Vehicle guidance means

• US 4,703,820 A
• Filed: 05/28/1985
• Issued: 11/03/1987
• Est. Priority Date: 05/31/1984
• Status: Expired due to Fees

• Current Assignee: Imperial Chemical Industries PLC (IMPERIAL CHEMICAL INDUSTRIES)
• Original Assignee: Imperial Chemical Industries PLC (IMPERIAL CHEMICAL INDUSTRIES)
• Inventors: Reinaud, Guy F.
• Primary Examiner(s): Love, John J.
• Assistant Examiner(s): Culbreth, Eric D.
• Application Number:
  US06/738,645
• Time in Patent Office: 889 Days
• Field of Search: 180/169, 180/167, 172/4.5, 172/2, 250/202, 340/52 R, 340/52 H, 340/686, 343/18 C, 356/4, 356/399, 356/400, 356/152, 356/375
• US Class Current: 180/169
• CPC Class Codes: G01S 17/66 Tracking systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/88 Lidar systems specially adapted for specific applications
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S

Abstract

A vehicle guidance system for a tractor has a horizontal scanning laser on the tractor and a target arranged to return the laser beam along its path. When returned laser light is detected, indicating alignment of the beam with the target, the angle of the beam relative to the tractor axis illustrates the steering correction required. The target has an array of beam reflecting elements patterned to define a target datum. Continuous low amplitude and relative high frequency scanning of the laser in a vertical direction provides a detector output which is indicative of the error between beam orientation and target datum.

Claims

1. A vehicle guidance means comprising:

a laser for mounting on the vehicle;

horizontal scanning means for scanning the laser beam horizontally;

indicating means providing an output indicative of the orientation of the laser beam in a horizontal plane relative to the vehicle heading;

a positionable fixed target comprising a two-dimensional array of beam reversing means for returning an incident laser beam along the same path, the vertical depth of the array varying in the horizontal direction across the target;

vertical scanning means for scanning the laser beam vertically over the target such that laser light is returned by the beams reversing means over an interval determined by the vertical depth of the array and is thereby indicative of the horizontal position of the beam relative to the target;

detector means on the vehicle for detecting laser light returned from the target and for providing detector output representative thereof; and

processor means for analyzing the detector output to determine the horizontal position of the laser beam relative to the target;

whereby the output of the indicator means when the laser beam is determined to be at a known position relative to the target provides an indication of the vehicle heading in relative to the target.

2. Vehicle guidance means according to claim 1, wherein the positional fixed target comprises two arrays of beam reversing means, the vertical depth of each array varying in like manner in the horizontal direction across the target and wherein the processor means is adapted to determine the horizontal position of the laser beam relative to the target from the interval over which the laser light is returned by each array of beam reversing means and the vertical position of the laser beam relative to the target from the location within the vertical scan at which laser light is returned by each array of beam reversing means.

3. Vehicle guidance means according to claim 1 wherein the vertical scanning means is adapted so to vary the amplitude of vertical scanning that the traverse of the laser beam in the plane of the target is in fixed ratio to the extent of the target parallel to the traverse.

4. Vehicle guidance means according to claim 1, wherein the processor means is further adapted to provide a measure of the distance from the vehicle to the target from the controlled amplitute of vertical scan.

5. The vehicle guidance means according to claim 1 said detection means further comprising means for measuring that portion of the total vertical scanning movement for which a reflected a returned by the target, this measurement being indicative of the distance of the vehicle from the target.

6. Vehicle guidance means according to claim 1, wherein the horizontal scanning means is capable in a search mode of scanning through a relatively large horizontal arc until the target is located, the scanning means being thereafter controlled in feedback through the detection means to maintain the laser beam in alignment with the target.

7. Vehicle guidance means according to claim 6 wherein automatic steering means are provided and serve to maintain the heading of the vehicle in horizontal alignment with the laser beam.

8. Vehicle guidance means according to claim 1, further comprising means for displaying said indication of the vehicle heading relative to the target to enable an appropriate steering correction to be applied manually.

9. Vehicle guidance means according to claim 1, further comprising automatic steering means controlled in response to said indication of vehicle heading relative to the target, to maintain alignment of the vehicle heading with the target.