Steering control system for moving vehicle

• US 5,426,584 A
• Filed: 02/09/1993
• Issued: 06/20/1995
• Est. Priority Date: 02/24/1992
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Kamimura, Kenji, Nakamura, Toshikazu, Tsuzuki, Sadachika
• Primary Examiner(s): Teska, Kevin J.
• Assistant Examiner(s): FREJD, RUSSELL WARREN
• Application Number:
  US08/015,121
• Time in Patent Office: 861 Days
• Field of Search: 250/561, 364/424.02, 364/449, 362/37, 180/169, 356/152.3
• US Class Current: 701/25
• CPC Class Codes: A01D 2101/00 Lawn-mowers
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: G01C 15/002 Active optical surveying means optical plumbing G01C15/105
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G05D 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/0244 using reflecting strips

Abstract

In a steering control system for a moving body in which azimuths of reference points are detected by rotatively scanning a light beam around the moving body, a current position of the moving body is calculated based on the azimuths of reference points, and the moving body is steered so that the current position thereof follows a predetermined travelling course that is calculated in accordance with an algorithm previously stored in a memory. The system assigns each detected reference point to each reference point in said algorithm for calculating the relative traveling course, based on one of a reference point that is detected first under the condition that the azimuth exceeds a first predetermined angle, and a reference point that is detected last with the azimuth being less than a second predetermined angle when the azimuth is measured with respect to the advance direction of the moving vehicle initially placed in the traveling area before the start of a work. A traveling course is set according to said algorithm using the positional information on the assigned reference points.

Claims

1. A steering control system for a vehicle that is movable through a work area to perform a work operation, said control system comprising light beam scanner means mounted on the vehicle for rotatively scanning a light beam in a predetermined direction around the vehicle, light receiver means mounted on said vehicle for detecting light beams reflected from light reflector means, said light reflector means being placed at at least four positional reference points disposed at positions spaced from said vehicle so as to surround the work area and for reflecting light in its direction of incidence, azimuth detector means for detecting the azimuth of each reference point relative to said vehicle prior to the start of the work operation on the basis of a detection signal resulting from the light reflected at said each reference point,

a memory having stored therein an algorithm for calculating a traveling course for the vehicle relative to said positional reference points, said algorithm including reference points,

means for assigning each positional reference point detected by said azimuth detector means to a respective reference point in said algorithm, said assigment being based on detection of a positional reference point that is firstly detected under the condition that it azimuth exceeds a first predetermined angle when the azimuth is measured with respect to the advance direction of the vehicle initially placed in the traveling area before the start of a work, said assigning means also determining which of said positional reference points should be the origin of a coordinate system and designating the coordinate axes of said coordinate system on which said traveling course is to be set,

means for setting a traveling course for said vehicle according to said algorithm using positional information of the assigned positional reference points,

means for initiating movement of said vehicle after said traveling course has been set, and

means for controlling a steering mechanism of said vehicle to cause said vehicle to move through said work area along said traveling course.

2. The system of claim 1 wherein the traveling course set by said traveling course setting means comprises a plurality of spaced substantially straight courses each of which forms a second predetermined angle on said coordinate system relative to a particular outlining straight line of said work area, said particular outlining straight line being one of a plurality of outlining straight lines that sequentially interconnect adjacent ones of said positional reference points so as to surround the work area, said particular outlining straight line being intersected by a virtual line extended in the direction forming said first predetermined angle relative to said advance direction.

3. The system of claim 2 wherein said second predetermined angle is approximately 180°

.

4. The system of claim 2 wherein said second predetermined angle is approximately 90°

.

5. The system of claim 2 wherein said substantially straight courses are parallel to each other, adjacent ones of said straight courses being interconnected at one of their ends by a transfer course to form a single contimous traveling course.

6. The system of claim 2 wherein said light beam scanner means includes means for vertically oscillating said light beam, said system further comprising:

means storing the azimuths of light beams detected by said light receiver means during the light beam scanning by said light beam scanner means prior to the traveling of said moving vehicle, and storing the number of said detected light beams that are in substantially the same azimuth,

means for sorting said stored azimuths in order of magnitude, and

means for registering said same azimuth as the azimuth of one of said light reflector means viewed from said moving vehicle when the number of said light beams detected in substantially said same azimuth has reached a predetermined number.

8. The system of claim 1 wherein said first predetermined angle is approximately 90°

and said assigning means assigns said firstly detected positional reference point to a second reference point in said algorithm.

9. The system of claim 1 wherein said first predetermined angle is approximately 180°

and said assigning means assigns said firstly detected positional reference point to a third reference point in said algorithm.

7. The system of clain 6 wherein said light beam scanner means causes said scanned light beam to be rotatively scanned a plurality of times during one vertical oscillation cycle.