Driverless vehicle autoguided by light signals and three non-directional detectors

• US 4,309,758 A
• Filed: 08/01/1979
• Issued: 01/05/1982
• Est. Priority Date: 08/01/1978
• Status: Expired due to Term

• Current Assignee: Imperial Chemical Industries Limited (Nouryon BV)
• Original Assignee: Imperial Chemical Industries Limited (Nouryon BV)
• Inventors: Halsall, James R., Robertson, James R., Rogers, Mark A., Larcombe, Michael H.
• Primary Examiner(s): Wise, Edward J.
• Application Number:
  US06/062,698
• Time in Patent Office: 888 Days
• Field of Search: 364/424, 364/436, 364/410, 364/449, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/0278 using satellite positioning signals, e.g. GPS

Abstract

An unmanned vehicle capable of being automatically guided towards a predetermined destination by the geometrical computation of light signals received by at least three omnidirectional detectors on-board the vehicle. Useful in restricted areas such as automatic warehouses and loading bays.

Claims

1. A vehicle having means for determining its position and orientation with reference to a final station, in combination with a beacon located at said fixed station;

the beacon having a light source for emitting the light in diverging directions over an area in which the vehicle moves, and means for encoding the light with directional information wherein the light emitted from the beacon in one direction is detectably different from that emitted in any other direction;

the vehicle having at least three triangulated light-sensitive detectors mounted to intercept light from the beacon at all orientations of the vehicle within said area, decoding means to read the directional information encoded in the light received by each detector and thereby learn the direction in which the light intercepted by each detector was emitted from the beacon, and means to calculate the position and orientation of the vehicle from the directional information so learned.

2. A combination of vehicle and beacon as claimed in claim 1 wherein the light is emitted from the beacon as a beam which scans over the area in which the vehicle moves.

3. A combination as claimed in claim 2 in which the beam scans in discrete steps and the encoded directional information correspondingly changes in stepwise manner with each movement of the beam.

4. A combination as claimed in claim 3 in which the beam is modulated at each step in the form of a sequential binary code exclusive to that step to provide the directional information.

5. A combination as claimed in claim 4 in which the code is a Gray code.

6. A combination as claimed in claim 1 in which the calculation means is adapted to determine the orientation of the vehicle by solving the equation:

##EQU2## where the three detectors are at positions C, D and A on the vehicle and the beacon is at a position B remote from the vehicle, and where

M=CD sin β

/DA sin α

α

is the angle subtended by CD at the beacon,

β

is the angle subtended by DA at the beacon,

κ

=angle CDA-(α

+β

), and

γ

is the angle DAB, giving the orientation of DA to the bearing AB from A to the fixed station,

CD, DA and angle CDA being known parameters of the vehicle, and α and

β

being obtained from the directions of the light beams intercepted by the three detectors.

7. A combination as claimed in claim 1 in which the vehicle has four detectors mounted thereon in quadrilateral array to intercept light from the beacon.

8. A combination of a vehicle and a first beacon as claimed in claim 1 in which the vehicle can also move within a further area, a further beacon being located at a further fixed station and emitting light over the further area, for interception by the detectors, the light from the further beacon also being encoded with directional information and the decoding and calculating means being adapted to read the directional information from the further beacon in addition to that from the first beacon, and to calculate the position and orientation of the vehicle therefrom in essentially the same manner as for that from the first beacon, the further beacon emitting light which differs from that emitted by the first beacon so as to be identifiable by the vehicle.

9. A combination as claimed in claim 8 in which the directional information is provided in the form of a binary code, and the information identifying the beacons is given by further bits of the same binary code.

10. A combination as claimed in claim 8 in which the light emitted by each beacon is of a different colour from that emitted by the other, the beacon being thereby identifiable by the vehicle.

11. A combination as claimed in claim 8 in which the area over which light is emitted by the first beacon overlaps the further area.