JPS6014305A - Self-driving method of truck - Google Patents
Self-driving method of truckInfo
- Publication number
- JPS6014305A JPS6014305A JP58121334A JP12133483A JPS6014305A JP S6014305 A JPS6014305 A JP S6014305A JP 58121334 A JP58121334 A JP 58121334A JP 12133483 A JP12133483 A JP 12133483A JP S6014305 A JPS6014305 A JP S6014305A
- Authority
- JP
- Japan
- Prior art keywords
- markers
- image sensors
- images
- angles
- pair
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 7
- 230000003287 optical effect Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 abstract description 2
- 238000006073 displacement reaction Methods 0.000 abstract description 2
- 239000003550 marker Substances 0.000 description 4
- 238000009412 basement excavation Methods 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Guiding Agricultural Machines (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は、例えば、溝掘作業において掘削作業車を溝掘
予定ラインに沿って自動走行させる等の各種作業車の自
走方法に関し、その目的は、走行目標の設定を容易にす
る点にある。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a self-propelling method for various working vehicles, such as, for example, making an excavating vehicle automatically travel along a trenching planned line during trenching work, and the purpose of the present invention is to set a traveling target. The point is to make it easier.
本発明による作業車の自走方法の特徴手段は、２組のイ
メージセンザ一対全作業車に、その左右中心線に対して
左右にほぼ等距離づつ振分けて設けておき、走行目標線
上に２個のマーカを離して並べ、それらマーカ夫々の像
をｍＪ記間両イメージセンサ対に各別に写し、それらイ
メージセンサ−の像に基いて、前記マーカ夫々とその像
を写す左右のイメージセンサ−とを結ぶ直線と、前記作
業車の左右中心線との角度の差を設定範囲内に維持する
ように１前記作業車の向き及び左右位置を自動操向装置
によシ修正させる点にあり、その作用・効果は次の通り
である。The characteristic means of the self-propelling method of a working vehicle according to the present invention is that two sets of image sensors are provided on each working vehicle, distributed approximately equal distances to the left and right with respect to the left and right center line, and two image sensors are placed on the traveling target line. The markers are spaced apart from each other, the images of each marker are separately captured on both image sensor pairs, and based on the images of the image sensors, the markers and the left and right image sensors that capture the image are determined. 1. The direction and lateral position of the work vehicle are corrected by an automatic steering device so as to maintain the difference in angle between the straight line connecting the work vehicle and the left-right center line of the work vehicle within a set range; The actions and effects are as follows.
つまシ、第２図（ロ）に示すように、作業車間が何らか
の原因で走行目標線（７１？ｃ）からはずれた場合、マ
ーカｆ６１ 、 ＋７１夫々と左右イメージセンサ一対
（４）と金結ぶ直線と、作業車（３）の左右中心線（ｊ
？ａ）とが成す角度（θ１８） 、（θ１ｂ）・（θ柿
）、（θ２ｂ）（図上同位角関係で表示）が、各マーカ
＋６＋ 、 ＋７１ごとに夫々設定許容範囲（ξｌ）、
（ξ１１）内で等【７く（１θ１ａ−θＢ）Ｉ≦１ξ１
１、（θ２ａ−θ１ｂ１≦１５１）なるように、すなわ
ち、第２図（イ）に示す状態となるように、自動操向装
置により作業車ｔＡｌの向き及び左右位置を修正させる
ことによって、作業車ｆＡｌ ”ｒ走行目標線（ｌｃ）
に沿って自走させるのである。As shown in Figure 2 (b), if the distance between the working vehicles deviates from the target line (71?c) for some reason, a straight line connects the markers f61 and +71 and the pair of left and right image sensors (4). and the left and right center line (j
? The angles formed by a) (θ18), (θ1b)・(θpersimmon), and (θ2b) (displayed in the same angle relationship in the diagram) are set within the allowable range (ξl) for each marker +6+ and +71, respectively.
Equivalently within (ξ11) [7 (1θ1a-θB)I≦1ξ1
1. By correcting the direction and lateral position of the work vehicle tAl by the automatic steering device so that (θ2a-θ1b1≦151), that is, the state shown in FIG. 2(A), the work vehicle fAl ”r Travel target line (lc)
It is made to run on its own along the following lines.
したがって、走行目標の設定を、単に２本のマーカｉ６
） 、 （７） ｋ走行目標線（ｅｃ）上に立てるだけ
で極めて奪易に行なうことができて、従来のように、走
行目標線Ｃｅｃ）上に、その全長にわたって白色を描い
た＃）、磁気センサー用の鉄粉を散布するなどに比して
、作業能率を大巾に向上し得るに至った。Therefore, setting the driving goal can be done simply by using the two markers i6.
), (7) k It can be carried out extremely easily by simply standing on the driving target line (ec), and as in the past, a white line is drawn along the entire length of the driving target line (Cec). Compared to methods such as dispersing iron powder for magnetic sensors, work efficiency has been greatly improved.
次に本発明の実施例を例示図に基づいて詳述付け、かつ
、その旋回台（２）に上下揺動並びに屈伸操作自在な掘
削作業装置（３）を取付けて構成したがツクホウ作業車
において、イメージセンサ一対（４）全写体とする一対
のカメラ（５）ヲ、旋回台（２）の左右中心線（／ａ）
に対１〜で等圧＃（ハの振分は状に配置して、かつ、各
カメラ（５）の光ｌＩ［１ｌｌ（ｌｄ）が旋回台左右中
心線（４ａ）と平行となるように向けて、旋回台（２）
前端の左右に設けておくと共に、溝掘作業時に際して、
その溝掘予定フィンに沿う仮想走行目標線（Ｎｃ）上に
、２本のマーカ（６）。Next, an embodiment of the present invention will be described in detail based on illustrative drawings, and an excavation work device (3) that can be vertically oscillated and can be bent and extended is attached to the swivel base (2). , a pair of image sensors (4), a pair of cameras that capture the entire object (5), a left-right center line (/a) of the swivel base (2)
Equal pressure # (distribution of C is arranged in the form of Aim at the swivel base (2)
In addition to providing them on the left and right sides of the front end, when digging trenches,
Two markers (6) are placed on the virtual travel target line (Nc) along the trenching planned fin.
（７）を、所定距離ｆｙ）だけ離して並べる状態で、か
つ、互いの対地高さ全所定高さくＸ）だけ異ならせた状
態で立てておく。(7) are arranged in a state where they are separated by a predetermined distance fy) and are erected in a state where their heights from the ground differ by a total predetermined height X).
旋回台（２）と走行装置（１）とを同方向向きに固定し
た溝掘作業走行状態において、左右イメージセンサ一対
（４）に各マーカ＋６１ 、 ＋７１の像（６ａ）、（
７ａ）を各別に写させて、それら像（６ａ）、（７ａ）
の光軸（４ｂ）に対する左右変位用＃をイメージセンサ
一対（４）に各別に検出させると共に、その検出結果に
基づいて、各カメラ（５）に対・してマーカ＋６） 、
＋７１夫々と各カメラ（５）の光軸（４ｂ）とが成す
角度、（換言すれば、同位角関係から旋回台（２）の左
右中心線（ｅａ） ’ｉ：成す角度）（θｌａ） 、
（θｘｂ） 、 （０時）。When the swivel table (2) and the traveling device (1) are fixed in the same direction and are running in trench digging work, the pair of left and right image sensors (4) displays the images (6a) and +71 of each marker.
7a) separately, and the images (6a) and (7a)
A pair of image sensors (4) are made to separately detect # for left and right displacement with respect to the optical axis (4b) of
+71 and the optical axis (4b) of each camera (5) (in other words, from the same angle relationship, the left and right center line (ea) of the swivel base (2) 'i: angle formed) (θla),
(θxb), (0 o'clock).
（θ８１））を自動制御器（８）によシ連続的演算算出
させる。 そして、それら各マーカ＋６１ 、 ＋７１
ごとの算出角度（θｘａ）、 （θ、ｂ）・（θｉａ）
、（θ、ｂ）が夫々許容角度範囲（ξ１）、（ξき）
内において等しく維持されるように、つまり、次式（イ
）、（ロ））で示す関係が維持されるように、
１０１、−〇ｘｂｌ≦Ｉξ、（（イ）
１θ、ａ−θｓｂｌ≦ｌ ｔ＊ ＋、 （ｔｉ自動制御
器（８１により走行装ｆｉｌ （１１に対する自動操向
装置（９）を制御操作１．て車体囚の向き、及び、左右
位置を修正きせる。(θ81)) is continuously calculated by the automatic controller (8). And each of those markers +61, +71
Calculated angle (θxa), (θ, b)・(θia)
, (θ, b) are the allowable angle ranges (ξ1) and (ξ), respectively.
In other words, so that the relationships shown in the following equations (a) and (b) are maintained, 101, -〇xbl≦Iξ, ((a) 1θ, a-θsbl≦l t* +, (ti The automatic controller (81) controls the automatic steering device (9) for the traveling equipment fil (11) to correct the direction of the vehicle body and the left and right position.
すなわち、第２図（ロ）に示す如く掘削反力等の影響で
走行目標線（ＩＣ）から外れた車体伝）を、第２図（イ
）に示す如く走行目標線Ｃｌ１ｃ’）に適切に沿う状態
に１自動復帰さぜる′ととにより結果として、車体ＩＡ
Ｊｆ走行目標線（／ｃ）に沿って適切に自動走行させる
のである。In other words, as shown in Fig. 2 (B), the vehicle body line (IC) which has deviated from the driving target line (IC) due to the influence of excavation reaction force, etc., is properly moved to the driving target line (IC) as shown in Fig. 2 (A). As a result, the vehicle body IA
The vehicle automatically travels appropriately along the Jf travel target line (/c).
ｌｅ’ｌ前記カメラ（５）を構成するに、レンズ（５ａ
） ｆ取付けたカメラボックス（５１１）内に、前記イ
メージセンサ一対（４）全構成する一対のイメージセン
サ・−一−ニー（４ａ）。le'lThe camera (5) includes a lens (5a).
) f A pair of image sensors--one-knee (4a) that completely constitutes the pair of image sensors (4) in the attached camera box (511).
（４ｂ） ｋ 、光軸（う）に対ｊ−で上下に振分は配
置し、前述の如く対地高さを異ならせて立てたマーカｆ
６１ 、 ＋７１の像（６ａ’）、（７ａ）を上下のイ
メージセンサ（４ａ３．（４ｂ）に各別に写すことによ
り、各７個のカメラ（５）で２木のマーカｆ６１ 、
＋７１ ’に検出できるように構成１〜である。(4b) Markers f are placed above and below the optical axis (U) with respect to j-, and are erected at different heights above the ground as described above.
By capturing the images (6a') and (7a) of 61 and +71 on the upper and lower image sensors (4a3.
Configurations 1 to 1 allow detection at +71'.
尚、イメージセンサ一対（４）にマーカ＋６１ 、 ＋
７＋の像（６ａ）、（７ａ） を写させるための具体的
光学構造は種々の改良が可能である。In addition, the image sensor pair (4) has markers +61, +
Various improvements can be made to the specific optical structure for capturing the 7+ images (6a) and (7a).
本発明の自走方法は、建設用や農用等の各種作業車を対
象とするものである。The self-propelled method of the present invention is intended for various types of work vehicles such as construction and agricultural vehicles.
図面は本発明に係る作業車の自走方法の実施例全示し、
第１図は作業走行状態を示す側面図、＠２図（イ）、（
ロ）は、同概略平面図、第８図はカメラ構造を示す破断
斜視図である。
（４）・・・・・・イメージセンサ一対、（４ａ）、（
４ｂ）・・・・・・イメージセンサ−１＋６＋ 、 ［
７１・・・・・・マーカ、（６ａ）。
（７ａ）・・・・・・像、（９）・・・・・・自動操向
装置、（Ａｌ・・・・・・作業車、（４ａ）・・・・・
・左右中心線、（４ｃ）・・・・・・走行目標線、（θ
＋Ｂ） 、 （（’Ｂ）） 、 Ｃ０Ｂ）、 （θｍｂ
１”’−・・角度、（ξ］）、（ξ、）・・・・・・設
定範囲、（Ｚｌ・・・・・・距離。The drawings show all embodiments of the self-propelled method for a work vehicle according to the present invention,
Figure 1 is a side view showing the working running state, @Figure 2 (A), (
B) is a schematic plan view of the same, and FIG. 8 is a cutaway perspective view showing the camera structure. (4)...Pair of image sensors, (4a), (
4b)...Image sensor -1+6+, [
71...Marker, (6a). (7a)...Statue, (9)...Automatic steering device, (Al...Work vehicle, (4a)...
・Left and right center line, (4c)...Travel target line, (θ
+B) , (('B)) , C0B), (θmb
1”' - Angle, (ξ]), (ξ,)...Setting range, (Zl...Distance.
Claims (1)
の左右中心線（／ａ）に対して左右にほぼ等距離（ハづ
つ振分けて設けておき、走行目標線Ｃｅｃ）上に２個の
マーカ（６） 、 （’ｎを離して並べ、それらマーカ
ｆ６＋ 、 ＋７１夫々の像（６ａ）、（７ａ）を前記
両イメージセンサ一対（４）に各別に写し、それらイメ
ージセンサ−（４ａ）、（４ｂ）の像（６ａ）、（７ｍ
）に基いて、前記マーカ＋６＋ 、 ＋７１夫々とその
像（６ａ）、（７ａ）を写ス左右のイメージセンサ−（
４ａ）、（４ｂ）とヲ結ぶ直線と、前記作業車間の左右
中心線（／？ａ ’）との角度（θ、ａ） 、 （θ１
ｂ）・（θ、、）、 （θＩＩｂ）の差を設定範囲（ξ
１’Ｌ（ξハ内に維持するように、前記作業車（Ａ）の
向き及び左右位ｆｌｌ−自動操向装Ｎ（９）により修正
させる作業車の自走方法。A pair of image sensors (4) are installed on the work vehicle (Al, at approximately equal distances (distributed to each side) on the left and right with respect to the left and right center line (/a) of the work vehicle (Al), and two pieces are placed on the driving target line Cec. The markers (6) and ('n are arranged at a distance from each other, and the images (6a) and (7a) of the markers f6+ and +71 are respectively projected onto the pair of image sensors (4), and the image sensors -(4a) , (4b) images (6a), (7m
), the markers +6+ and +71 and their images (6a) and (7a) are photographed by the left and right image sensors (
The angle (θ, a), (θ1
b)・(θ, , ), (θIIb) is set within the setting range (ξ
A method of self-propelling a working vehicle in which the direction and left/right position of the working vehicle (A) are corrected by an automatic steering system N (9) so as to maintain the working vehicle (A) within 1'L (ξ).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58121334A JPS6014305A (en) | 1983-07-04 | 1983-07-04 | Self-driving method of truck |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP58121334A JPS6014305A (en) | 1983-07-04 | 1983-07-04 | Self-driving method of truck |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6014305A true JPS6014305A (en) | 1985-01-24 |
Family
ID=14808686
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP58121334A Pending JPS6014305A (en) | 1983-07-04 | 1983-07-04 | Self-driving method of truck |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6014305A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61165130U (en) * | 1985-04-04 | 1986-10-14 | ||
| JPS63560U (en) * | 1986-06-20 | 1988-01-05 | ||
| US6934613B2 (en) * | 2003-04-22 | 2005-08-23 | Hyundai Motor Company | Automated self-control traveling system for expressways and method for controlling the same |
| FR2918185A1 (en) * | 2007-06-26 | 2009-01-02 | Bouygues Construction Sa | Tool carrying robot guiding method for drilling e.g. roof lining, wall in tunnel, involves placing markers in environment in which robot is moved, where robot is moved towards its support points while being located with respect to markers |
-
1983
- 1983-07-04 JP JP58121334A patent/JPS6014305A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61165130U (en) * | 1985-04-04 | 1986-10-14 | ||
| JPH0432917Y2 (en) * | 1985-04-04 | 1992-08-07 | ||
| JPS63560U (en) * | 1986-06-20 | 1988-01-05 | ||
| US6934613B2 (en) * | 2003-04-22 | 2005-08-23 | Hyundai Motor Company | Automated self-control traveling system for expressways and method for controlling the same |
| FR2918185A1 (en) * | 2007-06-26 | 2009-01-02 | Bouygues Construction Sa | Tool carrying robot guiding method for drilling e.g. roof lining, wall in tunnel, involves placing markers in environment in which robot is moved, where robot is moved towards its support points while being located with respect to markers |
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