JPH0436607U - - Google Patents
Info
- Publication number
- JPH0436607U JPH0436607U JP7815890U JP7815890U JPH0436607U JP H0436607 U JPH0436607 U JP H0436607U JP 7815890 U JP7815890 U JP 7815890U JP 7815890 U JP7815890 U JP 7815890U JP H0436607 U JPH0436607 U JP H0436607U
- Authority
- JP
- Japan
- Prior art keywords
- signal
- angle
- receiver
- unmanned vehicle
- output signal
- 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 description 5
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
第１図は本考案の実施例を示すブロツク線図、
第２図はその光受信器を抽出して示す斜視図、第
３図は光受信器が受信する光信号の波形を示す特
性図、第４図は上記実施例を無人車とともに模式
的に示す説明図である。
図面中、１は光発振器、２は光受信器、３は無
人車、７は角度センサ、８は操舵制御部、１０は
距離センサ、１１は記憶部、Ｓθは角度信号、Ｓ
Ｌは距離信号である。
FIG. 1 is a block diagram showing an embodiment of the present invention;
Fig. 2 is a perspective view showing an extracted optical receiver, Fig. 3 is a characteristic diagram showing the waveform of an optical signal received by the optical receiver, and Fig. 4 schematically shows the above embodiment together with an unmanned vehicle. It is an explanatory diagram. In the drawing, 1 is an optical oscillator, 2 is an optical receiver, 3 is an unmanned vehicle, 7 is an angle sensor, 8 is a steering control unit, 10 is a distance sensor, 11 is a storage unit, Sθ is an angle signal, S
L is a distance signal.
Claims (1)
タである地図データに基づき自律走行する無人車
のテイーチング装置において、 一方向に信号を発信する発振器と、 無人車に積載され、水平面内を所定角度回動す
ることにより前記信号を走査して受信する受信器
と、 受信器の回動角度を検出する角度センサと、 受信器の出力信号と角度センサの出力信号であ
る角度信号とを入力して受信器の出力信号のレベ
ルが最大になる方向を検出することにより発振器
の方向を検出してその方向に無人車が走行するよ
う制御する操舵制御部と、 無人車の走行距離を計測する距離センサと、 前記角度信号と距離センサの出力信号である距
離信号とを入力して地図データを作成し、これを
記憶する記憶部と を有することを特徴とする無人車のテイーチング
装置。[Claim for Utility Model Registration] A teaching device for an unmanned vehicle that autonomously travels based on map data, which is data related to travel routes stored in a storage unit, includes an oscillator that transmits a signal in one direction, and an oscillator that is mounted on the unmanned vehicle. , a receiver that scans and receives the signal by rotating a predetermined angle in a horizontal plane; an angle sensor that detects the rotation angle of the receiver; and an angle that is an output signal of the receiver and an output signal of the angle sensor. a steering control unit that detects the direction of the oscillator by inputting a signal and detects the direction in which the level of the output signal of the receiver is maximum, and controls the unmanned vehicle to travel in that direction; Teaching of an unmanned vehicle characterized by having a distance sensor that measures distance, and a storage unit that inputs the angle signal and a distance signal that is an output signal of the distance sensor to create map data and stores this. Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7815890U JP2522708Y2 (en) | 1990-07-25 | 1990-07-25 | Teaching device for unmanned vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7815890U JP2522708Y2 (en) | 1990-07-25 | 1990-07-25 | Teaching device for unmanned vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0436607U true JPH0436607U (en) | 1992-03-27 |
| JP2522708Y2 JP2522708Y2 (en) | 1997-01-16 |
Family
ID=31621181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7815890U Expired - Lifetime JP2522708Y2 (en) | 1990-07-25 | 1990-07-25 | Teaching device for unmanned vehicles |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2522708Y2 (en) |
-
1990
- 1990-07-25 JP JP7815890U patent/JP2522708Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2522708Y2 (en) | 1997-01-16 |
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