JP2602065B2 - Travel position control device for self-propelled vehicles - Google Patents

Description

Description: FIELD OF THE INVENTION The present invention relates to a position control device for a self-propelled vehicle, and more particularly, to the traveling of a self-propelled vehicle such as an automobile, an unmanned mobile conveyance device in a factory, and an agricultural and civil engineering machine. The present invention relates to a position control device.

(Prior Art) Conventionally, as a device for detecting the current position of a moving object such as the above-mentioned self-propelled vehicle, the following technology has been proposed in, for example, JP-A-59-67476. This technology is an apparatus for detecting the position of a moving body by scanning a light beam generated from the moving body in a circumferential direction around the moving body, and a light reflecting means for reflecting light in an incident light direction. Are fixed to at least three places apart from the moving body, and the moving body has light generating means, light beam scanning means for scanning a light beam generated from the light generating means, and reflected light from the light reflecting means. And a light receiving means for receiving the information. Then, an opening angle between the three light reflecting means centered on the moving body is detected based on the light receiving output of the light receiving means, and based on the detected opening angle and the preset position information of the light reflecting means. To calculate the position of the moving object.

(Problems to be Solved by the Invention) However, in the above technique, even a slight error in the preset position information of the light reflecting means has a large adverse effect on the entire system. Every time is changed, the position information of the light reflecting means to be installed, that is, the distance and the relative angle between the light reflecting means provided at the three places are accurately measured in advance before the work, and the measurement result is sent to the control device. I was doing the work of typing. As described above, there is a problem that it is extremely difficult to accurately measure and input the interval and the relative angle of the light reflecting means arranged in a wide work area.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned problems of the prior art, to enable the position of the light reflecting means to be detected by a simple operation procedure, and to control the traveling direction of a moving body based on the position information. It is to provide a traveling position control device.

(Means and Actions for Solving the Problems) In order to solve the above problems, the present invention provides a method of scanning a light beam generated from a self-propelled vehicle in a circumferential direction around the self-propelled vehicle. A traveling position control device for a self-propelled vehicle, which detects reflected light of the light beam by light reflecting means installed at at least three places away from the self-propelled vehicle and detects a position of the self-propelled vehicle; A light beam generating means provided on the self-propelled vehicle for generating the light beam; a light beam scanning means for scanning the light beam in a circumferential direction around the self-propelled vehicle; A light receiving means for receiving the reflected light of the reflecting means, a detecting means for detecting an opening angle between the light reflecting means as viewed from the self-propelled vehicle based on a light receiving output of the light receiving means, and Travel distance detection means for the self-propelled vehicle; and travel distance detection means The distance between reference points provided on a straight line connecting two of the light reflecting means of the light reflecting means, and the two reference points detected by the opening angle detecting means. Means for calculating the coordinates of the three light reflecting means based on the opening angle between the light reflecting means, and the coordinates of the opening angle between the three light reflecting means and the coordinates of the light reflecting means viewed from the self-propelled vehicle. It is characterized in that means for calculating the position of the self-propelled vehicle is provided.

In the present invention having the above-described configuration, distance information between reference points provided on a straight line connecting two of the light reflecting means provided at three locations, and two information points as viewed from each of the reference points. Based on the opening angle between the light reflecting means, the coordinates of the three light reflecting means are calculated, and the traveling position of the self-propelled vehicle can be controlled using the coordinates as they are. The distance information and the opening angle information can be obtained by traveling distance detecting means mounted on the self-propelled vehicle and opening angle detecting means provided for the self-propelled vehicle to detect its own position.

Therefore, the coordinates of all the light reflecting means are determined by running the self-propelled vehicle between two reference points without going through complicated procedures such as measuring and inputting the coordinates of the three light reflecting means. Thus, the traveling position can be controlled.

Embodiment An embodiment of the present invention will be described below with reference to the drawings. FIG. 10 is a perspective view showing a self-propelled vehicle equipped with the control device of the present invention, and a light reflector disposed in an area where the self-propelled vehicle runs.

In FIG. 1, a self-propelled vehicle 1 is, for example, a working self-propelled vehicle such as a lawnmower. A rotary table 4 driven by a motor 5 is provided above the self-propelled vehicle 1. And
The turntable 4 is equipped with a light emitter 2 for generating a light beam and a light receiver 3 for receiving reflected light of the light beam. The light emitting device 2 includes a light emitting diode that generates light, and the light receiving device 3 includes a photodiode that receives incident light and converts the light into an electric signal (both are not shown). Further, the rotary encoder 7 is provided so as to be linked with the drive shaft of the rotary table 4, and the rotation angle of the rotary table 4 can be detected by counting the pulses output from the rotary encoder 7. An operation panel 1a is used for inputting information necessary for controlling the self-propelled vehicle 1 and displaying an input result.

Reference numeral 6 denotes a reflector provided around the work area of the vehicle 1. The reflector 6 has a reflecting surface for reflecting incident light in the incident direction, and a commercially available so-called corner cube prism or the like can be used.

Next, the configuration of the control device according to the present embodiment will be described with reference to the block diagram shown in FIG. In FIG.
Is scanned in the rotating direction of the turntable 4 and is reflected by the reflector 6. The light beam reflected by the reflector 6 enters the light receiver 3 and is detected as a signal indicating an azimuth which is the position of the reflector 6 with respect to the traveling direction of the vehicle body.

The counter 9 counts the number of pulses output from the rotary encoder 7 as the rotary table 4 rotates. Then, the count value of the pulse is transferred to the angle detecting unit 10 each time the light receiving unit 3 receives the reflected light. The angle detection unit 10 calculates the opening angle between the reflectors 6 as viewed from the self-propelled vehicle 1 based on the count value (= azimuth angle) of the pulse transmitted each time the reflected light is received.

In the distance setting unit 8, a distance between two of the light reflectors 6 is set. The distance between the reflectors is measured by actually driving the self-propelled vehicle between the reflectors and detecting the traveling distance by the traveling distance detector 12.

The traveling distance detection unit 12 can be constituted by, for example, a counter for detecting the number of revolutions of the output shaft of the speed reducer of the engine 19, and means for converting the count value of the counter into a distance.

SW1 and SW2 are switches for switching between the reference coordinate calculation mode and the steering control mode. When the switching of SW1 and SW2 is set to the reference coordinate calculation mode M1, the detection output of the angle detection unit 10 and the distance information set in the distance setting unit 8 are input to the reference coordinate calculation unit 11.

In the reference coordinate calculation unit 11, based on the distance information input from the distance setting unit 8 and the opening angle obtained by the angle detection unit 10, one of the two light reflectors 6 has the origin as the origin. The coordinates of the light reflector 6 are obtained by a calculation formula described later.

The coordinates of the other two light reflectors 6 having the origin at one of the light reflectors 6 obtained by the reference coordinate calculation unit 11 are stored in a backup memory provided in the position / traveling direction calculation unit 13. Is stored.

On the other hand, when the switching of SW1 and SW2 is set to the steering control mode M2, the data of the distance setting unit 8 is not input to the reference coordinate calculation unit 11, and the detection output of the angle detection unit 10 is the position / traveling direction calculation. The data is input to the unit 13.

The position / traveling direction calculation unit 13 calculates the coordinates and the traveling direction of the self-propelled vehicle 1 based on the detection output of the angle detection unit 10 and the reference coordinates, using a calculation formula described later. Is input to

The steering unit 14 compares the calculation result of the position / traveling direction calculation unit 13 with the travel course set in the travel course setting unit 16, and based on the comparison result, determines the running condition of the vehicle connected to the front wheel 17 of the self-propelled vehicle. A rudder motor (not shown) is driven. The steering angle of the front wheels 17 by the steering motor is detected by a steering angle sensor 15 provided on the front wheels of the self-propelled vehicle 1 and fed back to the steering unit 14.

The drive unit 18 controls the start / stop of the engine 19 and the operation of the clutch 20 that transmits the power of the engine 19 to the rear wheels 21.

Next, the procedure for determining the coordinates of the reflector 6 will be described. FIG. 4 (a) is a flowchart showing a procedure for preparing work by the self-propelled vehicle 1, and FIG. 4 (b) is a layout diagram of the self-propelled vehicle 1 and the reflector 6 in an operation state of coordinate determination.

First, the reflectors 6 are set at points A, B and C in accordance with the work area (step S100).

Next, on the line connecting point B and point C,
A marker is placed at a position B 'away from l0 (step S200).

In step S300, a stopper for stopping the self-propelled vehicle 1 is provided at a position C 'located on the line connecting the points B and C and at a distance of 10 from the point C.

The positions A 'and C' of the stoppers and the markers are stop positions set so that the vehicle 1 does not hit the light reflector.
Set away from points A and C.

In step S400, the light emitting device 2 for detecting the opening angle is used.
The self-propelled vehicle 1 is moved so that the rotation center of the light receiver 3 is located immediately above the marker placed at the point B '.

After moving the self-propelled vehicle 1 to the point B ', the opening angle θ between the point C and the point A as viewed from the point B' according to the flow shown in FIG.
The opening angle θ between point C and point A as viewed from points B ′ and C ′
The distance l1 between the points C 'and C' and B 'is measured, and the reference coordinates of the reflector 6 are calculated based on these measured values.

 FIG. 6 is a flowchart of the reference coordinate calculation.

In the figure, first, in step S410, the light-emitting device 2 and the light-receiving device 3 are rotated at the point B ', and C is viewed from the point B'.
An opening angle θB ′ between point A and point A is measured. The measurement result is stored in the memory of the reference coordinate calculation unit 11.

In step S420, the engine 19 of the self-propelled vehicle 1 is started.

In step S430, it is provided in the traveling distance detection unit 12. Clears the value of the counter that counts the number of revolutions of the front wheels.

In step S440, the self-propelled vehicle 1 is caused to travel from point B 'to point C'. Details of the steering control in traveling from the point B 'to the point C' will be described later.

When the vehicle 1 reaches the point C ', the opening angle θC' of the points C and A as viewed from the point C 'is measured, and the measurement result is stored in the memory of the reference coordinate calculation unit 11. (Step S4
50).

In step S460, the traveling distance l1 of the self-propelled vehicle 1 is read based on the counter value of the distance detection unit 12.

In step S470, the coordinates of point A and the coordinates of point C are calculated. The coordinates are calculated by the calculation formula shown in FIG. 4 based on the values of the angles θB ′ and θC ′ and the distances l0 and l1. The calculation result of the coordinates is stored in the backup memory of the position / traveling direction calculation unit 13.

Next, steering control for making the self-propelled vehicle 1 travel straight from point B 'to point C' will be described with reference to FIGS. 5 and 7. FIG.

5, the same symbols as those in FIG. 1 indicate the same or equivalent parts.

In the figure, the second angle detector 24 determines the opening angle θ between the points B and C as viewed from the vehicle 1 based on the output of the counter 9.
Detect p. The opening angle obtained by the angle detection unit 24 is input to the orthogonality detection unit 25, and it is determined whether or not the angle θp is 180 °. If the angle θp is 180 °, it can be determined that the self-propelled vehicle 1 is located on a straight line connecting the points B ′ and C ′. Therefore, the steering unit 14 controls the steering angle of the wheels 17 so that the angle θp becomes 180 °.
In other words, Δθp = θp−180 ° is calculated, and control is performed so that Δθp becomes “0”.

The stopper detecting section 23 detects a signal obtained from a detecting means such as a bumper switch provided on the vehicle 1 when the vehicle 1 comes into contact with a stopper provided at the point C '. The self-propelled vehicle 1 is driven by C '
When it is determined that the point has been reached, the drive unit 18 outputs a signal for stopping the engine, disengaging the clutch, operating the brake, and the like.

The operation of the steering control having the above configuration will be described with reference to a flowchart.

In FIG. 7, in step S441, the rotation of the engine 19 is transmitted to the wheels 21 by engaging the clutch 20. When power is transmitted to the wheels 21 by the operation of the clutch 20, the self-propelled vehicle 1 starts running.

In step S442, the orthogonality detector 25 calculates (Δθp = θp
−180 °) is performed.

In step S443, a signal is sent from the steering unit 14 to a steering motor (not shown) based on the calculation result of Δθp, and steering control is performed.

In step S444, it is determined whether the self-propelled vehicle 1 has reached the point C '. This determination is made based on the output signal of the stopper detection unit 23.

If the determination in step S444 is affirmative, the process proceeds to step S445. The clutch 19 is disengaged and the brake is operated. Although a brake is not shown, a known technique such as an electromagnetic brake is used, for example. If the determination in step S444 is negative, the process returns to step S442.

The calculation result of the coordinates obtained in the above procedure is stored in the backup memory of the position / traveling direction calculation unit 13, and is used as data for detecting the position and traveling direction of the vehicle 1 described below.

In the above coordinate determination procedure, point B and
A marker at a position l0 away from point C, or
A stopper is provided, and measurement for determining coordinates is performed based on the positions B 'and C'. This is an example in which the measurement work is performed after the reflector 6 is arranged in the work area.

In addition to this example, the coordinates can be determined by the following procedure.

First, the light reflector 6 is arranged at the points A and C, a marker is arranged at the point B, and the opening angle between the points A and C viewed from the point B is measured. Next, a stopper is arranged in place of the reflector 6 at the point C. Then, the traveling vehicle is traveled between B and C to detect the traveling distance, and when the traveling vehicle 1 reaches the point C, the opening angle between the points A and B is measured at the point C.

With such a procedure, the same effect as in the above embodiment can be obtained. In this case, by setting the value of l0 to "0" in the coordinate calculation formula shown in FIG. 4, each coordinate value can be calculated.

The points A 'and C' in the embodiment in which the measuring operation is performed after the reflector 6 is arranged in the operation area.
The position of the point can be determined by measuring the distance from the points A and C using a gauge having a predetermined length corresponding to the distance l0.

The center of rotation of the light emitter 2 and the light receiver 3 at the position where the rear part of the vehicle 1 is in contact with the reflector 6 arranged at point C is denoted by C ′.
The point of rotation may be defined as the point A 'at the position where the front part of the vehicle 1 contacts the reflector 6 arranged at the point A. In this case, since the dimensions from the front end and the rear end of the self-propelled vehicle 1 to the rotation center are determined, it is not necessary to measure the distance l0 every time the work is performed.

Control for detecting the position and traveling direction of the self-propelled vehicle 1 will be described with reference to FIG. 2 and FIG.

2 and 3, the vehicle 1 is at a position indicated by a point T, and reflectors 6 are arranged at points A, B, and C in the work area of the vehicle 1. I have. The positions of the self-propelled vehicle 1 and the reflectors 6 are represented in an xy coordinate system in which a point B is the origin and a line passing through the points B and C is the x axis.

As can be seen from the figure, the position T of the self-propelled vehicle 1 is a triangle BT
At the same time as being on the circumcircle of C, it is also on the circumcircle of the triangle ATB. Therefore, the position of the self-propelled vehicle 1 can be determined by calculating the two intersections of the circumscribed circles P and Q of the triangle BTC and the triangle ATB, respectively. Since the point B is the origin of the coordinates, the position of the self-propelled vehicle 1 can be obtained by calculating the other intersection T of the circumscribed circles P and Q according to the following procedure.

First, the center of the circumcircle P of the triangle BTC is represented by P
Then, P is on the perpendicular bisector of the line segment BC, and ∠BPW ′ = β from the relationship between the central angle and the circumferential angle.

Here, W 'is a point on the perpendicular bisector of the line segment BC, and it is assumed to be sufficiently far away from the point T with respect to the straight line BC. Here, the triangle BPW (W is the middle point of the line segment BC ), The coordinates of the center of the circle P are ｛xc / 2, (xc / 2) cotβ), the radius is | xc / (2sinβ) |, and the circumscribed circle P is expressed by the following equation.

(X−xc / 2) ² + {y− (xc / 2) cotβ} ² = {xc / (2sinβ)} ² Further, the following expression is obtained by rearranging the expression.

x ² −xc · x + y ² −xc · y · cotβ = 0 (1) Further, the center of the circumscribed circle Q of the triangle ATB is represented by Q
Then, Q is on the perpendicular bisector of line segment AB, and ∠BQV ′ = α.

Here, V 'is a point on the perpendicular bisector of the line segment BA, and is assumed to be sufficiently far away from the point T with respect to the straight line BA.

Focusing on the triangle BQV (V is the middle point of the line segment AB), the coordinates of the center of the circle Q are {xa / 2 + (ya / 2) cotα, ya / 2− (xa / 2) cotα}. And the circumscribed circle Q is represented by the following equation.

x ² − (xa + ya · cotα) + y ² − (ya−xa · cotα) y = 0 (2) The coordinates (x, y) of the point T are calculated by the following equations from the above equations (1) and (2). Is done.

x = xc {(1 + k · cotβ) / (1 + k ² )} (3) y = kx (4) where k = (xc−xa−ya · cotα) / (ya−xa · cotα−xc ·) cotβ) (5) represents the slope of the straight line BT.

The traveling direction of the self-propelled vehicle 1 is calculated as follows. In FIG. 3, the angle between the traveling direction of the self-propelled vehicle 1 and the x-axis is θf, and the reflector 6 based on the traveling direction is referred to as θf.
The rotation angles up to (points A, B, C) are θa, θb, θc
Then, since the inclination of the line segment CT is k, θf = 180 ＝ − (θb-tan ⁻¹ k) (6) Next, the position information of the self-propelled vehicle 1 calculated by the above procedure The steering control of the self-propelled vehicle 1 based on the following will be described. FIG. 8 is a diagram showing a traveling course of the self-propelled vehicle 1 and an arrangement state of the reflector 6, and FIG. 9 is a flowchart of steering control.

In FIG. 8, points A, B, and C indicate the positions where the reflectors 6 are disposed. The point B is the origin, and the coordinate of the self-propelled vehicle 1 is set at a coordinate gradient with the line passing through the points B and C as the x-axis. Location and work area 22
Is represented. (Xret, Yret) indicates the return position of the self-propelled vehicle 1, and the work area 22 has coordinates (Xst, Yst), (Xst, Ye),
This is an area connecting points indicated by (Xe, Yst) and (Xe, Ye).

In the figure, the coordinates of the position T of the self-propelled vehicle 1 are (Xp, Yp).

FIG. 8 shows an example in which four sides of the work area 22 are parallel to the x-axis or the y-axis for the sake of simplicity, but the reflector 6 may be provided around the work area 22. If so, the orientation of the work area 22 is arbitrary.

The control procedure will be described with reference to the flowchart of FIG.

First, in step S1, the current position (Xret, Yret) of the self-propelled vehicle 1 calculated by the position / traveling direction calculation unit 13
Then, the steering amount of the front wheel 17 of the self-propelled vehicle 1 is calculated in the steering unit 14 based on the coordinates (Xst, Yst) of the work start position set in the traveling course setting unit 16.

In step S2, the front wheel 17 is steered by the steering unit 14 and the engine is started by the drive unit 18 in the direction determined by the steering amount, and the self-propelled vehicle 1
To advance to the work start position (Xst, Yst).

In step S3, Xst is set as the traveling course Xn, and the traveling course is determined.

When the traveling of the self-propelled vehicle 1 is started in step S4, the self-propelled vehicle 1 calculates the own position (Xp, Yp) and the traveling direction θf (step S5).

In step S6, the deviation amount from the traveling course (ΔX = Xp−
Xn, Δθf) are calculated, and in step S7, steering angle control is performed by the steering unit 14 according to the deviation amount.

In step S8, it is determined whether the self-propelled vehicle 1 is traveling in the y-axis direction in a direction away from the origin (outbound direction) or in a direction approaching the origin (return direction).

If it is for the direction, it is determined in step S9 whether one stroke has been completed (Yp> Ye), and if it is the return direction, in step S10, whether or not one stroke has been completed (Yp <Yst). Is determined. In step S9 or S10,
If it is determined that one process is not completed, steps S5 to S8
Is performed.

If it is determined in step S9 or S10 that one stroke has been completed, then it is determined in step S11 whether all the strokes have been completed (Xp> Xe).

If all the strokes have not been completed, the process moves from step S11 to step S12, where U-turn control of the self-propelled vehicle is performed. In step S13, Xn is set to Xn + L, and the next traveling course is set. If the next traveling course is set, the process returns to step S5, and the above processing is performed.

When all the steps are completed, the process returns to the return position (Xret, Yret) (step S14), and the traveling is stopped (step S14).
15).

The U-turn control in step S12 does not depend on the processing in steps S5 to S7 in which the position information of the self-propelled vehicle 1 calculated by the position / traveling direction calculation unit 13 is fed back to the steering unit 14, and is set in advance. It is performed according to the program.

For example, at the time of transition from straight running to turning, the steering angle of the self-propelled vehicle 1 is fixed to a fixed angle and the turning operation is performed.
When the self-propelled vehicle 1 reaches the scheduled position, the fixed steering angle is released, and the vehicle shifts to straight running again.

The determination as to whether or not the self-propelled vehicle has reached the scheduled position may be made according to the same procedure as the control for moving the self-propelled vehicle 1 to the work start position.

In the above embodiment, an example is described in which the coordinates (Xst, Yst) of the work start position with respect to the origin B (0, 0) are set in the traveling course setting unit 16 in advance. In addition, self-propelled car 1
Can be guided to an arbitrary position by wireless guidance or the like, the position is defined as a work start position (Xst, Yst), and traveling can be started.

As described above, in the present embodiment, of the reflectors 6 installed at three locations, the self-propelled vehicle 1 is caused to travel while being automatically controlled to go straight based on the opening angle between the two reflectors. The distance between the reflectors was measured based on the traveling distance. Further, the opening angle between the other reflectors as viewed from the respective set positions of the two reflectors is measured using an opening angle detection function mounted on the vehicle 1.

Then, based on the distance information and the opening angle, the coordinates of each reflector 6 having one of the reflectors as an origin are calculated, and based on the coordinate values of the reflector 6, the current position of the self-propelled vehicle 1 is calculated. And the heading are calculated.

As described above, in the present invention, the opening angle detection function provided on the self-propelled vehicle 1 and the traveling of the self-propelled vehicle 1 can be performed without manually measuring and inputting the coordinates of each reflector installed in the work area. Since the distance measuring means is used, it is possible to calculate the position of the reflector as a coordinate value by performing an operation of traveling straight ahead between two points as a reference for the self-propelled vehicle.

In addition, the straight running can be easily maintained by controlling the running based on the opening angle between the two points as in the present embodiment.

Then, based on the coordinate values, the correlation position between the self-propelled vehicle 1 and the reflector 6 can be detected, and the steering control of the self-propelled vehicle 1 can be performed.

(Effects of the Invention) As is clear from the above description, according to the present invention, the following effects can be achieved.

(1) By driving the self-propelled vehicle between two reference points by means of an angle detecting means mounted on the self-propelled vehicle for detecting its own position and a traveling distance detecting means,
Since the traveling control can be performed by determining the coordinates of all the light reflecting means, the preparation for the automatic traveling operation can be extremely simplified.

(2) Even if the work area of the self-propelled vehicle changes and the light reflectors are re-installed each time, it is not necessary to measure and input all the coordinates between the reflectors. Saves time.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a diagram for explaining the principle of position detection of a self-propelled vehicle, FIG. 3 is a diagram for explaining the principle of traveling direction detection of a self-propelled vehicle, and FIG. a) is a flowchart showing a work preparation procedure, FIG. 5 (b) is a layout diagram of reflectors, FIG. 5 is a block diagram of reflector position measurement, FIG. 6 is a work preparation flowchart, and FIG. 8 is a diagram showing the traveling course of the self-propelled vehicle and the arrangement of the reflectors, FIG. 9 is a flowchart of steering control, and FIG. 10 is a perspective view of the self-propelled vehicle and the reflectors It is. DESCRIPTION OF SYMBOLS 1 ... Self-propelled vehicle, 2 ... Light emitting device, 3 ... Light receiving device, 4 ... Rotary table, 5 ... Motor, 6 ... Reflector, 7 ... Rotary encoder, 8 ... Distance setting unit, 9 ……counter,
10 ... Angle detection unit, 11 ... Coordinate calculation unit, 13 ... Position and heading calculation unit, 14 ... Steering unit

Claims (4)

(57) [Claims] 1. A light beam generated from a self-propelled vehicle is scanned in a circumferential direction around the self-propelled vehicle, so that light beams are reflected by light reflecting means installed at at least three places away from the self-propelled vehicle. In a traveling position control device for a self-propelled vehicle that detects reflected light of the light beam and detects a position of the self-propelled vehicle, a light beam generating unit that is provided in the self-propelled vehicle and generates the light beam; A light beam scanning means for scanning a light beam in a circumferential direction around the self-propelled vehicle; a light receiving means provided on the self-propelled vehicle for receiving light reflected by the light reflecting means; and a light receiving output of the light receiving means Detection means for detecting an opening angle between the light reflecting means as viewed from the self-propelled vehicle, travel distance detection means for the self-propelled vehicle mounted on the self-propelled vehicle, and measurement by the travel distance detection means Of the light reflecting means to be used
Based on a distance between two reference points arranged on a straight line connecting the two light reflecting means, and an opening angle between the light reflecting means as viewed from each of the two reference points detected by the opening angle detecting means. Means for calculating the coordinates of the three light reflecting means, and means for calculating the position of the self-propelled vehicle based on the opening angle between the three light reflecting means and the coordinates of the light reflecting means viewed from the self-propelled vehicle. A traveling position control device for a self-propelled vehicle, comprising: 2. The traveling position control device for a self-propelled vehicle according to claim 1, wherein said reference point is a position where two of said three light reflecting means are to be installed. 3. The method according to claim 2, wherein the reference point is located at a position apart from the light reflecting means by a distance corresponding to a dimension from an end of the self-propelled vehicle to a rotation center of the light beam scanning means. The traveling position control device for a self-propelled vehicle according to claim 1. 4. The coordinates of the light reflecting means have one origin as one of the light reflecting means, and a straight line passing through one of the light reflecting means and one of the other light reflecting means as one coordinate axis. 3. The method according to claim 1, wherein the calculation is performed on a coordinate system.
The traveling position control device for a self-propelled vehicle according to the above.