| 摘要 |
A method for position finding of an automated guided vehicle using detection of angle positions for anonymous reflectors (R1-R11). The anonymous reflectors are arranged in positions in a limited transport area, and the positions are stored. A concentrated beam (B) is emitted from a vehicle (10) and is made to pass over a search sector. The angle position in relation to a reference direction (D) of the vehicle (10) in reflective objects is continually detected during the sweep of the beam over the search sector, and corresponding angle values are determined. Initially the following measures are taken for association of the angle positions to physical reflectors, and for determination of the position of the vehicle (10); i) at least three angle values with a suitable distribution over the search sector is selected, ii) the angle values are associated to reflectors and a position is determined for the vehicle on the basis of the known position of the assumed reflectors, iii) if the vehicle position determined in this way is within a certain part of the transport area the other angle values are associated to reflectors, iv) for each angle value, existing deviation is determined between detected angle values and angle values expected between the vehicle position and known reflectors, v) the measures taken are repeated for each possible combination of selected angle values. A combination of associations with the best possible agreement on the vehicle position is selected, whereby the position and direction of the vehicle is determined.
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