Autoguided vehicle using reflective materials

• US 4,855,915 A
• Filed: 03/13/1987
• Issued: 08/08/1989
• Est. Priority Date: 03/13/1987
• Status: Expired due to Fees

• Current Assignee: Rodney J. Dallaire
• Original Assignee: Rodney J. Dallaire
• Inventors: Dallaire, Rodney J.
• Primary Examiner(s): MIS, DAVID C
• Application Number:
  US07/025,722
• Time in Patent Office: 879 Days
• Field of Search: 364/424.02, 364/443, 180/168, 180/169, 356/1, 356/4, 356/375
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 2201/0216 Vehicle for transporting goods in a warehouse, factory or similar

Abstract

An automatic guiding system for an unmanned goods transportation vehicle is provided by a one dimensional optical detector responsive to specialized targets mounted along a side of the vehicle'"'"'s path of motion. The specialized targets consist of combinations of retro-reflective and mirror-like devices in patterns allowing the vehicle to determine both the relative position and heading angle in a single set of measurements.

Claims

1. A guidance means for a vehicle traveling along a path comprising:

a target mounted along and to the side of a vehicle path, said target having at least a mirror reflective element and one or more horizontally arranged retro-reflective elements;

first means mounted on the vehicle for emitting a beam of light toward the target and for sensing a reflection of the light beam from the mirror-reflective element and the retroreflective element at such times as the vehicle is at a pre-set distance from the target; and

computer means on the vehicle for computing the position and heading of the vehicle according to a signal received from the first means in response to sensing the reflected light beam at such times as the beam of light is along a line perpendicular to the reflective surface of the mirror reflective element, and the beam of light is within a predetermined angle of incidence of the reflective surface of the retro-reflective element.

2. A guidance system as defined in claim 1, in which the target comprises at least one retro-reflector and one curved mirror disposed such that measurements of the distance travelled between the reflections can be used to triangulate the vehicle'"'"'s position and heading.

3. A guidance means as claimed in claim 2 wherein the reflective elements are accodion pleated with narrow horizontal mirror stripes at 90 degree angles to constrain the reflections to a plane defined by the line of intersection of the horizontal mirror stripes and the transmitted light beam.

4. A vehicle guidance system for a moving vehicle having steering means, comprising:

a plurality of spaced targets mounted along a predetermined path of vehicle motion;

a reflective mirror, and a retro-reflective element mounted on each target;

means on the vehicle for emitting a light beam toward the reflective mirror and the retro-reflective element of each target as the vehicle is passing the target, and for sensing a reflection of the light beams from the mirror on each target at such times as the beam of light is along a line generally perpendicular to the reflective surface of the mirror, and for sensing a reflection from the retro-reflective element at such times as the beam of light is within a predetermined angle of incidence of the reflective surface of the retro-reflective element;

steering means mounted on the vehicle for changing the direction of motion thereof; and

computer means on the vehicle for computing the vehicles actual path of motion according to a signal received from the light-sensing means in response to receiving the reflected light beams from the reflective mirror and the retro-reflective element, and for transmitting a corrective steering command to the steering means depending upon the difference between the actual path of vehicle motion and the predetermined path of vehicle motion.

5. A method for guiding a vehicle along a predetermined path of motion, the vehicle having steering means, comprising the steps of:

locating a plurality of spaced targets along the predetermined path of motion, each target having a reflective mirror, and a retro-reflective element;

emitting a light beam from the vehicle toward each target as the vehicle is passing the target, and sensing the reflection of the light beam from the mirror on each target at such times as the beam of light is along a line perpendicular to the reflective surface of the mirror, and sensing a reflection of the light beam from the retro-reflective element at such times as the beam of light is within a predetermined angle of incidence of the retro-reflective element; and

computing the vehicle'"'"'s actual path of motion according to a signal received from the light sensing means in response to receiving the reflective light beams from the reflective mirror and retro-reflective element, and transmitting a corrective steering command to the steering means depending upon the difference between the actual path of vehicle motion and the predetermined path of vehicle motion.