CN105203057A - Travel system and travel position detecting device and method thereof - Google Patents
Travel system and travel position detecting device and method thereof Download PDFInfo
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- CN105203057A CN105203057A CN201510659184.7A CN201510659184A CN105203057A CN 105203057 A CN105203057 A CN 105203057A CN 201510659184 A CN201510659184 A CN 201510659184A CN 105203057 A CN105203057 A CN 105203057A
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Abstract
The invention discloses a travel system and a travel position detecting device thereof and further discloses a travel position detecting method of the travel system. The travel system comprises a first track, a first cart, a second cart, a first position measurer, a second position measurer and a data processor, wherein the first cart comprises a cart body and a second track, the line connecting two first physical points intersects with the first track, at least three first physical points are located on different lines or located on the same line intersecting with the first track, and the data processor is connected with the first position measurer and the second position measurer to calculate the positions of any points on the first cart and the second cart according to the measurement value of the first position measurer, the measurement value of the second position measurer, the geometrical relationship between any points on the first cart and the first physical points and the geometrical relationship between any points on the second cart and second physical points. By the adoption of the travel system, material hoisting and travel control of the first cart and the second cart can be better achieved.
Description
Technical field
The present invention relates to driving system, also relate to the road location pick-up unit of driving system, and road location detection method.
Background technology
Existing driving system is carrying out automatic lifting and is putting down in operation and walking operational process to material, need to know the cart of driving system and the position of dolly, to provide vehicle parameter information effectively to drive cart and dolly to drive to desired location, or precise position information when providing material to lift.But existing driving system accurately cannot measure the position of cart and dolly.
Summary of the invention
The application makes the discovery of the following fact and problem and understanding based on inventor: the existing detection to driving system, only detect crane relative in position relative to cart of the position of factory building and dolly, do not consider that cart and large Car Track angular deviation can occur, because this reducing the measuring accuracy of road location.
The present invention is intended to solve one of technical matters in correlation technique at least to a certain extent.For this reason, the present invention proposes a kind of driving system, and described driving system can more accurately be measured, calculate the position of the first car and the second car.
The present invention also proposes a kind of road location pick-up unit of driving system, and the position of the first car and the second car more accurately can be measured, be calculated to the road location pick-up unit of described driving system.
The present invention also proposes a kind of road location detection method of driving system, and the position of the first car and the second car more accurately can be measured, be calculated to the road location detection method of described driving system.
The driving system of embodiment comprises according to a first aspect of the present invention: the first track; First car and the second car, described first car comprises car body and is located at the second track on described car body, and described first car is located on described first track movably, and described second car is located on described second track movably; For measuring the primary importance measuring appliance of the position of at least two the first physical points on described first car, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross; For measuring the second place measuring appliance of the position of relatively described first car of at least one second physical points on described second car; And data processor, described data processor is connected with described primary importance measuring appliance and described second place measuring appliance to calculate the position of the arbitrfary point on the position of the arbitrfary point on described first car and described second car according to the arbitrfary point on the measured value of the measured value of the initial position of described first car, described primary importance measuring appliance, described second place measuring appliance, described first car and the geometric relationship between at least two described first physical points and the arbitrfary point on described second car and the geometric relationship described at least one between the second physical points.
More accurately can measure, calculate the position of the arbitrfary point on the position of the arbitrfary point on this first car and the second car according to the driving system of the embodiment of the present invention, thus the travelling control of material lifting and this first car and the second car can be carried out better.
In addition, driving system according to the above embodiment of the present invention can also have following additional technical characteristic:
According to one embodiment of present invention, described primary importance measuring appliance is located on described first car or is suitable for being located on factory building, and described second place measuring appliance is located on described first car or described second car.
According to one embodiment of present invention, described primary importance measuring appliance is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, described second place measuring appliance is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, wherein said primary importance measuring appliance is at least two, and the position of at least two described first physical points on described first car measured correspondingly by least two described primary importance measuring appliances.
According to one embodiment of present invention, described primary importance measuring appliance comprises the first photoelectric coding band and at least two the first reading terminals, described first photoelectric coding band is parallel to described first track, and at least two described first reading terminals are located at least two described first physical points of described first car correspondingly; Described second place measuring appliance comprises the second photoelectric coding band and at least one second reading terminal, and described second photoelectric coding band is parallel to described second track, the second reading terminal described at least one be located at described second car at least one described in the second physical points.
According to one embodiment of present invention, described primary importance measuring appliance is two and described primary importance measuring appliance is rotary encoder, two described primary importance measuring appliances are located in the rotating shaft of described first car, described second place measuring appliance is rotary encoder, and described second place measuring appliance is located in the rotating shaft of described second car.
According to one embodiment of present invention, described first physical points is two, and the line of two described first physical points is perpendicular to described first track.
The road location pick-up unit of the driving system of embodiment comprises according to a second aspect of the present invention: for measuring the primary importance measuring appliance of the position of at least two the first physical points on the first car, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross; For measuring the second place measuring appliance of the position of relatively described first car of at least one second physical points on the second car; And data processor, described data processor is connected with described primary importance measuring appliance and described second place measuring appliance to calculate the position of the arbitrfary point on the position of the arbitrfary point on described first car and described second car according to the arbitrfary point on the measured value of the measured value of the initial position of described first car, described primary importance measuring appliance, described second place measuring appliance, described first car and the geometric relationship between at least two described first physical points and the arbitrfary point on described second car and the geometric relationship described at least one between the second physical points.
The road location detection method of the driving system of embodiment according to a third aspect of the present invention, described driving system comprises the first car being located at the first track, being located on described first track and having the second track and the second car be located on described second track, and described road location detection method comprises the following steps:
A) position of at least two the first physical points on described first car is measured, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross;
B) position of relatively described first car of at least one second physical points on described second car is measured;
C) position of the arbitrfary point on described first car is calculated according to the geometric relationship between the arbitrfary point on the initial position of described first car, the measured value of described primary importance measuring appliance and described first car and at least two described first physical points;
D) position of the arbitrfary point on described second car is calculated according to the arbitrfary point on the measured value of described second place measuring appliance and described second car and the geometric relationship described at least one between the second physical points.
According to one embodiment of present invention, described first physical points is two, and the line of two described first physical points is perpendicular to described first track.
According to one embodiment of present invention, in described steps A) in, measure the position of at least two relatively described first tracks of the first physical points on described first car, at described step B) in, measure the position of relatively described second track of at least one second physical points on described second car.
According to one embodiment of present invention, at described step C) in, calculate the misalignment angle of described first car according to the measured value of at least two described first physical points position in the ideal situation and described primary importance measuring appliance, and then calculate the position of the arbitrfary point on described first car according to described misalignment angle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the driving system according to the embodiment of the present invention;
The change in location schematic diagram in deviation situation is being there is in Fig. 2 according to the first car of the driving system of the embodiment of the present invention;
Fig. 3 is the process flow diagram of the road location detection method of driving system according to the embodiment of the present invention.
Embodiment
Be described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings.Be exemplary below by the embodiment be described with reference to the drawings, be intended to for explaining the present invention, and can not limitation of the present invention be interpreted as.
Below with reference to the accompanying drawings driving system 10 according to the embodiment of the present invention is described.As depicted in figs. 1 and 2, the first track 101, first car, the second car 103 and road location pick-up unit is comprised according to the driving system 10 of the embodiment of the present invention.This road location pick-up unit comprise the position for measuring at least two the first physical points on this first car primary importance measuring appliance 104, for measuring second place measuring appliance 105 and the data processor (not shown) of the position of the second car 103 this first car relative.
The second track 1022 that this first car comprises car body 1021 and is located on car body 1021, this first car is located on the first track 101 movably, and the second car 103 is located on the second track 1022 movably.That is, this first car can move along the length direction of the first track 101, and the second car 103 can move along the length direction of the second track 1022.Wherein, when this first physical points is two, the line of two these the first physical points is crossing with the first track 101, namely the line of two these the first physical points and the first track 101 not parallel.When this first physical points is at least three, at least three these the first physical points not on same straight line or at least three these the first physical points on the same straight line crossing with the first track 101.In other words, on the same line, this straight line is crossing with the first track 101 at least three these the first physical points.
This data processor and primary importance measuring appliance 104 are connected so that according to the initial position of described first car with second place measuring appliance 105, the measured value of primary importance measuring appliance 104, the measured value of second place measuring appliance 105, arbitrfary point on this first car and the geometric relationship between at least two these the first physical points and the arbitrfary point on the second car 103 and the geometric relationship between at least one this second physical points calculate the position of the arbitrfary point on the position of the arbitrfary point on this first car and the second car 103.
Below with reference to Fig. 1-Fig. 3, the road location detection method according to the driving system 10 of the embodiment of the present invention is described.Road location detection method according to the driving system 10 of the embodiment of the present invention comprises the following steps:
A) position of at least two the first physical points on this first car is measured, when this first physical points is two, the line of two these the first physical points is crossing with the first track 101, when this first physical points is at least three, at least three these the first physical points not on same straight line or at least three these the first physical points on the same straight line crossing with the first track 101.
B) position of the second car 103 this first car relative is measured.
C) position of the arbitrfary point on this first car is calculated according to the geometric relationship between the arbitrfary point on the initial position of described first car, the measured value of primary importance measuring appliance 104 and this first car and at least two these physical points.
Below with reference to Fig. 2, be two for this first physical points and the line of two these the first physical points is described perpendicular to the first track 101, the arbitrfary point wherein on this first car and the geometric relationship between at least two these physical points are the inverse function of misalignment angle or this misalignment angle.Before this first car moves, the line of two these the first physical points is L1.After this first car moves, the line of two these the first physical points is L2, and the line of (this perfect condition refers to that this first car of hypothesis deviation does not occur) two these first physical points is L3 in the ideal situation.Wherein, line L3 is parallel to line L1, and the distance of line L3 and line L1 on the length direction of the first track 101 equals the displacement of this first car on the first track 101.According to the initial position of this first car and the displacement of this first car on the first track 101, the position (position after namely moving) of the arbitrfary point of this first car in the ideal situation can be obtained.
Because this first car and the first track 101 angular deviation can occur, therefore line L2 is not parallel to line L3, and namely line L2 is crossing at a certain angle with line L3.Because line L3 is parallel to line L1, therefore the angle of line L2 and line L3 equals the angle of line L2 and line L1.Primary importance measuring appliance 104 can measure the position of two these the first physical points before this first car moves and after moving, thus line L2 and line L1 can be obtained, and then the angle (i.e. the misalignment angle of this first car or the misalignment angle of this first car and the first track 101) of line L2 and line L1 can be calculated.
When this first physical points is at least three, identical when measurements and calculations principle is two with this first physical points, no longer describe in detail at this.
This misalignment angle can be utilized to revise the position in the ideal situation, arbitrfary point on this first car.Specifically, utilize the initial position of this first car and primary importance measuring appliance 104 can measure the displacement of this first car on the first track 101, thus the position in the ideal situation, arbitrfary point that can obtain on this first car, and then by this misalignment angle (such as by the inverse function of this misalignment angle), the arbitrfary point on this first car is repaired, to obtain the physical location of the arbitrfary point on this first car.Such as, according to the position of any one in this first physical points of at least two on this first car before this first car moves and after moving, the displacement of this first car on the first track 101 can be determined.
D) position of the arbitrfary point on the second car 103 is calculated according to the geometric relationship between the arbitrfary point on the measured value of second place measuring appliance 105 and the second car 103 and at least one this second physical points.The position of at least one this second physical points this first car relative of the second car 103 can be obtained due to second place measuring appliance 105, therefore can arbitrfary point on this first car physical location basis on, the physical location of at least one this second physical points of the second car 103 is obtained by the position of at least one this second physical points of the second car 103 this first car relative, and then by the geometric relationship between the arbitrfary point on the second car 103 and at least one this second physical points, obtain the physical location of the arbitrfary point on the second car 103.
Specifically, the first preset can be chosen on this first car, and utilize second place measuring appliance 105 to measure the position of the first preset at least one this second physical points this first car relative of the second car 103, thus can by the position of the first preset on physical location this first car relative to this second physical points of the second car 103 of the first preset on this first car, obtain the physical location of this second physical points on the second car 103, and then the physical location of the arbitrfary point on the second car 103 can be obtained.
It will be appreciated by persons skilled in the art that the physical location that other known modes can also be utilized to calculate the arbitrfary point on the physical location of the arbitrfary point on this first car and the second car 103.
Existing road location pick-up unit is the position of the displacement of measurement first car on the first track (namely the first car is relative to the position of factory building) first car relative to the second car, and do not consider that angular deviation can occur for the first car and the first track, therefore accurately cannot measure the road location of the first car and the second car.
In the driving system 10 according to the embodiment of the present invention, road location pick-up unit and road location detection method, owing to take into account the misalignment angle of this first car when calculating the position of the arbitrfary point on this first car, therefore more accurately can measure, calculate the position of the arbitrfary point on this first car, and then more accurately can measure, calculate the position of the arbitrfary point on the second car 103.
According to the driving system 10 of the embodiment of the present invention, road location pick-up unit and road location detection method by measuring the position of at least two the first physical points on this first car, thus can the angular deviation that this first car and the first track 101 occur be revised, more accurately can measure, calculate the position of the arbitrfary point on the position of the arbitrfary point on this first car and the second car 103 thus, thus the travelling control of material lifting and this first car and the second car 103 can be carried out better.
As depicted in figs. 1 and 2, in some embodiments of the invention, driving system 10 comprises the first track 101, first car (cart), the second car 103 (dolly) and road location pick-up unit.This road location pick-up unit comprises primary importance measuring appliance 104, second place measuring appliance 105 and data processor.Primary importance measuring appliance 104 is for measuring the position of at least two the first physical points on this first car, and second place measuring appliance 105 is for measuring the position of at least one second physical points this first car relative on the second car 103.
Wherein, driving system 10 can be located in factory building.Specifically, two-dimensional coordinate system can be set up in this factory building, primary importance measuring appliance 104 can measure the two-dimensional coordinate of at least two the first physical points in this two-dimensional coordinate system on this first car, and second place measuring appliance 105 can measure the two-dimensional coordinate of at least one the second physical points in this two-dimensional coordinate system on the second car 103.
Primary importance measuring appliance 104 can measure the position of at least two these the first physical points on this first car relative to fixed object (such as factory building, the first track 101 etc.).Such as, primary importance measuring appliance 104 measure this first car at least two the first physical points on the length direction of the first track 101 with the distance of factory building.
Advantageously, in the road location detection method of the driving system 10 according to the embodiment of the present invention, in steps A) in, measure the position of at least two relative first tracks 101 of the first physical points on this first car.In step B) in, measure the position of relative second track 1022 of at least one second physical points on the second car 103, namely second place measuring appliance 105 is for measuring at least one second physical points on the second car 103 relative to the relative position of the second track 1022 on the length direction of the second track 1022.
In one embodiment of the invention, primary importance measuring appliance 104 is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, and primary importance measuring appliance 104 is located on this first car or is suitable for being located on this factory building.Wherein, primary importance measuring appliance 104 is at least two, and the position of at least two these the first physical points on this first car measured correspondingly by least two primary importance measuring appliances 104.In other words, the quantity of primary importance measuring appliance 104 can equal the quantity of this first physical points on this first car, and the position of this first physical points on this first car measured by primary importance measuring appliance 104.
Second place measuring appliance 105 is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, and second place measuring appliance 105 is located on this first car or the second car 103.
In another embodiment of the present invention, primary importance measuring appliance 104 comprises the first photoelectric coding band and at least two the first reading terminals, this the first photoelectric coding band is parallel to the first track 101, at least two the first reading terminals and is located at correspondingly at least two the first physical points of this first car.That is, the quantity of this first reading terminal can equal the quantity of this first physical points, and first reading terminal is located in first physical points of this first car.Second place measuring appliance 105 comprises the second photoelectric coding band and at least one second reading terminal, and this second photoelectric coding band is parallel to the second track 1022, and at least one this second reading terminal is located at least one this second physical points of the second car 103.
In yet another embodiment of the present invention, primary importance measuring appliance 104 is two and primary importance measuring appliance 104 is rotary encoder, two primary importance measuring appliances 104 are located in the rotating shaft of this first car, second place measuring appliance 105 is rotary encoder, and second place measuring appliance 105 is located in the rotating shaft of the second car 103.Wherein, there is proportionate relationship in rotating speed and the speed of travel of this first car on the first track 101 of the rotating shaft of this first car, and rotating speed and the speed of travel of the second car 103 on the second track 1022 of the rotating shaft of the second car 103 exist proportionate relationship.
In addition, Gray bus mode can also be utilized to measure the position of at least one this second physical points on the position of at least two the first physical points on this first car and the second car 103 this first car relatively.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " length ", " width ", " thickness ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axis ", " radial direction ", orientation or the position relationship of the instruction such as " circumference " are based on orientation shown in the drawings or position relationship, only the present invention for convenience of description and simplified characterization, instead of indicate or imply that the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore limitation of the present invention can not be interpreted as.
In addition, term " first ", " second " only for describing object, and can not be interpreted as instruction or hint relative importance or imply the quantity indicating indicated technical characteristic.Thus, be limited with " first ", the feature of " second " can express or impliedly comprise at least one this feature.In describing the invention, the implication of " multiple " is at least two, such as two, three etc., unless otherwise expressly limited specifically.
In the present invention, unless otherwise clearly defined and limited, the term such as term " installation ", " being connected ", " connection ", " fixing " should be interpreted broadly, and such as, can be fixedly connected with, also can be removably connect, or integral; Can be mechanical connection, also can be electrical connection or each other can communication; Can be directly be connected, also indirectly can be connected by intermediary, can be the connection of two element internals or the interaction relationship of two elements, unless otherwise clear and definite restriction.For the ordinary skill in the art, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score can be that the first and second features directly contact, or the first and second features are by intermediary indirect contact.And, fisrt feature second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or only represent that fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " below " and " below " can be fisrt feature immediately below second feature or tiltedly below, or only represent that fisrt feature level height is less than second feature.
In the description of this instructions, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means to describe in conjunction with this embodiment or example are contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not must for be identical embodiment or example.And the specific features of description, structure, material or feature can combine in one or more embodiment in office or example in an appropriate manner.In addition, when not conflicting, the feature of the different embodiment described in this instructions or example and different embodiment or example can carry out combining and combining by those skilled in the art.
Although illustrate and describe embodiments of the invention above, be understandable that, above-described embodiment is exemplary, can not be interpreted as limitation of the present invention, and those of ordinary skill in the art can change above-described embodiment within the scope of the invention, revises, replace and modification.
Claims (11)
1. a driving system, is characterized in that, comprising:
First track;
First car and the second car, described first car comprises car body and is located at the second track on described car body, and described first car is located on described first track movably, and described second car is located on described second track movably;
For measuring the primary importance measuring appliance of the position of at least two the first physical points on described first car, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross;
For measuring the second place measuring appliance of the position of relatively described first car of at least one second physical points on described second car; With
Data processor, described data processor is connected with described primary importance measuring appliance and described second place measuring appliance to calculate the position of the arbitrfary point on the position of the arbitrfary point on described first car and described second car according to the arbitrfary point on the measured value of the measured value of the initial position of described first car, described primary importance measuring appliance, described second place measuring appliance, described first car and the geometric relationship between at least two described first physical points and the arbitrfary point on described second car and the geometric relationship described at least one between the second physical points.
2. driving system according to claim 1, is characterized in that, described primary importance measuring appliance is located on described first car or is suitable for being located on factory building, and described second place measuring appliance is located on described first car or described second car.
3. driving system according to claim 1, it is characterized in that, described primary importance measuring appliance is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, described second place measuring appliance is the one in laser range finder, radar range finder, radio distance-measuring set and ultrasonic range finder, wherein said primary importance measuring appliance is at least two, and the position of at least two described first physical points on described first car measured correspondingly by least two described primary importance measuring appliances.
4. driving system according to claim 1, is characterized in that,
Described primary importance measuring appliance comprises the first photoelectric coding band and at least two the first reading terminals, described first photoelectric coding band is parallel to described first track, and at least two described first reading terminals are located at least two described first physical points of described first car correspondingly;
Described second place measuring appliance comprises the second photoelectric coding band and at least one second reading terminal, and described second photoelectric coding band is parallel to described second track, the second reading terminal described at least one be located at described second car at least one described in the second physical points.
5. driving system according to claim 1, it is characterized in that, described primary importance measuring appliance is two and described primary importance measuring appliance is rotary encoder, two described primary importance measuring appliances are located in the rotating shaft of described first car, described second place measuring appliance is rotary encoder, and described second place measuring appliance is located in the rotating shaft of described second car.
6. driving system according to claim 1, is characterized in that, described first physical points is two, and the line of two described first physical points is perpendicular to described first track.
7. a road location pick-up unit for driving system, is characterized in that, comprising:
For measuring the primary importance measuring appliance of the position of at least two the first physical points on the first car, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross;
For measuring the second place measuring appliance of the position of relatively described first car of at least one second physical points on the second car; With
Data processor, described data processor is connected with described primary importance measuring appliance and described second place measuring appliance to calculate the position of the arbitrfary point on the position of the arbitrfary point on described first car and described second car according to the arbitrfary point on the measured value of the measured value of the initial position of described first car, described primary importance measuring appliance, described second place measuring appliance, described first car and the geometric relationship between at least two described first physical points and the arbitrfary point on described second car and the geometric relationship described at least one between the second physical points.
8. the road location detection method of a driving system, it is characterized in that, described driving system comprises the first car being located at the first track, being located on described first track and having the second track and the second car be located on described second track, and described road location detection method comprises the following steps:
A) position of at least two the first physical points on described first car is measured, wherein when described first physical points is two, the line of two described first physical points and described first traces cross, when described first physical points is at least three, at least three described first physical points not on same straight line or at least three described first physical points with on the same straight line of described first traces cross;
B) position of relatively described first car of at least one second physical points on described second car is measured;
C) position of the arbitrfary point on described first car is calculated according to the geometric relationship between the arbitrfary point on the initial position of described first car, the measured value of described primary importance measuring appliance and described first car and at least two described first physical points;
D) position of the arbitrfary point on described second car is calculated according to the arbitrfary point on the measured value of described second place measuring appliance and described second car and the geometric relationship described at least one between the second physical points.
9. the road location detection method of driving system according to claim 8, is characterized in that, described first physical points is two, and the line of two described first physical points is perpendicular to described first track.
10. the road location detection method of driving system according to claim 8, it is characterized in that, in described steps A) in, measure the position of at least two relatively described first tracks of the first physical points on described first car, at described step B) in, measure the position of relatively described second track of at least one second physical points on described second car.
The road location detection method of 11. driving systems according to any one of claim 1-10, it is characterized in that, at described step C) in, calculate the misalignment angle of described first car according to the measured value of at least two described first physical points position in the ideal situation and described primary importance measuring appliance, and then calculate the position of the arbitrfary point on described first car according to described misalignment angle.
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| CN201510659184.7A CN105203057B (en) | 2015-10-12 | 2015-10-12 | Driving system and its road location detection device and road location detection method |
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| CN201510659184.7A CN105203057B (en) | 2015-10-12 | 2015-10-12 | Driving system and its road location detection device and road location detection method |
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| CN105203057A true CN105203057A (en) | 2015-12-30 |
| CN105203057B CN105203057B (en) | 2018-07-17 |
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| CN (1) | CN105203057B (en) |
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| CN105203057B (en) | 2018-07-17 |
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