Position measuring apparatus of moving vehicle

• US 4,729,660 A
• Filed: 03/20/1986
• Issued: 03/08/1988
• Est. Priority Date: 03/22/1985
• Status: Expired due to Term

• Current Assignee: Takeshi Tsumura, Toshihiro Tsumura
• Original Assignee: Takeshi Tsumura, Toshihiro Tsumura
• Inventors: Tsumura, Takeshi, Tsumura, Toshihiro
• Primary Examiner(s): Rosenberger, R. A
• Assistant Examiner(s): Cooper, Crystal D.
• Application Number:
  US06/841,896
• Time in Patent Office: 719 Days
• Field of Search: 356/1, 356/375, 356/152, 180/167, 180/169, 364/424, 364/456, 364/449, 901/47
• US Class Current: 356/622
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/875 for determining attitude
• 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

Light reflecting means 2R and 2L provided on both sides of a road 1 each reflect an incident light at the same angle as the angle of incidence with respect to the plane of incidence. Lights 8R and 8L emitted from a moving vehicle 3 are reflected from the light reflecting means 2R and 2L and returned again to the light emitting source and accordingly they are detected by light receivers 75R and 75L. The position of the moving vehicle 3 is calculated geometrically based on the moving distance of the moving vehicle 3 in a period obtained from the difference between the light receiving time of the light receiver 75R and that of the light receiver 75L or the light receiving angle as well as the moving direction of the moving vehicle 3 and the positions where the light reflecting means 2R and 2L are installed.

Claims

1. An apparatus for measuring the position of a moving vehicle by utilizing reflection of light, comprising

light reflecting means disposed along a course for said moving vehicle and positioned in a predetermined relationship to a predetermined reference direction of movement for said vehicle, said light reflecting means having first and second reflectors with an optical characteristic for reflecting an incident light beam back along its path of incidence, said reflectors being disposed in spaced relationship so that said vehicle passes through the space between said reflectors while moving along said course,

light emitting means in said vehicle for emitting lights to the outside of said moving vehicle,

means in said vehicle for directing light emitted by said light emitting means laterally outward on each side of said vehicle and in such a direction that light strikes each of said reflectors as said vehicle passes proximate thereto,

photodetecting means in said vehicle for detecting light reflected from said light reflecting means, and positioned to receive light form each of said reflecting means, said photodetecting means producing first and second electrical signals indicating the detection of light from said first and second reflectors respectively,

moving direction measuring means in said vehicle responsive to said first and second electrical signals for measuring the angle of deviation of the direction of movement of said moving vehicle with respect to said reference direction, and

position detecting means in said vehicle for detecting a position of said moving vehicle based on the angle of deviation measured by said moving direction measuring means and said first and second electrical signals of said photodetecting means.

2. A position measuring apparatus of a moving vehicle in accordance with claim 1 wherein

said light reflecting means comprises first and second light reflecting means provided at different positions.

3. A position measuring apparatus of a moving vehicle in accordance with claim 2 wherein

said light emitting means comprises

first light emitting means for emitting light to the right with a predetermined angle with respect to the moving direction of said moving vehicle and

second light emitting means for emitting light to the left with a predetermined angle with respect to the moving direction of said moving vehicle,

said photodetecting means comprises

a first photodetector provided in association with said first light emitting means for detecting the light emitted from said first light emitting means and reflected from said first light reflecting means and

a second photodetector provided in association with said second light emitting means for detecting the light emitted from said second light emitting means and reflected from said second light reflecting means, and

said position detecting means comprises

moving distance measuring means for measuring a moving distance of said moving vehicle specified in a period from the time when one of said first and second photodetectors detects said reflected light to the time when the other of said first and second photodetectors detects said reflected light and

calculating means for calculating a position of said moving vehicle based on a predetermined equation using as parameters the moving direction measured by said moving direction measuring means and the moving distance measured by said moving distance measuring means.

4. A position measuring apparatus of a moving vehicle in accordance with claim 3 wherein

said first and second light emitting means are located to emit lights to the right and to the left, respectively, with angles symmetric to each other with respect to the moving direction of said moving vehicle.

5. A position measuring apparatus of a moving vehicle in accordance with claim 4 wherein

said first light emitting means is located to emit light to the right with an angle of approximately 45°

with respect to the moving direction of said moving vehicle and

said second light emitting means is located to emit light to the left with an angle of approximately 45°

with respect to the moving direction of said moving vehicle.

6. A position measuring apparatus of a moving vehicle in accordance with claim 3 wherein

said first and second light emitting means are located to emit lights to the right and to the left, respectively, with asymmetric angles with respect to the moving direction of said moving vehicle.

7. A position measuring apparatus of a moving vehicle in accordance with claim 2 wherein

said light emitting means comprises rotation scanning means for applying a light in a rotating manner from said moving vehicle toward the outside to make scanning,

said position detecting means comprises

angle detecting means for detecting a rotating angle of said rotation scanning means,

data receiving means for receiving angle data from said angle detecting means in response to the detection output of said photodetecting means and

calculating means for calculating a position of said moving vehicle based on a predetermined equation using as parameters the moving direction measured by said moving direction measuring means and the angle data received by said data receiving means.

8. A position measuring apparatus of a moving vehicle in accordance with claim 2 wherein

said moving direction measuring means comprises

third light emitting means for emitting lights to the right and to the left perpendicularly to the moving direction of said moving vehicle,

a third photodetector provided in association with said third light emitting means for detecting the light emitted from said third light emitting means and reflected from said first light reflecting means,

a fourth photodetector provided in association with said third light emitting means for detecting the light emitted from said third light emitting means and reflected from said second light reflecting means,

moving distance measuring means for direction measurement for measuring a moving distance of said moving vehicle specified in a period from the time when one of said third and fourth photodetectors detects said reflected light to the time when the other of said third and fourth photodetectors detects said reflected light and,

angle calculating means for calculating the moving direction of said moving vehicle with respect to a predetermined reference direction based on the moving distance measured by said moving distance measuring means for direction measurement and the distance information between said first and second light reflecting means.

9. A position measuring apparatus of a moving vehicle in accordance with claim 1 wherein

said moving direction measuring means is a gyroscope.

10. A position measuring apparatus of a moving vehicle in accordance with claim 1 wherein

said moving direction measuring means is an azimuth magnet.

11. In an apparatus utilizing reflection of light for measuring the position of a moving vehicle along a predetermined course, the combination of:

light source means for providing first and second light beams at a point along said course, said light beams being positioned in a predetermined relationship to a predetermined reference direction of movement for said vehicle and intersecting said course from opposite lateral sides thereof, said vehicle having said first and second light beams impinge on opposite lateral sides thereof while moving along said course;

photodetecting means in said vehicle positioned to detect said first and second light beams when they impinge upon said vehicle, said photodetecting means producing first and second electrical signals indicating the detection of said first and second light beams respectively; and

moving direction measuring means in said vehicle responsive to a delay between said first and second electrical signals for measuring the angle of deviation of the direction of movement of said moving vehicle with respect to said reference direction.

12. An apparatus in accordance with claim 11, further comprising position detecting means in said vehicle for detecting a position of said moving vehicle based on the angle of deviation measured by said moving direction measuring means and said first and second electrical signals of said photodetecting means.