Vehicle guidance mechanism

• US 3,935,922 A
• Filed: 07/16/1974
• Issued: 02/03/1976
• Est. Priority Date: 07/16/1974
• Status: Expired due to Term

• Current Assignee: Lear Siegler, Inc. (LSS Holdings LLC)
• Original Assignee: Lear Siegler, Inc. (LSS Holdings LLC)
• Inventors: Cooper, Jack A., Debruine, Carl
• Primary Examiner(s): Song, Robert R.
• Assistant Examiner(s): Schrecengost, R.
• Application Number:
  US05/489,043
• Time in Patent Office: 567 Days
• Field of Search: 280/98, 280/79.1, 280/79, 250/202, 250/224, 250/365, 250/207, 250/458, 250/461
• US Class Current: 180/168
• CPC Class Codes: A47L 11/4011 Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0244 using reflecting strips

Abstract

A vehicle guidance mechanism for guiding a vehicle along a surface by means of an invisible guide line containing fluorescent material comprises an ultraviolet lamp that causes the guide line to fluoresce and emit visible light; photocell sensors mounted in the vehicle and adapted to sense the visible radiation and produce an error output signal proportional to the variation of vehicle position from a predetermined lateral position with respect to the guide line; and a control device in the vehicle adapted to steer the vehicle in response to the error signal so as to cause the vehicle to follow the guide line. An automatic contrast control circuit eliminates the effect of background illumination in the output signal and produces a constant closed loop gain with respect to the signal received from the guide line. Modulation circuitry and appropriate filters further reduce the effects of background illumination and improve the reliability and line detecting ability of the guide system. Line detection circuitry is employed to prevent operation of the automatic control device unless the vehicle is tracking a valid guide line.

Claims

1. Vehicle guidance means for guiding a vehicle along a surface, said guidance means comprising a guide line which is substantially invisible under ordinary ambient lighting conditions and which contains material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means further comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line; and

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line.

2. Vehicle guidance means for guiding a vehicle along a surface, said guidance means including a guide line which is substantially invisible under ordinary ambient lighting conditions and which contains a fluorescent material that emits radiation in a visible frequency range in response to stimulation by radiation in an invisible frequency range, said guidance means further comprising:

radiation means in the vehicle adapted to direct radiation in an invisible frequency range on the guide line so as to cause the guide line to emit a visible frequency radiation;

sensor means mounted in the vehicle and adapted to sense the visible frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line; and

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line.

3. Vehicle guidance means as claimed in claim 2 wherein:

the radiation means is adapted to emit substantially no visible light; and

the sensor means is responsive to the visible radiation from the guide line but is adapted to be substantially nonresponsive to reflected invisible radiation generated by the radiation means.

4. Vehicle guidance means as claimed in claim 3 wherein:

the fluorescent material in the guide line emits visible radiation in said first frequency range in response to stimulation by invisible ultraviolet radiation;

the radiation means comprises an ultraviolet lamp, with the second frequency range being ultraviolet radiation, the ultraviolet lamp being filtered to the extent necessary to prevent the radiation of the visible light from the lamp; and

the sensor means comprises photocell means capable of producing an output signal generally proportional to the intensity of visible light impinging thereon, said photocell means being responsive to visible light in the frequency range generated by the fluorescent guide line and including means to filter the light to the extent necessary so that the photocell means is substantially nonresponsive to ultraviolet radiation and other background radiation of a frequency substantially different from said first frequency range.

5. Vehicle guidance means as claimed in claim 2 wherein:

the vehicle rides on rotatable wheels and is steered by pivoting at least one of said wheels, the vehicle being a rear-steering vehicle with at least one pivotable rear wheel and at least one non-pivotable front wheel;

the control means steer the vehicle by pivoting said rear wheel; and

the sensor means are movably mounted in the vehicle such that when the control means pivots the wheel sufficiently to steer the vehicle along the guide line, the sensor means are moved by the pivoting of said wheel to a position wherein a zero error output signal is generated by the sensor means, even though the vehicle itself may not have yet returned to said predetermined lateral position with respect to the guide line, the sensor means being movably mounted in the vehicle by mounting means adapted to move the sensor means in the opposite direction to the direction of movement of the rear pivotable wheel so as to cause the sensor means to follow the guide line in response to the steering of the vehicle, even though steering is effected by pivoting the rear wheel in a direction opposite to the desired direction of the vehicle.

6. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line; and

modulation circuit means adapted to modulate the second frequency radiation emitted from the radiation means to effectively eliminate the effect the static and fluorescent background illumination from the error output signal, said modulation circuit means modulating the second frequency radiation at a predetermined frequency and including synchronized demodulation means for effectively limiting the error output signal to that portion of the sensor means output signal which is produced by radiation of said predetermined frequency.

7. Vehicle guidance means as claimed in claim 6 wherein the modulation means comprises means for switching the radiation means on and off at synchronized intervals, synchronized demodulation means adapted to measure at each interval the effective difference in the output signal of the sensor means when the radiation means is on and off, and sample and hold amplifier means adapted to hold the value of the error output signal at a level equal to said difference until the value of the difference signal changes in a subsequent cycle.

8. Vehicle guidance means as claimed in claim 7 wherein the radiation means is switched on and off at a rate of about 144 Hz.

9. Vehicle guidance means as claimed in claim 7 wherein:

the change in value of the sensor means output signal lags the change in first frequency radiation received by the sensor means in accordance with the time constant of the sensor means; and

the demodulation means measures the difference between the sensor means output signals just after the radiation means has been switched on and just before the radiation means is switched off.

10. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line; and

feed back means adapted to maintain a generally constant ratio between error output signal strength and displacement of the guide line from a predetermined centerline position, regardless of the strength of static or fluorescent background illumination as long as the vehicle is following the guide line and the guide line is brighter than the background when the radiation means is switched on.

11. Vehicle guidance means as claimed in claim 10 wherein:

the sensor means comprises photocell means for sensing radiation from the guide line, said photocell means being adapted to produce separate output signals representative of radiation intensity at at least three different positions with respect to the guide line, said positions being on the left and right sides of the guide line and a center position over the guide line when the guide line is centered with respect to the sensor means;

the photocell means are positioned in the vehicle such that approximately the same amount of background illumination is received at all three positions when the guide line is centered with respect to the sensor means; and

the feedback means is adapted to maintain a constant difference between the output signal from the center position and the average of the output signals from left and right positions when the guide line is centered with respect to the sensor means.

12. Vehicle guidance means as claimed in claim 11 wherein the feedback means is adapted to modify the output signal from the center position by adding to it the absolute value of the difference between the left and right position output signals, the difference between this modified center position output signal and the average of the left and right position output signals being the difference signal maintained at a substantially constant level by said feedback means.

13. Vehicle guidance means as claimed in claim 12 wherein the photocell means comprise separate left, right, and center line photocells positioned to the left, right, and directly over the guide line, respectively, when the guide line is centered with respect to the sensor means.

14. Vehicle guidance means as claimed in claim 11 wherein:

the feedback means maintains said constant difference signal by means of a feedback signal to the sensor means; and

the vehicle guidance means further comprises line detection means adapted to prevent the operation of the vehicle guidance means whenever the feedback signal exceeds a predetermined level.

15. Vehicle guidance means as claimed in claim 14 wherein line detection means is further adapted to prevent operation of the vehicle guidance means if the absolute difference between the photocell means output signals at the left and right positions exceed a predetermined value.

16. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

the sensor means comprises photocell means adapted to produce separate output signals from at least three positions with respect to the guide line, said positions being to the left, to the right, and centered over the guide line when the guide line is centered with respect to the sensor means;

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line; and

line detection means connected to the senosr means and adapted to prevent the vehicle guidance means from operating unless the sensor mechanism is positioned over a guide line, the line detection means being adapted to prevent the initiation of operation of the vehicle guidance means unless the output signal from the center position is greater than the output signals from both the left and right positions.

17. Vehicle guidance means as claimed in claim 16 wherein the line detection means is adapted to cause a valid line indication to be maintained once captured unless the output signal from the center position drops below the level of the output signals from both the left and right positions.

18. Vehicle guidance means as claimed in claim 17 wherein the output signals from the photocell means are produced by separate left, right, and centerline photocells corresponding to the left, right and center positions.

19. Vehicle guidance means as claimed in claim 18 and further comprising limit means for preventing a valid line indication from being generated until the differences between the centerline photocell output signal and the respective left and right photocell output signals reaches a predetermined value, so as to insure tracking on a line of satisfactory strength.

20. Vehicle guidance means as claimed in claim 19 wherein said limit means is adapted to lower the predetermined difference between centerline and left and right photocell signals in the presence of a bright line.

21. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line;

feedback means adapted to maintain a generally constant ratio between error output signal strength and displacement of the guide line from a predetermined centerline position, regardless of the strength of static or fluorescent background illumination, as long as the vehicle is following the guide line and the guide line is brighter than the background when the radiation means is switched on, said feedback means producing an error indication when the vehicle is not following the guide line or when the guide line is not brighter than the background by a predetermined amount when the radiation means is switched on; and

line detection means responsive to said error indication and adapted to prevent operation of the vehicle guidance means when an error indication is received.

22. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in the vehicle and adapted to sense the first frequency emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

the sensor means comprises photocell means adapted to produce discreet output signals representative of radiation detected at at least three positions with respect to the guide line, two of said positions being to the left and right of the guide line and the third position being such that a predetermined relationship exists between the output representative of the third position and at least one of the other positions when the vehicle guidance means is positioned over the guide line;

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line; and

line detection means adapted to prevent the vehicle guidance mechanism from operating unless said predetermined relationship exists.

23. Vehicle guidance means as claimed in claim 22 wherein said photocell means output signals also have a predetermined relationship when the brightness of the guide line is less than a predetermined minimum level, and the line detection means is adapted to prevent operation of the vehicle guidance means unless both predetermined relationships are in existence.

24. Vehicle guidance means for guiding a vehicle along a surface by means of a guide line containing material that emits radiation in a first frequency range in response to stimulation by radiation in a second frequency range, said guidance means comprising:

radiation means in the vehicle adapted to direct radiation in said second frequency range on the guide line so as to cause the guide line to emit said first frequency radiation;

sensor means mounted in te vehicle and adapted to sense the first frequency radiation emitted by the guide line and in response thereto to generate an error output signal representative of the variation of the vehicle position from a predetermined lateral position with respect to the guide line;

means for rendering said sensor means substantially nonresponsive to reflected radiation in the second frequency range; and

control means in the vehicle adapted to steer the vehicle in response to the error signal generated by the sensor means so as to maintain the vehicle in said predetermined lateral position with respect to the guide line as the vehicle moves along the guide line.