Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle

• US 5,916,285 A
• Filed: 09/13/1996
• Issued: 06/29/1999
• Est. Priority Date: 10/18/1995
• Status: Expired due to Term

• Current Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Original Assignee: Jervis B Webb Company (Daifuku Company Limited)
• Inventors: Drenth, Ronald R., Alofs, Cornell W.
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US08/713,539
• Time in Patent Office: 1,019 Days
• Field of Search: 701/23, 701/26, 701/41, 701/42, 701/1, 180/168, 180/415, 180/402, 180/446, 33/203.18
• US Class Current: 701/23
• 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 swivel caster fitted with rotational and swivel angle measurement sensors mounted to a driverless vehicle so that the lateral motion of the vehicle can be detected and accounted for by the vehicle'"'"'s navigation and guidance system. A preferred embodiment of the present invention is a driverless vehicle comprising a navigation and guidance system having an angular motion sensor and a track wheel caster assembly equipped with a caster pivot sensor and a wheel rotation sensor to determine the relative position of the vehicle by taking into account substantially all movement of the vehicle along the surface upon which the vehicle is travelling. These sensors enable the navigation system to more accurately determine the vehicles current position and enable the guidance system to better guide the vehicle.

Claims

1. A driverless vehicle comprising:

a vehicle body having a plurality of wheels linked thereto; and

means for sensing forward, reverse and lateral movement of at least one of said plurality of wheels along a surface said at least one wheel is traversing without using one or more fixed reference markers placed along a path of travel for the driverless vehicle.

2. The vehicle of claim 1 wherein said means comprises an angular motion sensor for sensing the heading change of said vehicle.

3. The vehicle of claim 2 wherein said vehicle further comprised a navigation and guidance system for directing the movement of said vehicle responsive to information supplied from said means.

4. A driverless vehicle comprising:

means for sensing forward, reverse and lateral movement of said vehicle along the surface said vehicle is traversing, wherein said means comprises an angular motion sensor for sensing the heading change of the vehicle and a swivel caster for sensing substantially all motion of said vehicle along the surface.

5. The vehicle of claim 4 wherein said swivel caster is freely pivoting.

6. The vehicle of claim 5 wherein said swivel caster comprises:

a wheel rotation sensor; and

a caster pivot sensor.

7. The vehicle of claim 6 wherein said angular motion sensor is a gyroscope.

8. The vehicle of claim 7 wherein said vehicle further comprises a navigation and guidance system for directing the movement of said vehicle responsive to information supplied from said means.

9. The vehicle of claim 8 wherein said navigation and guidance system determines the change of position of said vehicle by taking into account substantially all forward, reverse and lateral movement of said vehicle.

10. An driverless vehicle comprising

a steering mechanism,

an apparatus for adjusting said steering mechanism comprising

an angular motion sensor;

a caster having

a contact wheel,

a wheel rotation sensor, and

a caster pivot sensor;

a computer in electrical communication with said angular motion sensor, wheel rotation sensor and said caster pivot sensor, wherein said computer calculates;

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction; and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction.

11. The vehicle of claim 10 wherein said Ym and Xm calculations comprise at least one of the following calculated variables:

Rm is a calculated distance based in part on information supplied from said wheel rotation sensor;

SA is a calculated average caster rotation angle based in part on information supplied by said caster pivot sensor; and

Pm is a calculated vehicle motion based in part on information supplied by said angular motion sensor and said caster pivot sensor.

12. The vehicle of claim 11 wherein

13. The vehicle of claim 12 wherein

14. A vehicle comprising:

a navigation and guidance system for guiding said vehicle comprising;

a steering mechanism,

means for adjusting said steering mechanism comprising;

an angular motion sensor;

a freely pivoting caster having

a free spinning wheel,

a wheel rotation sensor, and

a caster pivot sensor;

a computer in electrical communication with said angular motion sensor, wheel rotation sensor and said caster pivot sensor, wherein said computer calculates;

space="preserve" listing-type="equation">Ym=Rm·

Cos(SA)-Pm·

Sin(SA)-Cx·

Hc

space="preserve" listing-type="equation">Xm=Rm·

Sin(SA)+Pm·

Cos(SA)+Cy·

Hc

wherein;

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction; and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction;

Rm is a calculated distance based in part on information supplied from said wheel rotation sensor;

SA is a calculated average caster rotation angle based in part on information supplied by said caster pivot sensor;

Pm is a calculated vehicle motion based in part on information supplied by said angular motion sensor and said caster pivot sensor;

Cy is a constant;

Cx is a constant; and

Hc is the heading change of said vehicle.

15. A navigation and guidance system for guiding a driverless vehicle comprising:

a motion sensing wheel assembly including a wheel; and

means for sensing forward, reverse and lateral movement of the wheel along a surface said wheel is traversing without using one or more fixed reference markers placed along a path of travel for the driverless vehicle.

16. The system of claim 15 wherein said means comprises an angular motion sensor for sensing the heading change of said vehicle.

17. The system of claim 16 wherein said system directs the movement of said vehicle responsive to information supplied from said means.

18. A navigation and guidance system for guiding a driverless vehicle comprising means for sensing forward, reverse and lateral movement of said vehicle along the surface said vehicle is traversing, wherein said means comprises an angular motion sensor for sending heading change of said vehicle, said system directing movement of said vehicle responsive to information supplied from the sensing means, said means further comprising a swivel caster for sensing substantially all motion of said vehicle along the surface.

19. The system of claim 18 wherein said swivel caster is freely pivoting.

20. The system of claim 19 wherein said swivel caster comprises:

a wheel rotation sensor; and

a caster pivot sensor.

21. The system of claim 20 wherein said angular motion sensor is a gyroscope.

22. The system of claim 21 wherein said navigation and guidance system determines the change of position of said vehicle by taking into account substantially all forward, reverse and lateral movement of said vehicle.

23. A navigation and guidance system for guiding a vehicle comprising:

a steering mechanism,

an apparatus for adjusting said steering mechanism comprising

an angular motion sensor;

a caster having

a contact wheel,

a wheel rotation sensor, and

a caster pivot sensor;

a computer in electrical communication with said angular motion sensor, wheel rotation sensor and said caster pivot sensor, wherein said computer calculates;

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction; and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction.

24. The system of claim 23 wherein said Ym and Xm calculations comprise at least one of the following calculated variables:

Rm, where Rm is a calculated distance based in part on information supplied from said wheel rotation sensor;

SA, where SA is a calculated average caster rotation angle based in part on information supplied by said caster pivot sensor; and

Pm, where Pm is a calculated vehicle motion based in part on information supplied by said angular motion sensor and said caster pivot sensor.

25. The system of claim 24 wherein

26. The system of claim 25 wherein

27. A navigation and guidance system for guiding a vehicle comprising:

a steering mechanism,

means for adjusting said steering mechanism comprising;

an angular motion sensor;

a freely pivoting caster having

a free spinning wheel,

a wheel rotation sensor, and

a caster pivot sensor;

a computer in electrical communication with said angular motion sensor, wheel rotation sensor and said caster pivot sensor, wherein said computer calculates;

space="preserve" listing-type="equation">Ym=Rm·

Cos(SA)-Pm·

Sin(SA)-Cx·

Hc

space="preserve" listing-type="equation">Xm=Rm·

Sin(SA)+Pm·

Cos(SA)+Cy·

Hc

wherein;

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction; and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction;

Rm is a calculated distance based in part on information supplied from said wheel rotation sensor;

SA is a calculated average caster rotation angle based in part on information supplied by said caster pivot sensor;

Pm is a calculated vehicle motion based in part on information supplied by said angular motion sensor and said caster pivot sensor;

Cy is a constant;

Cx is a constant; and

Hc is the heading change of said vehicle.

28. A method of guiding a vehicle comprising the steps of calculating

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction based on sensed forward and reverse motion;

and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction based on sensed lateral motion; and

guiding said vehicle responsive to Ym and Xm without using one or more fixed reference markers placed along a path of travel for the vehicle.

29. The method of claim 28 wherein said calculation comprises information supplied by an angular motion sensor located on said vehicle.

30. A method of guiding a vehicle comprising calculating:

Ym the vehicle'"'"'s change of position in the vehicle'"'"'s forward and reverse direction; and

Xm the vehicle'"'"'s change of position in the vehicle'"'"'s lateral direction; and

guiding said vehicle responsive to Ym and Xm, wherein said calculation comprises information supplied by an angular motion sensor located on said vehicle and information supplied by a freely pivoting caster having a free spinning wheel, a wheel rotation sensor, and a caster pivot sensor.

31. The method of claim 30 wherein said calculation of:

space="preserve" listing-type="equation">Ym=Rm·

Cos(SA)-Pm·

Sin(SA)-Cx·

Hc;

and

space="preserve" listing-type="equation">Xm=Rm·

Sin(SA)+Pm·

Cos(SA)+Cy·

Hc

wherein;

Rm is a calculated distance based in part on information supplied from said wheel rotation sensor,

SA is a calculated average caster rotation angle based in part on information supplied by said caster pivot sensor,

Pm is a calculated vehicle motion based in part on information supplied by said angular motion sensor and said caster pivot sensor,

Cy is a constant,

Cx is a constant, and

Hc is the heading change of said vehicle.

32. A caster comprising:

mounting means for affixing said caster to a device;

a free wheeling contact wheel assembly having a free wheeling contact wheel which rotates on an axle;

first means for sensing rotation of said free wheeling contact wheel about said axle;

pivoting means for rotationally connecting said free wheeling contact wheel assembly to said mounting means, wherein said pivoting means enables said free wheeling contact wheel assembly to rotate about an axis perpendicular to said axle;

second means for sensing rotation of said free wheeling contact wheel assembly about said axis and for sensing lateral motion of the vehicle as the free wheeling contact wheel travels along a surface; and

connecting means for electrically connecting said first means to a point fixed with respect to said mounting means.

33. The caster of claim 32 wherein said connecting means comprises:

an electric slip ring which enables said assembly to rotate about said axis limitlessly in either direction while maintaining electrical communication between said first means and said point.

34. The caster of claim 33 wherein said slip ring is centered about said axis.

35. The caster of claim 32 wherein said connecting means comprises:

a set of conductors routed from said first means through an opening in said assembly and through an opening in said second means and connected to an electric slip ring positioned on said axis which enables said assembly to rotate about said pivot means limitlessly in either direction while maintaining electrical communication with a set of terminals which remain fixed with respect to said mounting means;

wherein said openings extend and are centered along said axis.

36. The caster of claim 32, wherein the device is a driverless vehicle.