| 摘要 |
PURPOSE:To make the position detection of a self-propelled vehicle continuous and to improve high accuracy by providing an angle detecting part, a position/advance- bearing operating part and a running-course setting part. CONSTITUTION:A microcomputer part (a) is composed of an angle detecting part 10, a position/advance-bearing operating part 13, a running-course setting part 15 and a comparing part 25. Bearing angles thetaa-thetad of reflectors 6 with respect to an advancing direction thetaf of a self-propelled vehicle are computed in a detecting part 10 in a light receiving part 3 every time the reflected light is received in a light receiving part 3 based on the counted value of pulses from a counter 9. Opening angles phi1 and phi2 between the reflectors which are arranged at diagonal positions A and C and B and D among the reflectors 6 are computed based on the bearing angles. The angles phi1 and phi2 and the intersection of circles Q1 and Q2 are computed in an operating part 13, a setting part 16 and the comparing part 25 based on the following estimation: the vehicle is positioned at one of the intersections of circles Q1 and Q2 passing the two pairs of the reference points A and C and B and D and the position T of the self-propelled vehicle. Thus the position T of the self-propelled vehicle is computed, and the advancing bearing thetaf is computed based on the angles thetaa-thetad. |
