JPH0341309U - - Google Patents
Info
- Publication number
- JPH0341309U JPH0341309U JP10042189U JP10042189U JPH0341309U JP H0341309 U JPH0341309 U JP H0341309U JP 10042189 U JP10042189 U JP 10042189U JP 10042189 U JP10042189 U JP 10042189U JP H0341309 U JPH0341309 U JP H0341309U
- Authority
- JP
- Japan
- Prior art keywords
- guided vehicle
- automatic guided
- dimensional image
- movement
- image sensors
- 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
- 238000001514 detection method Methods 0.000 claims 1
- 238000000034 method Methods 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 9
- 230000003287 optical effect Effects 0.000 description 1
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図、第２図は本考案の第１の実施例にかか
る無人搬送車の平面図、斜視図、第３図は本考案
の第１の実施例を示す回路図、第４図は第３図中
の演算回路についての機能的構成図、第５図は本
考案の第１の実施例の幾何学的条件の説明図、第
６図、第７図は本考案の第２の実施例にかかる無
人搬送車の平面図、斜視図、第８図はＣＣＤの配
置図、第９図は本考案の第２の実施例にかかる演
算回路についての機能的構成図、第１０図は本考
案の第２の実施例についての幾何学的条件の説明
図、第１１図は本考案の第３の実施例にかかる無
人搬送車の平面図、第１２図はＣＣＤの配置図、
第１３図は本考案の第３の実施例にかかる幾何学
的条件の説明図、第１４図、第１５図はそれぞれ
従来技術の説明図である。
図面中、１０……無人搬送車、１１……前輪、
１２，１３……後輪、１４……走行用モータ、１
５……操舵用モータ、１６……操舵角検出器、１
７，１８，１９……ＣＣＤ、２０，２１，２２…
…光学系、２３，２４，２５……読出回路、２６
……Ａ／Ｄ変換器、２７……ＣＰＵ、２８……Ｒ
ＡＭ、２９……ＲＯＭ、３０……演算回路、３１
，３２，３３，３４，３５，３６……演算部であ
る。
1 and 2 are a plan view and a perspective view of an automatic guided vehicle according to a first embodiment of the present invention, FIG. 3 is a circuit diagram showing the first embodiment of the present invention, and FIG. 3 is a functional block diagram of the arithmetic circuit, FIG. 5 is an explanatory diagram of the geometrical conditions of the first embodiment of the present invention, and FIGS. 6 and 7 are the second embodiment of the present invention. 8 is a layout diagram of the CCD, FIG. 9 is a functional configuration diagram of the arithmetic circuit according to the second embodiment of the present invention, and FIG. 10 is a diagram of the present invention. 11 is a plan view of an automatic guided vehicle according to a third embodiment of the present invention, FIG. 12 is a layout diagram of a CCD,
FIG. 13 is an explanatory diagram of the geometric conditions according to the third embodiment of the present invention, and FIGS. 14 and 15 are explanatory diagrams of the prior art, respectively. In the drawing, 10...Automated guided vehicle, 11...Front wheel,
12, 13...Rear wheel, 14...Travel motor, 1
5... Steering motor, 16... Steering angle detector, 1
7, 18, 19...CCD, 20, 21, 22...
...Optical system, 23, 24, 25...Reading circuit, 26
...A/D converter, 27...CPU, 28...R
AM, 29...ROM, 30... Arithmetic circuit, 31
, 32, 33, 34, 35, 36... calculation units.
Claims (1)
ると共にこれらの一次元画像センサにより一定周
期でサンプリングされた信号を基に空間フイルタ
方式により、該センサに沿つた３方向の移動距離
をそれぞれ演算する移動距離演算部を設ける一方
、これら移動距離演算部により求められた３方向
の移動距離を幾何学的条件により分析し、前記無
人搬送車の２次元的位置及び移動方向を演算する
位置演算部を設けたことを特徴とする無人搬送車
の位置検出装置。 Three one-dimensional image sensors are placed on the automated guided vehicle, and the moving distances in three directions along the sensors are calculated using a spatial filter method based on the signals sampled at regular intervals by these one-dimensional image sensors. a position calculation unit that analyzes the movement distances in three directions determined by the movement distance calculation units based on geometrical conditions and calculates the two-dimensional position and movement direction of the automatic guided vehicle; A position detection device for an automatic guided vehicle, characterized in that it is provided with:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10042189U JPH0341309U (en) | 1989-08-30 | 1989-08-30 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10042189U JPH0341309U (en) | 1989-08-30 | 1989-08-30 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0341309U true JPH0341309U (en) | 1991-04-19 |
Family
ID=31649430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10042189U Pending JPH0341309U (en) | 1989-08-30 | 1989-08-30 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0341309U (en) |
-
1989
- 1989-08-30 JP JP10042189U patent/JPH0341309U/ja active Pending
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