Method and apparatus for detecting traveling position and/or direction of an unmanned vehicle

• US 4,847,774 A
• Filed: 09/12/1986
• Issued: 07/11/1989
• Est. Priority Date: 09/12/1986
• Status: Expired due to Fees

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Okazaki, Mamoru, Tomikawa, Hisao
• Primary Examiner(s): Chin, Gary
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US06/907,368
• Time in Patent Office: 1,033 Days
• Field of Search: 364/443, 364/424, 364/449, 364/424.02, 318/587, 180/167, 180/168, 180/169
• US Class Current: 701/207
• 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

Abstract

A method and apparatus for detecting the traveling position and direction of an unmanned vehicle of an autonomous guidance system, wherein pairs of marks are provided along a course on which the unmanned vehicle is to travel and disposed perpendicularly to the course respectively, and at the unmanned vehicle are provided sensors which can detect the marks and specify the relative positions of the marks with reference to the traverse direction of the vehicle body, thereby obtaining the traveling position and/or direction of the vehicle by the relative positions of each pair of marks and a time difference between the time points when either of the marks and another mark being detected respectively or a travel distance between the time points in time. Hence, the traveling position and direction can be accurately and rapidly detected and a shift of the vehicle from the guide course can be quickly eliminated.

Claims

1. A method for detecting the traveling position and/or direction of an unmanned vehicle traveling by an autonomous guidance system, on the basis of the results of detecting marks disposed along a course on which said unmanned vehicle is to travel, said method comprising the steps of:

disposing a pair or pairs of marks in a direction intersecting the course on which said unmanned vehicle is to travel, providing said unmanned vehicle with sensors for detecting said marks in order to obtain information for specifying the relative positions of said marks with respect to the transverse direction of the vehicle body, and computing said traveling position and/or direction from detection results based on said sensors with respect to a two dimensional rectangular coordinate system, one axis of the coordinate system being coincident with the disposed direction of the marks, the other being coincident with course on which the vehicle is to travel.

2. A method for detecting the traveling position and/or direction of an unmanned vehicle according to claim l, wherein said marks are disposed perpendicularly to said course on which said unmanned vehicle is to travel.

3. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle traveling by means of an autonomous guidance system, on the basis of the results of detecting marks disposed along a course on which said unmanned vehicle is to travel, said apparatus comprising:

a pair or pairs of marks being disposed in a direction intersecting said course on which said unmanned vehicle is to travel;

sensors, being disposed on the bottom of said unmanned vehicle and arranged in the transverse direction of the vehicle, which detect said marks for obtaining information specifying the relative position of said marks with reference to the transverse direction of said vehicle;

detection means for detecting a vehicle body travel distance between time points where either of the marks and another mark are detected by said sensors respectively;

said marks and detection means being equipped at said unmanned vehicle; and

computing means for computing traveling position and/or direction of said unmanned vehicle on the vasis of said relative position specifying information and said travel distance of said vehicle body with respect to a two dimensional rectangular coordinate system, one axis of the coordinate system being coincident with the disposed direction of the marks, the other being coincident with the course on which the vehicle is to travel.

4. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3 wherein said marks are disposed perpendicularly to said course on which said unmanned vehicle is to travel.

5. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 4, wherein said marks are magnets respectively.

6. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 4, wherein said marks are optical marks respectively.

7. An apparatus for detecting the traveling position and/or direction of said unmanned vehicle according to claim 3, wherein said sensors are disposed in a line in a one-dimensional manner and perpendicularly to the traveling direction of said unmanned vehicle.

8. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 7, wherein said sensors comprise a plurality of magnetic elements being disposed in the transverse direction of the vehicle body.

9. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 8, wherein said sensors are separated right and left of said vehicle body.

10. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 7, wherein said sensors comprise a plurality of photosensors being disposed in the transverse direction of said vehicle body.

11. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 10, wherein said sensors are separated right and left of said vehicle body.

12. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3, wherein said computing means specifies said course on which said unmanned vehicle is to travel and said marks or use of a two-dimensional coordinate system.

13. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3, wherein said marks are magnets respectively.

14. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3, wherein said sensors comprise a plurality of magnet sensitive elements being disposed in the transverse direction of the vehicle body respectively.

15. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 14, wherein said sensors are separated right and left of said vehicle body.

16. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3, wherein said marks are optical marks respectively.

17. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 3, wherein said sensors comprise a plurality of optical sensors being disposed in the transverse direction of said vehicle body.

18. An apparatus for detecting the traveling position and/or direction of an unmanned vehicle according to claim 17, wherein said sensors are separated right and left of said vehicle body.