Beacon navigation system and method for guiding a vehicle

• US 4,829,442 A
• Filed: 05/16/1986
• Issued: 05/09/1989
• Est. Priority Date: 05/16/1986
• Status: Expired due to Fees

• Current Assignee: E.T.M. Realty Trust
• Original Assignee: Denning Mobile Robotics, Inc.
• Inventors: Benayad-Cherif, Faycal E., George, Robert W. II, Kadonoff, Mark B., Maddox, James F.
• Primary Examiner(s): Gruber, Felix D.
• Application Number:
  US06/864,442
• Time in Patent Office: 1,089 Days
• Field of Search: 364/443, 364/424, 364/449, 364/513, 180/167, 180/168, 180/169, 180/211, 180/212
• US Class Current: 701/207
• CPC Class Codes: B25J 9/0003 Home robots, i.e. small robots for domestic use
• 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 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A beacon navigation system for a vehicle including a plurality of navigation beacons distributed about a premises through which the vehicle is to navigate, and a detector assembly for sensing a beacon and for resolving the azimuthal angle between the beacon and the vehicle. The system further includes an element for defining an optimum azimuthal angle between that beacon and the vehicle, and a device for determining the difference between the resolved angle and the optimum angle to represent the deviation of the vehicle from a designated path. A method of establishing navigational paths among navigation nodes proximate beacons is also disclosed.

Claims

1. A beacon navigation system for a vehicle, comprsiing:

a plurality of navigation beacons distributed about a premises through which the vehicle is to navigate;

detector means for sensing a beacon and for determining an observed azimuthal angle between the beacon and the vehicle;

means for defining an expected azimuthal angle between that beacon and the vehicle; and

means responsive to said detector means and said means for defining for determining the difference between said observed angle and said expected angle to represent the deviation of the vehicle from a designated path.

2. The beacon navigation system of claim 1 in which said detector means includes means for identifying the azimuthal angle between the beacon and the direction of travel of the vehicle.

3. The beacon navigation system of claim 1 in which said means for defining includes means for providing a known offset distance of said beacon from the designated path, and said means for defining produces said expected angle as a function of said offset distance.

4. The beacon navigation system of claim 3 in which said means for providing includes means for generating an azimuthal offset angle of the beacon from the path as a function of the known offset distance of the beacon from the path and the difference between the expected path distance and the actual distance traveled by the vehicle along the path.

5. The beacon navigation system of claim 4 in which said means for determining includes means for combining said ovserved angle and said offset angle to represent the angular deviation of the vehicle from the path.

6. The beacon navigation system of claim 5 further including means, responsive to said means for combining, for turning the vehicle by said angular deviation.

7. The beacon navigation system of claim 4 in which said means for defining further includes means for supplying the expected path distance and the known beacon offset distance.

8. The beacon navigation system of claim 7 in which said means for supplying includes memory means for storing the expected path distance and the known beacon offset distance.

9. The beacon navigation system of claim 4 in which said means for defining further includes means for measuring the actual distance travelled by the vehicle along the axis of the path.

10. The beacon navigation system of claim 1 in which each beacon includes means for emitting detectable energy.

11. The beacon navigation system of claim 10 in which said detector means includes:

a multisector sensor for sensing a signal emitted by the beacon; and

means responsive to said sensor sectors for generating an angle data signal representative of the observed angle from said sensor to said beacon in at least the azimuthal dimension.

12. The beacon navigation system of claim 11 in which said sensor is a lateral effect photodiode.

13. The beacon navigation system of claim 11 in which said detector means further includes means, responsive to said observed azimuthal angle, for calculating the direction from the sensor to the beacon.

14. The beacon navigation system of claim 11 in which each said beacon includes means for producing said energy in a coded signal which uniquely identifies that beacon.

15. The beacon navigation system of claim 14 in which said detector means includes:

a multisector sensor for sensing a signal emitted by the beacon;

means, responsive to said sensor, for generating a code data signal representative of said coded beacon signal; and

means responsive to said sensor sectors for generating an angle data signal representative of the observed angle from said sensor to said beacon in at least the azimuthal dimension.

16. A beacon navigation system for a vehicle utilizing one or more navigation becons distributed about a premises through which the vehicle is to navigate, comprising:

detector means for sensing a beacon and for determining the observed azimuthal angle between the beacon and the vehicle;

means for defining an expected azimuthal angle between that beacon and the vehicle; and

means responsive to said detector means and said means for defining for determining the difference between said observed angle and said expected angle to represent the deviation of the vehicle from a designated path.

17. The beacon navigation system of claim 16 in which said means for defining includes:

means for supplying the expected path distance and the known offset distance of the beacon from the path;

means for measuring the actual distance traveled by the vehicle along the path; and

means for generating an azimuthal offset angle of the beacon form the path as a function of the known offset distance and the difference between the expected path distance and the actual distance traveled.

18. The beacon navigation system of claim 17 in which said means for determining includes means for combining said observed angle and said offset angle to represent the angular deviation of the vehicle from the path.

19. The beacon navigation system of claim 18 further including means, responsive to said means for combining, for turning the vehicle by said angular deviation.