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    Hierarchical control system for automatically guided vehicles
    2.
    发明公开
    Hierarchical control system for automatically guided vehicles 失效
    分层计算机系统Fahrzeuge。

    公开(公告)号：EP0367528A2

    公开(公告)日：1990-05-09

    申请号：EP89311169.0

    申请日：1989-10-30

    申请人： TEXAS INSTRUMENTS INCORPORATED

    发明人： Summerville, David F. ,  Wand, Martin A. ,  Williston, John P. ,  Doty, Thomas J.

    IPC分类号： G06F165/00 ,  G05D1/02

    CPC分类号： G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216

    摘要： The invention is a modular and hierarchically organized set of computer programs which comprise methods for controlling a system of semi-autonomous automatically guided vehicles, such as mobile robots. The methods include control programs which: execute in stationary control computers; communicate between the stationary control computer programs and corresponding programs which execute in mobile control computers aboard the vehicles; operate independently in mobile control computers aboard the vehicles. The invention allows the system executive program to command the mobile vehicles to start, to stop, to transfer material to or from the vehicles, to change batteries in the vehicles, to park the vehicles at specific points in a factory, to move the vehicles from point to point in a factory, and to remove the vehicles from the factory. The invention proves the performance of conventional automatically guided vehicle systems by maximizing the autonomy of individual vehicles while retaining sufficient supervisory control at the system executive level to provide the maximum flexibility in routing and scheduling the activity of the vehicles. The invention "closes the loop" in an automatically guided vehicle system by providing the highest level of control between mobile vehicles and stationary control computers.

    摘要翻译： 本发明是一种模块化和分层组织的计算机程序集，其包括用于控制诸如移动机器人的半自动自动导向车辆系统的方法。 这些方法包括：在固定控制计算机中执行的控制程序; 在固定控制计算机程序和在车辆上的移动控制计算机中执行的相应程序之间进行通信; 在车上的移动控制计算机上独立运行。 本发明允许系统执行程序命令移动车辆开始停止向车辆转移材料，以改变车辆中的电池，将车辆停放在工厂的特定点处，以将车辆从 在工厂点对点，并从工厂拆除车辆。 本发明通过最大限度地提高个体车辆的自主性，同时在系统执行层面保留足够的监督控制来证明传统的自动引导车辆系统的性能，以提供路线和调度车辆活动的最大灵活性。 本发明通过在移动车辆和固定控制计算机之间提供最高水平的控制，在自动导向的车辆系统中“关闭回路”。

    Hierarchical control system for automatically guided vehicles
    7.
    发明公开
    Hierarchical control system for automatically guided vehicles 失效
    用于自动引导车辆的分层控制系统

    公开(公告)号：EP0367528A3

    公开(公告)日：1990-06-13

    申请号：EP89311169.0

    申请日：1989-10-30

    申请人： TEXAS INSTRUMENTS INCORPORATED

    发明人： Summerville, David F. ,  Wand, Martin A. ,  Williston, John P. ,  Doty, Thomas J.

    IPC分类号： G06F165/00 ,  G05D1/02

    CPC分类号： G05D1/0246 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216

    摘要： The invention is a modular and hierarchically organized set of computer programs which comprise methods for controlling a system of semi-autonomous automatically guided vehicles, such as mobile robots. The methods include control programs which: execute in stationary control computers; communicate between the stationary control computer programs and corresponding programs which execute in mobile control computers aboard the vehicles; operate independently in mobile control computers aboard the vehicles. The invention allows the system executive program to command the mobile vehicles to start, to stop, to transfer material to or from the vehicles, to change batteries in the vehicles, to park the vehicles at specific points in a factory, to move the vehicles from point to point in a factory, and to remove the vehicles from the factory. The invention proves the performance of conventional automatically guided vehicle systems by maximizing the autonomy of individual vehicles while retaining sufficient supervisory control at the system executive level to provide the maximum flexibility in routing and scheduling the activity of the vehicles. The invention "closes the loop" in an automatically guided vehicle system by providing the highest level of control between mobile vehicles and stationary control computers.

    A method for controlling movements of a mobile robot in a multiple node factory
    8.
    发明公开
    A method for controlling movements of a mobile robot in a multiple node factory 失效
    用于控制在具有多个价格节点工厂的移动机器人的运动方法。

    公开(公告)号：EP0367527A2

    公开(公告)日：1990-05-09

    申请号：EP89311168.2

    申请日：1989-10-30

    申请人： TEXAS INSTRUMENTS INCORPORATED

    发明人： Summerville, David F. ,  Wand, Martin A. ,  Rice, Haradon J. ,  Williston, John P. ,  Doty, Thomas J.

    IPC分类号： G05D1/02

    CPC分类号： G05D1/0282 ,  G05D1/0246 ,  G05D1/0272 ,  G05D1/0289 ,  G05D2201/0216

    摘要： The invention provides a method for communicating the need to move a mobile robot, such as an AGV¹, from one location (node) (2,4,6-10) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV¹. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.

    摘要翻译： 本发明提供了一种用于通信的需要移动移动式机器人，AGV：如<1>，从一个位置（节点）（2,4,6-10）到另一个时，在节点到节点的基础上， 逐步建立在物理环境中的节点之间：如工厂。 因此本发明提供的装置，以产生必要的来完成此动作的命令，通过提供特定的转向和驱动器信息：诸如角度和速度移动机器人或AGV <1>。 本发明实现了合成任务响应于直接命令从静止控制器以及响应于由在外部导航系统提供连续的节点到节点的位置更新，试验作为可视导航系统，或内部航位推算导航系统 ，或两者兼而有之。

    Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation
    9.
    发明公开
    Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation 失效
    控制器，用于使用用于转向和导航延迟绝对位置数据远程操作车辆。

    公开(公告)号：EP0213939A2

    公开(公告)日：1987-03-11

    申请号：EP86306677.5

    申请日：1986-08-29

    申请人： TEXAS INSTRUMENTS INCORPORATED

    发明人： Wand, Martin A. ,  Christian, Donald J. ,  Woodall, Joe D. ,  Williston, John P. ,  Rice, Jay H. ,  Summerville, David F.

    IPC分类号： G05D1/03

    CPC分类号： G05D1/028 ,  G05D1/0225 ,  G05D1/0234 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0272

    摘要： A controllable mobile apparatus travels to a commanded destination under the control of a dead reckoning navigation procedure 329 for navigating the controllable mobile apparatus along the commanded path in response to position data. The mobile apparatus determines its position and provides the position data. Additionally, there is a software filter system which filters the speed and direction commands. A vision system provides the absolute position to the mobile apparatus. The dead reckoning position data is periodically modified 331, 328 with the absolute position. The dead reckoning procedure is synchronized with the vision system.

    摘要翻译： 可控移动装置行进到航位推算导航程序329用于导航沿着响应于位置命令的数据路径中的可控移动装置的控制命令的下一个目的地。 移动装置bestimmt其位置并提供位置数据。 此外，还有一个软件过滤系统，其过滤的速度和方向命令。 视觉系统提供的绝对位置给移动装置。 航位推算位置数据被周期性地修改331，328与绝对位置。 航位推测程序与视觉系统同步。