JPH026310U - - Google Patents
Info
- Publication number
- JPH026310U JPH026310U JP8392288U JP8392288U JPH026310U JP H026310 U JPH026310 U JP H026310U JP 8392288 U JP8392288 U JP 8392288U JP 8392288 U JP8392288 U JP 8392288U JP H026310 U JPH026310 U JP H026310U
- Authority
- JP
- Japan
- Prior art keywords
- unmanned vehicle
- road surface
- laser oscillator
- light
- planned trajectory
- 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
- 239000004065 semiconductor Substances 0.000 description 2
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図、第２図はそれぞれ本考案の一実施例を
示す側面図、前面図、第３図、第４図はそれぞれ
ＰＳＤの断面図、斜視図、第５図は演算処理回路
の構成図、第６図、第７図、第９図はそれぞれＰ
ＳＤ上の軌跡の説明図、第８図は幾何学的条件を
示す平面図、第１０図は幾何学的条件を示す側面
図、第１１図は無人車の正面図、第１２図は偏差
角と水平距離ｍｔ０，ｍｔ１との関係を示す説明
図である。
図面中、１は通路、２は無人車、３はＰＳＤ（
半導体位置検出器）、４，５，６，７は電極、８
は半導体レーザ、９，１０はＡ／Ｄ変換器、１１
，１２はバツフア、１３はＣＰＵ（中央処理回路
）である。
1 and 2 are a side view and a front view showing one embodiment of the present invention, FIGS. 3 and 4 are a sectional view and a perspective view of a PSD, respectively, and FIG. 5 is a configuration diagram of an arithmetic processing circuit. , Figures 6, 7, and 9 are P
An explanatory diagram of the trajectory on the SD, Fig. 8 is a plan view showing the geometric conditions, Fig. 10 is a side view showing the geometric conditions, Fig. 11 is a front view of the unmanned vehicle, and Fig. 12 is the deviation angle. FIG. 3 is an explanatory diagram showing the relationship between the horizontal distances m t0 and m t1 . In the drawing, 1 is a passageway, 2 is an unmanned vehicle, and 3 is a PSD (
semiconductor position detector), 4, 5, 6, 7 are electrodes, 8
is a semiconductor laser, 9 and 10 are A/D converters, 11
, 12 is a buffer, and 13 is a CPU (central processing circuit).
Claims (1)
きる光位置検出器を無人車の前面に取り付ける一
方、該無人車の予定軌道における路面上にレーザ
発振器を設置して前記光位置検出器へある仰角を
もつて照射させ、更に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、偏差角及び車体の速度
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 a point where light is received is attached to the front of the unmanned vehicle, while a laser oscillator is installed on the road surface on the planned trajectory of the unmanned vehicle, and the laser oscillator is installed on the road surface of the unmanned vehicle. An arithmetic circuit is provided for emitting light at an elevation angle, further analyzing the locus of the light receiving point on the optical position detector according to geometric conditions, and calculating the horizontal distance, deviation angle, and speed of the vehicle body with respect to the planned trajectory. A vehicle body position/speed detection device characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392288U JPH0716164Y2 (en) | 1988-06-27 | 1988-06-27 | Vehicle position / speed detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8392288U JPH0716164Y2 (en) | 1988-06-27 | 1988-06-27 | Vehicle position / speed detector |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH026310U true JPH026310U (en) | 1990-01-17 |
| JPH0716164Y2 JPH0716164Y2 (en) | 1995-04-12 |
Family
ID=31308627
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8392288U Expired - Lifetime JPH0716164Y2 (en) | 1988-06-27 | 1988-06-27 | Vehicle position / speed detector |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0716164Y2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0692234A (en) * | 1992-09-11 | 1994-04-05 | Ooyodo Diesel Kk | Mobile work vehicle |
| JP2006170972A (en) * | 2004-12-17 | 2006-06-29 | Samsung Electronics Co Ltd | Robot system |
| CN115047407A (en) * | 2022-06-02 | 2022-09-13 | 北京三快在线科技有限公司 | Detection mechanism, detection system and detection method of position information of carrying device |
-
1988
- 1988-06-27 JP JP8392288U patent/JPH0716164Y2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0692234A (en) * | 1992-09-11 | 1994-04-05 | Ooyodo Diesel Kk | Mobile work vehicle |
| JP2006170972A (en) * | 2004-12-17 | 2006-06-29 | Samsung Electronics Co Ltd | Robot system |
| CN115047407A (en) * | 2022-06-02 | 2022-09-13 | 北京三快在线科技有限公司 | Detection mechanism, detection system and detection method of position information of carrying device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0716164Y2 (en) | 1995-04-12 |
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