Method and system for controlling a travelling body so as to move forward along the predetermined route of the movement of travelling body

• US 5,339,241 A
• Filed: 06/24/1991
• Issued: 08/16/1994
• Est. Priority Date: 07/13/1990
• Status: Expired due to Fees

• Current Assignee: Kabushiki Kaisha Iseki Kaihatsu KOKI
• Original Assignee: Kabushiki Kaisha Iseki Kaihatsu KOKI
• Inventors: Kano, Takashi, Matsumori, Shigeru, Fujimori, Isao, Sumi, Toshio
• Primary Examiner(s): Chin, Gary
• Assistant Examiner(s): PARK, COLLIN
• Application Number:
  US07/719,941
• Time in Patent Office: 1,149 Days
• Field of Search: 364/424.02, 364/424.01, 180/167, 180/168, 180/169, 318/580, 318/586, 318/587
• US Class Current: 701/27
• CPC Class Codes: E21B 2200/22 Fuzzy logic, artificial intelligence, neural networks or the like
• CPC Class Codes: G01C 7/06 of cavities, e.g. tunnels
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• 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

Abstract

A method and apparatus for controlling a travelling body having a main body and a steering device along a predetermined route includes a plate-shaped indicator disposed perpendicular to an axis of the main body, an optical pointer emitting light of a first color showing the steering direction of the steering device, a laser beam illuminating the indicator with a laser beam spot of a second color, a TV camera monitoring the optical pointer and the laser beam spot on the indicator, a color separator separating image information of the optical pointer and the laser beam spot, an image processing unit computing position data of the optical pointer and the laser beam spot for outputting steering direction information and optical pointer position information, a fuzzy operation unit processing a steering command using the optical pointer position information, and comparator computing a controlling command for operating the steering device by calculating the difference between the steering command and the steering direction information.

Claims

1. A control system for controlling a travelling body having a main body and steering means connected to the main body, along a predetermined route, said system comprising:

an optical pointer indicating the displacement of the steering means relative to the main body;

a light source emitting a visible light beam extending along the predetermined route;

an indicator positioned within the main body and on which said optical pointer and the visible light beam are projected;

color image pickup means facing said indicator;

color image receiving means for displaying an image monitored by said color image pickup means;

image processing means, connected to said color image receiving means, for determining the coordinates of said optical pointer and the visible light beam projected on said indicator;

fuzzy operation means for calculating a manipulated value based on predetermined membership functions of antecedent and consequent operation units corresponding to the coordinates of the visible light beam calculated by said image processing means;

comparator means for comparing the manipulated value calculated by said fuzzy operation means with the coordinates of said optical pointer calculated by said image processing means and outputting as a controlled value a difference between the manipulated value and the coordinates of said optical pointer; and

driving means for driving the steering means according to the controlled value outputted from said comparator means into said driving means.

2. A control system as claimed in claim 1, wherein said optical pointer and the visible light beam are of different colors.

3. A control system as claimed in claim 1, wherein said fuzzy operation means comprises:

an antecedent operation unit in which membership functions corresponding to the distance between an origin of the coordinates and the visible light beam are prestored and from which a grade calculated based on inputted data of the distance between the origin of the coordinates and the visible light beam is outputted; and

a consequent operation unit in which membership functions corresponding to a plurality of manipulated values are prestored and from which a manipulated value is outputted based on the grade outputted from said antecedent operation unit,

wherein said consequent operation unit generates reduced consequent membership functions represented by reduced triangles on a graph of an actual deviation of the visible light beam and the quantity of deviation of the steering means by reducing triangles representing consequent membership functions on the graph according to the outputted grade, calculating the moments of rotation of each of the reduced triangles, summing the moments of rotation of the reduced triangles and dividing the sum total of areas of the reduced triangles to produce the manipulated value, and outputting the manipulated value from said fuzzy operation means.

4. A method for controlling a travelling body along predetermined route, said traveling body having a main body and steering means connected to said main body via jacks and rods, said method comprising the steps of:

providing a plate-shaped indicator disposed perpendicular to an axis of the main body;

emitting light of a first color with an optical pointer linked with the steering means to show the steering direction of the steering means;

illuminating the indicator with a laser beam spot of a second color;

monitoring the optical pointer and the laser beam spot on the indicator with a TV camera;

separating image information of the optical pointer and the laser beam spot with a color separator connected to the TV camera;

computing position data of the optical pointer and the laser beam spot with an image processing unit connected to the color separator for outputting steering direction information and optical pointer position information, respectively;

processing a steering command with a fuzzy operation unit connected to the image processing unit using the optical pointer position information from the image processing unit;

computing a controlling command with a comparator connected to the fuzzy operation unit and the image processing unit by calculating a difference between the steering command from the fuzzy operation unit and the steering direction information from the image processing unit; and

operating the steering means with the controlling command from the comparator.

5. A method for controlling travelling body according to claim 4, wherein, said steering command processing step comprises the steps of:

computing a grade value by matching antecedent membership functions of an antecedent operation unit memory of the fuzzy operation unit with the optical pointer position information;

generating reduced consequent membership functions in the fuzzy operation unit represented by two reduced triangles on a graph of an actual deviation of the laser beam spot and the quantity of displacement of the steering means by reducing the height of two triangles of consequent membership functions on the graph in a consequent operation unit memory of the fuzzy operation unit corresponding to the computed grade value;

calculating a moment of rotation of each said reduced triangles respectively using a center of gravity and the height of said reduced triangles; and

combining the moments of rotation of the two reduced triangles to produce and output the steering command.

6. A system for controlling a traveling body along a predetermined route, the traveling body having a main body, steering means coupled to the main body via jacks and rods, and a driving device for the jacks, said system for controlling said traveling body comprising:

a plate-shaped indicator disposed perpendicular to an axis of the main body;

an optical pointer emitting light of a first color, said optical pointer linked with the steering means and showing the steering direction of the steering means;

a laser beam oscillator illuminating said indicator with a laser beam spot of a second color;

a TV camera monitoring said optical pointer and the laser beam spot on said indicator,

a color separator connected to said TV camera, separating image information of said optical pointer and the laser beam spot;

an image processing unit, connected to said color separator, computing position data of said optical pointer and the laser beam spot for outputting steering direction information and optical pointer position information respectively;

a fuzzy operation unit, connected to said image processing unit, processing a steering command using the optical pointer position information from said image processing unit; and

a comparator, connected to said fuzzy operation unit and said image processing unit, computing a controlling command for operating said steering means by calculating a difference between the steering command from said fuzzy operation unit and the steering direction information from said image processing unit.