INCLINATION DETECTION METHOD, INCLINATION DETECTION DEVICE, AND MATERIAL FOR INCLINATION DETECTION

• Main Author: ISHIKAWA TADAAKI
• Format: Patent
• Language: English; Japanese
• Published: 20.10.2016
• Subjects: CONTROLLING; GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING ANGLES; MEASURING AREAS; MEASURING DISTANCES, LEVELS OR BEARINGS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS; MEASURING LENGTH, THICKNESS OR SIMILAR LINEARDIMENSIONS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; REGULATING; SURVEYING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TESTING

PROBLEM TO BE SOLVED: To detect the inclination of a mobile entity so that a change in the route of the mobile entity can be flexibly responded.SOLUTION: In storage means of an inclination detection device is stored relative position information on three marker bars Sa-Sc mutually different in inclination. Arithmetic means of the inclination detection device accepts an input of position information that pertains to reflection points Pa-Pc of a laser beam 22 radiated onto each of the marker bars Sa-Sc from an LRF 21 and makes the physical relationship between each of the accepted reflection points match with the relative position on each of the marker bars Sa-Sc, thereby finding the relative position on the marker bars Sa-Sc of each of the reflection points Pa-Pc, and detecting the plane of inclination including the relative position of each of the reflection points Pa-Pc as the inclination of a guided vehicle 2 equipped with the LRF 21.SELECTED DRAWING: Figure 1 【課題】移動体の経路変更にも柔軟に対応できるように、移動体の傾きを検知すること。【解決手段】傾き検出装置の記憶手段には、互いに傾きが異なる３本のマーカ棒Ｓａ〜Ｓｃ上の相対的な位置情報が格納されており、傾き検出装置の演算手段が、各マーカ棒Ｓａ〜Ｓｃに対してＬＲＦ２１から照射されるレーザビーム２２の反射点Ｐａ〜Ｐｃの位置情報の入力を受け付け、受け付けた各反射点間の位置関係を、各マーカ棒Ｓａ〜Ｓｃ上の相対的な位置に適合させることで、各反射点Ｐａ〜Ｐｃのマーカ棒Ｓａ〜Ｓｃ上の相対的な位置を求め、求めた各反射点Ｐａ〜Ｐｃの相対的な位置を含む傾き平面を、ＬＲＦ２１を備える搬送車２の傾きとして検出する。【選択図】図１