CARRIER

• US 20160061608A1
• Filed: 08/24/2015
• Published: 03/03/2016
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: Murata Machinery Limited (Muratec)
• Inventors: SUYAMA, Norihiko
• Granted Patent: US 9,587,950 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01C 21/206 specially adapted for indoor navigation
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

In a carrier in which its position is obtained by detecting reflected light using a distance measuring sensor, the position of the carrier is able to be accurately identified in all circumstances. A distance measuring sensor of the carrier is provided in a carrier main body, and measures an intensity of reflected light a plurality of times to obtain a plurality of pieces of measured data. A map database stores map data in which columns provided on a pathway are recorded. A position calculator calculates center points based on a set of measured data having a light intensity greater than or equal to a predetermined threshold among the plurality of pieces of measured data, and then calculates a position of the carrier main body by matching a straight line connecting a plurality of the sets to a straight line of the map data using the center points.

Claims

1. A carrier comprising:

a carrier main body that travels on a pathway;

a distance measuring sensor that is provided in or on the carrier main body, and measures an intensity of reflected light a plurality of times to obtain a plurality of pieces of measured data;

a map data storage that stores map data in which structures provided along the pathway are recorded; and

a position calculator that calculates a reference point based on a set of measured data with a light intensity greater than or equal to a predetermined threshold among the plurality of pieces of measured data, and calculates a position of the carrier main body by matching a straight line connecting a plurality of the sets of the measured data to a straight line of the map data using the reference point.

2. The carrier according to claim 1, wherein the position calculator connects a plurality of the reference points to create the straight line.

3. The carrier according to claim 1, wherein the position calculator does not use a straight line outside a predetermined length range as the straight line to be matched to the map data.

4. The carrier according to claim 1, wherein the position calculator creates a straight line for each of two adjacent reference points.

5. The carrier according to claim 1, wherein the reference point is a center point of each set of the measured data having a light intensity greater than or equal to the predetermined threshold among the plurality of pieces of measured data.