Radiant energy – Photocells; circuits and apparatus – Photocell controls its own optical systems
Patent
1989-07-07
1991-08-20
Nelms, David C.
Radiant energy
Photocells; circuits and apparatus
Photocell controls its own optical systems
180168, G05B 100
Patent
active
050417223
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to a method of guiding the movement of an unmanned vehicle such as an unmanned conveying vehicle, a movable robot or the like.
BACKGROUND ART
To guide the movement of an unmanned vehicle, the following systems have been heretofore employed.
(1) Guiding system using a natural scenery
This system is such that a linear image extending along the movement passage (e.g., image representative of the boundary between the floor surface and the wall surface) is extracted by image processing means from the image representative of the natural scenery taken by a television camera mounted on a vehicle in a region where the latter is planned to move and the vehicle is then steered in such a manner that the linear image appears at a predetermined position on the image plane of the television camera at all times.
(2) Dotted line following system
Instead of the placement of a linear line for the purpose of guiding on the movement passage where a vehicle is planned to move, a number of reflective plates in the form of white lines, tapes or the like are placed along the movement passage at substantially equal distances to build a row of guiding marks. As the vehicle successively approaches the locations where the respective reflective plates are placed, it is caused to move along the movement region where it is planned to move.
(3) Guiding system using reflective plates having bar codes placed thereon
A number of reflective plates each including bar codes are placed on the movement passage where a vehicle is planned to move. The respective bar codes have informations on operating conditions, crossings, stop points and so forth stored therein and these informations are detected by visual image detecting means such as a television camera or the like mounted on the vehicle. The vehicle is then caused to move linearly, turn or stop in compliance with the detected informations so that it moves on the movement passage where it is planned to move.
(4) Guiding method using reflective plates which are characteristic in
geometrical configuration
A number of reflective plates each having a characterizing feature in geometrical configuration are placed on the movement passage where a vehicle is planned to move. The geometrical configuration of the respective reflective plates has informations on operating conditions, crossings, stop points or the like involved therein and these informations are detected by visual image detecting means such as a television camera or the like. Then, the vehicle is caused to move linearly, turn or stop in compliance with the detected informations so that it moves on the movement passage where it is planned to move.
However, it has been found that the aforementioned conventional systems (1), (2), (3) and (4) have the following drawbacks.
(As to the system (1))
To extract the linear line indicative of the movement passage from the image, a huge quantity of calculations are required for performing a step of image processing. Consequently, an excessively long time is consumed for calculations, when a processing speed available for calculation processing means dimensioned so as to allow it to be mounted on a vehicular body is employed for them. For the reason, if the vehicle is operated at a high speed, there arises a large amount of deviation between the vehicle position derived from calculations and the actual vehicle position on completion of the calculations. Accordingly, if the system (1) is employed, the vehicle should be caused to move at a very slow speed, resulting in a practical vehicular speed failing to be obtained.
(As to the system (2))
With this system, there is a need of placing a dotted line which extends along a curved part of the movement passage. In addition, there is a need of arranging a number of marks at short distances on all the movement passage where a vehicle is planned to move. Thus, an excessively long time is required for arrangement of the marks.
As to the systems (3) and (4))
According to the systems (3) and (4), a met
REFERENCES:
patent: 3738443 (1973-06-01), Kubo
patent: 4099591 (1978-07-01), Carr
patent: 4278142 (1981-07-01), Kono
patent: 4566032 (1986-01-01), Hirooka et al.
patent: 4716530 (1987-12-01), Ogawa et al.
Hosoi Mitsuo
Suzuki Toru
Kabushiki Kaisha Komatsu Seisakusho
Nelms David C.
Shami K.
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