US4710020A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Beacon proximity detection system for a vehicle
Assignee: ETM REALTY TRUST
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Filing: 1986-05-16
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Granted: 1987-12-01
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Expires: 2006-05-16
Abstract
Abstract A proximity detection system for determining the distance between a vehicle and a navigation beacon by resolving the altitude angle between the beacon and the vehicle and determining the distance between them. The system then defines an optimum distance between the beacon and the vehicle and compares the determined distance and the optimum distance to establish any difference between them.
Inventors
- 👤 James F. Maddox
- 👤 Mark B. Kadonoff
- 👤 Alan D. Berger
- 👤 Amy L. Taivalkoski
- 👤 II Robert W. George
- 👤 Faycal E. Benayad-Cherif
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 03:11
CPC Classifications
G; G08; G08B; G08B13/00; G08B13/22; G08B13/24; G08B13/2491; G08B13/2494; G01; G01C; G01C3/00; G01C3/22; G01S; G01S11/00; G01S11/12; G01S5/00; G01S5/16
Claims Analysis
Total Claims: 27
Claim 1
Independent Claim
86 words
A proximity detection system for determining the distance between a vehicle and a navigation beacon comprising: detector means, responsive to the beacon, for resolving the altitude angle between the beacon and the vehicle; means, responsive to said resolved altitude angle and to the height of the beacon, for determining the distance between the beacon and the vehicle; and means for defining an optimum distance between the beacon and the vehicle and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 2
Dependent Claim
86 words
A proximity detection system for determining the distance between a vehicle and a navigation beacon comprising: detector means, responsive to the beacon, for resolving the altitude angle between the beacon and the vehicle; means, responsive to said resolved altitude angle and to the height of the beacon, for determining the distance between the beacon and the vehicle; and means for defining an optimum distance between the beacon and the vehicle and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 3
Dependent Claim
32 words
The proximity detection system of claim 1 further including means for supplying to said means for defining the height of the beacon and an additional known geometric parameter for said optimum distance.
Claim 4
Dependent Claim
40 words
The proximity detection system of claim 2 in which said means for defining includes means for generating the difference in distance of the vehicle as a function of said resolved altitude angle, said known geometric parameter and said known height.
Claim 5
Dependent Claim
30 words
The proximity detection system of claim 3 in which said additional known geometric parameter is the expected altitude angle between said detector means and the beacon at said optimum distance.
Claim 6
Dependent Claim
54 words
The proximity detection system of claim 4 in which said means for defining calculates the difference in position according to the formula: ##EQU7## where delta x is the difference in position, θ VE is the expected vertical angle, θ VA is the actual vertical angle, and e is the known height of the beacon.
Claim 7
Dependent Claim
25 words
The proximity detection system of claim 3 in which said additional known geometric parameter is the expected horizontal distance of said vehicle to the beacon.
Claim 8
Dependent Claim
26 words
The proximity detection system of claim 2 in which said means for supplying includes memory means for storing said known height and said known geometric parameter.
Claim 9
Dependent Claim
53 words
The proximity detection system of claim 1 in which said detector means includes: a multisector sensor for sensing a signal emitted by the beacon; and means responsive to said sensor sectors for generating an angle data signal representative of the angle from said sensor to the beacon in at least the altitudinal dimension.
Claim 10
Dependent Claim
16 words
The proximity detection system of claim 8 in which said sensor is a lateral effect photodiode.
Claim 11
Dependent Claim
30 words
The proximity detection system of claim 8 in which said detector means further includes means, responsive to said altitudinal angle, for calculating the direction from the sensor to the beacon.
Claim 12
Dependent Claim
21 words
The proximity detection system of claim 1 further including means for adjusting the position of the vehicle by the established difference.
Claim 13
Dependent Claim
19 words
The proximity detection system of claim 1 further including inclinometer means for sensing deviation of said vehicle from vertical.
Claim 14
Dependent Claim
44 words
The proximity detection system of claim 12 in which said means for defining includes means for combining said vertical deviation and said resolved altitude angle with each other and substituting the combined value for said resolved altitude angle to establish the difference in position.
Claim 15
Dependent Claim
89 words
A proximity detection system for determining the distance between a mobile robot and a navigation beacon, comprising: a mobile robot; detector means, responsive to the beacon, for resolving the altitude angle between the beacon and said robot; means, responsive to said resolved altitude angle and to the height of the beacon, for determining the distance between the beacon and said robot; means for defining an optimum distance between the beacon and said robot and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 16
Dependent Claim
89 words
A proximity detection system for determining the distance between a mobile robot and a navigation beacon, comprising: a mobile robot; detector means, responsive to the beacon, for resolving the altitude angle between the beacon and said robot; means, responsive to said resolved altitude angle and to the height of the beacon, for determining the distance between the beacon and said robot; means for defining an optimum distance between the beacon and said robot and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 17
Dependent Claim
21 words
The proximity detection system of claim 14 further including means for adjusting the position of said robot by said established difference.
Claim 18
Dependent Claim
16 words
The proximity detection system of claim 14 in which said robot includes a synchro-drive locomotion system.
Claim 19
Dependent Claim
90 words
A proximity detection system for determining the distance between a vehicle and a navigation beacon, comprising: at least one beacon; detector means, responsive to said beacon, for resolving the altitude angle between said beacon and the vehicle; means, responsive to said resolved altitude angle and to the height of said beacon, for determining the distance between said beacon and the vehicle; and means for defining an optimum distance between said beacon and the vehicle and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 20
Dependent Claim
90 words
A proximity detection system for determining the distance between a vehicle and a navigation beacon, comprising: at least one beacon; detector means, responsive to said beacon, for resolving the altitude angle between said beacon and the vehicle; means, responsive to said resolved altitude angle and to the height of said beacon, for determining the distance between said beacon and the vehicle; and means for defining an optimum distance between said beacon and the vehicle and for comparing said determined distance and said optimum distance to establish any difference between them.
Claim 21
Dependent Claim
15 words
The system of claim 17 in which said beacon includes means for emitting detectable energy.
Claim 22
Dependent Claim
13 words
The system of claim 18 in which said beacon is a point source.
Claim 23
Dependent Claim
24 words
The system of claim 18 in which said beacon includes means for producing said energy in a coded signal which uniquely identifies that beacon.
Claim 24
Dependent Claim
17 words
The system of claim 20 further including means for supplying the height of that uniquely identified beacon.
Claim 25
Dependent Claim
26 words
The system of claim 21 in which said means for supplying includes memory means, disposed in said vehicle, for storing the known height for that beacon.
Claim 26
Dependent Claim
67 words
The system of claim 20 in which said detector means includes: a multisector sensor for sensing the signal emitted by said beacon; means, responsive to said sensor, for generating a code data signal representative of said coded signal; and means, responsive to said sensor sectors, for generating an angle data signal representative of the angle from said sensor to said beacon in at least the azimuthal dimension.
Claim 27
Dependent Claim
24 words
The system of claim 17 in which said beacon is positioned along the axis corresponding to the intended direction of travel of said vehicle.
References Cited (Backward Citations)
JPS6063698A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-11-30 | 1991-06-01 | 1991-12-01 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-11-30 | 1995-06-01 | 1995-12-01 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-11-30 | 1999-06-01 | 1999-12-01 | $7700.00 | Window Closed / Lapsed |