Process and installation for the automatic control of a utility vehicle

• US 4,878,003 A
• Filed: 06/10/1987
• Issued: 10/31/1989
• Est. Priority Date: 10/15/1985
• Status: Expired due to Fees

• Current Assignee: Hans-Reinhard Knepper
• Original Assignee: Hans-Reinhard Knepper
• Inventors: Knepper, Hans-Reinhard
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US07/075,811
• Time in Patent Office: 874 Days
• Field of Search: 318/567-570, 318/575, 318/576, 318/577, 318/580, 318/587, 180/168, 364/513, 364/424.01, 364/424.02, 364/443, 364/444, 364/447, 364/448, 364/450, 901/50
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

A method and an apparatus for automatically steering a vehicle intermittently associated with a stationary guide structure. A sensor detects the distance between the vehicle and the guide structure to provide an actual value signal, which is compared with a reference signal to effect feedback control over vehicle movement. The referenece signal is adjustably controlled periodically when required, e.g., when the vehicle has completed a circuit within the area of interest.

Claims

1. A method for the automatic control of a utility vehicle over an area having a stationary guide structure where the vehicle is operationally associated with said structure in at least an intermittent manner to effect guidance, characterized by including the steps of:

said vehicle laying down a detectable track on the surface of said area to identify its path or movement;

detecting the distance of said vehicle relative to said track; and

exerting closed-loop feedback control over the vehicle and utilizing the distance data as one input to the closed-loop feedback control;

said method being further characterized in that the distance to the guide structures is obtained by determining the distance between the guide structure and the vehicle in at least two fixed vehicle axes;

utilizing the distance along one of said axes as an input to the closed loop feedback control; and

utilizing the distance along the other one of said axes as a control variable for selectively driving and steering the vehicle.

2. A method for the automatic control of a utility vehicle over an area having a stationary guide structure and where the vehicle is operationally associated with said structure in at least an intermittent manner to effect vehicle guidance, characterized by comprising the steps of:

operating the vehicle to lay down a track of at least an intermittent nature upon said area;

utilizing the distance of the vehicle from said track to exert closed-loop feedback control upon the vehicle; and

intermittently utilizing the distance of the vehicle from an additional guide structure to intermittently exert closed-loop guidance control upon the vehicle;

said method being further characterized in that the distance to the additional guide structures is obtained by determining the distance between the additional guide structure and the vehicle in at least two fixed vehicles axes;

utilizing the distance along one of said as an input to the closed loop guidance control;

and utilizing the distance along the other one of said axes as a control variable for selectively driving and steering the vehicle.

3. A method for the automatic control of a utility vehicle over an area having a stationary guide structure and where the vehicle is operationally associated with said structure at least intermittently to effect guidance of the vehicle, characterized by including the steps of:

maintaining the distance between the vehicle and the guide structure by means of closed-loop feedback control; and

obtaining a nominal distance value for use as a command value by the closed-loop feedback control and varying said value according to detection of the guide structure;

said method being further characterized by including detecting when the vehicle moves upon an area it has already traversed to alter its path and moving the vehicle further away from the guide structure by varying the nominal distance value whereby the vehicle traverses a substantially spiral-shaped path.

4. A method as claimed in claim 3 characterized in that a path already traveled is determined by storage of drive and steering movements of the vehicle to provide path information and in that, from said path information, agreement is established between an instantaneous position of the vehicle and a previously occupied position.

5. The method as claimed in claim 4 wherein the agreement step further includes calculating the desired position;

comparing the actual position with the desired position; and

producing a moving signal for moving the vehicle to establish said agreement.

6. A method as claimed in claim 3 characterized in that the distance detection between the guide structure and the vehicle is carried out by registration of a mark at a predetermined position with respect to the vehicle.

7. A method as claimed in claim 3 characterized in that upon detecting a location along the path already travelled, a nomial spacing value presently being used for shifting vehicle movement is altered.

8. A method for the atuomactic control of a utility vehicle over an area having a stationary guide structure where the vehicle is operationally associated with said structure in at least an intermittent manner to effect guidance, characterized by including the steps of:

said vehicle laying down a detectable track on the surfade of said area to identify its path of movement;

detecting the distance of said vehicle relative to said track; and

exerting closed-loop feedback control over the vehicle and utilizing the distance data as one input to the closed-loop feedback control;

said method being further characterized by including detecting when the vehicle moves upon an area it has already traversed to alter its path.

9. A method for the automatic control of a utility vehicle over an area having a stationary guide structure and where the vehicle is operationally associated with said structure at least intermittently to effect guidance of the vehicle, characterized by including the steps of:

maintaining the distance between the vehicle and the guide structure by means of closed-loop feedback control; and

obtaining a nominl distance value for use as a command value by closed-loop feedback control and varying said value according to detection of the guide structure to periodically increase the distance between the vehicle and the guide structure whereby the vehicle traverses a substantially spiral-shaped path;

said method being further characterized in that the distance to the guide structure is obtained by determining the distance between the guide structure and the vehicle in at least two fixed vehicle axes;

utilizing the distance along one of said axes as an input to the closed loop feedback control;

and utilizing the distance along the other one of said axes as a control variable for selectively driving and steering the vehicle;

and being still further characterized by including detecting when the vehicle moves upon an area it has already traversed to alter its path.

10. A method for the automatic control of a utility vehicle over an area having a stationary guide structure and where the vehicle is operationally associated with said structure at least intermittently to effect guidance of the vehicle, characterized by including the steps of:

maintaining the distance between the vehicle and the guide structure by means of closed-loop feedback control; and

obtaining a nominal distance value for use as a command value by the closed-loop feedback control and varying said value according to detection of the guide structure to periodically increase the distance between the vehicle and the guide structure whereby the vehicle traverses a substantially spiral-shaped path;

said method further including the step of detecting the actual path traveled by the vehicle and storing at least portions of such data utilizing previously stored portions of a closed vehicle path to calculate and store a vehicle path having an altered nominal spacing value for controlling vehicle travel and recognizing a free-standing obstacle whenever portions of the path actually travelled by the vehicle differ from the calculated portions.

11. A method for the automatic control of a utility vehicle over an area having a stationary guide structure and where the vehicle is operationally associated with said structure at least intermittently to effect guidance of the vehicle, characterized by including the steps of:

maintaining the distance between the vehicle and the guide structure by means of closed-loop feedback control; and

obtaining a nominal distance value for use as a command value by the closed-loop feedback control and varying said value according to detection of the guide structure to periodically increase the distance between the vehicle and the guide structure whereby the vehicle traverses a substantially spiral-shaped path;

said method further including the step of recording a traveled vehicle path and determining intersections and overlaps of path portions to determine the presence of narrow passages in the area being traversed by the vehicle.

12. Apparatus for the automatic control of a utility vehicle over a surface having at least one stationary guide structure along the perimeter of said surface wherein an effective link is established between the vehicle and the guide structure, said vehicle having control elements including steering and drive elements to control vehicle movement by selective actuation of said steering and drive elements in accordance with the guide structure characterized in that a closed-loop control means is provided for controlling the steering and drive elements of the vehicle, distance-measuring means for at least intermittently generating a signal representing the actual distance between the vehicle and the guide structure and controllable nominal distance means for providing a signal representing the nominal distance between the vehicle and the guide structure and feedback means responsive to said the actual distance and the nominal distance signals for operating said closed loop control means, said controllable nominal distance means periodically altering said nominal distance signal to periodically increase the distance between the vehicle and the guide structure.

13. The apparatus of claim 12 wherein said distance-measuring means includes first and second measuring means for measuring at least two fixed vehicle directions, said first measuring means including actual value signal transmitter means, and difference means for selectively controlling the steering and drive elements according to the difference between said actual distance signal and said nominal distance signal.

14. The apparatus of claim 13 wherein said second measuring means selectively controls the steering and drive elements in an open-loop fashion.

15. The apparatus of claim 13 wherein said first and second measuring means respectively comprise sensors provided for detecting the length and direction of vehicle movement and memory means for storing the sensor output signals.

16. The apparatus of claim 15 further including computer means responsive to the outputs of the sensors for calculating the instantaneous positions of the vehicle;

said memory means for storing said calculated positions;

comparator means for comparing instantaneous vehicle path positions with position values stored in said memory means to determine agreement between instantaneous vehicle positions and previous vehicle positions.

17. The apparatus of claim 13 further including reference path memory means for storing position data, computer means including means responsive to the position data in said reference path memory means and a nominal distance value for calculating values representing a future sequence of vehicle positions and storing said values in said reference path memory means responsive to completion of said calculations;

and comparison means comparing instantaneous positions of the vehicle with positions stored in the reference path memory means to determine vehicle path deviations not previously calculated and thus unexpected.

18. The apparatus of claim 12 further including detector means for generating a mark detecting signal when a predetermined mark at a predetermined vehicle position is detected and being further characterized in that said detector means has a detector window and transmits a signal whenever said mark is aligned with said window.

19. The apparatus of claim 18 characterized in that the output of said detector means is coupled to a control input of said nominal distance means.

20. A method for automatically controlling a utility vehicle when moving over an area, said area comprising a region with a feature distinct from features of the remainder of said area, comprising the steps of:

monitoring by electrically supplied sensor means a distance between said vehicle and said distinct feature from said vehicle and at a first predetermined direction with respect to said vehicle and generating on said vehicle a first signal in dependency from said distance monitored as a controlled variable signal, thereby providing electric supply energy for said monitoring exclusively on said vehicle;

generating on said vehicle a second signal as a command variable signal;

generating a difference signal from said first and said second signals as a system deviation signal;

acting on drive means and direction control means of said vehicle with said difference signal so as to keep said difference signal minimal;

varying a distance at which said vehicle travels with respect to said feature by varying said second signal according to a desired predetermined path of said vehicle on said area.

21. The method of claim 20, further comprising the step of monitoring a second distance between said vehicle and said distinct feature at a second predetermined direction with respect to said vehicle and generating a third signal independency of said second distance at said second direction, and controlling at least one of the drive means and the direction control means of said vehicle additionally by said third signal.

22. The method of claim 21, wherein said second direction points to the front side of said vehicle.

23. The method of claim 21, further comprising the step of comparing said third signal with a reference signal and enabling said additional controlling of at least one of the drive means and the direction control means when said third signal is greater or is smaller than said reference signal.

24. The method of claim 21, further comprising the step of registering and storing on said vehicle a path of said vehicle on said area already moved, detecting when a path moved through later in time, first runs substantially parallel to a part of a path moved through earlier in time and said path moved through later in time, then branches by a predetermined amount from said substantial parallelism and generating on said detection of said branching an indication signal indicative of a free standing part of said distinct feature on said area.

25. The method according to claim 20, wherein said first direction points on one lateral side of said vehicle.

26. The method of claim 20, further comprising the steps of detecting on said vehicle a condition when said vehicle moves upon a part of said area, upon which it has already moved before, generating a detection signal when said condition is detected and controlling said direction control means of said vehicle by said detection signal.

27. The method claim 26, further comprising the steps of registering on said vehicle a path of said vehicle on said area already moved, registering on said vehicle its momentary position on said area and generating said detection signal by comparing said momentary position registered and said already moved path.

28. The method of claim 26, wherein said detection signal controls varying of said second signal.

29. The method of claim 26, wherein a predetermined mark is provided on said area, comprising the steps of detecting when said vehicle moves upon said part of said area by registering when said vehicle moves to predetermined positions with respect to said predetermined mark.

30. The method of claim 26, said distinct feature surrounding at least parts of said area, comprising the steps of increasing feedback controlled distance by said second signal and by a predetermined amount according to a broadside dimension of said vehicle whenever said detection signal is generated to lead said vehicle along said feature at a succeedingly increasing distance from said feature.

31. The method according to claim 30, further comprising the steps of registering time spans between occurrences of said generated detection signal and generating an indication signal indicative of said area comprising a narrowed down part, interconnecting two widened-up parts of said area whenever said time-spans between occurrence of two of said generated detection signals is considerably shorter than a time-span between two of said generated detection signals registered just before.

32. The method of claim 20, wherein said distinct feature comprises a track generated by said vehicle upon said area.

33. The method of claim 20, wherein said distinct feature substantially surrounds at least a predominant part of said area, comprising the step of generating a trace on said area by said vehicle along said distinct feature and varying said distance from said vehicle to said distinct feature by registering said trace on said area generated before by said vehicle and controlling said vehicle to follow said trace laterally shifted by a predetermined amount.

34. A method for automatically controlling a utility vehicle when moving over an area so that said vehicle finally has moved over at least a substantial part of said area, comprising the steps of:

guiding said vehicle first along one of a closed minimal area loop and a closed maximum area loop on said area;

causing said vehicle to lay down a detectable trace on said area;

detecting a trace previously laid down on said area by said vehicle;

controlling said vehicle automatically to follow said last-mentioned trace shifted by a predetermined distance with respect to one predetermined lateral side of said vehicle, once said trace is detected from said vehicle, so that said vehicle travels on said area along a substantially spiral-like path from said minimum area closed loop outwardly and from said maximum area closed loop inwardly.

35. A utility vehicle with an apparatus for its automatic control when moving over an area with a feature provided in a part thereof, distinct from features provided in the remaining parts thereof, comprising:

electric supply means on said vehicle for generating electrical signals;

drive means and steering means for said vehicle;

at least one sensor means for measuring a distance between said vehicle and said distinct feature, said sensor means measuring said distance at a first fixed angle with respect to said vehicle and generating a first signal, exclusively from the electric signals generated by said electric supply means;

a controllable signal generator unit generating a second signal;

a difference unit, having difference inputs of which said first and second signals are led and generating a difference output signal, said difference output signal acting on at least one of said drive means and said steering means so as to provide automatic feedback control over distance measured to be at least substantially equal to a preset distance commanded by said second signal;

a control unit for controlling the path of said vehicle with respect to said distinct feature, generating a control signal, said control signal being led to a control input of said controllable signal generator unit to vary said second signal and thus said automatic feedback controlled distance between said vehicle and said distinct feature.

36. The vehicle of claim 35, further comprising tracing means to generate a trace along at least a part of the path traversed by the vehicle as at least a part of said distinct feature.

37. The vehicle of claim 35, comprising a second sensor means monitoring a distance between said vehicle and said distinct feature and at a second fixed angle with respect to said vehicle different from said first fixed angle, said second sensor means generating a third signal whenever said distance monitored is equal to or smaller than a predetermined limit distance, said third signal acting on at least one of said drive means and said steering means.

38. The vehicle of claim 37, wherein said first fixed angle being substantially perpendicular to a forward driving direction of said vehicle and said second fixed angle being substantially zero with respect to said forward driving direction.

39. The vehicle of claim 35, wherein a distinct mark is arranged on said area, said control unit for said path comprising means registering whenever said mark appears at a predetermined fixed angle with respect to said vehicle for generating said control signal.

40. The vehicle of claim 35, said control unit further comprising registering means for registering a path of said vehicle moved on said area and generating data according to said path moved, storage means for storing said data, and comparator means to compare data previously stored within said storage means with data subsequently generated by said registering means for generating said control signal when said subsequently generated data match with data of said data previously stored.

41. A utility vehicle with an apparatus for its automatic control when moving over an area comprising:

drive means for moving said vehicle;

steering means for steering the vehicle as it moves;

trace generating means to lay down a detectable trace on said area as the vehicle moves on said area;

detecting means arranged on said vehicle and substantially shifted to one of its lateral sides for detecting a border of said last-mentioned trace, said detecting means generating a control signal for operating at least one of said drive means and a steering means so that said vehicle follows said border laterally shifted with respect to said one of its lateral sides.