Position detector for moving vehicle

• US 5,025,377 A
• Filed: 11/28/1989
• Issued: 06/18/1991
• Est. Priority Date: 12/12/1988
• Status: Expired due to Fees

• Current Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Original Assignee: Honda Giken Kogyo Kabushiki Kaisha (Honda Motor Company)
• Inventors: Kamimura, Kenji, Tsuzuki, Sadachika
• Primary Examiner(s): Black, Thomas G.
• Application Number:
  US07/442,371
• Time in Patent Office: 567 Days
• Field of Search: 364/424.01, 364/424.02, 364/443, 364/449, 180/167 S, 180/168, 180/169, 318/587
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165

Abstract

A position-detecting system for a moving vehicle whose working efficiency is increased through the reduction of the frequency of interruption during traveling due to missing of a reference point comprises a light-receiving means installed rotatably on the moving vehicle and receiving light beam signals from a plurality of reference points, a means for detecting the azimuths of the reference points with respect to the advance direction of the moving vehicle based on light-receiving intervals, a first operating means for operating the position and the advance direction of the moving vehicle on the basis of preset positional information as well as the azimuths of the four reference points, a second operating means for operating the position and the advance direction of the moving vehicle on the basis of preset positional information and the azimuths of any three reference points out of the four reference points, and a switching means to select either one of the outputs from the first and second operating means.

Claims

1. A position-detecting system for a moving vehicle

that is adapted to travel through a working area whose boundaries are defined by light reflectors disposed at four spaced reference points none of which reflectors carries any identification information regarding the position of said reflector, said vehicle including a light source that scans a light beam horizontally around a fixed axis on said vehicle, said vehicle including light-receiving means disposed at said fixed axis for receiving light reflected by said light reflectors, and said vehicle also including control means for detecting the position of said moving vehicle on the basis of signals derived from reflected light received by said light receiving means, said control means comprising:

means for detecting the azimuths of said reference points with respect to the advance direction of the moving vehicle based on light-receiving intervals of the light-receiving means;

first operating means for operating the position of the moving vehicle on the basis of preset positional information as well as the azimuths of the reference points;

second operating means for operating the position of the moving vehicle on the basis of preset positional information and the azimuths of any three reference points out of said four reference points;

discrimination processing means having means for outputting a reference point-missing signal when a light beam signal is not detected from one of the four reference points; and

a switching means responsive to occurrence of said reference-point missing signal for transferring control from said first operating means to said second operating means to allow the second operating means to operate the position of the moving vehicle on the basis of the positional information as well as the azimuths of the three reference points other than the reference point that was missed.

2. A position-detecting system for a moving vehicle as claimed in claim 1 wherein the discrimination processing means is provided with means for comparing the number of times the light beam signal from a particular reference point has not been detected successively with a predetermined threshold value, said reference point-missing signal being output when said number of times exceeds said threshold value.

3. A position-detecting system for a moving vehicle as claimed in claim 1 wherein the discrimination processing means is provided with means for predicting a direction of the reference point to be detected in a succeeding scanning cycle based on the azimuths detected by the azimuth detecting means, and means for presuming a direction of the reference point which is to be detected but has not been detected when the reference point to be detected in the succeeding scanning cycle was not detected in the predicted direction.

4. A position-detecting system for a moving vehicle as claimed in claim 1 wherein the first operating means operates the position of the moving vehicle on the basis of the azimuths of the four reference points, differential azimuths defined between two pairs of the reference points positioned diagonally relative to each other among four reference points, and the positional information of the four reference points.

5. A position-detecting system for a moving vehicle as claimed in claim 1 wherein the first operating means operates the position of the moving vehicle on the basis of the azimuths or three of said four reference points positioned at the apexes of a triangle surrounding the moving vehicle the differential azimuths between the adjoining two reference points viewed from the moving vehicle, and the positional information of the three reference points.