Guidance system for automated vehicles, and guidance strip for use therewith

• US 6,163,745 A
• Filed: 04/15/1998
• Issued: 12/19/2000
• Est. Priority Date: 04/15/1997
• Status: Expired due to Fees

• Current Assignee: 4013212 Canada Inc.
• Original Assignee: Ainsworth Inc. (GDI Integrated Facility Services, Inc.)
• Inventors: Poole, Ross A., Purchase, F. Jack
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US09/060,134
• Time in Patent Office: 979 Days
• Field of Search: 701/23, 701/28, 701/41, 701/42, 318/580, 318/587, 180/168, 252/301.27, 252/301.33, 252/301.6 P
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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

Abstract

The vehicle guidance system is provided for guiding a vehicle, such as a load haul dump vehicle in an underground mine. An elongate element, for example in the form of a rope or the like is aligned with the path of the vehicle and is suspended above the path. The element includes a fluorescent material which absorbs radiation at one frequency and radiates radiation at a second, lower frequency. The vehicle includes a lamp for illuminating the element at the first frequency, e.g. ultraviolet light, and a camera or other detector to detect the second frequency, which may be in the visible spectrum, radiated from the elongate element. The relative position of the elongate element and the image provided by the detector is used to steer the vehicle to keep it on the desired path. The elongate element can be provided with portions that radiate different frequencies in response to the first frequency, which different frequencies are used to provide additional information, e.g. an indication of branch paths.

Claims

1. A vehicle guidance system, for use with a vehicle which includes at least one steerable wheel and steering actuation means for steering each steerable wheel, the vehicle guidance system comprising:

an elongate element aligned with a desired path for the vehicle, said elongate element being mounted along the path, and said elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion;

illumination means for mounting on the vehicle and for illuminating the elongate element with radiation at the first frequency;

detection means, for mounting on the vehicle, and for receiving and detecting radiation from the elongate element to provide positional information, indicating a position of the vehicle relative to the elongate element;

a main control unit for determining the location of the vehicle relative to the desired path from the positional information from the detection means, and for controlling the steering actuation means to cause the vehicle to follow the desired path, the main control unit being adapted for connection to the detection means and the steering actuation means, and the detection means and the main control unit being adapted to distinguish between different frequencies of radiation radiated by said portions of the elongate element.

2. A vehicle guidance system as claimed in claim 1, wherein the elongate element is flexible and adapted to be suspended from at least one of a roof and a wall around the desired path.

3. A vehicle guidance system as claimed in claim 2, wherein the elongate flexible element is suspended from the roof directly above the desired path.

4. A vehicle guidance system as claimed in claim 2, wherein the elongate element comprises a tube formed from plastics material with the fluorescent material embedded in the plastics material.

5. A vehicle guidance system as claimed in claim 1, wherein along the path, at desired locations, there are provided a plurality of different portions of the elongate element having different radiation frequencies, which are configured to provide information to the main control unit.

6. A vehicle guidance system as claimed in claim 1, wherein each portion of the elongate element is associated with a respective path, and wherein the main control unit utilizes the different frequencies received from the different portions of the elongate element to distinguish the different paths from one another and to guide the vehicle along the desired path.

7. A vehicle guidance system as claimed in claim 1, which includes an excitation means for driving the illumination means, which excitation means causes the illumination means to provide a series of pulses at a known, control frequency, and wherein the system includes a filter means for filtering out signals outside the control frequency, thereby to remove any interfering signals, said filter means being connected between the detector means and the main control unit.

8. A vehicle guidance system as claimed in claim 7, wherein the detection means comprises a video camera means, which provides control information to the main control unit in the form of data representing an image indicating the relative location of the elongate element to the vehicle.

9. A vehicle guidance system as claimed in claim 8, which includes a first video camera means for movement in a forward direction and a second video camera means for movement in a rearward direction, a selection switch for selectively connecting one of the video cameras to the main control unit, wherein the illumination means is movable between forward and rearward facing positions and an illumination means actuator is provided for moving the illumination means between the forward and rearward facing positions, and wherein the main control unit is connected to and controls the selection switch and the illumination means actuator.

10. A method of remotely guiding a vehicle, the method comprising the steps of:

(a) providing an elongate element comprising a first portion which includes a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency, and at least one other portion which includes a fluorescent material which absorbs radiation at the first frequency and radiates radiation at another frequency different from the second frequency and the frequency of radiation emitted from each other portion, and aligning said portions of the elongate element with a desired path for the vehicle;

(b) propelling a vehicle along the desired path;

(c) illuminating the elongate element with radiation of the first frequency;

(d) detecting radiation emitted from the elongate element and distinguishing between the different radiated frequencies from said portions of the elongate element to determine the position of the vehicle relative to the elongate element and thereby to determine the vehicle'"'"'s position relative to the desired path; and

(e) in dependence upon the vehicle'"'"'s relative position to the desired path, steering the vehicle, so that the vehicle travels along the desired path.

11. A method as claimed in claim 10, wherein steps (c), (d) and (e) are effected by equipment mounted on the vehicle.

12. A method as claimed in claim 11, which includes providing, along the desired path, alternating portions of the elongate element, to encode information, which information is read by the vehicle.

13. A method as claimed in claim 12, wherein the different portions of the elongate element are used along different branches of the desired path, whereby the different branches can be identified and the vehicle steered along the desired branch by the different frequencies emitted from each portion of the elongate element.

14. A method as claimed in claim 11, which includes, in step (c), modulating the illumination at an excitation frequency so that the first frequency comprises a series of pulses, and wherein step (d) comprises detecting a corresponding series of pulses at the second frequency, and filtering out any signal at the second frequency which is not modulated by the excitation frequency, thereby to eliminate interfering signals.

15. A vehicle guidance system, for use with a vehicle which includes at least one steerable wheel and steering actuation means for steering each steerable wheel, the vehicle guidance system comprising:

an elongate element aligned with a desired path for the vehicle, mounted along the path and including a fluorescent material which absorbs radiation at a first frequency and radiates radiation at a second, lower frequency;

illumination means for mounting on the vehicle and for illuminating the elongate element with radiation at the first frequency;

detection means, for mounting on the vehicle, and for receiving and detecting radiation from the elongate element at the second frequency to provide positional information, indicating a position of the vehicle relative to the elongate element;

a main control unit for determining the location of the vehicle relative to the desired path from the positional information from the detection means, and for controlling the steering actuation means to cause the vehicle to follow the desired path, the main control unit being adapted for connection to the detection means and the steering actuation means;

an excitation means for driving the illumination means, which excitation means causes the illumination means to provide a series of pulses at a known, control frequency;

a filter means for filtering out signals outside the control frequency, said filter means being connected between the detector means and the main control unit.

16. A vehicle guidance system as claimed in claim 15, wherein the elongate element is flexible and adapted to be suspended from at least one of a roof and a wall around the desired path.

17. A vehicle guidance system as claimed in claim 16, wherein the elongate flexible element is suspended from the roof directly above the desired path.

18. A vehicle guidance system as claimed in claim 16, wherein the elongate element comprises a tube formed from plastics material with the fluorescent material embedded in the plastics material.

19. A vehicle guidance system as claimed in claim 15, wherein the detection means comprises a video camera means, which provides control information to the main control unit in the form of data representing an image indicating the relative location of the elongate element to the vehicle.

20. A vehicle guidance system as claimed in claim 19, which includes a first video camera means for movement in a forward direction and a second video camera means for movement in a rearward direction, a selection switch for selectively connecting one of the video cameras to the main control unit, wherein the illumination means is movable between forward and rearward facing positions and an illumination means actuator is provided for moving the illumination means between the forward and rearward facing positions, and wherein the main control unit is connected to and controls the selection switch and the illumination means actuator.