JPH01306902A - Device for detecting speed and position of unmanned vehicle - Google Patents

Abstract

PURPOSE:To obtain highly accurate detecting characteristics with the title device by writing the picture element data of a video detecting section at once in a high-speed RAM by using hardware. CONSTITUTION:Light rays from a road surface 10a re condensed to the light receiving surface of the CCD of a video detecting section 12. The output signal of the CCD is A/D-converted by means of an A/D conversion section 14 and digital data corresponding to the pattern of the road surface 10 are tentatively stored in a high-speed RAM 18. Then the data are fetched to a DSP 16 and the speed and position of an unmanned vehicle are calculated. Since all picture element data of the section 12 are written in the RAM 18 at once by means of hardware, the time required by the DSP 16 for inputting the data is sharply reduced and the sampling interval can be shortened. In addition, highly accurate detecting characteristics are obtained. Moreover, arithmetic processing can be executed while the data of the CCD are written in the high-speed RAM 18.

Description

DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a speed position detection device for an unmanned vehicle.

B1 Summary of the Invention The present invention is a device that detects random patterns on the road surface and performs arithmetic processing based on this detection signal to detect the speed and position of an unmanned vehicle. By storing the information in a high-speed RAM and then executing processing in an arithmetic processing section, a high-performance speed and position detection device for an unmanned vehicle with excellent processing ability is obtained.

C. Prior Art Conventionally, many automatic guided vehicles have adopted a system in which guide lines are laid on the road surface and the route of the guided vehicle is guided by the guide lines.

However, in the case of guiding wire installation work, maintenance, and route changes, there are various problems such as the need to replace the guiding wire.

Furthermore, the teaching-playback method also requires teaching work, and the teaching work requires effort every time the course is changed.

In order to solve these problems, there is a method of measuring the speed and distance traveled by a vehicle in a non-contact manner using a spatial filter.

This spatial filter can measure the position and speed of the vehicle body relative to the road surface by detecting spatial frequency components from optically random patterns on the road surface and examining their temporal behavior.

That is, FIG. 4 shows a speed position detecting device for an unmanned vehicle according to the prior art, in which l is an optical lens forming an optical system, 2 is an image detecting section which inputs the image signal of the optical system 1,
3 is an amplifier that amplifies the video detection signal of the video detection unit 2;
inputs the amplified signal of the amplifier 3 and converts it from analog to digital.
converter). 5 is a buffer section, 6 is an arithmetic processing section (CPU), and 7 is a video detection section 2 based on instructions from the CPU.
This is a drive circuit section that drives the A/D converter 4.

D Problems to be Solved by the Invention According to the speed position detection device for an unmanned vehicle as shown in FIG.
A random pattern of the road surface IO is detected by the video detection section 2, and the data is read into a microcomputer via an A/D converter and processed by software to calculate the speed 1 position.

However, if the speed of the vehicle is high, it is necessary to shorten the measurement interval. However, since the number of CCD elements is generally large, the measurement interval is limited by the time for inputting data.

The present invention has solved the above-mentioned conventional problems, and its purpose is to detect an image pattern on the road surface with an image detection section, store this image detection data in hardware at once in a high-speed RAM, and then store it in the high-speed RAM. An object of the present invention is to provide a high-performance speed and position detection device for an unmanned vehicle by causing a calculation processing unit to perform processing based on stored data.

E. Means and Effects for Solving the Problems In order to achieve the above-mentioned object, the present invention detects an image pattern on a road surface by an image detection section, and sends the image detection data of the image detection section to a drilling processing section. In an unmanned vehicle speed and position detection device that takes in the video detection data and calculates the speed and position of the unmanned vehicle using the arithmetic processing unit, the video detection data is simultaneously stored in a high-speed RAM+.
, :Write, the data written to the high-speed RAM is fetched into the arithmetic processing section and processed.

F. EXAMPLES Below, examples of the present invention will be described with reference to FIGS. 1 to 3.

FIG. 1 shows a speed and position detection device for an unmanned vehicle according to an embodiment of the present invention, 11 is an optical lens constituting an optical system, 12 is an image detecting section which inputs the image signal of the optical lens 11, and is a line sensor. (CCD) readout circuit, and has a zumble hold function. 13 is an amplifier that amplifies the video detection signal of the video detection section 12.

Reference numeral 14 denotes an analog/digital converter (A/D converter) that converts the analog output signal of the amplifier 13 into a digital signal, and has a latch function and a buffer function.

Reference numeral 18 denotes a high-speed RAM which is a high-speed storage unit that temporarily stores digital signals from the A/D converter 14. 15 is a buffer section, 16 is a digital processor (
This is an arithmetic processing unit consisting of a digital signal processor (DSP). 17 is DSP l
6, the video detection section 12 and the A/D conversion section I
The first drive circuit section 19 drives and controls 1) SPI
The second controller drives and controls the high-speed RAM 18 based on the command of
This is the drive circuit section.

In the speed and position detection device for an unmanned vehicle configured as described above, light from the road surface 10 is focused on the light receiving surface of the COD of the image detection unit 12. The output signal of the CCI) is A/D converted by the A/D converter 14, the digital data corresponding to the pattern of the road surface 10 is temporarily stored in the high-speed RAM 18, and after the storage is completed, the data is taken into the DSP I 6 and the unmanned Performs arithmetic processing for detecting vehicle speed and two positions.

Therefore, since all the pixel data of the video detection section 12 is written to the high-speed RAM 18 at once by hardware, the DSP
The time required for 16 data manual labor is significantly reduced, and the sampling interval can be shortened.

Further, while the COD data is being written to the high-speed RAM] 8, the arithmetic processing shown in FIGS. 2 and 3 is executed.

First of all, FIG. 2 shows an interrupt routine, in which initialization is performed in step Sl, and interrupt processing is executed in step S2. The first drive circuit unit 17 starts driving the COD based on the command from the DSP 1 6 (step S3). Perform a 1.2m5ec idle link (step S4) and confirm the number of COD elements N = 2048 (
Step S5). If the result is N-2048, the process proceeds to step S6 and the COD data is manually input to the high-speed RAM 18.

Next, window function data 1 is read (step S7), and a product-sum operation (
Step S8) is executed to obtain data Sa, and window function data 2 is read (step S9), and a product-sum operation (step 510) is executed on this window function data 2 and the COD input Kadeka data to obtain data sb. . Based on these data Sa and Sb, the processing from step 85 to SIO is repeated. If N=2048 in step S5,
The process shown in FIG. 3 is executed.

−8= Zunaichi, not shown in FIG.
As shown in I3, the number of times the trajectory on the phase plane shifts between the first and fourth quadrants is counted, with the direction of shift from the fourth quadrant to the first quadrant being taken as positive, and the m operation is executed. Next, step S
As shown in 14, ρ=arctan (Sb/Sa)
is calculated in the range of 0≦ρ<2π to perform phase calculation, and as shown in Sup-Tub SI5, m-P+(ρ-P)/2
A distance calculation is performed by calculating π·P, and a velocity calculation is performed by differentiating the distance.

More specifically, a video signal of the road surface 10 is input to the video detection section 12 via the optical system 11. In the video detection section I2, a line sensor detects the video, a successive circuit reads out the video detection signal, A/D converts the video detection signal, and inputs it to the high speed RAM 18. In the arithmetic processing section 16, the video detection signal from the video detection section 12 and the sine wave pattern setting signal are multiplied together, and the video detection signal and the cosine wave pattern setting signal are multiplied together. Furthermore, the multiplication signal is integrated and the integrated signal is outputted, and the multiplication signal is integrated and the integrated signal is outputted. An operation is performed based on the signals Sa and sb to calculate the output ρ-arctan (Sb/Sa). (ρ-φ)/2π is calculated based on ρ and the initial phase φ.

Furthermore, in the arithmetic processing unit 16, the m signal and the phase signal are summed, and this sum is combined with the pitch (period) P of the spatial filter.
The travel distance is calculated by multiplying the travel distance by multiplying .times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times..times.

Xo-(2πm+ρ-P)/nK=mXP-1-(ρ-
φ)/2yrP, where m is the number of revolutions of the trajectory around the origin (counterclockwise is positive), Xo is the distance traveled, P is the pitch (period) of the spatial filter, and ρ-arcta'n(S
b/Sa), 0≦p<2rr, p-ρt-0 (initial value)
It is.

G1 Effects of the Invention The present invention is as follows, and since the pixel data of the image detection section is written to the high-speed RAM by hardware all at once, the time required for data input to the arithmetic processing section is significantly reduced. It is possible to shorten the sampling interval, obtain highly accurate detection characteristics, and use high-speed RAM.
Since the arithmetic processing unit can perform other processing while data is being written to the data processing unit, a detection device with excellent processing performance can be obtained.

[Brief explanation of the drawing]

1 is a block diagram of a speed/position detecting device for an unmanned vehicle according to an embodiment of the present invention, FIG. 2 is a flowchart showing an interrupt routine of the device of FIG. 1, and FIG. 3 is a block diagram of the device of FIG. 1. FIG. 4 is a flowchart showing the calculation process, and is a block diagram of a conventional speed and position detection device for an unmanned vehicle. IO... Road surface, 11... Optical lens, 12... Image detection section, 14. Analog/digital conversion section, I5 buffer section, 16. Arithmetic processing section, 17... First drive circuit section, 18 ...High speed RAM, 19 second drive circuit section.

Claims (1)

[Claims] (1) Detect the image pattern on the road surface by the image detection unit,
In the speed position detection device for an unmanned vehicle, the video detection data of the video detection section is taken into the arithmetic processing section and the speed position of the unmanned vehicle is calculated by the arithmetic processing section. A speed position detection device for an unmanned vehicle, characterized in that data written in a high-speed RAM is loaded into an arithmetic processing section and processed.