Autonomous guided vehicle guidance device

• US 6,058,339 A
• Filed: 11/14/1997
• Issued: 05/02/2000
• Est. Priority Date: 11/18/1996
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation), Obayashi Corporation
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation), Obayashi Corporation
• Inventors: Inoue, Fumihiro, Wakisaka, Tatsuya, Yoshino, Kyoji, Takiguchi, Junichi, Sugie, Hiroshi
• Primary Examiner(s): Chin, Gary
• Application Number:
  US08/970,609
• Time in Patent Office: 900 Days
• Field of Search: 701/1, 701/23, 701/24, 701/25, 701/26, 701/28, 180/167, 180/168, 180/169, 318/587, 356/152.2
• US Class Current: 701/28
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

When material transport was automated on a building construction site, in a conventional travel tape guide system, it was necessary to replace the tape when it became soiled or when changes were made to a travel route. As a result, the usage efficiency of a material transport vehicle could not be improved on the site due to the fact that changes are made to work floors as demanded by construction schedules. According to this invention, there is provided a sign which is easy to move and which is installed at a turning point or an unloading point on a work floor transport route. An image of the sign is obtained by an imaging device on an autonomous guided vehicle and operating instructions are recognized by image processing. This makes it possible to automate the setting of routes and the control of the vehicle.

Claims

1. An autonomous guided vehicle guidance device comprising:

an autonomous guided vehicle which performs route change and stop operations;

a plurality of signs indicating a plurality of subsequent operations of said autonomous guided vehicle which are disposed on the guidance route of said vehicle and which are movable to different locations;

imaging means for obtaining an image of at least one of said plurality of signs disposed in front of said vehicle;

extracting means for detecting a minimum distance sign which is one of said plurality of signs at a minimum distance from said vehicle when said more than one of said plurality of signs appear in said image obtained by said imaging means or detecting one of said plurality of signs when only said one of said plurality of sign appears in said image obtained by said imaging means, and extracting information for performing a subsequent operation contained in said detected sign; and

vehicle controlling means for generating a vehicle control signal according to said information extracted by said extracting means and instructing said vehicle to perform an operation change thereby.

2. An autonomous guided vehicle guidance device as defined in claim 1, wherein said imaging means comprises a zoom lens for varying an image angle such that an image of said detected sign is a preset size, wherein said extracting means extracts said information for performing said subsequent operation when an image of said minimum distance sign has been arranged to be said preset size by said zoom lens.

3. An autonomous guided vehicle guidance device as defined in claim 2, wherein said autonomous guided vehicle comprises means for measuring a distance between said detected sign and said autonomous guided vehicle, and said zoom lens comprises means for adjusting a focal length according to said distance supplied by said distance measuring means and varying an image angle such that an image of said detected sign is said preset size.

4. An autonomous guided vehicle guidance device as defined in claim 1, wherein said autonomous guided vehicle comprises a hook for holding and setting down materials, and said device comprises means for controlling said hook to set down said materials based on the instructions of said detected sign.

5. An autonomous guided vehicle guidance device as defined in claim 1, wherein said detected sign comprises information for performing one of the subsequent operations of right turn, right turnaround, left turn, left turnaround and stop, and adding identifying information for a forward route or a return route to said information for performing one of the plurality of subsequent operations.

6. An autonomous guided vehicle guidance device comprising:

an autonomous guided vehicle which travels on the work floors of a building construction site;

a hook for holding a material at the front of said vehicle;

a computer for controlling said vehicle;

an operating panel for inputting startup and stop commands of said autonomous guided vehicle guidance device;

an imaging device for obtaining an image of a sign;

a zoom lens which maintains a constant size display of said sign by varying a focal length and image angle according to a distance to said sign;

a strobe for illuminating said sign in front;

means for measuring a distance to said sign appearing in said zoom lens;

an image processing device for extracting and recognizing said sign based on an image signal from said imaging device;

means for detecting an angle of an inertial system onboard said vehicle;

means for supplying power to a vehicle drive unit, said controlling computer, said imaging device, said zoom lens, and said strobe;

turning drive means for turning said distance measuring means, said strobe and said imaging device;

a power amplifier for supplying a turning drive signal to said turning drive means; and

said sign installed at a change-over point or an unloading point for indicating a curve or change of direction;

wherein said detected angle and said image of the sign provide an indication of the curve or change in direction which is processed by controlling computer to provide a control command for guiding said vehicle.

7. An autonomous guided vehicle guidance device as defined in claim 6, wherein said means for measuring said distance is a laser radar, said means for detecting said angle is a gyroscope, and said means for supplying power is a battery.

8. An autonomous guided vehicle guidance device as defined in claim 6, wherein an opto-electric switch is provided at the front of said material holding hook which permits a material lying on a floor surface to be detected.

9. An autonomous guided vehicle guidance device as defined in claim 6, wherein said strobe emits near-infrared light, said zoom lens is equipped with a visible light cut filter, and said sign has a light reflecting sheet on which a pattern is drawn.

10. An autonomous guided vehicle guidance device as defined in claim 6, wherein said means for detecting said angle is a flux gate compass (magnetic orientation sensor).

11. An autonomous guided vehicle guidance device as defined in claim 6, wherein said distance measuring means is a milliwave radar.

12. An autonomous guided vehicle guidance device as defined in claim 6, wherein said distance measuring means is an infrared distancing sensor.

13. An autonomous guided vehicle guidance device as defined in claim 6, wherein said distance measuring means is an ultrasonic wave sensor.

14. An autonomous guided vehicle guidance device as defined in claim 6, wherein said power supply means is an engine generator.