Patent US4628453A successfully refreshed from Google Patents.
US4628453A
Expired / Lapsed
US
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Navigation apparatus for mobile system
Assignee: Hitachi Ltd
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Filing: 1984-09-28
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Granted: 1986-12-09
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Expires: 2004-09-28
Abstract
Abstract In a navigation apparatus for guiding a mobile system along a predetermined path, an image obtained by measuring an actual environment is compared with a predicted image stored in advance, and a guidance signal is delivered to the mobile system on the basis of the comparison of the images.
Inventors
- 👤 Kohji Kamejima
- 👤 Yuji Hosoda
- 👤 Yoshiyuki Nakano
- 👤 Masakatsu Fujie
- 👤 Taro Iwamoto
- 👤 Kazuo Honma
- 👤 Takashi Yoshida
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 09:21
CPC Classifications
G; G01; G01S; G01S3/00; G01S3/78; G01S3/782; G01S3/785; G01S3/786; G01S3/7864; G01S3/7865; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0246; G05D1/0268; G05D1/027; G05D1/0272; G05D1/0274
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
117 words
A navigation apparatus for guiding a mobile system along a predetermined path comprising means to detect a path movement of the mobile system, memory means to store three-dimensional predictive patterns relating to positional information of the mobile system, vision means to observe an actual environment and to detect an actual image thereof, image processing means to extract an observed feature pattern from the observed image obtained with said vision means, and guidance control means to compare the observed feature pattern from said image processing means and the predicted pattern delivered from said memory means in accordance with the positional information of the mobile system and to provide a guidance signal for the mobile system as an output.
Claim 2
Dependent Claim
117 words
A navigation apparatus for guiding a mobile system along a predetermined path comprising means to detect a path movement of the mobile system, memory means to store three-dimensional predictive patterns relating to positional information of the mobile system, vision means to observe an actual environment and to detect an actual image thereof, image processing means to extract an observed feature pattern from the observed image obtained with said vision means, and guidance control means to compare the observed feature pattern from said image processing means and the predicted pattern delivered from said memory means in accordance with the positional information of the mobile system and to provide a guidance signal for the mobile system as an output.
Claim 3
Dependent Claim
33 words
A navigation apparatus as defined in claim 1, wherein said memory means stores predictive pattern information on the basis of environment models and moving paths in and along which the mobile system moves.
Claim 4
Dependent Claim
47 words
A navigation apparatus as defined in claim 2, wherein said means to detect path movement of the mobile system comprises a rotary encoder which detects a rotational magnitude of a vehicle mechanism of the mobile system, and a gyroscope which detects a direction of the mobile system.
Claim 5
Dependent Claim
34 words
A navigation apparatus as defined in claim 3, wherein said image processing means comprises a plurality of image processors which extract a plurality of feature patterns from the observed image at the same time.
Claim 6
Dependent Claim
27 words
A navigation apparatus as defined in claim 4, wherein said guidance control means comprises a potential computer which computes a potential based upon the observed feature pattern.
Claim 7
Dependent Claim
33 words
A navigation apparatus as defined in claim 5, wherein said guidance control means comprises a matching force evaluator which evaluates a matching force to which the predicted pattern is subjected by said potential.
Claim 8
Dependent Claim
26 words
A navigation apparatus as defined in claim 4, wherein said guidance control means comprises a potential computer which computes a potential based upon the predicted pattern.
Claim 9
Dependent Claim
34 words
A navigation apparatus as defined in claim 7, wherein said guidance control means comprises a matching force evaluator which evaluates a matching force to which the observed feature pattern is subjected by said potential.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-12-08 | 1990-06-09 | 1990-12-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-12-08 | 1994-06-09 | 1994-12-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-12-08 | 1998-06-09 | 1998-12-09 | $7700.00 | Window Closed / Lapsed |