

Here, in the case of the camera that meets the 61st & 7th factors,
Since there are two sets of imaging collectors, four sets of circuits shown in FIG. 11 are required, but in the camera described in factor 8, only one circuit shown in FIG. 8111 is required.

Such a device provides the following effects.

(1) Since the relative relationship between the two one-dimensional fields of view can be omitted when assembling the camera, it is possible to improve the accuracy of vehicle guidance and to omit the work of adjusting the top tower of related equipment. I can do it.

(2) By detecting two sets of parallel one-dimensional fields of view within one camera housing, it is possible to make the device conobact and to reduce constraints on its installation.

(3) In the above example, what if the tape is on the floor? However, if the tape is on the ceiling, this device 1:1 is very effective, especially since the vehicle body itself does not obstruct the field of view.

[Brief explanation of drawings]

Figure 1 shows a self-propelled vehicle using a known optical reflective tape system. △X and △ in Figure 2
FIG. 5 is a bore perspective view of an embodiment of the present invention, and FIGS. 6 and 7 are a first embodiment and a second embodiment of the camera shown in FIG. 5, respectively. 8 is a vertical sectional view of the camera shown in FIG. 5, and FIG. 9 is a perspective view of the third embodiment of the camera shown in FIG.
Three views, shown! , I”, Figure 10 (~・(BJ is Figure 6~
Figure 8 is an output waveform diagram of the camera's photographed confectionery, and the same figure (AJ
is the 6th factor, and 1r1 in the case of Fig. 7. Figure (B) shows the case of Fig. 8. 11 is a block diagram of the output processing circuit of the camera shown in FIG. 5, and FIG. 12 is a block diagram of the output processing circuit of the camera shown in FIG.
, is output u-shaped diagram. Ia...tsu! 1 (people and vehicles, 2...tape, 2-1a
...First visual field, 2-2 a-...@jT2 visual field, 1
0--Camera. II...Lens, 12...Imaging collector, 13...Imaging surface I4...Anti-h mirror, 15...vgJ mirror,
Z6...Warp 1 mirror, II...vM2 mirror, 2
0...Clock generation section, 21...Amplifier, 22...
・Sample hold section, 23... Comparator, 24...
Noritsubu Flop, 25...Gate (Month, 2
6...Gate (2), 27...Counter,
zs, 2...latch, 30...calculation section. 1 sub-agent Patent attorney Suzu Tshi Takehiko T 1
Figure 2 Figure 3 Figure 4 Figure 5 Figure n Figure 6 Figure 1 ( Figure 7 Figure 8

Claims (1)

[Claims] Optical reflective tape k i]': j k
L, in which the relative position of the main principle with respect to the tape is detected by the image forming position and both of the points are made to run along the tape, - two times of field of view before and after 7 attached to the light rain; A single camera is used to image the above-mentioned camera, and a processing circuit and a processing circuit that ejects each molecule 4N of the tape in the rear field of view of the stipple lTi1 from the imaging of the above-mentioned camera are provided. If play is a target stand control device.