JPS5988714U

JPS5988714U - Unmanned vehicle driving control device

Info

Publication number: JPS5988714U
Application number: JP18084682U
Authority: JP
Inventors: 青景　正明
Original assignee: 三菱重工業株式会社
Priority date: 1982-11-30
Filing date: 1982-11-30
Publication date: 1984-06-15

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Brief explanation of the drawing]

第１図は本考案の一実施例における無人車両の走行コー
スを示す平面図、第２図は無人車両が分岐コースを走行
中の斜視図、第３図は無人車両の走行駆動部を示す平面
図、第４図は一次元カメラのマーク検出画像で、ａは立
上り検出画像を、ｂは立下り検出画譚を、Ｃは立上り検
出画像と立下り検出画像とにより求めるマークと車両と
の関係線図をそれぞれ示す。第５図はマーク長さ検出図
、第６図は走行制御ブロック図である。１・・・・・・無人車両の主走行コース、１−１ないし
１−５・・・・・・主走行コースに沿って取り付けられ
たマーク、２ないし５・・・・・・無人車両の分岐コー
ス、２−１ないし２−４．３−１ないし３−４．４−１
ないし４−４．５−１ないし５−４・・・・・・分岐コ
ースに沿って取り付けられたマーク、６・・・・・・無
人車両、７．８・・・・・・マークを読み取る一次元カ
メラ、？−１．８−１・・・・・・−次元カメラの視野
、１５−１．１５−２・・・・・・走行距離検出器、１
６・・・・・・ジャイロ、１７・・・・・・ステアリン
グ角度検出器、１８・・・・・・コンベア駆動モータ、
Ｃ１・・・・・・地上設定盤、Ｃ２・・・・・・機上信
号伝送装置、Ｃ３・・・・・・機上制御装置、Ｃ１・・
・・・・走行位置記憶回路、Ｃ５・・・・・・走行位置
補正回路、Ｃ６・・・・・・走行制御回路、Ｃ７・・・
・・・マーク比較回路、Ｃ８・・・・・・姿勢比較回路
、Ｃ９・・・・・・マーク異常処理回路、Ｃ１ｏ・・・
・・・姿勢検知異常処理回路、Ｃ１１・・・・・・−次
元カメラ７の画像処理回路、Ｃ□２・・・・・・−次元
カメラ８の画像処理回路、Ｃ１３，Ｃ，４・・・・・・
走行距離カウンタ、Ｃ１５・・・・・・マーク記憶回路
、Ｃ□６・・・・・・マーク追跡回路、Ｃ工、・・・・
・・現在位置記憶回路、Ｃ１８・・・・・・姿勢角記憶
回路。Fig. 1 is a plan view showing a running course of an unmanned vehicle in an embodiment of the present invention, Fig. 2 is a perspective view of the unmanned vehicle running on a branch course, and Fig. 3 is a plan view showing the running drive section of the unmanned vehicle. Figure 4 shows mark detection images taken by a one-dimensional camera, where a is a rising detection image, b is a falling detection story, and C is the relationship between the mark and the vehicle determined from the rising detection image and the falling detection image. Diagrams are shown for each. FIG. 5 is a mark length detection diagram, and FIG. 6 is a traveling control block diagram. 1... Main running course of the unmanned vehicle, 1-1 to 1-5... Marks attached along the main running course, 2 to 5... Main running course of the unmanned vehicle. Branch course, 2-1 to 2-4.3-1 to 3-4.4-1
or 4-4. One-dimensional camera? -1.8-1...-Dimensional camera field of view, 15-1.15-2... Mileage detector, 1
6... Gyro, 17... Steering angle detector, 18... Conveyor drive motor,
C1...ground setting panel, C2...onboard signal transmission device, C3...onboard control device, C1...
... Traveling position memory circuit, C5... Traveling position correction circuit, C6... Traveling control circuit, C7...
... Mark comparison circuit, C8 ... Posture comparison circuit, C9 ... Mark abnormality processing circuit, C1o ...
...Attitude detection abnormality processing circuit, C11...-Image processing circuit of dimensional camera 7, C□2...-Image processing circuit of dimensional camera 8, C13, C, 4...・・・・・・
Mileage counter, C15... Mark storage circuit, C□6... Mark tracking circuit, C engineering,...
...Current position memory circuit, C18... Attitude angle memory circuit.

Claims

[Scope of utility model registration request]

A mileage detector using a pulse count attached to the vehicle, an attitude angle detector using a steering wheel, a plurality of optically detectable marks of a predetermined length placed along the direction of travel of the vehicle, and and a control circuit for correcting the distance traveled by the vehicle and the attitude angle and deviation of the vehicle at the position of the mark based on the detection signal of the detection device, and a traveling position memory. An unmanned vehicle running control device comprising: a mark comparison circuit and an attitude comparison circuit that constantly check the mark position and the attitude angle and deviation of the vehicle at the mark position, and mutually check each of the detectors.