JPS59167716A - Detector for running position of moving object - Google Patents

Abstract

PURPOSE:To detect the position of a moving object without requiring civil engineering work for an already existing yard by using absolute address display marks and movement detecting marks added to the road surface of the moving object and a device which recognizes these marks. CONSTITUTION:An image receiving camera 2 is operated when a crane is run left, and an image receiving camera 3 is operated when it is run right. Marks ''5'' and ''6'' added to the ground are number marks for absolute address display based on a reference point and are decoded through cameras to detect a passing address. The absolute address is detected with a number, and a running position in the address where both marks A and B are recognized simultaneously is determined preliminarily as the center position in the address, thereby obtaining easily the center point of the address. When the moving object is driven in the direction of an arrow L, position detection and deceleration command are possible if a position where only the mark B is recognized is defined as the deceleration start position of the crane 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Application of the Invention] The present invention relates to a device for detecting the running position of a moving body.

BACKGROUND OF THE INVENTION Conventionally, a code 1 twisted signal wire carrying a high-frequency transmission signal was buried in the concrete floor of a yard where a mobile crane travels, and the signal was encoded by a receiving antenna (guided signal receiving antenna) on the crane. receive the signal,
The driving position was detected. This method involves burying a group of coded twisted signal wires in concrete, which requires a huge amount of civil engineering work costs, and also has the disadvantage that the strength of the concrete at the location where it is buried is weak (which causes concrete cracking). Purpose] An object of the present invention is to detect the position of a moving object without requiring civil engineering work in an existing yard.

[Summary of the invention]

The present invention provides a mark recognition device for decoding a received image signal from an image receiving camera that captures a mark. The mark recognition device is characterized by a device comprising an NFI recording image receiving camera mounted in a position to capture the image, and a logic judgment device configured to receive the output from the mark recognition device and output a position detection signal corresponding to the change in the output. This is a traveling position detection device for a moving body.

[Embodiments of the invention]

As shown in Fig. 1, a trackless bridge crane 1 that runs in a yard with rubber tires 1a has a diesel engine inside the crane, and the voltage generated by a direct current generator directly connected to the diesel engine is the voltage of the bridge crane. It is provided as a driving fm source for the electric motor for driving. The speed of the voltage of this generator can be changed by controlling the field current of the generator. This crane has an image receiving camera 2 and 3 for ground mark detection on the ground side (
It is also equipped with a mark recognition device and a logic judgment device, which are installed so as to face the image receiving camera 2.3 and decode the image signals received from the image receiving camera 2.3.

It is assumed that when the crane moves to the left, the image receiving camera 2 operates, and when the crane moves to the right, the image receiving camera 3 operates. If the cameras 2 and 3 are mounted on a sufficiently high crane site to improve resolution and provide quick response, it is also possible to use only one image receiving camera 2 and 3 and share them.

The mark on the ground describes the area around No. 5 as being in operation. First of all, as shown in Figure 1 and the second cause, mark "5" 5
A is an absolute address display mark from the reference point, which is attached to the road surface as a numerical mark, and is decoded through a camera to determine 5.
Detect passage of street address.

In other words, when crane l moves from address 4 to address 5, as shown in Figure 2, camera 2 is operating, and the mark "5" 5a is first photographed by camera 2, and the mark recognition device records it as number r5J. Decode it and store it as address 5. Next, proceeding further ζ, the camera 2 photographs mark B of the bar-shaped marks A and B placed on the road as movement detection marks, and the mark recognition device identifies mark B based on the left and right position of the photographed image. decodes it and outputs the decoding result to the logic judgment device.

At this time, the vehicle is in travel category ■. If the vehicle continues further, it becomes a traveling segment (2) and both marks AB are recognized by the mark recognition device (n).

Proceeding further, only the mark A, in which only the driving section ■ and the remark A is copied, is recognized.

In driving category ■, neither marks A nor B are recognized.

In this way, if the absolute address is detected numerically and the running position within the address is determined in advance at the time when both marks A and B are recognized at the same time, then the center point of address 5 can be easily determined. can be asked for. Furthermore, when driving in the L direction, if the point in time when only mark B is recognized is set as the deceleration start position of the crane 1, it is possible to use both position detection and deceleration command.

R-direction driving is similar to down-direction driving, only the order of mark detection is reversed.

Table 1 shows the mark truth value table when driving in the A direction, and is the truth value table of the logic judgment device that receives the output as the recognition result from the mark recognition device, and the mark recognition device has both marks A, If neither B is recognized, there is no output to the logical judgment device, so it is logical that the crane 1 is located in the travel area (travel position) (represented by mark rOJ in Table 3 without output). The judgment device makes a judgment and outputs the judgment result as a position signal.In addition, the mark recognition device does not recognize mark A, but only recognizes mark B, and outputs a certified magazine (marked in Table 3).
]") corresponding to one mark B is output to the logical judgment device. Therefore, "0".

[, Jo#J1. ;s6 ya, yo1, 7-8, 7-u8.
-(1'-OJ, rIJ). In this case, crane 1 is located in traveling area ■, so (1'-OJ
.

The logic judgment device that receives the combination signal of "IJ) outputs an output signal indicating that crane 1 is present in the position of the traveling area ■. Similarly, the logic judgment device that received the combination signal of (rIJ, [J) The device outputs an output signal indicating that the crane is located at the center of the traveling area ■, that is, number 5. Also, (ri)
, In the case of ``og'', the counter outputs an output signal informing that the crane 1 is located slightly away from the center toward the next address, and in the case of (rOJ , rOJ ), ζ is far away from the center and outputs a signal indicating that crane 1 is present at a position slightly away from the center toward the next address. It outputs an output signal to let you know that it is heading towards the destination.

By combining this truth table, it is possible to establish a new control for the TjA speed point and center point, and at the same time, by checking the order of A and B to become J or 0, it is possible to prevent in advance what will be driven in the opposite direction due to equipment failure. You can also check and stop it.

In this embodiment, the position can be easily detected by simply marking the yard with paint.

Because it recognizes numbers, unlike the pulse counting method,
Since absolute address detection is possible, the highly reliable adjustment of the lengths of the O A and B marks can also be used to detect the deceleration start point and center point.

By sequentially following the order in which the A and B marks become 1 and 0, it is possible to diagnose whether the vehicle is being driven in the intended direction or not.

〔Effect of the invention〕

As described above, according to the present invention, it is possible to obtain the effect that the running position of a moving body can be detected without requiring civil engineering work on the floor on which the moving body runs.

[Brief explanation of drawings]

FIG. 1 is an overall perspective view of a trackless bridge crane according to an embodiment of the present invention, and FIG. 2 is an illustration of the location shown in FIG.
FIG. 6 is an enlarged top view of nearby marks. 1...Trackless bridge crane, 2...Image receiving camera, 391. ...Receiving camera, 5a...Absolute address display mark, 6...Absolute address mark, A, B
・・Movement detection mark 1 Figure 93 Figure 2

Claims (1)

[Claims] 1. In a mark recognition device that decodes a received image signal from an image receiving camera that captures a mark, an absolute address display mark and a movement detection mark attached to the road surface of a moving object are used as the marks, and both of the above-mentioned marks are attached to the moving object described in 0. A mobile object comprising: the image receiving camera mounted in a position that allows the image to be captured; and a logical judgment device configured to receive the output from the mark recognition device and output a position detection signal corresponding to a change in the output. Traveling position detection device.