JPS61143208U - - Google Patents
Info
- Publication number
- JPS61143208U JPS61143208U JP2619485U JP2619485U JPS61143208U JP S61143208 U JPS61143208 U JP S61143208U JP 2619485 U JP2619485 U JP 2619485U JP 2619485 U JP2619485 U JP 2619485U JP S61143208 U JPS61143208 U JP S61143208U
- Authority
- JP
- Japan
- Prior art keywords
- optical sensor
- guideline
- unmanned vehicle
- vehicle
- phototransistor
- 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
- 230000003287 optical effect Effects 0.000 claims description 5
- 125000000391 vinyl group Chemical group [H]C([*])=C([H])[H] 0.000 claims 1
- 229920002554 vinyl polymer Polymers 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- 238000009499 grossing Methods 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
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
化値を示す模式図である。
１……無人車、１１……光学式センサー、１２
……ガイドライン。
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 AA and BB in Fig. 2, respectively. ,
Figure 5 is a circuit diagram, Figure 6 is a block diagram showing the connections between the computer, optical sensor, etc. on the unmanned vehicle, and Figure 7 is a schematic diagram showing the positional relationship between the phototransistor of the optical sensor and the guideline. ,
FIG. 8 is a bar graph showing the actual value of the amount of light received by each phototransistor and the value after smoothing, and FIG. 9 is a schematic diagram showing the position weight and binarized value for each phototransistor. 1...Unmanned vehicle, 11...Optical sensor, 12
...Guidelines.
Claims (1)
ラインを検出しながら誘導走行する無人走行車の
ガイドラインであつて、ビニル製のテープとした
ことを特徴とする無人走行車のガイドライン。 A guideline for an unmanned vehicle that guides the vehicle while detecting a guideline set on the floor using an optical sensor, and is characterized by being made of vinyl tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2619485U JPS61143208U (en) | 1985-02-25 | 1985-02-25 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2619485U JPS61143208U (en) | 1985-02-25 | 1985-02-25 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61143208U true JPS61143208U (en) | 1986-09-04 |
Family
ID=30521975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2619485U Pending JPS61143208U (en) | 1985-02-25 | 1985-02-25 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61143208U (en) |
-
1985
- 1985-02-25 JP JP2619485U patent/JPS61143208U/ja active Pending