公开(公告)号：US5107946A

公开(公告)日：1992-04-28

申请号：US553625

申请日：1990-07-18

申请人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Shuzo Fujimoto ,  Toru Takeda

发明人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Shuzo Fujimoto ,  Toru Takeda

IPC分类号： G01S17/93 ,  G05D1/02

CPC分类号： G01S17/936 ,  G05D1/0244 ,  G05D1/0246 ,  G05D1/027 ,  A63B2047/022 ,  A63B47/021

摘要： A steering control system for a moving vehicle causes the vehicle to travel along a predetermined traveling course in a region in which a predetermined working operation, such as grass cutting or the like, is to be performed by the vehicle as it moves along the traveling course. An obstacle sensor is mounted on the vehicle, and when the sensor detects presence of an obstacle on the predetermined traveling course, the steering control system operates to cause the vehicle to leave the predetermined traveling course and to detour around the obstacle while maintaining a substantially constant distance between the obstacle and the moving vehicle. The control system is also operative to determine whether the obstacle is stationary or movable and, upon completion of the vehicle travel along the predetermined course, is operative to determine whether a movable obstacle has been removed from the predetermined course and, if so, causes the vehicle to perform its working operation in that portion of the region in which the working operation was not previously performed due to its detour around the obstacle.

摘要翻译： 用于移动车辆的转向控制系统使得车辆沿着预定的行进路线行进，其中当车辆沿着行驶路线移动时将执行预定的工作操作，例如草坪切割等 。 障碍物传感器安装在车辆上，并且当传感器检测到在预定行驶路线上存在障碍物时，转向控制系统操作以使车辆离开预定的行驶路线并围绕障碍物绕行，同时保持基本恒定 障碍物与移动车辆之间的距离。 控制系统还可操作以确定障碍物是静止的还是可移动的，并且在沿着预定路线的车辆行驶完成时，可操作以确定移动障碍物是否已经从预定的路线移除，如果是，则使得 车辆在由于其围绕障碍物绕行而在之前没有执行工作操作的区域的该部分中执行其工作操作。

公开(公告)号：US5187663A

公开(公告)日：1993-02-16

申请号：US592633

申请日：1990-10-04

申请人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda

发明人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda

IPC分类号： G05D1/02

CPC分类号： G05D1/027 ,  G05D1/0244 ,  G05D1/028 ,  G05D2201/0208

摘要： The present invention is characterized by the provision of a traveling course setting system for a moving vehicle comprising a light reflector that is moved along the peripheral outline of the work area for reflecting light in the direction of incidence, and a light beam generator mounted on the moving vehicle for circumferentially scanning a light beam around the moving vehicle. The system detects the distance between the moving light reflector and the moving vehicle and the azimuth of the moving light reflector relative to the moving vehicle on the basis of the light reflected from the moving light reflector, calculates the position of the moving light reflector based on the distance and azimuth with respect to the moving vehicle which are detected while the moving vehicle is stopped, stores the calculated position as a locus thereof, and sets a traveling course in the work area recognized on the basis of the stored locus of the moving light reflector. The travel locus of the light reflector, or the outline of the work area, can be recognized and a traveling course for the moving vehicle can be set in the work area while the vehicle is stopped.

摘要翻译： 本发明的特征在于提供一种用于移动车辆的行驶路线设定系统，其包括沿着工作区域的外围轮廓移动的光反射器，用于沿入射方向反射光;以及光束发生器，其安装在 移动车辆周围扫描运动车辆周围的光束。 基于从移动的光反射器反射的光，该系统基于移动的光反射器相对于移动的车辆的方位来检测移动的光反射器和移动的车辆之间的距离和移动的光反射器的方位角，基于 在移动车辆停止时检测到的相对于移动车辆的距离和方位角存储计算出的位置作为其轨迹，并且设置基于存储的移动光的轨迹识别的工作区域中的行驶路线 反射器。 可以识别光反射器的行进轨迹或工作区域的轮廓，并且可以在车辆停止时在工作区域中设置用于移动车辆的行驶路线。

公开(公告)号：US5258822A

公开(公告)日：1993-11-02

申请号：US864468

申请日：1992-04-06

申请人： Toshikazu Nakamura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Kenji Kamimura

发明人： Toshikazu Nakamura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Kenji Kamimura

IPC分类号： G01S5/16 ,  G02B26/10 ,  G01B11/26

CPC分类号： G01S5/16 ,  G02B26/10

摘要： A position detection system for a moving body comprising means for rotatively scanning the light beam projected from a light beam generator mounted on the moving body in a substantially horizontal plane, and vibrating to vertically vibrate the rotatively scanned light beam in a cycle two times or more longer than the cycle of the rotative scan. The light beam projected from the moving body and reflected by the retroreflector means provided at at least three positions spaced apart from the moving body is received by a light beam receiver on the moving body, and the position of the moving body is detected on the basis of the directions of the light reception and the known positional information on the retroreflector means.

摘要翻译： 一种用于移动体的位置检测系统，包括用于从基本水平的平面中安装在移动体上的光束发生器投影的光束旋转扫描并振动以使循环扫描的光束以两次或更多次的周期垂直振动的装置 比循环扫描长。 从移动体突出并由设置在与移动体间隔开的至少三个位置处的后向反射器装置反射的光束被移动体上的光束接收器接收，并且基于该基准检测移动体的位置 的光接收方向和已知的位置信息。

公开(公告)号：US5260770A

公开(公告)日：1993-11-09

申请号：US875693

申请日：1992-04-29

申请人： Toshikazu Nakamura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Kenji Kamimura

发明人： Toshikazu Nakamura ,  Sadachika Tsuzuki ,  Kazunori Noda ,  Kenji Kamimura

IPC分类号： G05D1/02 ,  G01B11/00

CPC分类号： G05D1/0244 ,  G05D1/027 ,  G05D1/0259 ,  G05D1/0272

摘要： In a system for detecting a relative position of an observation spot and reference points fixed around the observation spot, a central axis of mirror rotation is precessed to draw a substantially conical locus so that a light beam is vertically vibrated, the azimuth of the rotative scanning direction and the precessional angle are stored when the light beam reflected by a light reflector at the reference point is detected, then the projection direction of the light beam is fixed at the detected rotative scanning and precession angles, the distance between the observation spot and the light reflector is measured on the basis of the detected signals, and the positions of the light reflectors with respect to the observation spot are calculated on the basis of the measured distances and azimuths.

摘要翻译： 在用于检测观察点和固定在观察点周围的参考点的相对位置的系统中，镜像旋转的中心轴被进入以画出基本上圆锥形的轨迹，使得光束垂直振动，旋转扫描的方位角 在检测到基准点处的光反射器反射的光束时，存储方向和旋转角度，然后将光束的投影方向固定在检测到的旋转扫描和进动角度处，观察点与 基于检测到的信号测量光反射器，并且基于测量的距离和方位角来计算光反射器相对于观察点的位置。

公开(公告)号：US5187662A

公开(公告)日：1993-02-16

申请号：US644497

申请日：1991-01-23

申请人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda

发明人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Kazunori Noda

IPC分类号： G05D1/02

CPC分类号： G05D1/0272 ,  G05D1/0244 ,  G05D1/028 ,  G05D2201/0213

摘要： A position detecting system of a moving vehicle wherein a light beam scanned around the vehicle to be reflected by reference retroreflective means is received on the vehicle, the azimuth of each retroreflective means to be detected in the next scan is predicted, the azimuth of a particular incident light which forms the smallest angle with the predicted azimuth and is detected between two reference point discrimination azimuths preset at both sides of the predicted azimuth is judges to be that of an expected reflecting means and utilized for the position detection of the moving vehicle. When the expected retroreflective means is missed in a turning course, a previously known included angle which is formed by two straight lines connecting a turn center to said missing retroreflective means and another retroreflective means disposed just before, respectively, is added to the azimuth of the another retroreflective means in the next scan, and the resultant sum angle is used as the azimuth for the missing retroreflective means.

摘要翻译： 一种移动车辆的位置检测系统，其中在车辆上接收由车辆反射的车辆扫描的光束被接收在车辆上，预测在下次扫描中要检测的每个回射装置的方位角，特定的方位角 与预测方位角形成最小角度并且在预测方位的两侧预设的两个基准点识别方位之间被检测到的入射光被认为是预期反射装置的入射光，并被用于移动车辆的位置检测。 当在转向过程中错过期望的反向反射装置时，分别由将两个连接转向中心到所述缺失回射装置的直线形成的已知夹角分别与之前设置的另一个回射装置相加， 在下一次扫描中的另一个回射装置，并且将所得到的和角用作缺失的反向反射装置的方位角。

公开(公告)号：US5170350A

公开(公告)日：1992-12-08

申请号：US708200

申请日：1991-05-31

申请人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Toru Takeda ,  Toshikazu Nakamura

发明人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Toru Takeda ,  Toshikazu Nakamura

IPC分类号： G05D1/02

CPC分类号： G05D1/0244 ,  G05D1/027 ,  G05D1/0272

摘要： A steering control system wherein a light receiving means rotating integrally with a light scanning means is mounted on a moving vehicle, and a light beam is scanned around the moving vehicle in the circumferential direction and the light beams reflected by at least three light reflecting means are sequentially detected by the light receiving means to detect the position of the moving vehicle on the basis of the reflected light beams so as to travel the vehicle along a predetermined traveling course. The reference direction of a photosensor used for the light beam scanning is maintained between predetermined adjoining two light reflecting means and the steering control is performed in dependance upon the positional information of the moving vehicle calculated on the basis of the detected azimuths of the reflected light beams if the number of reflected light beams detected during one revolution of the light beam is equal to the number of the disposed light reflecting means.

摘要翻译： 一种转向控制系统，其中与光扫描装置一体旋转的光接收装置安装在移动的车辆上，并且在周向上扫描运动的车辆周围的光束，并且由至少三个光反射装置反射的光束是 由光接收装置顺序地检测，以根据反射光束检测移动车辆的位置，以便沿着预定行驶路线行驶车辆。 用于光束扫描的光电传感器的参考方向在预定的邻接的两个光反射装置之间保持，并且根据基于检测到的反射光束的方位计算的运动车辆的位置信息来执行转向控制 如果在光束的一圈旋转期间检测到的反射光束的数量等于设置的光反射装置的数量。

公开(公告)号：US5031103A

公开(公告)日：1991-07-09

申请号：US413935

申请日：1989-09-28

申请人： Kenji Kamimura ,  Sadachika Tsuzuki

发明人： Kenji Kamimura ,  Sadachika Tsuzuki

IPC分类号： G01C21/04 ,  G01C15/00 ,  G01C21/00 ,  G05D1/02

CPC分类号： G05D1/027 ,  G05D1/0272

摘要： A steering system for a moving vehicle wherein light signals are received from light beam source means provided at four reference points apart from the moving vehicle includes a position detector for determining a current position of the moving vehicle based on the received light signals and information on the reference points, the position detector comprising a beam receiver means for receiving the light signals which is mounted on the moving vehicle and rotatable in the horizontal plane, a means for detecting azimuths of the reference points with respect to the advance direction of the moving vehicle on the basis of the received light signals, a means for calculating two differential azimuths between two pairs of reference points disposed at diagonal positions viewed from the moving vehicle, and a calculating means for calculating the position of the moving vehicle on the basis of the azimuths, the differential azimuthes, and the positional information of the reference points.

摘要翻译： 一种用于移动车辆的转向系统，其中从设置在与移动车辆相距的四个参考点处提供的光束源装置接收光信号，包括：基于接收到的光信号确定移动车辆的当前位置的位置检测器，以及关于 参考点，位置检测器包括用于接收安装在移动车辆上并可在水平平面中旋转的光信号的光束接收器装置，用于检测参考点相对于移动车辆前进方向的方位角的装置， 所接收的光信号的基础，用于计算设置在从移动车辆观察的对角线位置处的两对参考点之间的两个差分方位的装置，以及用于基于方位计算移动车辆的位置的计算装置， 差分方位角和参考点的位置信息。

公开(公告)号：US5014204A

公开(公告)日：1991-05-07

申请号：US454821

申请日：1989-12-22

申请人： Kenji Kamimura ,  Sadachika Tsuzuki

发明人： Kenji Kamimura ,  Sadachika Tsuzuki

IPC分类号： G01C15/00 ,  G05D1/02

CPC分类号： G05D1/0272 ,  G05D1/0244 ,  G05D1/0246 ,  G05D1/027

摘要： A system for detecting reference points to calculate a position of a moving vehicle comprising a means for detecting the azimuth of each light-reflecting means in respect of the moving vehicle on the basis of the reflected light from the light-reflecting means, a means for calculating the current position of the moving vehicle on the basis of the azimuths, a means for calculating the available existence area in which the moving vehicle is predicted to exist at the next azimuth detection time, a means for comparing the position of the moving vehicle calculated on the basis of the detected azimuth at the next azimuth detection time with the available existence area, and a judging means for judging that the detected azimuth is that of the light-reflecting means disposed at the expected reference point if the calculated moving vehicle position is in the available existence area, while the detected azimuth is not that of the light-reflecting means disposed at the expected reference point if the calculated moving vehicle position is not in the available existence area.

摘要翻译： 一种用于检测参考点以计算移动车辆的位置的系统，包括用于根据来自光反射装置的反射光检测相对于移动车辆的每个光反射装置的方位角的装置， 基于方位计算移动车辆的当前位置，计算在下一个方位检测时间预测存在移动车辆的可用存在区域的装置，用于比较运动车辆的位置的计算装置 基于在所述可用存在区域的下一个方位检测时间检测到的方位角，以及判断装置，用于如果所计算的移动车辆位置是所述方位角，则判断所检测到的方位角是设置在所述预期参考点处的光反射装置的方位角 在可用存在区域中，而检测的方位角不是设置在预期参考点处的光反射装置的方位角 计算的移动车辆位置不在可用存在区域。

公开(公告)号：US5426584A

公开(公告)日：1995-06-20

申请号：US15121

申请日：1993-02-09

申请人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Toshikazu Nakamura

发明人： Kenji Kamimura ,  Sadachika Tsuzuki ,  Toshikazu Nakamura

IPC分类号： G01C21/04 ,  A01D34/00 ,  G01C15/00 ,  G01S17/87 ,  G05D1/02 ,  G01C21/20

CPC分类号： A01D34/008 ,  G01C15/002 ,  G01S17/87 ,  G05D1/0219 ,  G05D1/0244 ,  A01D2101/00 ,  G05D2201/0201 ,  G05D2201/0202 ,  G05D2201/0216

摘要： In a steering control system for a moving body in which azimuths of reference points are detected by rotatively scanning a light beam around the moving body, a current position of the moving body is calculated based on the azimuths of reference points, and the moving body is steered so that the current position thereof follows a predetermined travelling course that is calculated in accordance with an algorithm previously stored in a memory. The system assigns each detected reference point to each reference point in said algorithm for calculating the relative traveling course, based on one of a reference point that is detected first under the condition that the azimuth exceeds a first predetermined angle, and a reference point that is detected last with the azimuth being less than a second predetermined angle when the azimuth is measured with respect to the advance direction of the moving vehicle initially placed in the traveling area before the start of a work. A traveling course is set according to said algorithm using the positional information on the assigned reference points.

摘要翻译： 在用于通过旋转地扫描移动体周围的光束来检测参考点的方位的移动体的转向控制系统中，基于参考点的方位角来计算移动体的当前位置，并且移动体是 转向，使得其当前位置遵循根据先前存储在存储器中的算法计算的预定行驶路线。 该系统基于在方位超过第一预定角度的条件下首先检测到的参考点和基准点之间的参考点之一，将用于计算相对行进路线的每个参考点分配给所述算法中的每个参考点 当方位角相对于最初放置在工作开始之前的行驶区域中的移动车辆的前进方向被测量时，方位角小于第二预定角度时，检测到最后方位角。 使用所分配的参考点上的位置信息，根据所述算法设置行驶路线。

公开(公告)号：US5251133A

公开(公告)日：1993-10-05

申请号：US683730

申请日：1991-04-11

申请人： Kenji Kamimura ,  Sadachika Tsuzuki

发明人： Kenji Kamimura ,  Sadachika Tsuzuki

IPC分类号： G05D1/02 ,  G06F15/50

CPC分类号： G05D1/027 ,  G05D1/0244

摘要： A reference point recognizing system for a steering control system comprising a light beam scanner and a beam receiver on a moving vehicle, the light beam scanner scanning a light beam generated in a light beam generator in the circumferential direction while vertically swinging it. The system determines azimuths of light from light reflector reference points detected in the beam receiver in response to the light beam scan prior to the traveling of the moving vehicle. A memory stores the azimuths of the lights and the number of times each of lights are detected. The system determines when the detection of lights in particular azimuths has reached a predetermined number, recognizes when an incident light is detected from substantially the same direction a predetermined number of times or more, and treats that substantially same direction as the azimuth of a predetermined light reflecting means.

摘要翻译： 一种用于转向控制系统的参考点识别系统，包括光束扫描器和移动车辆上的光束接收器，所述光束扫描器沿垂直方向扫描在圆周方向扫描在光束发生器中产生的光束。 该系统响应于在移动车辆行进之前的光束扫描，确定在光束接收器中检测到的来自光反射器参考点的光的方位角。 存储器存储灯的方位角和每个灯被检测的次数。 该系统确定特定方位角的光的检测何时已经达到预定数，识别何时从基本上相同的方向检测到入射光预定次数或更多次，并且将与基准相同的方向视为预定光的方位 反映手段。