| 摘要 |
PROBLEM TO BE SOLVED: To provide a tracking system capable of estimating the relative position of a self-propelled body, even when a direct course for connecting a moving body to the self-propelled body tracking it is blocked by an obstacle. SOLUTION: The tracking system includes a transponder, arranged in the moving object and the self-propelled body tracking the transponder. The self-propelled body has an environment detecting means for acquiring reflective environmental information about the surrounding floor face or ceiling face. The body transmits a first ultrasonic wave, the transponder having received it transmits a second ultrasonic wave, the mobile body receives the second ultrasonic wave and acquires received information about direct wave directly coming from the transponder to the body and reflected wave coming via the floor face or ceiling face. By using the information received and the reflective environmental information, the body determines whether the second ultrasonic wave received is a direct wave or a reflected wave, processes the received information based on the determination, deduces the position of the transponder, and tracks it. COPYRIGHT: (C)2007,JPO&INPIT
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