| 摘要 |
PROBLEM TO BE SOLVED: To reduce the execution of a reflector in a trigonometrical survey position detecting system by rotatively scanning a laser beam in the horizontal plane, detecting two straight lines existing in the travel environment, and calculating a position based on whether these two straight lines can be correlated with two lines stored in advance. SOLUTION: A laser radar 10 scans the periphery to obtain the coordinates of features grasped as straight lines and angles such as a column and a wall existing in the environment in which an unmanned carrier vehicle 20 mounted with the laser radar 10 travels. Two straight lines existing in the travel environment are detected. If these two lines can be correlated with two straight lines stored in advance, the position of the unmanned carrier vehicle 20 is calculated based on the coordinates of two stored straight lines and the distances and directions to these two straight lines. When straight lines and angles are detected based on the outputs of the laser radar 10, the position of the unmanned carrier vehicle 20 can be detected by using the detected straight lines and angles in place of a reflector.
|
