Self-contained unmanned vehicle

• US 4,982,329 A
• Filed: 06/24/1988
• Issued: 01/01/1991
• Est. Priority Date: 06/27/1987
• Status: Expired due to Fees

• Current Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Original Assignee: Shinko Electric Industries Company Limited (Fujitsu Limited)
• Inventors: Nishikawa, Yuji, Onishi, Masanori, Yamashita, Teppei, Tabata, Hidemitsu
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/210,845
• Time in Patent Office: 921 Days
• Field of Search: 364/424.01, 364/424.02, 364/513, 180/167-169, 318/587
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• 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 self-contained unmanned vehicle (robot car) is designed to be capable of independently traveling, on the basis of previously specified geographic data, to convey parts, finished products, etc. etc. in a factory or similar, and achieves fine travel position control while simultaneously reducing the X memory capacity for the geographic data and ensures easy preparation and entry of geographic data and facilitates the comprehensibility of the contents of the geographic data. The vehicle includes: a first memory for storing the coordinate data of the node located on the traversable travel path; a second memory for storing the geographic data consisting of operation codes indicating the travel path conditions, and a scene command with the main operands denoting the continuous distance of the travel path under these operation codes; a decision-making unit for determining the path to be traversed by establishing the nodes to be traversed by the unmanned vehicle on its approach towards the designated target location; and a travel control section for controlling the travel movement of the unmanned vehicle on the basis of scene commands in accordance with the pre-set sequence in which the predetermined nodes are to be traversed; and, furthermore, a geographic data inputting device for entering the geographic data; and a geographic data display for displaying, during the input operation to enter the georgaphic data with the geographic data input device, line segments whose length corresponds to the value of the main operand, by means of a line type previously set in accordance with the operation code type.

Claims

1. An unmanned vehicle comprising:

a first memory means for storing coordinate data relating to nodes on a trajectory to be selectively traversed by the unmanned vehicle;

a second memory means for storing geographical data consisting of operation codes corresponding to trajectory conditions for the unmanned vehicle and scene commands;

a trajectory setting means for determining, o the basis of the coordinate data from said first memory means, a sequence of nodes to be traversed by the vehicle on the way towards a specified target location; and

a travel controlling means for controlling the travel movement of the unmanned vehicle on the basis of said scene commands by reading to the corresponding scene commands from said second memory means in accordance with the sequence in which said nodes determined by said trajectory setting means are to be traversed.

2. A self-contained unmanned vehicle according to claim 1, in which said scene commands represent wall scene commands consisting of wall operation codes denoting the lateral periphery of the travel path as being a level wall, main operands denoting that the travel path represents a continuous distance to be travelled by the vehicle under the operation code for the same wall, and ancillary operands denoting a constant distance from said wall to a trajectory of the vehicle.

3. A self-contained unmanned vehicle according to claim 1, in which said scene commands represent undefined wall scene commands consisting of undefined operation codes denoting the possibility of there being undefined objects incapable of being defined in a normal specified position on the lateral periphery of the travel path, main operands denoting that the travel path represents a continuous distance to be travelled by the vehicle under said undefined operation code, and ancillary operands denoting a constant distance from said undefined objects to a trajectory of the vehicle.

4. A self-contained unmanned vehicle according to claim 1, in which said scene commands represent space scene commands consisting of space operation codes denoting the impossibility of measuring the distance, with the lateral periphery being the space, and main operands denoting that the travel path represents a continuous distance to be travelled in the vehicle under the operation code for the same space.

5. A self-contained unmanned vehicle according to claim 1, in which said geographic data consists of the wall scene commands, the undefined scene commands, and the space commands.

6. A self-contained unmanned vehicle comprising:

a first memory means for storing coordinate data relating to nodes on a trajectory to be selectively traversed by the unmanned vehicle;

a second memory means for storing geographical data consisting of operation codes corresponding to trajectory conditions of the unmanned vehicle and scene commands;

a trajectory setting means for determining, on the basis of the coordinate data from said first memory means, a sequence of nodes to be traversed by the vehicle on its approach towards a specified target location;

a travel controlling device for controlling the travel movement of the unmanned vehicle on the basis of said scene commands by reading out the corresponding scene commands from said second memory means in accordance with the sequence in which said nodes determined by said trajectory setting device are to be traversed;

a geographical data input means connected to said second memory means for entering said geographic data to be input into said memory means; and

a geographical data display means for displaying, in the form of different types of lines each corresponding to one of said operation codes constituting said scene commands, line portions whose length corresponds to said scene commands, during the input operation for entering said geographic data by means of said geographical data input means.

7. A self-contained unmanned vehicle according to claim 6, in which said scene commands represent wall scene commands consisting of wall operation codes denoting the lateral periphery of the travel path as being a level wall, main operands denoting that the travel path represents a continuous distance to be travelled by the vehicle under the operation code for the same wall, and ancillary operands denoting a constant distance from said wall to a trajectory of the vehicle.

8. A self-contained unmanned vehicle according to claim 6, in which said scene commands represent undefined wall scene commands consisting of undefined operation codes denoting the possibility of there being undefined objects incapable of being defined in a normal specified position on the lateral periphery of the travel path, main operands denoting that the travel path represents a continuous distance to be travelled by the vehicle under said undefined operation code, and ancillary operands denoting a constant distance from said undefined objects to a trajectory of the vehicle.

9. A self-contained unmanned vehicle according to claim 6, in which said scene commands represent space scene commands consisting of space operation codes denoting the impossibility of measuring the distance, with the lateral periphery being the space, and main operands denoting that the travel path represents a continuous distance to be travelled in the vehicle under the operation code for the same space.

10. A self-contained unmanned vehicle according to claim 6, in which said geographic data consists of the wall scene commands, the undefined scene commands, and the space commands.