JPH0243614U - - Google Patents
Info
- Publication number
- JPH0243614U JPH0243614U JP11424188U JP11424188U JPH0243614U JP H0243614 U JPH0243614 U JP H0243614U JP 11424188 U JP11424188 U JP 11424188U JP 11424188 U JP11424188 U JP 11424188U JP H0243614 U JPH0243614 U JP H0243614U
- Authority
- JP
- Japan
- Prior art keywords
- calculation means
- angle
- markers
- target
- traveling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000003550 marker Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 3
Description
第１図は本考案のクレーム対応図、第２図は本
考案の自動位置測定装置およびその測定装置を備
えた移動台車の一実施例の全体説明図、第３図Ａ
，Ｂは同実施例の現在位置算出手段の作用説明図
、第４図は同実施例のフローチヤートである。
６……走行手段、α，β……角度、Θ１，Θ２
，Θ３……方位角、Ａ……目標位置設定手段、Ｂ
……角度算出手段、Ｃ……現在位置算出手段、Ｄ
……変差ベクトル算出手段、Ｍ１，Ｍ２，Ｍ３…
…マーカ、Ｏ……目標物、Ｓ１，Ｓ２，Ｓ３……
センサ、Ｕ１……自動位置測定装置、Ｕ２……走
行制御装置、Ｖ……変差ベクトル、Ｘｎ，Ｙｎ…
…マーカの座標、Ｘｏ，Ｙｏ……目標物の座標、
Ｘｓ，Ｙｓ……センサ（移動台車）の座標。
Fig. 1 is a diagram corresponding to the claims of the present invention, Fig. 2 is an overall explanatory diagram of an embodiment of the automatic position measuring device of the present invention and a mobile cart equipped with the measuring device, and Fig. 3A
, B are explanatory diagrams of the operation of the current position calculation means of the same embodiment, and FIG. 4 is a flowchart of the same embodiment. 6... Traveling means, α, β... Angle, Θ 1 , Θ 2
, Θ3 ...Azimuth, A...Target position setting means, B
... Angle calculation means, C ... Current position calculation means, D
... Variation vector calculation means, M 1 , M 2 , M 3 ...
...Marker, O...Target, S 1 , S 2 , S 3 ...
Sensor, U 1 ... automatic position measuring device, U 2 ... travel control device, V ... variation vector, Xn, Yn...
...Coordinates of marker, Xo, Yo...coordinates of target,
Xs, Ys...Coordinates of the sensor (moving trolley).
Claims (1)
のマーカに対して所定の位置関係にある目標物の
位置に関する情報とを記憶する目標位置設定手段
と、 前記３個のマーカの方位角をそれぞれ検出する
３個のセンサと、 これらのセンサの出力する前記方位角から３個
のマーカを互いに結ぶ３辺のうちの２辺を望む角
度をそれぞれ演算する角度算出手段と、 前記３個のマーカの位置と上記角度算出手段の
出力する前記角度から、センサの位置を演算する
現在位置算出手段と、 この現在位置算出手段の出力する前記位置と目
標位置設定手段に記憶された目標物の位置から、
センサに対する該目標物の変差ベクトルを演算す
る変差ベクトル算出手段と、を備えて成る自動位
置測定装置。 走行手段と、請求項記載の自動位置測定装
置と、上記走行手段を制御する走行制御装置とを
備えて成り、 この走行制御装置が前記自動位置測定装置の出
力する変差ベクトルをゼロにすべく、前記走行手
段を制御することを特徴とする移動台車。[Claims for Utility Model Registration] Target position setting means for storing information regarding the positions of three markers and information regarding the position of a target in a predetermined positional relationship with respect to these markers; three sensors that each detect the azimuth angle of the marker; and an angle calculation means that calculates the desired angle of two of the three sides connecting the three markers from the azimuth angle outputted by these sensors. current position calculation means for calculating the position of the sensor from the positions of the three markers and the angle output from the angle calculation means; and the position output from the current position calculation means and the position stored in the target position setting means. From the target position,
An automatic position measuring device comprising: a deviation vector calculation means for calculating a deviation vector of the target object with respect to the sensor. It comprises a traveling means, an automatic position measuring device according to the claims, and a traveling control device for controlling the traveling means, and the traveling control device is configured to make a variation vector outputted by the automatic position measuring device zero. , a mobile trolley characterized in that the traveling means is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11424188U JPH0243614U (en) | 1988-08-31 | 1988-08-31 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP11424188U JPH0243614U (en) | 1988-08-31 | 1988-08-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0243614U true JPH0243614U (en) | 1990-03-26 |
Family
ID=31354810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP11424188U Pending JPH0243614U (en) | 1988-08-31 | 1988-08-31 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0243614U (en) |
-
1988
- 1988-08-31 JP JP11424188U patent/JPH0243614U/ja active Pending
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