Guiding method for autonomous traveling vehicle

• US 4,852,677 A
• Filed: 12/15/1988
• Issued: 08/01/1989
• Est. Priority Date: 07/14/1986
• Status: Expired due to Term

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Okazaki, Mamoru
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): Camby, Richard
• Application Number:
  US07/285,397
• Time in Patent Office: 229 Days
• Field of Search: 180/167, 180/168, 180/169, 364/424, 364/432, 364/450
• US Class Current: 180/169
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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 travelling 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 wheels mounted on both the right and left sides, and then based on the number of the rotations of these wheels and factors, such as the tread, determined by specification of the vehicle, the position and the azimuth of the vehicle are estimated. Then, based on the estimated position and the azimuth of the vehicle by referring to the predetermined route, the target position is set, and then, the vehicle is made to travel toward the set target position. Setting of the target positions and making the vehicle travel toward the set target position are repeated so that the vehicle is guided toward the route being set. When marks are detected while the vehicle travels, the position and azimuth of the vehicle are corrected, and at every time of correcting, the deviations of the position and azimuth are detected. Depending on whether the detected deviation is related to the position or the azimuth, the factor related to the detected deviation is varied and guiding of the vehicle is further executed.

Claims

1. A guiding method for an autonomous traveling vehicle which travels along a predetermined, internally set route by individual control of rotation of the wheels mounted on both the right and left sides of the traveling direction thereof so that the traveling direction of said autonomous traveling vehicle is controlled wherein

a pair of magnets being previously arranged along an actual route corresponding to the predetermined route for fixed point correction, and comprising the following steps:

individually detecting the number of the rotations of said wheels;

estimating the position and azimuth of said autonomous traveling vehicle based on the detected number of rotations of said wheels and on factors determined by the specification of said autonomous traveling vehicle; and

guiding said autonomous traveling vehicle toward said route based on the estimated position and azimuth and said internally set route; and

when any one of said magnets is detected, the position and azimuth of said autonomous traveling vehicle are detected based on the relationship of the relative position between said detected magnet and said autonomous traveling vehicle, the deviation of the detected position and azimuth from said estimated position and azimuth are detected, said factors related to said deviation are changed, and further guiding of said autonomous traveling vehicle is executed based on the varied factors.

2. A guiding method for an autonomous travelling vehicle as set forth in claim 1, wherein one of said factors is the tread of wheels mounted on both the right and left sides of said autonomous travelling vehicle.

3. A guiding method for an autonomous travelling vehicle as set forth in claim 1, wherein one of said factors is the travelling distance per unit control of rotation of respective wheels mounted on both the right and left sides of said autonomous travelling vehicle.