Automatic guided vehicle system
First Claim
Patent Images
1. An automatic guided vehicle system comprisinga large number of reflectors arranged along a traveling path;
- a laser scanner provided in an automatic guided vehicle to determine the orientation of each reflector by means of periodic scanning;
a reflector map for indicating predetermined positions of the reflectors stored therein;
a means for storing results of a specification of reflectors recognized on a previous scanning;
a means for specifying reflectors recognized during a present scanning by determining a reflector located within a predetermined angle relative to the stored results of the previous scanning to be the same as the last recognized reflector; and
a means for determining the present position of the automatic guided vehicle by comparing the results of the specified reflectors with the predetermined positions of the reflectors stored in the reflector map.
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Abstract
A laser scanner recognizes reflectors arranged along a travelling path. A reflector having an angle or a distance falling within an allowable range relative to the last specified reflector is determined to be the same as the previous specified reflector. Based on the locational relationship between such reflectors and those having an angle or a distance outside the allowable range, the reflectors are specified by referencing a reflector map. The reflectors can be specified without assuming the present position of an automatic guided vehicle.
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Citations
3 Claims
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1. An automatic guided vehicle system comprising
a large number of reflectors arranged along a traveling path; -
a laser scanner provided in an automatic guided vehicle to determine the orientation of each reflector by means of periodic scanning;
a reflector map for indicating predetermined positions of the reflectors stored therein;
a means for storing results of a specification of reflectors recognized on a previous scanning;
a means for specifying reflectors recognized during a present scanning by determining a reflector located within a predetermined angle relative to the stored results of the previous scanning to be the same as the last recognized reflector; and
a means for determining the present position of the automatic guided vehicle by comparing the results of the specified reflectors with the predetermined positions of the reflectors stored in the reflector map. - View Dependent Claims (2, 3)
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Specification