Light tracking automatic navigation system

• US 4,773,018 A
• Filed: 05/14/1987
• Issued: 09/20/1988
• Est. Priority Date: 08/22/1985
• Status: Expired due to Fees

• Current Assignee: BT Carrago AB (Toyota Motor Corporation)
• Original Assignee: BT Carrago AB (Toyota Motor Corporation)
• Inventors: Lundstrom, Mats
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US07/049,976
• Time in Patent Office: 495 Days
• Field of Search: 364/443, 364/444, 364/445, 364/449, 364/516, 180/168, 180/169, 318/580, 318/587, 340/995, 340/988, 358/103, 358/108, 358/109
• US Class Current: 701/200
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A navigation system for detecting the position and controlling the movement of an automatically guided vehicle (1) comprises at least one light source (4) and at least one detector (5) responsive to the light emitted from the light source (4), the vehicle (1) be accompanied by either the light source (4) or the detector (5). A signal processing unit (10) has memory means (13) in which path control information (12) corresponding to the path (3) of the vehicle is stored, and comparator means (11) adapted to compare the path control information (12) stored in the memory means (13) with positional information produced by the system, in order, when the path control information and the positional information differ, to emit control signals (15) for the movement of the vehicle. The detector (5) is a position-sensitive semiconductor detector having a substantially planar, extended, continuous sensing area (7) and is adapted to receive light within a restricted part (P) of the sensing area of the detector. In response to the detected light, electric signals are produced from which said positional information (9) corresponding to the actual position of the vehicle (1) in at least one direction is derived.

Claims

1. A navigation system for detecting the position and controlling the movement of a vehicle (1) which is intended to be automatically guided along a predetermined path (3;

20) on a supporting surface (2), such as a floor or the like, said system comprising at least one light source (4;

     18) and at least one detector (5;

     19) responsive to the light emitted from the light source (4;

     18), one of said light source (4;

     18) and said detector (5;

     19) being mounted on and accompanying the vehicle (1) and the other of said light source (4;

     18) and said detector (5;

     19) being arranged substantially stationarily in relation to said supporting surface (2), said system further comprising a signal processing unit (10) having memory means (13) in which path control information (12) corresponding to said path (3) is stored, comparator means (11) adapted to compare the path control information (12) stored in said memory means (13) with positional information produced by said system and corresponding to the position of the vehicle (1) on said supporting surface (2), in order, when said path control information and said positional information differ from each other, to emit control signals (15) for controlling the movement of the vehicle (1), and signal transmission means (16) adapted to transmit said control signals (15) to the vehicle (1) to cause it to move along said path (3;

     20), c h a r a c t e r i z e d in that the detector (5;

     19) is a position-sensitive semiconductor detector having a substantially planar, extended continuous sensing area (7), said detector (5;

     19) being adapted to receive the light which is emitted from the light source (4;

     18) and is then incident on a restricted part (P) of said sensing area (7), the position of the vehicle (1) on said supporting surface (2) corresponding to the position of the illuminated part of the sensing area (7) on the detector (5;

     19), said detector (5;

     19) being adapted,in response to the light detected within said restricted part (P), to emit electric signals indicating where on said sensing area (7) the light emitted from the light source (4;

     18) is incident, said positional information which is intended to be compared with the path control information (12) stored in said memory means (13), being derived from the electric signals emitted by said detector (5;

     19).

2. Navigation system as claimed in claim 1 characterized in that the light source is accompanying the vehicle, said at least one detector is disposed at a distance from said supporting surface in a direction perpendicular to the supporting surface and which each cover a section of said supporting surface, the light emitted from the light source of the vehicle located within a certain section being intercepted by the detector pertaining to said section, and the point of incidence of the intercepted light on the sensing area of the detector and the electric signals emitted by the detector corresponding to the position of the vehicle within said section.

3. Navigation system as claimed in claim 2, c h a r a c t e r i z e d in that said sections (17A-17C) are partly overlapping.

4. Navigation system as claimed in claim 1, wherein the direction of said at least one light source against said at least one detector is substantially parallel to the supporting surface on which the vehicle is moving.

5. Navigation system as claimed in claim 4, c h a r a c t e r i z e d in that said light source or light sources (18) are stationarily arranged in relation to the path (20), and that the vehicle (1) is provided with said detectors whose sensing area (7) is extended at least perpendicularly to the direction of movement of the vehicle (1).

6. Navigation system as claimed in claim 1, in which the light source (4) is accompanying the vehicle (1), c h a r a c t e r i z e d in that the light source (4) is provided with an array of light-emitting points, such as a matrix Of light-emitting diodes, which are separately activable according to an identification pattern specific to the vehicle (1), and that the detector (5) is adapted to identify a given vehicle (1) on the basis of the identification pattern emitted from the light source (4) thereof.

7. Navigation system as claimed in claim 1, in which the light source (4) is accompanying the vehicle (1), c h a r a c t e r i z e d in that a specific vehicle (1) is identifiable by modulation of the light emitted from the light source (4), and that the signal processing unit (10) is adapted to demodulate the electric signals emitted by the detector (5) for identifying the vehicle (1).

8. Navigation system as claimed in claim 1, in which the detector (5;

19) is accompanying the vehicle (1), c h a r a c t e r i z e d in that the signal transmission means (16) of the signal processing unit (10) comprise means for modulating the light emitted from the light source (4;

     18).

9. Navigation system as claimed in claim 1, c h a r a c t e r i z e d in that the detector (5;

19) is provided with light-collecting means, such as an optical wide-angle lens system (8), for focusing the light received from the light source (4;

     18) within said restricted part (P) of the sensing area (7) of the detector (5;

     19).

10. Navigation system as claimed in claim 1, c h a r a c t e r i z e d in that the signal processing unit (10) further has means (14) for programming said memory means (13), a desired path (3'"'"') being storable in said memory means (13) by manually or moving the vehicle (1) along the desired path (3) and the positional information derived from said electric signals from the detectcr (5) being at the same time stored by said programming means (14) in said memory means (13).