Apparatus for guiding movement of an unmanned moving body
First Claim
1. An apparatus for guiding the movement of an unmanned moving body, wherein plural sets of at least two ground marks are placed on a movement passage of said unmanned moving body in a spaced relation along a reference passage, and wherein said unmanned moving body includes;
- first detecting means for detecting the existent position and posture of the unmanned moving body,visual recognizing means for visually recognizing presence of each of said ground marks,memory means for storing coordinate positions of each of the ground marks,second detecting means for obtaining a declination angle and a displacement of the unmanned moving body relative to said reference passage and a distance from a line segment which extends through the moving body to perpendicularly intersect the reference passage to the moving body with reference to at least the two ground marks which are recognized by said visual recognizing means, and detecting the existent position and posture of the unmanned moving body with reference to the thus obtained declination angle, displacement and distance as well as the content stored in said memory means, andguiding position correcting means for correcting the position and posture detected by said first detecting means with reference to the position and posture detected by said second detecting means, when detecting output from the second detecting means is obtained.
1 Assignment
0 Petitions
Accused Products
Abstract
This invention is intended to periodically correct the position and posture of an automatically steerable unmanned moving body according to a guiding method with the aid of dead reckoning or the like. A plurality of sets of at least two ground marks (8) are placed on the movement passage of the unmanned moving body (1) in a spaced relation along a reference passage (15) and the ground marks (8) are visually recognized by means of a television camera (6) or the like mounted on the unmanned moving body. Then, the existent position and posture of the unmanned moving body (1) are detected with reference to the results of visual recognization and thereafter the position and posture of the unmanned moving body (1) which have been calculated in accordance with the aforesaid guiding method or the like are corrected in accordance with the thus detected results.
-
Citations
7 Claims
-
1. An apparatus for guiding the movement of an unmanned moving body, wherein plural sets of at least two ground marks are placed on a movement passage of said unmanned moving body in a spaced relation along a reference passage, and wherein said unmanned moving body includes;
-
first detecting means for detecting the existent position and posture of the unmanned moving body, visual recognizing means for visually recognizing presence of each of said ground marks, memory means for storing coordinate positions of each of the ground marks, second detecting means for obtaining a declination angle and a displacement of the unmanned moving body relative to said reference passage and a distance from a line segment which extends through the moving body to perpendicularly intersect the reference passage to the moving body with reference to at least the two ground marks which are recognized by said visual recognizing means, and detecting the existent position and posture of the unmanned moving body with reference to the thus obtained declination angle, displacement and distance as well as the content stored in said memory means, and guiding position correcting means for correcting the position and posture detected by said first detecting means with reference to the position and posture detected by said second detecting means, when detecting output from the second detecting means is obtained. - View Dependent Claims (2, 3, 4, 5, 6, 7)
-
Specification