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US5031101A
Expired / Lapsed
US
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Position-detecting and steering control system for moving vehicle
Assignee: Honda Motor Co Ltd
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Filing: 1989-10-11
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Granted: 1991-07-09
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Expires: 2009-10-11
Abstract
Abstract A steering control system for a moving vehicle wherein a light beam emitted from the moving vehicle is scanned along the circumferential direction thereof, and the light beam reflected by light-reflecting means disposed at at least three reference points is received to detect a position of the moving vehicle comprising, an azimuth detection means for detecting azimuths of the respective light-reflecting means, a position calculation means for calculating the position of the moving vehicle based on the azimuths detected, and a means for stopping travel of the moving vehicle when a following beam signal has not been detected over a predetermined period of time after detecting a preceding beam signal from a particular light reflecting means. It may comprise an azimuth prediction means for predicting an azimuth of the light-reflecting means to be detected in the next scanning cycle and an azimuth presumption means for presuming the azimuth of the light-reflecting means which is not detected when the light-reflecting means is not detected in the predicted azimuth.
Inventors
- 👤 Kenji Kamimura
- 👤 Sadachika Tsuzuki
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 13:22
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0244; G05D1/0268; G05D1/027; G05D1/0246
Claims Analysis
Total Claims: 17
Claim 1
Independent Claim
267 words
A steering control system for a moving vehicle wherein a light beam emitted form the moving vehicle is scanned around an axis on the moving vehicle along the circumferential direction thereof, and the light beam is reflected by light-reflecting means disposed at at least three reference points around a working area in which said vehicle is moving, the reflected light being received at said axis on the vehicle to detect a position of the moving vehicle, said system comprising: azimuth detection means for detecting the azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of each light-reflecting means to be detected in a next scanning cycle based on the azimuth detected by the azimuth detection means during a given scanning cycle; position calculation means for calculating the position of the moving vehicle based on the detected azimuths; said position calculation means being operative to calculate the position of the moving vehicle based on a detected azimuth only when the detected azimuth of a light-reflecting means is in the azimuth predicted in the azimuth prediction means; azimuth presumption means for presuming the azimuth of a light-reflecting means which is not detected when the light-reflecting means is not detected in the predicted azimuth; and means for stopping travel of the moving vehicle when a following beam signal has not been detected over a predetermined period of time after detecting a preceding beam signal from a particular light reflecting means.
Claim 2
Dependent Claim
267 words
A steering control system for a moving vehicle wherein a light beam emitted form the moving vehicle is scanned around an axis on the moving vehicle along the circumferential direction thereof, and the light beam is reflected by light-reflecting means disposed at at least three reference points around a working area in which said vehicle is moving, the reflected light being received at said axis on the vehicle to detect a position of the moving vehicle, said system comprising: azimuth detection means for detecting the azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of each light-reflecting means to be detected in a next scanning cycle based on the azimuth detected by the azimuth detection means during a given scanning cycle; position calculation means for calculating the position of the moving vehicle based on the detected azimuths; said position calculation means being operative to calculate the position of the moving vehicle based on a detected azimuth only when the detected azimuth of a light-reflecting means is in the azimuth predicted in the azimuth prediction means; azimuth presumption means for presuming the azimuth of a light-reflecting means which is not detected when the light-reflecting means is not detected in the predicted azimuth; and means for stopping travel of the moving vehicle when a following beam signal has not been detected over a predetermined period of time after detecting a preceding beam signal from a particular light reflecting means.
Claim 3
Dependent Claim
36 words
The steering control system for the moving vehicle as claimed in claim 1 wherein a lapse of the predetermined period of time is detected by means of a count value of clock signal in a counter.
Claim 4
Dependent Claim
35 words
The steering control system for the moving vehicle as claimed in claim 1 wherein a lapse of the predetermined period of time is detected by means of a predetermined travel distance of the moving vehicle.
Claim 5
Dependent Claim
40 words
The steering control system for the moving vehicle as claimed in claim 1 wherein a lapse of the predetermined period of time is detected by a timer circuit including a time constant circuit composed of a resistor and a capacitor.
Claim 6
Dependent Claim
36 words
The position-detecting system for the moving vehicle as claimed in claim 1 wherein the predicted azimuth has a predetermined range which is set on the basis of at least one azimuth which has been detected lastly.
Claim 7
Dependent Claim
35 words
The position-detecting system for the moving vehicle as claimed in claim 1 wherein a single light beam is scanned around the moving vehicle in one direction, and said reference points are detected in fixed order.
Claim 8
Dependent Claim
211 words
A position-detecting system for a moving vehicle wherein a single light beam emitted from the moving vehicle is scanned around an axis on the moving vehicle along the circumferential direction thereof, and the light beam is reflected in a fixed order by light-reflecting means disposed at at least three spaced reference points around a working area in which said vehicle is moving, the reflected light being received at said axis on the vehicle to detect a position of the moving vehicle, said system comprising: azimuth detection means for detecting azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of the light-reflecting means to be detected in the next scanning cycle based on the azimuth detected by the azimuth detection means; position calculation means for calculating the position of the moving vehicle based on a detected azimuth when the detected azimuth of the light-reflecting means is in the azimuth predicted in the azimuth prediction means; and azimuth presumption means for presuming the azimuth of a light-reflecting means which is not detected when the light-reflecting means is not detected in the predicted azimuth.
Claim 9
Dependent Claim
211 words
A position-detecting system for a moving vehicle wherein a single light beam emitted from the moving vehicle is scanned around an axis on the moving vehicle along the circumferential direction thereof, and the light beam is reflected in a fixed order by light-reflecting means disposed at at least three spaced reference points around a working area in which said vehicle is moving, the reflected light being received at said axis on the vehicle to detect a position of the moving vehicle, said system comprising: azimuth detection means for detecting azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of the light-reflecting means to be detected in the next scanning cycle based on the azimuth detected by the azimuth detection means; position calculation means for calculating the position of the moving vehicle based on a detected azimuth when the detected azimuth of the light-reflecting means is in the azimuth predicted in the azimuth prediction means; and azimuth presumption means for presuming the azimuth of a light-reflecting means which is not detected when the light-reflecting means is not detected in the predicted azimuth.
Claim 10
Dependent Claim
38 words
The position-detecting system for the moving vehicle as claimed in claim 7 further comprising means for stopping the moving vehicle when no detection of the light-reflecting means in the predicted azimuth continuously occurs a prescribed number of times.
Claim 11
Dependent Claim
73 words
The position-detecting system for the moving vehicle as claimed in claim 7 further comprising first counting means for counting the number of first successive detection cycles in which a particular light-reflecting means has not been detected in a predicted azimuth therefor; setting means for setting a first prescribed number of times; and means for stopping the moving vehicle when the number of first successive detection cycles exceeds the first prescribed number of times.
Claim 12
Dependent Claim
80 words
The position-detecting system for the moving vehicle as claimed in claim 9 further comprising second counting means for counting the number of second successive detection cycles in which a plurality of light-reflecting expected to be serially detected have not been detected serially in the respective predicted azimuthes therefor; setting means for setting a second prescribed number of times; and means for stopping the moving vehicle when the number of second successive detection cycles exceeds the second prescribed number of times.
Claim 13
Dependent Claim
28 words
The position-detecting system for the moving vehicle as claimed in claim 10 wherein the first prescribed number of times is larger than the second prescribed number of times.
Claim 14
Dependent Claim
36 words
The position-detecting system for the moving vehicle as claimed in claim 7 wherein the predicted azimuth has a predetermined range which is set on the basis of at least one azimuth which has been detected lastly.
Claim 15
Dependent Claim
76 words
The position-detecting system for the moving vehicle as claimed in claim 7 further comprising a counting means for counting the number of successive detection cycles in which a plurality of light-reflecting expected to be serially detected have not been detected serially in the respective predicted azimuthes therefor; setting means for setting a prescribed number of times; and means for stopping the moving vehicle when said number of successive detection cycles exceeds said prescribed number of times.
Claim 16
Dependent Claim
147 words
A position-detecting system for a moving vehicle wherein a light beam emitted from the moving vehicle is scanned around the moving vehicle along the circumferential direction thereof, and the light beam reflected by light-reflecting means disposed at at least three reference points is received to detect a position of the moving vehicle comprising: azimuth detection means for detecting azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of the light-reflecting means to be detected in the next scanning cycle based on the azimuth having been detected by the azimuth detection means; and a means for stopping the moving vehicle when no detection of the light-reflecting means in the predicted azimuth continuously, occurs a prescribed number of times.
Claim 17
Dependent Claim
147 words
A position-detecting system for a moving vehicle wherein a light beam emitted from the moving vehicle is scanned around the moving vehicle along the circumferential direction thereof, and the light beam reflected by light-reflecting means disposed at at least three reference points is received to detect a position of the moving vehicle comprising: azimuth detection means for detecting azimuths of the respective light-reflecting means with respect to an advance direction of the moving vehicle on the basis of a beam receiving interval of the light reflected by the light-reflecting means; azimuth prediction means for predicting an azimuth of the light-reflecting means to be detected in the next scanning cycle based on the azimuth having been detected by the azimuth detection means; and a means for stopping the moving vehicle when no detection of the light-reflecting means in the predicted azimuth continuously, occurs a prescribed number of times.
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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) | 1994-07-08 | 1995-01-07 | 1995-07-09 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1998-07-08 | 1999-01-07 | 1999-07-09 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2002-07-08 | 2003-01-07 | 2003-07-09 | $7700.00 | Window Closed / Lapsed |