Boots – shoes – and leggings
Patent
1996-05-28
1997-09-16
Voeltz, Emanuel T.
Boots, shoes, and leggings
318560, 356375, 701217, G01B 1114
Patent
active
056687427
DESCRIPTION:
BRIEF SUMMARY
DESCRIPTION
1. Technical Field
The present invention relates to an apparatus for determining the position of a moving body subjected to guided travel which employs the so-called dead reckoning method.
2. Background Art
Conventional methods for guiding the travel of a moving body along a predetermined lane include the method commonly termed the dead reckoning method, which involves estimating the position and traveling direction of the moving body on the basis of outputs from a movement distance sensor and a bearing sensor and, on the basis of the results of these estimates, exercising steering control of the travel of the moving body so that it will pass through estimated passage points along an estimated lane that has been taught previously.
In such cases, the absolute position measurement technique (a) or the relative position measurement technique (b) described below is used as the method for measurement of the aforementioned passage point data (course data). is used to calculate each position on the predetermined lane on which the moving body is to travel in terms of an absolute value (such as one based on latitude and longitude), and this is provided as course data during guided travel control. means identical to that during playback is used during the teaching process as the moving body is moved along the predetermined lane to afford course data.
The aforementioned relative position measurement technique (b) is disclosed in a previously published application (Japanese Patent Application 3-148921) made by this applicant.
Comparison of the aforementioned methods (a) and (b) shows that the relative position measurement technique (b) offers the following advantages. measurement (teaching) and guidance (playback), common error factors (bias) cancel out, affording precisely guided travel. or other difficult course as it is for an ordinary course. travel course data adapted to the maneuverability of the travel body can be obtained. degree of reproducibility between course data measurement (teaching) and guidance (playback) affords highly precise guidance even when three dimensions are actually involved.
In spite of the numerous advantages of the relative position measurement technique, in cases where repeated laps are made around a closed-loop perimeter course, discrepancies in position and direction at the start point prior to a lap and the same start point after the lap occur, and these require correction.
By way of such a correction method, Japanese Patent Application 3-148921 discloses a technique which involves measuring the positions of two (a first and a second) reference points (reflecting mirrors) at two points in time (prior to a lap and after the lap), and, on the basis of the discrepancies in the positions of the two reference points measured at the two points in time, performing correction of estimated position and estimated bearing upon return to the start point.
The advantage of this technique is that coordinate axes can be established by coordinate transformation calculation means on the basis of the first and second reference points on the course in order to describe the successive estimated position and estimated bearing of the moving body.
Thus, when the moving body repeatedly travels on a predetermined lane which includes the aforementioned first and second reference points, the fact that the positions of the aforementioned first and second reference points have been previously stored as positions on the newly established coordinate axes by the aforementioned coordinate transformation calculation means allows the aforementioned first and second reference points to be measured at two points in time by traveling one lap from the start point back to the start point, and the aforementioned discrepancies to be corrected.
Depending on the layout of the course, there may be cases in which a moving body travels over another lane which does not contain the aforementioned first and second reference points.
In such cases as well, it is necessary to describe the estimated position and estimated bea
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Bui Bryan
Komatsu Ltd.
Voeltz Emanuel T.
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