Visually guided vehicle

• US 4,566,032 A
• Filed: 11/10/1983
• Issued: 01/21/1986
• Est. Priority Date: 12/20/1982
• Status: Expired due to Fees

• Current Assignee: DAC Engineering Company Limited, Nippon Yusoki Company Limited (Mitsubishi Heavy Industries, Ltd.)
• Original Assignee: DAC Engineering Company Limited, Nippon Yusoki Company Limited (Mitsubishi Heavy Industries, Ltd.)
• Inventors: Maeda, Shuichi, Hirooka, Shigeru, Yamaguchi, Toshihiko, Yamamoto, Shigehiro
• Primary Examiner(s): Britton, Howard W.
• Application Number:
  US06/550,690
• Time in Patent Office: 803 Days
• Field of Search: 358/103, 358/108, 364/424, 364/426, 180/169, 180/168
• US Class Current: 348/119
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

An optically guided, unmanned, load transporting vehicle, such as a fork-lift truck, includes an electric camera, such as an industrial television camera, and a controller for controlling the automatic running apparatus of the vehicle. Two reflectors are disposed in front of the camera so that the camera receives light from remote and near visual fields. A guide belt laid on floor for guiding the vehicle is formed with various bar codes representing halt, acceleration, deceleration, etc.

Claims

1. An unmanned load transporting vehicle comprising:

a guide belt laid on a floor on which said vehicle is run, said guide belt comprising a plurality of reflecting segments comprising a plurality of bar codes representing corresponding instructions including a halt instruction, a deceleration instruction and turning instructions;

a video camera installed on an upper portion of the vehicle, said camera being directed to receive light reflected from said guide belt;

controller means installed on the body of the vehicle receiving an output signal from said camera for controlling running of said vehicle in response to said output signal from said camera.

2. The unmanned load transporting vehicle as set forth in claim 1, wherein said camera comprises an industrial television camera.

3. The unmanned load transporting vehicle as set forth in claim 2, wherein said camera comprises a reflector for directing portions of incident light, such that said camera receives reflected light from remote and near visual fields.

4. The unmanned load transporting vehicle as set forth in claim 2, further comprising:

a first reflector for obtaining near visual field information; and

a second reflector for transmitting the near visual field information obtained by the first reflector to said camera,

said first and second reflectors being disposed in front of said camera and at predetermined angles relative to a central axis of said camera.

5. An unmanned load transporting vehicle comprising:

a guide belt laid on a floor on which said vehicle is run, said guide belt comprising a plurality of bar codes representing corresponding instructions including a halt instruction, a deceleration instruction and turning instructions;

camera means for detecting said reflecting segments at a first distance from said vehicle, including means for detecting said reflecting segments at a second distance from said vehicle;

means for recognizing said corresponding instructions upon detection of said reflective segments at said first distance, and storing said instructions; and

means for recognizing said corresponding instructions upon detection of said reflective segments at said second distance, and acting in accordance with stored instructions, whereby reaction speed of said vehicle is increased.