Navigation system for unmanned vehicles

• US 4,653,002 A
• Filed: 09/26/1984
• Issued: 03/24/1987
• Est. Priority Date: 09/26/1984
• Status: Expired due to Fees

• Current Assignee: Northrop Grumman Corporation
• Original Assignee: Westinghouse Electric Company LLC (Brookfield Asset Management Incorporated)
• Inventors: Barry, Robert F.
• Primary Examiner(s): Chin, Gary
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US06/654,691
• Time in Patent Office: 909 Days
• Field of Search: 364/424, 364/436, 364/443, 364/460, 340/825.31, 340/825.36, 340/541, 340/555, 340/556, 340/557, 340/910, 340/942, 246/29 R, 180/167, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0289 with means for avoiding collisions between vehicles vehicle fittings for automatically controlling speed including means for detecting potential obstacles B60K31/0008; avoiding obstacles by action on the steering system B62D; radar, sonar, lidar systems designed for anti-collision purposes G01S13/93, G01S15/93, G01S17/93

Abstract

A system for effecting transport over a surface among a plurality of terminals, including at least one transport vehicle movable over the surface, light barriers dividing the surface into a plurality of contiguous elemental zones and sensing the passage of a vehicle across a boundary between two contiguous zones, light signal generators for emitting light signals identifying each zone occupied by a vehicle and identifying the location of each terminal, logic circuitry connected between the barriers and said light signal generators for controlling the light signals identifying each zone in response to passage of a vehicle across a boundary, a photoelectric receiver carried by the vehicle for sensing light signals produced by the light signal generators and producing electrical signals representative of the light signals, and a vehicle movement control circuit carried by the vehicle and connected to receive the electrical signals from the photoelectric receiver for controlling the movement of the vehicle in dependence on the light signals.

Claims

1. A system for effecting transport over a surface among a plurality of terminals, comprising

at least one transport vehicle movable over the surface;

barrier means for dividing the surface into a plurality of contiguous elemental zones, with respective pairs of the contiguous zones being separated by respective boundaries, and for sensing the passage of said vehicle across a boundary between two contiguous zones;

light signal generator means for emitting light signals identifying each said zone which said vehicle is permitted to enter and identifying the location of each of the plurality of terminals;

circuit means connected between said barrier means and said light signal generator means and responsive to passage of said vehicle across a respective boundary for controlling the light signals identifying those contiguous zones which are separated by that respective boundary;

first photoelectric receiver means carried by said vehicle for sensing light signals produced by said light signal generator means and producing electrical signals representative of the light signals; and

vehicle movement control means carried by said vehicle and connected to receive the electrical signals from said photoelectric receiver means for controlling the movement of said vehicle in dependence on the light signals.

2. A system as defined in claim 1 wherein said light signal generating means comprise light beam producing means for producing a plurality of independent light beams, each independent light beam being associated with one respective boundary being composed of light signals identifying one zone of the pair of zones separated by that respective boundary, and being directed toward a region in the other zone of that pair of zones for reception by said photoelectric receiver means when said vehicle is in such region.

3. A system as defined in claim 1 further comprising:

a plurality of vertical supports carrying said light signal generator means and arranged to stand upright on the surface;

hazard warning light source means mounted on each said support for directing a cone of light downwardly around each said support; and

second photoelectric receiver means mounted on said vehicle for receiving light from said hazard warning light source means when present in such cone of light and connected to said vehicle movement control means for supplying electrical signals representative of the light received from said hazard warning light means for causing said vehicle to move in a manner to avoid the support enclosed by such cone.

4. A system as defined in claim 3 wherein said barrier means are carried by said supports.

5. A system as defined in claim 1 wherein said barrier means comprise a plurality of light barriers each producing a light beam aligned with a respective zone boundary.

6. A system as defined in claim 1 wherein said vehicle movement control means comprise:

programmable memory means providing an electrical signal representative of a light signal identifying a selected terminal; and

means connected to said memory means and said first photoelectric receiver means for comparing such signal with electrical signals produced by said first photoelectric receiver means for determining whether the light signal identifying the selected terminal is being received by said first photoelectric receiver means.

7. A system as defined in claim 1 wherein said first photoelectric receiver means comprise:

a support member carried by said vehicle in a manner to be pivotable about a vertical axis relative to said vehicle;

a light receiver having a directional characteristic with a maximum sensitivity in a given direction, mounted on said support member for movement therewith and with the directional characteristic of said light receiver oriented transversely to the axis of pivotal movement of said support member;

means connected to said support member for causing said support member to execute a pivotal movement about the vertical axis; and

movement monitoring means connected to said support member for monitoring the angular position of said given direction relative to said vehicle, and said vehicle movement control means comprise circuit means connected to said light receiver and said monitoring means for providing an indication of the direction of origin, relative to said vehicle, of a light signal received by said light receiver.

8. A system as defined in claim 1 wherein said at least one vehicle comprises a plurality of such vehicles each carrying a respective said photoelectric receiver means and vehicle movement control means.

9. A system as defined in claim 1 wherein a portion of the surface has an obstacle located in at least one zone and said light signal generator means emits a light signal which identifies each said zone in which such obstacle is located.