JPS61143206U

JPS61143206U -

Info

Publication number: JPS61143206U
Application number: JP2280385U
Authority: JP
Priority date: 1985-02-19
Filing date: 1985-02-19
Publication date: 1986-09-04
Also published as: JPH0441363Y2

Description

[Brief explanation of the drawing]

第１図は無人走行車の一例を示した概略平面図
、第２図は光学式センサーの平面図、第３、４図
は夫々第２図のＡ―Ａ線断面、Ｂ―Ｂ線断面図、
第５図は回路図、第６図は無人走行車上のコンピ
ユータ、光学式センサー等の接続を示したブロツ
ク図、第７図は光学式センサーのフオトトランジ
スタとガイドラインとの位置関係を示す模式図、
第８図は各フオトトランジスタの実際の受光量の
値と平滑化後の値を示す棒グラフ、第９図は各フ
オトトランジスタに対する位置の重みおよび二値
化値を示す模式図、第１０図と第１１図はそれぞ
れ本考案の他の実施例を示す図で、第１０図は２
つの帯に分割したガイドラインを示す平面図、第
１１図は５つの帯に分割したガイドラインを示す
平面図である。１……無人走行車、１１……光学式センサー、
１２，４０，５０……ガイドライン、１２ａ，４
０ａ，５０ａ，５０ｂ，５０ｃ……暗色系の色の
帯、１２ｂ，１２ｃ，４０ｂ，５０ｄ，５０ｅ…
…白色系の色の帯、Ｆ……床面。 Fig. 1 is a schematic plan view showing an example of an unmanned vehicle, Fig. 2 is a plan view of an optical sensor, and Figs. 3 and 4 are cross-sectional views taken along line A-A and line B-B in Fig. 2, respectively. ,
Figure 5 is a circuit diagram, Figure 6 is a block diagram showing the connection of the computer on the unmanned vehicle, optical sensors, etc., and Figure 7 is a schematic diagram showing the positional relationship between the phototransistor of the optical sensor and the guideline. ,
Figure 8 is a bar graph showing the actual value of the amount of light received by each phototransistor and the value after smoothing, Figure 9 is a schematic diagram showing the position weight and binary value for each phototransistor, Figures 10 and Fig. 11 shows other embodiments of the present invention, and Fig. 10 shows two embodiments of the present invention.
FIG. 11 is a plan view showing a guideline divided into five bands. FIG. 11 is a plan view showing a guideline divided into five bands. 1...Unmanned vehicle, 11...Optical sensor,
12, 40, 50...Guideline, 12a, 4
0a, 50a, 50b, 50c...Dark color band, 12b, 12c, 40b, 50d, 50e...
...White band, F...Floor surface.

Claims

[Scope of utility model registration request]

A guideline for an unmanned vehicle that guides the vehicle while detecting a guideline on the floor using an optical sensor, which is divided into a plurality of bands along the traveling direction of the unmanned vehicle, and at least one of the bands A guideline for an unmanned vehicle characterized by having the band in a dark color and the other band in a white color.