Driverless vehicle autoguide by light signals and two directional detectors

• US 4,328,545 A
• Filed: 08/01/1979
• Issued: 05/04/1982
• Est. Priority Date: 08/01/1978
• Status: Expired due to Term

• Current Assignee: Imperial Chemical Industries Limited (Nouryon BV)
• Original Assignee: Imperial Chemical Industries Limited (Nouryon BV)
• Inventors: Robertson, James R., Halsall, James R., Larcombe, Michael H. E., Rogers, Mark A. M.
• Primary Examiner(s): Krass, Errol A.
• Application Number:
  US06/062,902
• Time in Patent Office: 1,007 Days
• Field of Search: 364/424, 364/436, 364/443, 364/444, 364/449, 364/460, 364/559, 364/461, 250/211 R, 250/215, 250/216, 250/222 R, 250/237 R, 356/152, 356/1, 180/167, 180/168
• US Class Current: 701/23
• CPC Class Codes: G01S 5/16 using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management

Abstract

An unmanned vehicle capable of being automatously guided towards a predetermined destination by the geometrical computation of light signals received by at least two on-board detectors which relate the direction of each signal received to the axis of the vehicle. Useful in restricted areas such as automatic warehouses and loading bays.

Claims

1. A vehicle moveable within a predetermined area and having navigational means for determining its position and orientation, in combination with a plurality of beacons which are located at stations fixed with respect to the area such that the vehicle, when in any position within the area, can receive light from beacons of at least two fixed stations;

the navigational means comprising;

at least two direction-sensitive light detectors mounted on the vehicle, each detector comprising means for detecting light which it receives from the beacons, and means responsive to the detection of that light for indicating the direction from which the light is received so that the bearings of each fixed station with respect to the orientation of the vehicle are obtained, and

means for correlating the bearings obtained by the light detection-responsive means with the positions of the fixed stations with respect to the area, and the positions of the detectors with respect to the vehicle.

2. A vehicle as claimed in claim 1 wherein each detector further comprises means for receiving light unidirectionally from the beacons, and means for rotatably mounting said light-receiving means so that it receives light from each direction in turn as it rotates.

3. A vehicle as claimed in claim 2 wherein the means for indicating the direction from which the light is received comprises means for providing a signal corresponding to the orientation of the unidirectional light-receiving means with respect to the vehicle, in response to detection of light from a beacon.

4. A vehicle as claimed in claim 3 wherein the signal changes in discrete steps as the detector rotates.

5. A vehicle as claimed in claim 4 wherein the signal is in a binary coded form, each discrete step being represented by an exclusive binary word.

6. A vehicle as claimed in claim 5 wherein the code is a Gray Code.

7. A vehicle as claimed in claims 1, 2, 3, 4, 5 or 6 wherein said at least two detectors comprises at least three detectors mounted on the vehicle in triangular array.

8. A vehicle as claimed in claims 1, 2, 3, 4, 5 or 6 further comprising means for synchronously rotating the detectors.