System for navigating a free ranging vehicle

• US 4,847,773 A
• Filed: 02/21/1986
• Issued: 07/11/1989
• Est. Priority Date: 02/25/1985
• Status: Expired due to Term

• Current Assignee: Frog Navigation Systems BV
• Original Assignee: Industrial Contractors Holland B.V.
• Inventors: Ten Cate, Jan O., van Helsdingen, Carel C., van der Heyden, Frank, Peteri, Paul H. F.
• Primary Examiner(s): Tarcza, Thomas H.
• Assistant Examiner(s): SWANN, TOD R
• Application Number:
  US06/831,510
• Time in Patent Office: 1,236 Days
• Field of Search: 364/443, 364/444, 364/447, 364/448, 364/449, 364/424.01, 342/452, 342/70-71, 901/1, 901/47, 318/587, 180/167, 180/169, 180/168
• US Class Current: 701/200
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0261 using magnetic plots
• 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
• CPC Class Codes: G05D 1/028 using a RF signal

Abstract

System for navigating a free ranging vehicle on a surface comprising means for detecting the position of the vehicle on the surface and to determine and/or correct the path to be followed, the surface carrying a grid of passive marker elements and the vehicle being provided with detectors for detecting same.

Claims

1. A combination of a vehicle and navigation system for controlling movement of the vehicle on a surface having a certain layout, said vehicle including wheels, a motor for driving the wheels and a steering means for the wheels, and said navigation system comprising:

a plurality of passive marker elements which are positioned on or in said surface for providing a grid over which said vehicle can move,

detector means on said vehicle for detecting said passive marker elements when said vehicle passes thereover so as to provide intermittent grid-detection signals,

sensor means on said vehicle for determining the linear distance traveled by said vehicle over said surface,

a computer control unit having a memory on said vehicle which is connected to said steering means, to said detector means, and to said sensor means, said computer control unit functioning to compute a planned path of said vehicle over said surface from any arbitrary starting point to an arbitrary destination considering said layout and, based on stored information in said memory regarding said layout and said grid, the intermittent grid-detection signals from said detector means, and information provided by said sensor means, to control said steering means so as to correct deviations of movement of said vehicle along said planned path, and

input means connected to said computer control unit for inputting information regarding said arbitrary starting point, said arbitrary destination, said center layout, and said grid.

2. A combination according to claim 1, wherein said detector means detects distances to said passive marker elements.

3. A combination according to claim 1, wherein said grid consists of discrete elements arranged according to an essentially regular pattern.

4. A combination according to claim 3, wherein said discrete elements consist of magnetically-conducting material.

5. A combination according to claim 4, wherein said discrete elements consist of permanent magnets.

6. A combination according to claim 3, wherein said discrete elements are transponders which are activated by irradiation with electromagnetical energy.

7. A combination according to claim 1, wherein said passive marker elements are in the form of continuous lines arranged according to a coordinate system.

8. The system according to claim 7, wherein said passive marker elements consist of magnetically-conducting material.

9. A combination according to claim 7, wherein said surface comprises individual floor elements and passive marker elements consist of metal frames around said floor elements.

10. A vehicle which can be moved in a controlled fashion over a surface which has a certain layout and which is provided with a plurality of passive marker elements arranged to form a grid, said vehicle including wheels, a motor for driving the wheels, a steering means for the wheels, at least one detector for detecting said passive marker elements, a sensor means for determining the linear distance traveled by said vehicle over said surface, a computer control unit with memory which is connected to said steering means, to each said detector and to said sensor means, said computer control unit being capable of computing a planned path of said vehicle over said surface from any arbitrary starting point to an arbitrary destination, taking into consideration said layout and said grid, and controlling the movement of said vehicle over said surface, and input means for inputting information to said computer control unit regarding said arbitrary starting point, said arbitrary destination, said certain layout and said grid.

11. A method of navigating a vehicle over a surface from an arbitrary starting point to an arbitrary destination, said surface having a certain layout and including a plurality of passive marker elements which together provide a grid pattern over which the vehicle can move and said vehicle including a steering means, a detector means for detecting said passive marker elements when said vehicle passes thereover, a sensor means for determining the linear distance traveled by said vehicle over said surface, and a computer control unit with a memory, said computer control unit being connected to said detector means, said sensor means and said steering means and operating to control said steering means on said vehicle and thus the movement of said vehicle over said surface, said method including the steps of:

(a) inputting into said computer control unit data regarding said layout of said surface, said grid, said arbitrary starting point and said arbitrary destination,

(b) computing in said computer control unit information regarding a planned path for said vehicle to follow in moving from said arbitrary starting point to said arbitrary destination and storing said planned path information in said memory,

(c) computing in said computer control unit the positions relative to the planned path of the particular passive marker elements of said plurality of passive marker elements that are to be expected to be detected by the detector means on said vehicle when said vehicle follows said planned path,

(d) moving said vehicle over said surface such that said detector means provides signals representing actual passive marker position information,

(e) comparing in said computer control unit the actual passive marker position information provided by said detector means in step (d) to said computed passive marker positions from step (c) to determine a difference between the actual vehicle position on said surface and the planned vehicle position along said planned path,

(f) sending steering signals from said computer control unit to said steering means to change the direction of movement of said vehicle when necessary so as to move said vehicle towards said planned path, and

(g) repeating steps (e) and (f) whenever passive marker elements are detecter by said detector means until said arbitrary destination is reached.