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公开(公告)号：EP0247014A3
公开(公告)日：1988-06-01
申请号：EP87850164
申请日：1987-05-18
发明人： Öhman, Carl Gustav
摘要： In an electrooptic position sensing system for an object (11) moving in a plane at least one light source (10) is fixedly disposed such that the radiation field of the light source covers the area within which the object (11) is intended to move. The object, for instance being a mobile robot, is provided with a matrix (18) of light-sensitive elements intended to receive radiation from the light source (10). A lens arrangement (12) focuses the incident radiation to a light spot on the matrix (18) which then emits corresponding electric signals. Means (20,21) are arranged to sense the matrix (18) to determine the position of the light spot from the element which most unambiguously reacts on the incident radiation. Further, means (24) are provided to calculate the coordinates of the position of the moving object in the plane of movement from the position of the most heavily reacting element.
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2.发明公开Steering system independent from visibility for aircraft and utility vehicles moving in the airport area 失效独立于机场可视性的转向系统和实用车辆在机场内移动
公开(公告)号：EP0206038A3
公开(公告)日：1987-12-16
申请号：EP86107666
申请日：1986-06-05
摘要： Zum sichtunabhängigen und kollisionssicheren Leiten von im Flughafen-Bodenbereich zu bewegenden Fahrzeugen, wie zB Flugzeugen und Flughafen-Betriebsfahrzeugen wird vorgeschlagen, den Flughafenbereich mit einem, einem Eisen bahngleissystem entsprechenden Linienleitersystem auszu statten, das mittels schaltbarer Linienleiter-Verzweigungen die Betriebspunkte des Flughafens abdeckt, und die Fahrzeuge mit einem Gerät zum Signalaustausch mit dem Linienleitersy stem und mit einem nebeltauglichen Naherkennungssystem auszurüsten.
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公开(公告)号：EP0221643A3
公开(公告)日：1988-10-12
申请号：EP86306675
申请日：1986-08-29
发明人： McClure, Virge W. , Christian, Donald J. , Slaughter, John E. , Terrell, Robert B. , Brubaker, William B. , Doty, Thomas Jay
IPC分类号： G05D01/03
CPC分类号： G05D1/028 , G05D1/0234 , G05D1/0242 , G05D1/0246 , G05D1/0272 , G05D2201/0216
摘要： A vision navigation system for a mobile robot 21. The mobile robot has a plurality of light beacons 3, 5, 7 mounted on it to identify its location to fixed overhead television cameras 1 having a predefined viewing area. Navigation commands are generated by finding present robot location and transmitting new coordinates via the beacons which are used both for communicating with a master station and to locate the mobile apparatus. There are a minimum of three navigation beacons which are arranged in a tnangular pattern to enable robot direction to be determined, even when some beacons are obstructed from view of overhead cameras. The television system uses a gray scale image and has a video bus that transmits the actual pixel value synchronized with a pixel clock.
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4.发明公开Failsafe brake for a multi-wheel vehicle with motor controlled steering 失效用于具有电动机控制转向的多轮车辆的FAILSAFE制动器
公开(公告)号：EP0213938A3
公开(公告)日：1988-10-12
申请号：EP86306676
申请日：1986-08-29
发明人： Doty, Thomas J.
IPC分类号： G05D01/03
CPC分类号： G05D1/0289 , G05D1/0274 , G05D2201/0216
摘要： A braking system for a controllable mobile robot with a plurality of wheels which carry the robot to a specified position in response to commands from a guidance system. The braking system is used in conjunction with servo motors that are used for steering the mobile apparatus and includes a capacitor 391 which stores power during non-braking conditions. During braking, a relay, with contacts 393, 403, 401, and 397, transfers power from the capacitor to the servo motors 64 that are used to steer the robot and is connected in such a manner as to uncoordinate the steering wheels and to cause them to turn in a direction that opposes the forward motion of the robot.
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公开(公告)号：EP0176040A3
公开(公告)日：1987-04-08
申请号：EP85111876
申请日：1985-09-19
IPC分类号： G05D01/03
CPC分类号： G05D1/0234 , G05D1/0225 , G05D1/0289
摘要： @ A system using light beams for effecting guidance of a transport vehicle over a surface among a plurality of station terminals, includes at least one transport vehicle movable over the surface; light barriers divide the surface into a plurality of contiguous elemental zones. Sensing the passage of a vehicle across a boundary between two contiguous zones. light signal generators emit light signals identifying each zone occupied by a vehicle and identifying the location of each terminal. Logic circuitry connected between the barriers and said light signal generators control the light signals identifying each zone in response to passage of a vehicle across a boundary; a photoelectric receiver carrier by the vehicle senses light signals produced by the light signal generators and produces electrical signals representative of the light signals; a vehicle movement control circuit carried by the vehicle and connected to receive the electrical signal from the photoelectric receiver controls vehicular movement.
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公开(公告)号：EP0004706A3
公开(公告)日：1979-10-31
申请号：EP79300302
申请日：1979-02-28
CPC分类号： G08G1/00 , G05D1/0265 , G05D2201/0216
摘要： Routing decisions for vehicles following current-carrying guidewires and carrying destination addresses are made at intersections of a guidewire system without the need for storing large amounts of data at the intersections by making inequality and equality comparisons of destination addresses with one or a few numbers stored at each intersection and basing routing on the results of one or a combination of two such comparisons.
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公开(公告)号：EP0175906A3
公开(公告)日：1988-11-30
申请号：EP85110186
申请日：1985-08-14
发明人： Steininger, Helmut, Dr. , Wevelsiep, Klaus, Dr. , Selders, Matthias, Dr. , Sdunzig, Horst-Dieter
CPC分类号： G05B19/25 , G05B2219/37108 , G05B2219/37272 , G05B2219/41245
摘要： Eine vorrichtung zur Steuerung zweidimensionaler Be wegungen enthält eine Matrix aus mehreren, sich kreuzen den und voneinander isolierten Leiterbahnen, die in x- und y-Richtung eines, vorzugsweise rechtwinkligen Koordinaten systems verlaufen. Dabei liegen die in x-Richtung verlaufen den Leiterbahnen an einer Wechselspannung, deren Fre quenz sich von der Wechselspannungsfrequenz der in y-Richtung verlaufenden Leiterbahnen unterscheidet. Weiter ist ein Signalaufnehmer mit mindestens zwei, vorzugsweise drei Elektroden versehen, der in einer der Matrix parallelen Ebene über die Matrix beweglich angebracht ist. Die Bewe gung des Signalaufnehmers ist mit der zu steuernden Bewegung gekoppelt. Die aus den Elektroden während der Bewegung über die Matrix erzeugten Signale werden zur Richtungs- und Wegbestimmung der zu steuernden Bewe gung ausgewertet.
摘要翻译： 该装置包含由彼此交叉并且彼此绝缘并且在优选矩形坐标系的x方向和y方向上延伸的多个导体轨道构成的矩阵。 同时，沿x方向延伸的导体轨道被提供有频率不同于在y方向上延伸的导体轨迹的交流电压频率的交流电压。 此外，信号检测器设置有至少两个，优选三个电极，并且可移动地安装在平行于矩阵的矩阵上方的平面中。 信号检测器的运动与待控制的运动耦合。 为了确定要控制的运动的方向和距离，评估在跨矩阵运动期间由电极产生的信号。
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8.发明公开Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation 失效移动车辆控制器用于指导和导航的延迟绝对位置数据的使用
公开(公告)号：EP0213939A3
公开(公告)日：1988-10-05
申请号：EP86306677
申请日：1986-08-29
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： G05D01/03
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.
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公开(公告)号：EP0204389A3
公开(公告)日：1987-07-15
申请号：EP86300256
申请日：1986-01-16
申请人： EATON-KENWAY, INC.
IPC分类号： G05D01/03
CPC分类号： G05D1/0297 , G05D1/0265 , Y02T10/7258
摘要： In a guidance system for guiding a plurality of unmanned vehicles along a traffic lay out comprising a plurality of guide wires, a guide wire communications system is disclosed which is provided with a plurality of data communications circuits which can be linked together in a logical tree structure to form an extensive network. The communications circuits are connected to a vehicle traffic control computer which is provided with means for composing a coded vehicle instruction for assigning tasks to said unmanned vehicles. Various parts of the system, including for example, segments along guide wires, are designated as resources. The computer uniquely allocates those resources to each vehicle which are necessary for the performance of the tasks assigned to that vehicle. The vehicle traffic control computer further includes polling means which enables it to poll the status of each vehicle at varying time intervals and to receive a response from said vehicle when the computer next polls the vehicle. The guide wire communications system can communicate coded instructions to the vehicles either individually or as a group. The guide wire communications system further comprises a network connecting the computer and the communications circuits which is provided with means for preventing reception of data transmissions from more than one vehicle at a time. The communications circuits comprise data transmitters provided with means for generating a communications wave with low frequency and low power but high data transmission rate. The data transmitters further include means for encoding and decoding digital data using at least two data transmission frequencies. Said means comprise a circuit for digitally constructing a string of single cycles of cosine wave forms of selected frequencies. The communications circuits are provided with receivers for detecting cosine wave segments, tranforming such segments into sine wave segments and recovering digital data at a rate substantially equal to the lowest data transmission frequency employed. The data communications circuits also include means for selecting low impedence or high impedence characteristics for a guide wire depending on the function of the guide wire as a data receiving antenna, a data transmitting antenna or a tracking-signal carrier, permitting low power signals to be used. The guidewire communications system further includes a communications circuit on each of a plurality of vehicles which comprises a low frequency, high gain transmit antenna composed of a substantially figure-eight pattern of conductors mounted on the bottom of the vehicle; a transmitter and a receiver substantially as described above, memory for storing a plurality of instructions for serial execution by the vehicle essentially independantly; and means for determining estimated completion time of assigned tasks to permit minimum polling of each vehicle by the vehicle traffic control computer at varying time intervals.
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公开(公告)号：EP0208384A3
公开(公告)日：1987-06-03
申请号：EP86300257
申请日：1986-01-16
申请人： EATON-KENWAY, INC.
发明人： Swenson, Ronald Ray
IPC分类号： G05D01/03
CPC分类号： G05D1/0263
摘要： Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device. An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils. The location of the marker with respect to the vehicle is determined by comparing the magnitude of the voltages produced in the plurality of secondary coils.
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