Patent US1440663A successfully refreshed from Google Patents.
EP0050101A1
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EP
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Method for updating in a wheeled vehicle steered by dead reckoning
Assignee: Volvo AB
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Filing: 1981-10-01
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Granted: —
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Expires: 2001-10-01
Abstract
Abstract O In a wheeled vehicle steered by dead reckoning, which calculates its own position on the basis of distances determined by rolling-off measurement, the error in position determination will increase gradually and necessitate updating. According to the invention, the floor is provided with markings (A,B) which are observed by a linear detector mounted transversely in the vehicle, and linear images (30, 31) are obtained. At least two different measurements are carried out of the position of a marking (A) in relation to the vehicle, and the distance travelled by the vehicle between the measurements is measured. From these three measured distances, the angle between the vehicle and the marking can be determined. An additional marking (B) forming an angle with the first marking (A) makes it possible to determine the position in the direction of movement of the vehicle as well.
Inventors
- 👤 Sten Hugo Nils Ahlbom
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-24 17:57
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/0272; G05D1/0231; G05D1/0259; G05D1/0261
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
157 words
Method of arranging, in a wheeled vehicle steered by dead reckoning, an updating with the aid of markings disposed on the supporting surface, there being in the vehicle a unit continuously updated by rolling-off means, said unit registering position and attitude of the vehicle computed by dead reckoning, characterized in that the supporting surface is provided with a marking of limited extent, comprising at least one straight line; that the vehicle has a linear detector arranged transversely thereto and that, when the vehicle is near the marking, an intersection of the linear detector with the marking is determined at least twice; that the distance between the two determined intersections is taken as a first distance; that the distance, as measured on the linear detector, between the two points of intersection is taken as a second distance; and that from the two said distances, the angle is calculated between the vehicle and said straight line of the marking.
Claim 2
Dependent Claim
157 words
Method of arranging, in a wheeled vehicle steered by dead reckoning, an updating with the aid of markings disposed on the supporting surface, there being in the vehicle a unit continuously updated by rolling-off means, said unit registering position and attitude of the vehicle computed by dead reckoning, characterized in that the supporting surface is provided with a marking of limited extent, comprising at least one straight line; that the vehicle has a linear detector arranged transversely thereto and that, when the vehicle is near the marking, an intersection of the linear detector with the marking is determined at least twice; that the distance between the two determined intersections is taken as a first distance; that the distance, as measured on the linear detector, between the two points of intersection is taken as a second distance; and that from the two said distances, the angle is calculated between the vehicle and said straight line of the marking.
Claim 3
Dependent Claim
46 words
Method according to claim 1, characterized in that two linear detectors are arranged parallel to each other and spaced in the principal direction of the vehicle, the two linear detectors measuring simultaneously an individual lateral deviation, said second distance being the distance between the linear detectors.
Claim 4
Dependent Claim
44 words
Method according to claim 1 or 2, characterized in that the linear detector measurements are made by sampling; and that distance markings are arranged at said straight line, so that the position of the vehicle along the length of the line can be determined.
Claim 5
Dependent Claim
70 words
Method according to claim 3, characterized in that said distance markings comprise a line element which forms a specific angle with said straight line; and that the linear detector is arranged to measure by sampling the distance between the straight line and the line element, this constituting a measure of the distance from the point of intersection between the direction of the line and the direction of the line element.
Claim 6
Dependent Claim
37 words
Method according to claim 2, characterized in that said distance markings comprise short markings, disposed to be detected by special detector means in the vehicle, which produce passage signals as the vehicle moves past said distance markings.
Claim 7
Dependent Claim
22 words
Method according to claim 5, characterized in that the short markings are ferromagnetic markings and the special detector means are magnetic detectors.
Claim 8
Dependent Claim
91 words
Method according to claim 1 or 2, characterized in that the marking comprises two different straight lines, arranged essentially perpendicular to each other, a first lateral deviation being first determined for the vehicle in relation to a first line, and thereafter, when the vehicle has swung to assume an orientation essentially parallel to the second line, a second lateral deviation being determined in relation to the second line, thus determining two coordinates which are perpendicular to each other and making updating of the vehicle possible without the use of distance markings.
References Cited (Backward Citations)
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