| 摘要 |
PROBLEM TO BE SOLVED: To provide a method of detecting a position of an unmanned carrier, which is capable of more accurately detecting a position of an unmanned carrier even in the case of the occurrence of a marker detection error of a position detecting sensor during a travel of the unmanned carrier.SOLUTION: In the method of detecting a position of an unmanned carrier, markers provided on a travel line are detected during a travel of the unmanned carrier by a position detecting sensor 20 provided in a carrier body, and an amount of lateral deviation from the travel line of the carrier body detected by the position detecting sensor 20 is detected. Markers are periodically and repeatedly detected by the position detecting sensor 20 when the unmanned carrier travels, an amount of lateral deviation is detected at each time of marker detection, a plurality of amounts of lateral deviation are smoothed by the least square method to calculate a corrected amount of lateral deviation, and the corrected amount of lateral deviation is estimated as the amount of lateral deviation from the travel line of the carrier body of the traveling unmanned carrier. |
