Abstract: A method for position finding of an automated guided vehicle using detection of angle positions for anonymous reflectors (R1-R11). The anonymous reflectors are arranged in positions in a limited transport area, and the positions are stored. A concentrated beam (B) is emitted from a vehicle (10) and is made to pass over a search sector. The angle position in relation to a reference direction (D) of the vehicle (10) in reflective objects is continually detected during the sweep of the beam over the search sector, and corresponding angle values are determined.

Abstract: A method for association of anonymous reflectors (R1-R11) to detected angle positions, whereby a) the anonymous reflectors are arranged in positions in a transport area; b) positions of the reflectors (R1-R11) are stored in first memory means (20); c) a beam (B) is emitted from an emission source (13) of a vehicle (10) over a search sector; d) reflected signals from reflecting objects are received on board the vehicle (10); e) an angle position towards reflecting objects in relation to a reference direction (D) of the vehicle (10) is continuously detected by detector means (18) during the sweep of the beam over the search sector, and corresponding angle values are determined; f) at least one angle value determined over the search sector is stored in a second memory means (21). The distances between reflectors (R1-R11) are a reference point on the vehicle (10) is determined continuously by a control means (19).

Abstract: A navigation system for guiding an automatically guided vehicle along a variable, predetermined path defined by a plurality of fixed, spaced-apart points. A target is positioned at each spaced-apart point defining the target which includes first and light sources spaced horizontally apart. A light receiving camera and lens is mounted on the vehicle for receiving the first and second horizontally spaced-apart light beams and focusing the beams on a detector. The detector includes an access on which the light beams are focused. A difference in distance from the vertical axis of the detector of the two spaced-apart points represents a deviation from the proper path of the vehicle to the target and an equality of distance of the two spaced-apart points to the vertically extending axis represents the proper path to the target. A vehicle controller controls the vehicle position in relation to the target based on the information received by the camera and lens.

Abstract: An automatically guided vehicle (V) having a steering mechanism for enabling the vehicle to follow a guidance wire is disclosed. The vehicle includes a pair of spaced-apart steer drive antennas (S1, S2) and a pair of spaced-apart differential drive antennas (D1, D2). The steer drive antennas and differential drive antennas are in mutual perpendicular relation to each other and are stationarily mounted on the vehicle (V). In a steer drive mode, wheels (12) and (13) are separately controlled by steer drive antennas (S1) and (S2), respectively. The antennas cause the wheels to turn and therefore guides the vehicle (V) so that a wire (W) is followed.In a differential drive mode, wheels (12) and (13) that are positioned in parallel driving relation to each other and are controlled by antennas (D1, D2) respectively by varying the speed of the wheels (12, 13) to cause the vehicle (V) to follow the wire (W).