Guidance system for self-advancing vehicle

• US 5,622,236 A
• Filed: 05/22/1995
• Issued: 04/22/1997
• Est. Priority Date: 10/30/1992
• Status: Expired due to Fees

• Current Assignee: SC Johnson & Son Incorporated
• Original Assignee: SC Johnson & Son Incorporated
• Inventors: Azumi, Yasuhiro, Sado, Mitsuo
• Primary Examiner(s): Camby, Richard M.
• Time in patent office: 701 Days
• Field of Search: 180/167, 180/168, 180/169, 364/424.02, 364/424.01, 318/587, 318/580
• US Class Current: 180/168
• CPC Class Codes: A47L 11/4061 Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
• CPC Class Codes: A47L 2201/04 Automatic control of the travelling movement; Automatic obstacle detection
• CPC Class Codes: B62D 1/283 for unmanned vehicles
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 2201/0203 Cleaning or polishing vehicle

Abstract

A guidance system for a self-advancing vehicle such as a floor washing machine is provided in an arrangement which does not spoil the beauty of, for example, a floor surface, which can be reused multiple times, which is low in cost and which more reliably follows a guidance line. A guidance line is drawn with a luminous material or with a coating material mainly consisting thereof along a predetermined traveling path on a floor surface. The guidance line is drawn on the floor surface with a mixture in which the luminous material is dissolved or dispersed in a solvent. Alternatively, a mixture in which the luminous material is mixed with a coating agent such as floor polish or wax is applied to the floor surface to draw the guidance line. The luminous material is, for example, an ultraviolet-absorbing material, an infrared-absorbing material or a visible light-absorbing material. A self-advancing floor washing machine using the present invention comprises a traveling device with two casters and two independent drive wheels, the latter of which are guided by a combination of one or more photosensors which track the guidance line and send a signal to a control unit that controls the drive wheels. Based on the signals from the photosensors, the machine is guided along the guidance line.

Claims

1. A guidance system for a self-advancing vehicle comprising

A. a guidance line on a surface over which the vehicle is to pass wherein the guidance line comprises a luminous material that emits light of a first wavelength when excited by light of a second wavelength from a light emitter means wherein the guidance line is drawn onto the surface using a composition selected from the group consisting of the luminous material dissolved or dispersed in a solvent and the luminous material dissolved or dispersed in a coating composition;

and

B. at least one photosensor that is oriented to pass over the guidance line, the photosensor comprising the combination of

(1) the light emitter oriented to beam the light of the second wavelength onto the guidance line and working in cooperation with

(2) a light receiver oriented to detect the light of the first wavelength emitted from the guidance line when the light of the second wavelength is beamed onto the guidance line wherein the light receiver generates a first signal proportional to the amount of first wavelength light being received;

C. a control unit means for receiving the signal from the light receiver and, in response to the first signal, sending a second signal to

D. a steering means on the vehicle such that the second signal causes the steering means to orient the vehicle in such a mariner as to maintain the photosensor over the guidance line and thereby cause the vehicle to follow the guidance line as it advances.

2. The system as claimed in claim 1 wherein there are two photosensors, each of which provides a signal to the steering means to cause the vehicle to follow the guidance line as it advances.

3. The system as claimed in claim 1 wherein the luminous material is selected from the group consisting of an ultraviolet-absorbing material, an infrared-absorbing material, and a visible light-absorbing material.

4. The system as claimed in claim 3 wherein the luminous material is not normally visible to the eye.

5. The system as claimed in claim 1 wherein the luminous material is dissolved in a floor polish.

6. The system as claimed in claim 1 wherein a protective coating agent is applied over the guidance line.

7. The system as claimed in claim 1 wherein there is only one photosensor present and the guidance means is set to generally turn the vehicle to one side away from the guidance line and the signal sent from the photosensor causes the guidance means to turn the vehicle in towards the opposite side and thereby cause the vehicle to follow the guidance line as it advances.