Automatic guiding and tracking device

• US 5,611,406 A
• Filed: 07/11/1995
• Issued: 03/18/1997
• Est. Priority Date: 09/16/1994
• Status: Expired due to Fees

• Current Assignee: Nikko Electric Industry Co., Ltd.
• Original Assignee: Nikko Electric Industry Co., Ltd.
• Inventors: Yamagishi, Setsuo, Matsuzaki, Kouichi
• Primary Examiner(s): Camby, Richard M.
• Assistant Examiner(s): Vanaman, Frank
• Application Number:
  US08/500,837
• Time in Patent Office: 616 Days
• Field of Search: 180/167, 180/168
• US Class Current: 180/167
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• 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 1/028 using a RF signal

Abstract

A guiding signal generator and transmitter is included on a guiding device for generating and transmitting a guiding signal for guiding a tracking device. Provided on the tracking device are first and second guiding signal receivers spaced apart by a predetermined distance for receiving the guiding signal, and a controller for detecting a direction to and a distance from the guiding device based on outputs from the first and second guiding signal receivers and the predetermined distance. The configuration prevents collisions between the guiding device and the tracking device.

Claims

1. An automatic guiding and tracking device comprising a guiding device movable to a desired position and a tracking device for tracking the movement of said guiding device;

wherein said guiding device comprises,

(a) ultrasonic signal transmitting means for transmitting an ultrasonic signal as a guiding signal for guiding said tracking device, and

(b) timing signal transmitting means for transmitting a timing signal of said guiding signal;

wherein said tracking device comprises,

(a) timing signal receiving means for receiving said timing signal,

(b) first ultrasonic signal receiving means for receiving said ultrasonic signal,

(c) second ultrasonic signal receiving means spaced apart from said first ultrasonic signal receiving means by a predetermined distance for receiving said ultrasonic signal,

(d) a clock generating circuit for generating a reference clock of a predetermined frequency,

(e) a counting means for counting said reference clock based on said timing signal received from said timing signal transmitting means, a first ultrasonic signal received by said first ultrasonic signal receiving means and a second ultrasonic signal received by said second ultrasonic signal receiving means, and

(f) control means for detecting a distance and a direction to said guiding device from said tracking device based on the counting of said counting means and said predetermined distance so as to control a running direction and a speed of a vehicle having said tracking device mounted thereon.

2. An automatic guiding and tracking device as set forth in claim 1, wherein said guiding device is portable so that it can be carried by a person and wherein said tracking device is mounted on a golf cart.

3. An automatic guiding and tracking system for guiding plural vehicles to follow in turn the path of a lead vehicle, said system comprising a plurality of guiding devices and a plurality of tracking devices each for tracking the movement of a respective one of said guiding devices;

wherein each of said guiding devices comprises,

(a) ultrasonic signal transmitting means for transmitting an ultrasonic signal as a guiding signal for guiding a respective tracking device, and

(b) timing signal transmitting means for transmitting a timing signal of said guiding signal,

wherein each of said tracking devices comprises,

(a) timing signal receiving means for receiving said timing signal,

(b) first ultrasonic signal receiving means for receiving said ultrasonic signal,

(c) second ultrasonic receiving means spaced apart from said first ultrasonic receiving means by a predetermined distance for receiving said ultrasonic signal,

(d) a clock generating circuit for generating a reference clock of a predetermined frequency,

(e) a counting means for counting said reference clock based on said timing signal received from said timing signal transmitting means, a first ultrasonic signal received by said first ultrasonic signal receiving means and a second ultrasonic signal received by said second ultrasonic signal receiving means, and

(f) control means for detecting a distance and a direction to said guiding device from said tracking device based on the counting of said counting means and said predetermined distance so as to control a running direction and speed of a vehicle having said tracking device mounted thereon; and

wherein the lead vehicle has a one of said guiding devices mounted thereto, a final vehicle has a one of said tracking devices mounted thereto, and each vehicle between the lead and final vehicles has both a guide device and a tracking device mounted thereto, and wherein the tracking device mounted to each vehicle tracks the movement of the guiding device of a respective preceding vehicle.