Guidance system for automated vehicles, and guidance strip for use therewith
First Claim
1. A vehicle guidance system, for use with a vehicle which includes at least one steerable wheel and steering actuation means for steering each steerable wheel, the vehicle guidance system comprising:
- an elongate element aligned with a desired path for the vehicle, said elongate element being mounted along the path, and said elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion;
illumination means for mounting on the vehicle and for illuminating the elongate element with radiation at the first frequency;
detection means, for mounting on the vehicle, and for receiving and detecting radiation from the elongate element to provide positional information, indicating a position of the vehicle relative to the elongate element;
a main control unit for determining the location of the vehicle relative to the desired path from the positional information from the detection means, and for controlling the steering actuation means to cause the vehicle to follow the desired path, the main control unit being adapted for connection to the detection means and the steering actuation means, and the detection means and the main control unit being adapted to distinguish between different frequencies of radiation radiated by said portions of the elongate element.
2 Assignments
0 Petitions
Accused Products
Abstract
The vehicle guidance system is provided for guiding a vehicle, such as a load haul dump vehicle in an underground mine. An elongate element, for example in the form of a rope or the like is aligned with the path of the vehicle and is suspended above the path. The element includes a fluorescent material which absorbs radiation at one frequency and radiates radiation at a second, lower frequency. The vehicle includes a lamp for illuminating the element at the first frequency, e.g. ultraviolet light, and a camera or other detector to detect the second frequency, which may be in the visible spectrum, radiated from the elongate element. The relative position of the elongate element and the image provided by the detector is used to steer the vehicle to keep it on the desired path. The elongate element can be provided with portions that radiate different frequencies in response to the first frequency, which different frequencies are used to provide additional information, e.g. an indication of branch paths.
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Citations
20 Claims
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1. A vehicle guidance system, for use with a vehicle which includes at least one steerable wheel and steering actuation means for steering each steerable wheel, the vehicle guidance system comprising:
- an elongate element aligned with a desired path for the vehicle, said elongate element being mounted along the path, and said elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion;
illumination means for mounting on the vehicle and for illuminating the elongate element with radiation at the first frequency;
detection means, for mounting on the vehicle, and for receiving and detecting radiation from the elongate element to provide positional information, indicating a position of the vehicle relative to the elongate element;
a main control unit for determining the location of the vehicle relative to the desired path from the positional information from the detection means, and for controlling the steering actuation means to cause the vehicle to follow the desired path, the main control unit being adapted for connection to the detection means and the steering actuation means, and the detection means and the main control unit being adapted to distinguish between different frequencies of radiation radiated by said portions of the elongate element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
- an elongate element aligned with a desired path for the vehicle, said elongate element being mounted along the path, and said elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion;
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10. A method of remotely guiding a vehicle, the method comprising the steps of:
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(a) providing an elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion, and aligning said portions of the elongate element with a desired path for the vehicle; (b) propelling a vehicle along the desired path; (c) illuminating the elongate element with radiation of the first frequency; (d) detecting radiation emitted from the elongate element and distinguishing between the different radiated frequencies from said portions of the elongate element to determine the position of the vehicle relative to the elongate element and thereby to determine the vehicle'"'"'s position relative to the desired path; and (e) in dependence upon the vehicle'"'"'s relative position to the desired path, steering the vehicle, so that the vehicle travels along the desired path. - View Dependent Claims (11, 12, 13, 14)
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15. A vehicle guidance system, for use with a vehicle which includes at least one steerable wheel and steering actuation means for steering each steerable wheel, the vehicle guidance system comprising:
- an elongate element aligned with a desired path for the vehicle, mounted along the path and including a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency;
illumination means for mounting on the vehicle and for illuminating the elongate element with radiation at the first frequency;
detection means, for mounting on the vehicle, and for receiving and detecting radiation from the elongate element at the second frequency to provide positional information, indicating a position of the vehicle relative to the elongate element;
a main control unit for determining the location of the vehicle relative to the desired path from the positional information from the detection means, and for controlling the steering actuation means to cause the vehicle to follow the desired path, the main control unit being adapted for connection to the detection means and the steering actuation means;
an excitation means for driving the illumination means, which excitation means causes the illumination means to provide a series of pulses at a known, control frequency;
a filter means for filtering out signals outside the control frequency, said filter means being connected between the detector means and the main control unit. - View Dependent Claims (16, 17, 18, 19, 20)
- an elongate element aligned with a desired path for the vehicle, mounted along the path and including a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency;
Specification