JPH09105628A - Method and apparatus for specifying position of self-propelled carriage - Google Patents

Abstract

PROBLEM TO BE SOLVED: To specify the position of a carriage without using a signal line for guidance. SOLUTION: A recognition means 21 and a position computation means 24 are installed, and an investigation unit 10 which detects a display means Hi with a code Ci is installed in the front. The recognition means 21 recognizes the display means Hi via the search unit 10, and the position computation means 24 can specify the position of a carriage on the basis of the relative angle and the coordinates Ai of the display means Hi regarding at least three points from the carriage.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for identifying a position of a self-propelled carriage useful for controlling the operation of the self-propelled carriage for carrying goods and the like on an arbitrary site such as inside and outside of a factory, and its apparatus.

[0002]

2. Description of the Related Art In a self-propelled trolley used for transporting articles, etc., the position of the trolley is specified by a position detection system.

Such position detection systems generally include
It is provided with a guide signal line buried in the floor and a sensor for detecting the presence or absence of the signal line. The signal line is buried along the traveling route of the truck, and the sensor can receive the signal from the signal line and identify the position of the truck as long as the truck travels along the signal line.

[0004]

According to the conventional technique, since the position of the truck is specified by the sensor receiving the signal from the signal line, the traveling route is changed by, for example, changing the factory layout. In this case, it is necessary to change the buried position of the signal line, which causes a problem that the construction is extremely troublesome.

In view of the problems of the prior art, the object of the present invention is to identify the display means installed in a factory or the like and specify the position of the trolley, thereby making it extremely easy to change the traveling route. It is to provide a method for identifying the position of a self-propelled carriage and a device therefor which can be dealt with.

[0006]

The structure of the first invention according to the present application for achieving the above object detects the directions of at least three display means as viewed from the carriage, and coordinates of each display means and the carriage. The gist of the invention is to specify the position of the trolley from the relative angles of the respective display means when viewed from above.

The direction of each display means can be detected as an average value of a plurality of data for a single display means, or can be detected as a relative angle from the reference direction.

According to the structure of the second invention, the recognizing means for detecting the directions of at least three display means viewed from the trolley, and the coordinates of each display means and the relative angle of each display means as seen from the trolley based on the output of the recognizing means. The gist of the present invention is to include a position calculation unit that specifies the position of the trolley.

The recognition means recognizes the display means through the search unit, and the search unit can mount the laser oscillator and the image sensor on the turntable.

Further, the exploration unit is provided with a light quantity sensor for measuring the external light quantity, the light quantity sensor can set the minimum detected light quantity to the image sensor, and the exploration unit detects the scan timing by the laser oscillator. A detection sensor for

Between the recognition means and the position calculation means,
A storage unit and an averaging unit may be provided to detect the direction of each display unit as an average value of a plurality of data.

[0012]

According to the structure of the first invention, the position of the trolley can be specified by detecting at least three directions of the display means and from the coordinates of each display means and the relative angle of each display means. As long as it is possible to detect at least three display means, it is possible to specify from the trolley. The display means here is an indicator of any form that can be individually recognized from the dolly, and its installation position is specified as coordinates in advance.

By detecting the direction of each display means as the average value of a plurality of data, the detection accuracy of the direction of each display means can be improved.

By detecting the direction of each display means as a relative angle from the reference direction, the traveling direction of the carriage can be specified in addition to the position of the carriage. However, it is assumed that the reference direction is preset on the carriage in a specific direction including the front direction of the carriage.

According to the structure of the second invention, the recognizing means detects the directions of at least three display means viewed from the trolley, and the position calculating means specifies the position of the trolley based on the output of the recognizing means. You can That is, the recognition means,
The position calculating means can implement the first invention as it is.

When the recognition means recognizes the display means via the exploration unit, the laser oscillator and the image sensor of the exploration unit scan the display means installed in an arbitrary direction by rotating the turntable. The recognition means can accurately detect the direction of the display means.

When the exploration unit includes a light quantity sensor, the image sensor can detect the laser light from the laser oscillator accurately by setting the minimum detected light quantity of the image sensor via the light quantity sensor. This is because the image sensor can detect only the laser light without detecting the outside light by setting the minimum detected light amount slightly larger than the outside light detected by the light amount sensor. The laser oscillator at this time outputs a sufficient amount of laser light as compared with external light.

When the exploration unit includes a detection sensor, the recognition means can detect the scan timing by the laser light from the laser oscillator via the detection sensor, and the recognition means can be activated for each scan.

If storage means and averaging means are provided, the former is
Data from the recognition means can be stored, the latter
The average value can be calculated. Therefore, the position calculation means can detect the direction of each display means as an average value of a plurality of data.

[0020]

Embodiments of the present invention will be described below with reference to the drawings.

The position specifying device for the self-propelled carriage is composed of the recognition means 2
1. A recognition specifying circuit 2 including the position calculating means 24 as a main member
0 (FIG. 1). However, the search unit 10 for detecting the display means Hi (i = 1, 2, ... N) is provided in front of the recognition specifying circuit 20.

The display means Hi has a black and white surface, or
This is a reflector-type display device in which a reflective portion and a non-reflective portion are separately painted (FIG. 2), and is installed in the site of a factory or the like where the self-propelled carriage 30 travels. The upper part and the lower part of each display means Hi are painted with a specific array pattern indicating the display means Hi, and in the middle part, a bar code-like arbitrary array pattern is different for each display means Hi. C
It is displayed as i (i = 1, 2, ... N). That is, a code Ci different for each display means Hi is displayed on each display means Hi.

The exploration unit 10 is mounted on a carriage 30 via a frame 31 (FIGS. 2 and 3). The search unit 10 includes a laser oscillator 11 that outputs a laser beam L.
An image sensor 12 that receives a laser beam L reflected from the outside, a laser oscillator 11, and an image sensor 1.
The turntable 13 which carries 2 and rotates is comprised as a main member.

The turntable 13 is a disk-shaped rotating body and is rotatably mounted on the frame 31 of the carriage 30. The outer circumference of the turntable 13 is formed in a gear shape, and a dog 13a is projectingly provided on the lower surface. On the outer circumference of the turntable 13, gears 13b, 13
b is connected, and the drive motor 14 is attached to one gear 13b.
Is connected, and the encoder 15 is connected to the other gear 13b. The drive motor 14 and the encoder 1
The frame 5 is housed in the frame 31. Further, a sensor 16 that operates to face the dog 13 a of the turntable 13 is mounted on the frame 31.
Is attached to the front side of the carriage 30. The front side of the trolley 30 on which the sensor 16 is mounted is defined as the reference direction N side.

A cover 13c is attached to the upper surface of the turntable 13 to block outside light. Cover 13
An opening 13c1 is formed on the side surface of c, and a hole 13c2 is opened on the upper surface. In the cover 13c, in addition to the laser oscillator 11 and the image sensor 12, a polygon mirror 17, a half mirror 17b, and a tilt mirror 1 are provided.
A series of optical systems consisting of 7a is housed. The polygon mirror 17 is formed by combining mirrors 17c, 17c ... In a regular polygon and is rotatably installed in front of the laser oscillator 11. The tilt mirror 17a covers the laser light L from the polygon mirror 17 by a cover 13c. Opening 13c1
Can be reflected toward. Half mirror 17b
Is tilted in front of the image sensor 12 between the polygon mirror 17 and the tilt mirror 17a. Further, a filter 12a is attached to the front surface of the image sensor 12, and a light receiving portion 12b composed of many light receiving elements is incorporated inside.

The turntable 13 is rotated clockwise by the drive motor 14 (direction of arrow K1 in FIG. 2), and the opening 13c1 of the cover 13c can be oriented in an arbitrary direction. Therefore, the laser light L generated by the laser oscillator 11
The turntable 13 rotates in the clockwise direction, and the polygon mirror 17 rotates in the direction (arrow K2 direction in FIG. 3) to continuously scan the opening 13c1 from the top to the bottom. Yes (in the direction of arrow K3 in the figure).

That is, when the laser light L is projected onto the display means Hi, the display means Hi can be scanned from top to bottom. Further, the laser light L reflected by the display means Hi enters the image sensor 12 through the opening 13c1, the tilt mirror 17a, and the half mirror 17b, and the light receiving portion 12b detects the laser light L and outputs the output signal S.
It can output 1. The polygon mirror 17
Rotation of the turntable 13 is sufficiently faster than that of the turntable 13, and rotation of the turntable 13 is sufficiently faster than the traveling speed of the carriage 30.

The exploration unit 10 includes a light quantity sensor 18 for measuring the quantity of the external light L1 and a detection sensor 19 for detecting the scan timing of the laser light L generated by the laser oscillator 11. The light amount sensor 18 has a cover 13c.
It is installed in the vicinity of the hole 13c2 and outputs a measurement signal S5 indicating the light quantity of the external light L1. In addition, the detection sensor 19
Is installed at a position for detecting the laser light L reflected by one mirror 17c of the polygon mirror 17, and outputs a detection signal S2 every time the laser light L scans the outside through the polygon mirror 17. be able to.

The output of the image sensor 12 is connected to the recognition means 21 of the recognition specifying circuit 20 (FIGS. 1 and 3). The output of the detection sensor 19 is also connected to the recognition means 21.

The output of the encoder 15 is the recognition specifying circuit 2
The output of the sensor 16 is branched and connected to the position calculating means 24, the angle calculating means 25, and the setting means 26 of the recognition specifying circuit 20. When the turntable 13 rotates, the encoder 15 can measure the rotation angle of the turntable 13 and output a measurement signal S3.
Every 1 turn of 3 turns dog 1 on turntable 13
3a can be detected to generate the detection signal S4.
The measurement signal S5 from the light quantity sensor 18 is input to the setting means 26.

The output of the angle calculation means 25 is the recognition means 21.
The output of the recognition means 21 is connected to the storage means 2
2 are connected. The output of the storage means 22 is individually connected to the averaging means 23 and the counter 27, and the output of the counter 27 is connected to the averaging means 23. The output of the averaging means 23 is connected to the position calculating means 24,
The output of the coordinate storage means 28 is connected to the position calculation means 24. The output of the position calculating means 24 is input to the carriage control device 40 as a position signal S7, and the output of the carriage control device 40 is guided to a drive mechanism and a steering mechanism (not shown) of the carriage 30. The output of the setting means 26 is input to the image sensor 12 of the exploration unit 10 as the setting signal S6.

Now, the laser oscillator 11 is activated to rotate the polygon mirror 17, and the drive motor 1
When the turntable 13 is rotated via 4, the laser light L from the laser oscillator 11 can be sequentially scanned from the top to the bottom over the entire circumference of the exploration unit 10. Therefore, when the display means Hi is present in the field of view from the exploration unit 10, the laser light L reflected from the display means Hi enters the image sensor 12, so that the image sensor 12 causes the code C on the display means Hi.
An output signal S1 containing i can be output (FIG. 4). However, in FIG. 4, the horizontal axis represents the time t, and the output signal S1 is displayed at a high level in the white portion of the display means Hi including the code Ci and at a low level in the black portion.

On the other hand, the recognizing means 21 can detect the scan cycle T by the laser beam L via the detection signal S2 from the detection sensor 19, and within the scan cycle T, the output signal S1 contains the code Ci. Therefore, the display means Hi can be recognized. When the output signal S1 does not include the code Ci, the laser light L is
There is a possibility that a reflection member other than the display means Hi such as a mirror or glass has been scanned, and when there is no output signal S1, the laser light L may have scanned a wall or the like that does not reflect the laser light L. Further, before and after the code Ci included in the output signal S1, there is always included a signal pattern corresponding to a specific array pattern displayed on the upper and lower portions of the display means Hi, so the recognition means 21 uses this By checking the signal pattern corresponding to the array pattern, the detection reliability of the code Ci can be greatly improved.

The recognizing means 21 outputs the code C to the output signal S1.
When it is detected that i is included, the rotation angle θ of the turntable 13 at that time is read to determine the direction of the display means Hi as viewed from the carriage 30 by the angle θij (i = 1,
2 ... n, j = 1, 2 ...).
However, the rotation angle θ of the turntable 13 is calculated by the angle calculation means 25 by using the measurement signal S3 from the encoder 15. The rotation angle θ is
By using the detection signal S4 from the sensor 16 together, the relative angle from the reference direction N is calculated.

Here, the subscript j of the angle .theta.ij indicates the number of scans when a single display means Hi is continuously scanned by the laser beam L a plurality of times (FIG. 5). When the rotation speed of the polygon mirror 17 is significantly higher than the rotation speed of the turntable 13, the laser light L
This is because there is a possibility that the single display means Hi may be continuously scanned a plurality of times.

The storage means 22 stores the data of the angle θij corresponding to the code Ci each time the display means Hi is scanned by the laser beam L in this way.
The counter 27 counts the number of scans j of the display means Hi. Therefore, the averaging means 23 calculates the average value of the data of the angle θij corresponding to the code Ci and sends it to the position calculating means 24 as the angle θi corresponding to the code Ci.
The position calculation means 24 can mathematically specify the position of the carriage 30 by referring to the coordinates Ai of the display means Hi stored in advance in the coordinate storage means 28. However,
The angle θi referred to here is the display means H viewed from the carriage 30.
It is the direction of i and the coordinate Ai is the coordinate indicating the installation position of the display means Hi having the code Ci. Therefore,
By referring to the detection signal S4 from the sensor 16, the position calculating means 24 can specify the position of the trolley 30 for each rotation of the turntable 13 and output it as the position signal S7 to the trolley controller 40. , Trolley controller 40
May drive and control the carriage 30 in a predetermined direction.

The recognition specifying circuit 20 includes the detection sensor 1
9 can be operated according to the detection signal S2 from 9, that is, every scan by the laser beam L from the laser oscillator 11 according to the program flow charts of FIGS.

When the recognition storage processing program of FIG. 6 is activated by the detection signal S2 from the detection sensor 19, it first determines whether or not the output signal S1 from the image sensor 12 is valid (in FIG. 6). Program step (1), hereinafter simply referred to as (1)). That is,
The output signal S1 from the image sensor 12 is the laser light L
Occurs every scanning period T by the laser beam L, and when the laser beam L scans the display means Hi at this time, the code Ci
However, when the laser light L does not scan the display means Hi, the code Ci is not included. Therefore, the program determines that the output signal S1 is valid when the code Ci is included in the output signal S1 within the scan cycle T,
It may be determined that the output signal S1 is not valid when the code Ci is not included.

When the output signal S1 is valid (1), the program reads the code C of the display means Hi from the output signal S1.
At the same time as recognizing and storing i (2), the direction of the display means Hi is calculated as a relative angle from the reference direction N and stored as an angle θij corresponding to the code Ci. However, the angle θij at this time is determined by the turntable 1 from the reference direction N.
The rotation angle θ is 3, and the subscript j indicates the number of scans when the laser light L continuously scans the single display means Hi.

Next, the program judges whether or not the previously stored code Ci and the currently stored code Ci are the same (3), and when they are the same code Ci, the single display means Hi is used. Since it has been continuously scanned, the number of scans j is counted and the process is finished (4). When the code Ci stored this time is different from the code Ci stored last time (3), the program reads the number of scans j of the code Ci up to the previous time (5) and resets the number of scans j = 1 (6). Then, the program reads the code Ci stored up to the previous time and the angle θij corresponding to the code Ci, calculates the average value of the angles θij, and calculates the angle θi (i = 1, 2) corresponding to the code Ci. (N) is calculated (7). The program may set the angle .theta.i = .theta.i1 when the display means Hi is scanned only once.

Next, the program reads the coordinates Ai where the display means Hi of the code Ci is installed (8) and stores the coordinates Ai and the angle θi in association with each other (9). Next, the program determines whether the turntable 13 has made one revolution (10), and ends when the turntable 13 has not made one revolution, but ends when the turntable 13 has made one revolution. The position calculation processing program is started (11), and the processing ends.

On the other hand, when the output signal S1 is invalid (1), the program determines whether the previous output signal S1 is valid (12). When the previous output signal S1 is invalid, the program ends as it is, and when the previous output signal S1 is valid, the program is displayed by the display means Hi.
The number of scans j of is read (13). That is, the program scans the display means Hi at least once in the previous scan, and when the display means Hi is not scanned in the current scan, reads the number of scans j of the display means Hi up to the previous scan, and executes the program step. (7) The subsequent steps are executed.

The contents of the position calculation processing program activated by the program step (11) in FIG. 6 are as shown in the program flow chart in FIG. 5, for example.

First, the program has different display means Hi.
It is determined whether or not three or more sets of coordinates Ai and angles θi are stored (program step (1) in FIG. 6, hereinafter referred to simply as (1)). When three or more sets of coordinates Ai and angles θi are stored, the program sets three sets of coordinates Ai,
The angle θi is selected and extracted (2).

For example, different coordinates A1, A2 ... A5
And the corresponding angles θ1, θ2 ... θ5 (FIG. 8), the program first selects the first stored coordinate A1 and the last stored coordinate A5.
Next, the program uses the first stored angle θ1 of the coordinate A1 from the reference direction N and the last stored angle θ5 of the coordinate A5 from the reference direction N, and an intermediate angle θx = θ1 between the coordinates A1 and A5. The angle θ3 closest to + (θ5−θ1) / 2
By selecting the coordinate A3 of three or more sets of coordinates Ai
, Angle θi, three appropriate sets of coordinates Ai and angle θi can be selected and extracted.

Then, the program calculates the relative angle θk (k) of each coordinate Ai from the selected three sets of coordinate Ai and angle θi.
= A, b) is calculated (3). For example, the program calculates the relative angles θa and θb as θa = θ3−θ1 θb = θ5−θ3 when the coordinates A1, A3, A5 and the angles θ1, θ3, θ5 are selected (FIG. 9). The relative angle θk is 0 <θk <180 °.

After that, the program calculates the position and direction of the carriage 30 according to the following procedure (4).

For example, the three sets of coordinates A1 (x
1, y1), A3 (x3, y3), A5 (x5, y5)
, The line segment connecting the coordinates A1 and A3 is A1 A3
It is possible to envisage circles E1a and E1b with the chord as the chord and the circumferential angle as the relative angle θa (FIG. 10). Similarly, the circles E2a and E2b whose circumference angle is the relative angle θb and whose line segment is A3 A5 is the chord
Can be assumed (FIG. 11). However, the circle E1a,
E1b is the center T1a, T1b, radius r1, and circle E2a,
E2b has its centers T2a, T2b and radius r2.

Next, circles E1a and E1b and circles E2a and E2b
Considering the intersections P1, P2, ... P4 excluding the coordinates A3 by selecting one from each of the above (FIG. 12), the position of the carriage 30 can be specified as one of the intersections P1, P2, ... P4. it can.

For example, in order for the intersection P1 of the circles E1a and E2a to be appropriate as the position of the carriage 30, the intersection P1 must simultaneously satisfy the following conditions.

1. The coordinates of the intersection P1 must exist on the premises of the factory or the like where the carriage 30 can move.

2. When the relative angle θa <90 °, the intersection point P1 is on the same side as the center T1a with respect to the line segment A1 A3, and when the relative angle θa> 90 °, the line segment A1 A3.
On the other hand, it should be on the side different from the center T1a (FIG. 13).

3. The intersection P1 is on the same side as the center T2a with respect to the line segment A3 A5 when the relative angle θb <90 °, and on the side different from the center T2a when the relative angle θb> 90 ° (the same). Figure).

4. When scanning in the clockwise direction from the intersection P1 (direction of arrow K4 in the figure), the data storage order of the coordinates Ai and the angle .theta.i must match the order of coordinates A1, A3, A5.

In the conditions 2 and 3, the intersection P1 is the circle E1.
It is based on the intersection of a and E2a. Therefore, for the other intersections P2, P3, P4, the circles E1b,
By performing a similar condition check focusing on the intersection of E2b, circles E1b, E2a, circles E1a, E2b, it is possible to identify a suitable point as the position of the trolley 30,
The intersection Pi (i = 1, 2, ... 4) may be the position of the carriage 30. However, in FIG. 13, θa <90 °, θ
When b <90 °, the intersections P1 and P2 satisfy the conditions 2 and 3, but the condition 4 specifies the intersection P1 as the position of the carriage 30. Further, based on the angle θ1 of the coordinate A1 viewed from the intersection point Pi thus identified, the carriage 30
The reference direction N of 1 is found, and it is set as the direction of the carriage 30.

Next, when the position and direction of the trolley 30 are calculated (program step (4) in FIG. 7), the program outputs the position signal S7 to the trolley controller 40 (5), and the same signal is output. By repeating the procedure, the carriage 30 can be moved to a target position via the carriage control device 40.

On the other hand, the recognition specifying circuit 20 can interrupt and execute the light amount setting processing program of FIG. 14 in response to the output of the interrupt timer. However, the interrupt timer is assumed to operate, for example, every 0.1 seconds.

When the program is started by the interrupt timer, first, the light quantity of the external light L1 is measured based on the measurement signal S5 from the light quantity sensor 18 and stored (program step (1) in FIG. , Just like (1)). Subsequently, the program counts the number of times the external light L1 is measured (2) and determines whether the turntable 13 has made one rotation (3). Program is turntable 13
When the turntable 13 makes one rotation, the average value of the stored light amount is calculated (4) and the setting signal S6 is sent to the image sensor 12.
Is output to set the minimum detected light amount (5). That is,
The program sets the minimum light amount detected by the image sensor 12 to be slightly larger than the light amount of the external light L1.
Only the laser light L can be detected by the image sensor 12, and the optimum minimum detected light amount for the image sensor 12 can be set for each rotation of the turntable 13.

In the above description, the program steps (1), (2) and (12) in FIG. 6 are the recognition means 2 in FIG.
1, and the program steps (2) and (3) correspond to the storage means 22. The program steps (4) and (6) correspond to the counter 27, and the program steps (5), (7) and (13) correspond to the averaging means 23. Further, the program steps (8), (9) and (11) of FIG. 6 include the position calculation processing program of FIG. 5 and correspond to the position calculation means 24 of FIG. The program step (2) in FIG. 6 corresponds to the angle calculating means 25 in FIG. 1, and the light amount setting processing program in FIG. 7 corresponds to the setting means 26 in FIG.

In the above description, each display means Hi is
It may be installed on the wall surface G or the like in the factory so that the laser light L from the exploration unit 10 can scan at least three points (FIG. 15). However, the display means H
i may be installed on one wall surface G or the like of the passage F on which the truck 30 travels (FIG. (A)), or may be installed on the wall surfaces G, G on both sides of the passage F (the same). (B)). That is, this system can specify the position of the trolley 30 by installing the display means Hi at an arbitrary position recognizable from the trolley 30 and detecting at least three display means Hi.

[0061]

Other Embodiments The exploration unit 10 may be equipped with a transmitter 11a for communication instead of the laser oscillator 11 (FIG. 16). At this time, the display means Hi is a communication unit capable of transmission and reception, and the exploration unit 10 is equipped with a communication receiver 12c instead of the image sensor 12. The transmitter 11a is a directional radio wave W1 for exploration.
And the display means Hi displays the radio wave W from the transmitter 11a.
When 1 is received, the code Ci corresponding to the display means Hi or the radio wave W2 indicating the coordinate Ai where the display means Hi is installed is output. The receiver 12c receives the radio wave W2 from the display means Hi and outputs the output signal S to the recognition specifying circuit 20.
It can output 1.

The frequencies of the radio waves W1 and W2 are sufficiently high, and the transmitter 11a and the receiver 12c are equipped with an antenna (not shown) having sufficient directivity. Further, the receiver 12c outputs the output signal S1 to the recognition specifying circuit 20 when the level of the radio wave W2 input from the antenna becomes maximum. The receiver 12c may not output the output signal S1 when the level of the input radio wave W2 is less than the set value.

[0063]

As described above, according to the first invention of this application, the position of the carriage is specified by the coordinates of at least three display means viewed from the carriage and the relative angle of each display means. Since the trolley does not require any signal line buried along the traveling route, it has an excellent effect that it can be dealt with very easily when the factory layout is changed.

According to the second aspect of the present invention, by providing the recognizing means and the position calculating means, the position calculating means determines the position of the trolley from the coordinates and relative angles of the respective display means viewed from the trolley recognized by the recognizing means. Therefore, the first invention can be smoothly implemented.

[Brief description of the drawings]

FIG. 1 is a block diagram of the overall configuration

FIG. 2 is an explanatory perspective view of the overall configuration.

[Fig. 3] Enlarged configuration diagram of main parts

FIG. 4 is an operation explanatory diagram (1).

[Fig. 5] Operation explanatory diagram (2)

FIG. 6 Program flow chart (1)

FIG. 7: Program flow chart (2)

FIG. 8 is an operation explanatory diagram (3)

FIG. 9 is an operation explanatory diagram (4)

FIG. 10 is an operation explanatory diagram (5)

FIG. 11 is an operation explanatory diagram (6)

FIG. 12 is an operation explanatory diagram (7)

FIG. 13 is an operation explanatory diagram (8)

FIG. 14: Program flow chart (3)

FIG. 15 is an explanatory view of a usage state

FIG. 16 is a block system diagram showing another embodiment.

[Explanation of symbols]

 Hi (i = 1, 2 ... n) ... Display means Ai (i = 1, 2 ... n) ... Coordinates θi, θij (i = 1, 2 ... n, j = 1, 2 ...) ... Angle θk (k = a, b) ... Relative angle N ... Reference direction L1 ... Light quantity 10 ... Exploration unit 11 ... Laser oscillator 12 ... Image sensor 13 ... Turntable 18 ... Light quantity sensor 19 ... Detection sensor 21 ... Recognition means 22 ... Storage means 23 ... Averaging means 24 ... Position calculation means 30 ... Bogie

Claims (8)

[Claims] 1. A vehicle characterized by detecting the directions of at least three display means when viewed from the trolley, and identifying the position of the trolley from the coordinates of each display means and the relative angle of each display means when viewed from the trolley. How to specify the position of the carriage. 2. The method for identifying the position of a self-propelled vehicle according to claim 1, wherein the direction of each display means is detected as an average value of a plurality of data for a single display means. 3. The method for specifying the position of a self-propelled vehicle according to claim 1, wherein the direction of each display means is detected as a relative angle from a reference direction. 4. A recognizing means for detecting directions of at least three display means viewed from the trolley, and a trolley of the trolley from coordinates of each display means and a relative angle of each display means viewed from the trolley based on an output of the recognizing means. A position identifying device for a self-propelled carriage, comprising: a position calculating means for specifying a position. 5. The self-propelled device according to claim 4, wherein the recognition unit recognizes the display unit through the search unit, and the search unit mounts a laser oscillator and an image sensor on the turntable. Positioning device for truck. 6. The self-propelled carriage according to claim 5, wherein the exploration unit includes a light amount sensor for measuring an external light amount, and the light amount sensor sets a minimum detected light amount in the image sensor. Positioning device. 7. The position identifying device for a self-propelled vehicle according to claim 5, wherein the exploration unit includes a detection sensor that detects a scan timing by the laser oscillator. 8. Between the recognition means and the position calculation means,
The position specification of the self-propelled carriage according to any one of claims 4 to 7, wherein a storage means and an averaging means are provided to detect the direction of each display means as an average value of a plurality of data. apparatus.