| 摘要 |
<p>This automatic direction-finding system contains two light rays (7, 8) which scan the movement region M of, for example, driverless vehicles (F) by horizontal swivel movements around two stationary reference points U, V and interact with two omnidirectional light receivers (A, B) on each vehicle (F). To calculate the position coordinates (Xp, Yp) and also the direction angle ( lambda ), angles ( alpha A, alpha B, beta A, beta B) are trigonometrically combined with a known distance (UV) in a vehicle-supported processor (41). The angles are determined without contact and without using turntables or angle coders. For this purpose, measurements are made with the chronometer (27) of the swivel times DELTA t1, DELTA t2, DELTA t3 and DELTA t4 which the light rays (7, 8) require to swivel from the 0-degree edges (13, 14) to the vehicle- supported receivers (A, B), and from this the angular degrees are calculated, in conjunction with the angular velocity ( omega 0), in the processor (41). The chronometer (27) is synchronised with the swivellable light rays (7, 8) by means of coded omnidirectional synchronisation signals (31, 32) from the synchronisation transmitter (19) to the vehicle-supported synchronisation receiver (20). This automatic direction-finding system (23) makes it possible for terrestrial vehicles (F) to carry out measurements themselves and, consequently, to navigate autonomously and automatically in their movement range (M). Economicalness and cost advantages reveal themselves, in particular, with a multiplicity of vehicles (F). Stores of flat construction equipped therewith are fully reconfigurable, for example, by means of a computer terminal. <IMAGE></p> |
