| 摘要 |
PROBLEM TO BE SOLVED: To accurately calculate the initial position and initial attitude angle by passing a truck body over magnetic markers installed on a travel path on a floor surface and calculating the initial position and initial attitude angle to the guide line of the truck body at the start of a guidance by a computing element by using a plurality of shifted amount in a position. SOLUTION: The truck 5 is manually operated as shown by the arrow to travel and when a magnetic sensor 2a passes over a 1st magnetic marker 4a, the shifted amount in a position is detected by the magnetic sensor 2a; and it is considered that there is a position error based upon the estimated truck position that the computing element calculates from the travel distance, steering angle, and truck attitude angle of the truck and the coordinate system is moved by the position error in parallel in the negative direction of the (y) axis. Then when the magnetic sensor 2a passes over a 2nd magnetic marker 4b, the shifted amount is detected by the magnetic sensor 2a and while it is considered that there is a position error from the estimated position calculated in the truck, the coordinate system is moved by the position error in parallel in the negative direction of the (y) axis. Further, an error in the truck attitude angle is calculated. |
