| 摘要 |
PURPOSE:To detect an entry angle and a position shift from a running route on the basis of the running distance of a marker type unmanned moving vehicle which runs on marks, by providing rectangular constant-width marks and regularly triangular marks having the constant ratio of base width and height. CONSTITUTION:A mark 1 is obtained by combining the 1st rectangular mark 2 having constant width l and the 2nd regularly triangular mark 3 having constant width (m) and constant height (h). Those 1st and 2nd marks 2 and 3 are arranged at right angles to a running route XY and on the basis of the running distance of a vegicle 10 running on the marks 2 and 3, the width l of the 1st mark 2, and the base width (m) and height (h) of the 2nd mark 3, an entry angle theta to the mark 1 and a position shift lambda from the center of the mark (running route) are calculated. Consequently, the deviation of the vehicle from the running route is detected automatically and completely on the vehicle without any operation from the ground. |
