PROBLEM TO BE SOLVED: To keep grasping an accurate position, and to grasp a detail position.SOLUTION: In a position grasping system 100 in which a tracking device 300 tracks a leading device 200, the leading device comprises: an autonomous navigation arithmetic processing part 205 for calculating position information of an own device only by information acquired by a sensor which does not use information provided from the outside; and a wireless communication part 206 for transmitting the position information of the own device calculated by the arithmetic processing part to the tracking device, and the tracking device comprises: a wireless communication part 301 for receiving the position information of the leading device transmitted by the wireless communication part 206; supersonic wave position information calculation means for calculating the position information of the leading device on the basis of a timing at which a supersonic wave is transmitted to the leading device and a timing at which the supersonic wave transmitted from the leading device is received in response to the supersonic wave; comparison means for comparing the position information of the leading device calculated by the autonomous navigation arithmetic processing part and the supersonic wave position information calculation means; and control means for controlling the speed and direction of the tracking device on the basis of the comparison result.SELECTED DRAWING: Figure 1
【課題】正確な位置を把握し続け、詳細な位置を把握する。【解決手段】追尾装置300が先導装置200の追尾を行う位置把握システム100である。先導装置は、外部から提供される情報を使わないセンサで得られる情報のみで自装置の位置情報を算出する自律航法演算処理部205、当該演算処理部により算出された自装置の位置情報を追尾装置へ送信する無線通信部206を含む。追尾装置は、無線通信部206により送信された先導装置の位置情報を受信する無線通信部301、超音波を先導装置へ送信するタイミングと超音波に応じて先導装置から発せられた超音波を受信するタイミングとに基づいて先導装置の位置情報を算出する超音波位置情報算出手段、自律航法演算処理部と超音波位置情報算出手段とにより算出された先導装置の位置情報を比較する比較手段、当該比較結果に基づいて、追尾装置の速度と方向とを制御する制御手段を含む。【選択図】図1
POSITION GRASPING SYSTEM AND TRACKING DEVICE
位置把握システム及び追尾装置
2017-07-20
Patent
Electronic Resource
Japanese
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