Guiding method for autonomous traveling vehicle

• US 4,772,832 A
• Filed: 04/17/1987
• Issued: 09/20/1988
• Est. Priority Date: 07/11/1986
• Status: Expired due to Term

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Okazaki, Mamoru, Tomikawa, Hisao, Sudare, Masahiro
• Primary Examiner(s): Dobeck, Benjamin
• Application Number:
  US07/040,175
• Time in Patent Office: 522 Days
• Field of Search: 318/587, 318/586, 180/169, 180/168, 180/167, 364/424
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

This invention relates to a novel guiding method for autonomous traveling vehicle in which the number of the rotation of wheels mounted on both the right and left sides are individually detected when guiding the vehicle along the predetermined route by independently controlling the rotation of the wheels mounted on both the right and left sides, and then based on the number of the rotation of these wheels, the position and the azimuth of the vehicle are computed. Then, based on the computed position and the azimuth of the vehicle by referring to the predetermined route, the target position is set, and then, by the vehicle is made to travel toward the set target position. Setting the target positions and making the vehicle travel toward the target position are repeated so that the autonomous vehicle is guided to the route having been set. When marks are detected during the travel, fixed point correction in reference to the detected marks is executed. Moreover, yawing is corrected when the vehicle is guided to the predetermined route after the fixed point correction.

Claims

1. A guiding method for an autonomous travelling vehicle which travels along a predetermined route by individual control of rotation of the wheels mounted on both right and left sides of the travelling direction thereof so that the travelling direction of said autonomous travelling vehicle is controlled, wherein a plurality of marks are previously arranged along said route for fixed point correction, said method comprising the steps of:

detecting the number of the rotations of each of said wheels;

computing the position and azimuth of said autonomous travelling vehicle based only on the detected number of rotations of said wheels;

setting a target position to be reached by said autonomous travelling vehicle based on computed position, azimuth and said route;

causing said autonomous travelling vehicle to travel toward said target position;

guiding said autonomous travelling vehicle toward said route by repeating said step for setting target position and said step for causing said autonomous travelling vehicle to travel toward said target position; and

correcting the calculated position and azimuth when one of said marks is detected;

a yawing correction component determined by the number of setting said target position after the last step for correcting the calculated position and azimuth being used in determining an orthogonal component to the travelling direction of the target position.

2. A guiding method for an autonomous travelling vehicle as set forth in claim 1, wherein said marks for fixed point correction are a pair of marks arranged along said route of said autonomous travelling vehicle.

3. A guiding method for an autonomous travelling vehicle as set forth in claim 2, wherein said marks are magnets.

4. A guiding method for an autonomous travelling vehicle as set forth in claim 1, wherein said yawing correction component is the displacement of orthogonal component to the travelling direction of the target position from said predetermined route.

5. A guiding method for an autonomous travelling vehicle as set forth in claim 1, wherein said yawing correction component is the displacement of azimuth of said autonomous travelling vehicle from said predetermined route.