Carrier

• US 9,587,950 B2
• Filed: 08/24/2015
• Issued: 03/07/2017
• Est. Priority Date: 08/28/2014
• Status: Active Grant

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: Murata Machinery Limited (Muratec)
• Inventors: Suyama, Norihiko
• Primary Examiner(s): WONG, YUEN H
• Application Number:
  US14/833,310
• Publication Number:
  US 20160061608A1
• Time in Patent Office: 561 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 storage that stores map data in which structures provided along the pathway are recorded; and

a controller programmed or configured to;

calculate respective reference points corresponding to respective sets of measured data with a light intensity greater than or equal to a predetermined threshold among the plurality of pieces of measured data,

calculate a position of the carrier main body by matching a straight line connecting a plurality of the respective sets of the measured data to a straight line of the map data,

connect a plurality of the respective reference points that are adjacent to each other in order to create the straight line connecting the plurality of the respective sets of the measured data, and

control the carrier main body to automatically travel on the pathway based on the calculated position of the carrier main body.

2. The carrier according to claim 1, wherein the controller is programmed or configured not to use a straight line outside a predetermined length range as the straight line to be matched to the map data.

3. The carrier according to claim 1, wherein the respective reference points correspond to center points of each of the respective sets of the measured data having light intensity greater than or equal to the predetermined threshold among the plurality of pieces of measured data.