The manner which calculates the position of the automatic guide vehicle

摘要

(57) Abstract The reflector which does not have personality (R₁ - R₁₁) detecting angular position, the manner which calculates the position of the automatic operation guide. The reflector which does not have these personality is laid out inside the field where it is limited, the position is stored. The beam which it concentrates (B) is irradiated, the vehicle (10) from sweeps the sector part of the search target. The occasion where the beam sweeps the sector part of the search target, the vehicle (10) for reference direction (D) angular position of the reflected body is detected continually, the angular value which corresponds is required. First relation acquiring angular position to the physical reflector, the vehicle (10) the following measurement is done in order to obtain position. As needed is distributed to the sector part of i) to choose three which search target angular values at least, relation to acquire II) these angular values vis-a-vis the reflector, to calculate the position of the vehicle on the basis of the known position of the reflector which is supposed, when position of the vehicle which was required III) this way enters into the specific part of the conveying field, other angular position actual deflection with the angular value which is detected vis-a-vis the reflector and the association and IV) each angular value, and the vehicle position and angular value to which with of the known reflectors is expected to be required, v)Measurement is done possibility of the angular value which is chosen vis-a-vis each combination. Combination of the association to which you can obtain the best agreement of vehicle position is chosen, position and direction of the vehicle are required with this.