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1. 发明授权

US5170350A Steering control system for moving vehicle 失效
标题翻译：车辆转向控制系统
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。

2. 发明授权

US5107946A Steering control system for moving vehicle 失效
标题翻译：车辆转向控制系统
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。

3. 发明授权

US5426584A Steering control system for moving vehicle 失效
标题翻译：车辆转向控制系统
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。

4. 发明授权

US5258822A System for detecting the position of a moving body 失效
标题翻译：用于检测移动体的位置的系统
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。

5. 发明授权

US5260770A System for detecting the position of observation spot 失效
标题翻译：用于检测观察位置的系统
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。

6. 发明授权

US5264709A Steering control system for moving vehicle 失效
标题翻译：车辆转向控制系统
公开(公告)号：US5264709A
公开(公告)日：1993-11-23
申请号：US990403
申请日：1992-12-14
申请人： Kenji Kamimura , Sadachika Tsuzuki , Toshikazu Nakamura
发明人： Kenji Kamimura , Sadachika Tsuzuki , Toshikazu Nakamura
IPC分类号： G01S17/93 , G05D1/02 , G01N21/86
CPC分类号： G01S17/936 , G05D1/0244 , G05D1/027 , G05D1/0272
摘要： A steering control system for calculating straight lines connecting reference points which are set at at least three positions around a work area, detecting the advance direction of a moving vehicle placed at a travel start position and the relative angles thereof with respect to the respective straight lines, and selecting as a reference line a particular one of the respective straight lines for which the relative angle is close to a preset particular angle. The moving vehicle is caused to travel a plurality of straight courses extending in a predetermined direction relative to the reference line and placed at predetermined intervals, and to travel transfer courses for moving from one to another of the straight courses.
摘要翻译：一种用于计算连接参考点的直线的转向控制系统，所述参考点被设置在工作区域周围的至少三个位置处，检测位于行驶开始位置处的移动车辆的前进方向以及相对于各直线的相对角度并且选择相对角度接近于预设特定角度的相应直线中的特定一个参考线。使移动的车辆行进相对于参考线沿预定方向延伸的多个直线行程，并以预定间隔放置，并且移动传递路线以从一个直线行程中的一个移动到另一个。

7. 发明授权

US5187663A System using a moving light reflector for defining the peripheral outline of a work area 失效
标题翻译：使用移动光反射器来定义工作区域的外围轮廓的系统
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。

8. 发明授权

US5031103A Position detector for moving vehicle 失效
标题翻译：移动车辆的位置检测器
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。

9. 发明授权

US5014204A System for detecting position of moving vehicle and system for detecting reference points therefor 失效
标题翻译：用于检测移动车辆位置的系统和用于检测参考点的系统
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。

10. 发明授权

US5251133A Reference point recognition apparatus for the steering control system of a vehicle 失效
标题翻译：用于车辆转向控制系统的参考点识别装置
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。

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