System for guiding self-propelled apparatus and method therefore

摘要

A system for guiding one or more self-propelled apparatus (1), composed of one or more paths covered by self-propelled travelling apparatus, said paths having position identification devices (3,4) therealong, in which positions are stored, and which are arranged along each path at one or more locations thereof, and said identification devices being adapted to be remotely queried for position data by one or more self-propelled apparatus. The self-propelled apparatus include propulsion and directional control means, means for reading and writing the information contained in the identification devices, means for processing information to determine the path of the apparatus from the relative positions of said identification devices.