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US4862047A
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Apparatus for guiding movement of an unmanned moving body
Assignee: KOMATSU SEISAKUSHO A CORP OF JAPAN KK
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Filing: 1987-05-21
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Granted: 1989-08-29
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Expires: 2007-05-21
Abstract
Abstract This invention is intended to periodically correct the position and posture of an automatically steerable unmanned moving body according to a guiding method with the aid of dead reckoning or the like. A plurality of sets of at least two ground marks (8) are placed on the movement passage of the unmanned moving body (1) in a spaced relation along a reference passage (15) and the ground marks (8) are visually recognized by means of a television camera (6) or the like mounted on the unmanned moving body. Then, the existent position and posture of the unmanned moving body (1) are detected with reference to the results of visual recognization and thereafter the position and posture of the unmanned moving body (1) which have been calculated in accordance with the aforesaid guiding method or the like are corrected in accordance with the thus detected results.
Inventors
- 👤 Toru Suzuki
- 👤 Atsuhiko Kato
- 👤 Mitsuo Hosoi
- 👤 Ichiro Nakano
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:04
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/027; G01; G01C; G01C21/00; G01C21/20; G05D1/0231; G05D1/0234; G05D1/0246; G05D1/0272
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
220 words
An apparatus for guiding the movement of an unmanned moving body, wherein plural sets of at least two ground marks are placed on a movement passage of said unmanned moving body in a spaced relation along a reference passage, and wherein said unmanned moving body includes; first detecting means for detecting the existent position and posture of the unmanned moving body, visual recognizing means for visually recognizing presence of each of said ground marks, memory means for storing coordinate positions of each of the ground marks, second detecting means for obtaining a declination angle and a displacement of the unmanned moving body relative to said reference passage and a distance from a line segment which extends through the moving body to perpendicularly intersect the reference passage to the moving body with reference to at least the two ground marks which are recognized by said visual recognizing means, and detecting the existent position and posture of the unmanned moving body with reference to the thus obtained declination angle, displacement and distance as well as the content stored in said memory means, and guiding position correcting means for correcting the position and posture detected by said first detecting means with reference to the position and posture detected by said second detecting means, when detecting output from the second detecting means is obtained.
Claim 2
Independent Claim
220 words
An apparatus for guiding the movement of an unmanned moving body, wherein plural sets of at least two ground marks are placed on a movement passage of said unmanned moving body in a spaced relation along a reference passage, and wherein said unmanned moving body includes; first detecting means for detecting the existent position and posture of the unmanned moving body, visual recognizing means for visually recognizing presence of each of said ground marks, memory means for storing coordinate positions of each of the ground marks, second detecting means for obtaining a declination angle and a displacement of the unmanned moving body relative to said reference passage and a distance from a line segment which extends through the moving body to perpendicularly intersect the reference passage to the moving body with reference to at least the two ground marks which are recognized by said visual recognizing means, and detecting the existent position and posture of the unmanned moving body with reference to the thus obtained declination angle, displacement and distance as well as the content stored in said memory means, and guiding position correcting means for correcting the position and posture detected by said first detecting means with reference to the position and posture detected by said second detecting means, when detecting output from the second detecting means is obtained.
Claim 3
Dependent Claim
50 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein each of the ground marks is a ground mark having a returnable reflectivity and the unmanned moving body further comprises light emitting means for lightening a visual field of said visual recognizing means.
Claim 4
Dependent Claim
26 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein each of the ground marks has a luminous property.
Claim 5
Dependent Claim
35 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein the visual recognizing means is mounted on the unmanned moving body while maintaining a properly determined depression angle.
Claim 6
Dependent Claim
25 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein the visual recognizing means comprises a television camera.
Claim 7
Dependent Claim
27 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein the visual recognizing means comprises a two-dimensional semiconductor position detector.
Claim 8
Dependent Claim
80 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein the first detecting means includes movement length detecting means for detecting a movement length of the unmanned moving body and movement direction detecting means for detecting the direction of movement of the unmanned moving body whereby the existent position of the unmanned moving body is calculated with reference to detection output from said first detecting means in accordance with a speculation navigation method.
References Cited (Backward Citations)
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1992-08-28 | 1993-02-27 | 1993-08-29 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1996-08-28 | 1997-02-27 | 1997-08-29 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2000-08-28 | 2001-02-27 | 2001-08-29 | $7700.00 | Window Closed / Lapsed |