| 摘要 |
PURPOSE:To learn the position and bearing of an unmanned truck accurately and stably, by providing a processor which receives a revolutions signal from a revolutions detecting means to calculate the position and bearing of the unmanned truck. CONSTITUTION:Pulse encoders 8 and 9 are arranged on a position/bearing detector of an unmanned truck to detect the revolutions of a rotating shaft. Though this is not illustrated, when the pulse encoders 8 and 9 are carried on the unmanned truck, the angle shall give phi/2 between the straight line connecting them and the center point P' and that indicating the bearing thereof one moment before. On the other hand, the positions xn and yn of the center point P' can be expressed by the formulas I and II. In this case, as the values R and L can be determined from revolutions of a right measuring wheel 6 and a left measuring wheel 7, the position and the bearing of the unmanned truck can be determined accurately by setting the standby position of the un manned truck at a specified position such as origin of the X-Y coordinates beforehand. |
