JPH026309U - - Google Patents
Info
- Publication number
- JPH026309U JPH026309U JP8392488U JP8392488U JPH026309U JP H026309 U JPH026309 U JP H026309U JP 8392488 U JP8392488 U JP 8392488U JP 8392488 U JP8392488 U JP 8392488U JP H026309 U JPH026309 U JP H026309U
- Authority
- JP
- Japan
- Prior art keywords
- position detector
- optical position
- unmanned vehicle
- planned trajectory
- laser
- 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
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の一実施例を示す構成図、第２
図、第３図はそれぞれＰＳＤの断面図、斜視図、
第４図、第５図、第８図はそれぞれＰＳＤ上の受
光点の軌跡を示す説明図、第６図は幾何学的条件
を示す正面図、第７図は幾何学的条件を示す平面
図、第９図は第７図中の―矢視にかかる
幾何学的条件を示す側面図、第１０図は第７図中
の―矢視にかかる幾何学的条件を示す側面図
である。
図面中、１は路路、２は無人車、３はＰＳＤ（
半導体位置検出素子）、４〜７は電極、８はレー
ザ発振器、９は反射鏡、Ａは予定軌道、Ｂ，Ｃ，
Ｄは受光点の軌跡である。
Fig. 1 is a configuration diagram showing one embodiment of the present invention;
Figure 3 is a cross-sectional view, a perspective view, and a perspective view of the PSD, respectively.
Figures 4, 5, and 8 are explanatory diagrams showing the trajectory of the light receiving point on the PSD, Figure 6 is a front view showing the geometric conditions, and Figure 7 is a plan view showing the geometric conditions. , FIG. 9 is a side view showing the geometrical conditions in the direction of the - arrow in FIG. 7, and FIG. 10 is a side view showing the geometrical conditions in the direction of the -arrow in FIG. In the drawing, 1 is a road, 2 is an unmanned vehicle, and 3 is a PSD (
4 to 7 are electrodes, 8 is a laser oscillator, 9 is a reflecting mirror, A is a planned trajectory, B, C,
D is the locus of the light receiving point.
Claims (1)
きる光位置検出器を無人車の側面に取り付ける一
方、路面側方に前記無人車の予定軌道に対し平行
な反射鏡を設置し、更に前記無人車の側面にはレ
ーザ発振器を設けてレーザを前記反射鏡に反射さ
せて上記光位置検出器上へ照射させ、また、前記
光位置検出器上の受光点の軌跡を幾何学的条件に
従つて分析し、前記予定軌道に対する水平距離、
偏差角及び移動速度を演算する演算回路を設けた
ことを特徴とする車体位置・速度検出装置。 An optical position detector capable of detecting the two-dimensional position of the point where light is received is attached to the side of the unmanned vehicle, while a reflector parallel to the planned trajectory of the unmanned vehicle is installed on the side of the road surface, and A laser oscillator is installed on the side of the car, and the laser is reflected by the reflecting mirror and irradiated onto the optical position detector, and the locus of the light receiving point on the optical position detector is determined according to geometric conditions. analyze the horizontal distance with respect to the planned trajectory;
A vehicle body position/speed detection device characterized by being provided with an arithmetic circuit that calculates a deviation angle and a moving speed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392488U JPH026309U (en) | 1988-06-27 | 1988-06-27 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392488U JPH026309U (en) | 1988-06-27 | 1988-06-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH026309U true JPH026309U (en) | 1990-01-17 |
Family
ID=31308629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8392488U Pending JPH026309U (en) | 1988-06-27 | 1988-06-27 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH026309U (en) |
-
1988
- 1988-06-27 JP JP8392488U patent/JPH026309U/ja active Pending
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