JPH01142014U - - Google Patents
Info
- Publication number
- JPH01142014U JPH01142014U JP3529288U JP3529288U JPH01142014U JP H01142014 U JPH01142014 U JP H01142014U JP 3529288 U JP3529288 U JP 3529288U JP 3529288 U JP3529288 U JP 3529288U JP H01142014 U JPH01142014 U JP H01142014U
- Authority
- JP
- Japan
- Prior art keywords
- vehicle
- unmanned vehicle
- vehicle body
- planned trajectory
- inclination
- 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.)
- Granted
Links
- 230000003287 optical effect Effects 0.000 claims 2
- 238000001514 detection method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図ａ，ｂはいずれも本考案の一実施例にお
ける幾何学的条件を示す説明図、第２図は予定軌
道とレーザの関係を示す平面図、第３図は無人車
の斜視図、第４図、第５図、第６図はそれぞれＰ
ＳＤの断面図、斜視図、配置図、第７図、第８図
は本考案の一実施例における幾何学的条件を示す
説明図である。
図面中、２は無人車、３，４はＰＳＤ、５，６
は電極、ρはＰＳＤの取付角、φは予定軌道に対
する無人車の傾き、θはレーザの俯角である。
1A and 1B are explanatory diagrams showing the geometric conditions in an embodiment of the present invention, FIG. 2 is a plan view showing the relationship between the planned trajectory and the laser, and FIG. 3 is a perspective view of the unmanned vehicle. Figures 4, 5, and 6 are respectively P
A sectional view, a perspective view, a layout diagram, and FIGS. 7 and 8 of the SD are explanatory diagrams showing the geometrical conditions in one embodiment of the present invention. In the drawing, 2 is an unmanned vehicle, 3 and 4 are PSD, and 5 and 6
is the electrode, ρ is the mounting angle of the PSD, φ is the inclination of the unmanned vehicle with respect to the planned trajectory, and θ is the depression angle of the laser.
Claims (1)
きる光位置検出器２台を無人車の車体に対しある
傾きで取り付ける一方、該無人車の予定軌道に対
し垂直な方向から水平方向に対しある仰角又は俯
角をもつてレーザを照射し、前記各光位置検出器
上の受光点の配置を幾何学的条件に基づいて分析
し、前記無人車の前記予定軌道に対する水平距離
、車体の傾き及び車体の速度を演算して求めるこ
とを特徴とする車体位置・速度検出装置。 Two optical position detectors capable of detecting the one-dimensional position of the point where light is received are installed at a certain inclination to the body of the unmanned vehicle, while at the same time being installed from a direction perpendicular to the planned trajectory of the unmanned vehicle to a horizontal direction. A laser is irradiated with an elevation angle or a depression angle, and the arrangement of light receiving points on each optical position detector is analyzed based on geometric conditions, and the horizontal distance, vehicle body inclination, and vehicle body with respect to the planned trajectory of the unmanned vehicle are determined. A vehicle body position/speed detection device characterized by calculating and determining the speed of a vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3529288U JP2503534Y2 (en) | 1988-03-18 | 1988-03-18 | Vehicle position / speed detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3529288U JP2503534Y2 (en) | 1988-03-18 | 1988-03-18 | Vehicle position / speed detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH01142014U true JPH01142014U (en) | 1989-09-28 |
| JP2503534Y2 JP2503534Y2 (en) | 1996-07-03 |
Family
ID=31261949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3529288U Expired - Lifetime JP2503534Y2 (en) | 1988-03-18 | 1988-03-18 | Vehicle position / speed detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2503534Y2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011007667A (en) * | 2009-06-26 | 2011-01-13 | System Keisoku Kk | Displacement measuring device |
-
1988
- 1988-03-18 JP JP3529288U patent/JP2503534Y2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011007667A (en) * | 2009-06-26 | 2011-01-13 | System Keisoku Kk | Displacement measuring device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2503534Y2 (en) | 1996-07-03 |
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