公开(公告)号：US6076025A

公开(公告)日：2000-06-13

申请号：US15312

申请日：1998-01-29

Applicant: Ichirou Ueno ,  Hironori Katou

Inventor： Ichirou Ueno ,  Hironori Katou

IPC: G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0219 ,  G05D1/0238 ,  G05D1/0227 ,  G05D1/0255 ,  G05D1/0272 ,  G05D2201/0203 ,  G05D2201/0208

Abstract: A robot is provided to run so that a trace of the robot efficiently covers a given area according to the detection of a boundary of the area. A spiral pattern running, wherein a radius of the spiral is gradually increased, is started at a desired location in the area and is paused upon the detection of a boundary wall by sensors. Then, a random pattern running, which includes turning to depart from the wall and running forward, is conducted. After the turning has been repeated a predetermined number of times through simulations, the spiral pattern running is resumed at a location spaced from the last turning spot by a predetermined distance or a predetermined length of running time.

Abstract translation: 提供机器人运行，使得机器人的踪迹根据区域边界的检测有效地覆盖给定的区域。 螺旋图案运行，其中螺旋的半径逐渐增加，在该区域的期望位置处开始，并且在通过传感器检测边界壁时暂停。 然后，进行随机模式运行，包括转向离开墙并向前运行。 在通过模拟重复了预定次数的转动之后，螺旋图案运行在与最后转向点间隔一定距离或预定长度的运行时间的位置被恢复。

公开(公告)号：US6064941A

公开(公告)日：2000-05-16

申请号：US937165

申请日：1997-09-25

Applicant: Mitsuhiro Nimura ,  Kiyohide Kato ,  Yasunobu Ito

Inventor： Mitsuhiro Nimura ,  Kiyohide Kato ,  Yasunobu Ito

IPC: G01C21/36 ,  G06F165/00

CPC classification number: G01C21/3415 ,  G01C21/3682

Abstract: A navigation apparatus reduces route search time while providing guidance in conformity with drivers' preferences, by selectively conducting either a full-range route search or a more limited, local area search, in accordance with detected conditions and responsive to occurrence of an off-route event. For example, the full-range route search is conducted pursuant to a determination that the vehicle has gone straight at a predetermined number of certain intersections where current guidance has directed a turn.

Abstract translation: 导航装置通过根据检测到的条件选择性地执行全范围路线搜索或更有限的局域搜索，并根据驾驶员偏好的出现来减少路线搜索时间，同时提供与驾驶员偏好相关的指导。 事件。 例如，全程路径搜索是根据车辆在当前引导已经转向的某个交叉点的预定数量已经直线的确定进行的。

公开(公告)号：US6064939A

公开(公告)日：2000-05-16

申请号：US28778

申请日：1998-02-24

Applicant: Masao Nishida ,  Yasuhiro Taka ,  Toshikazu Nakajima ,  Keiichiro Nakaue ,  Ryuji Otsuka ,  Kakuichi Shiomi ,  Yoichi Kusui

Inventor： Masao Nishida ,  Yasuhiro Taka ,  Toshikazu Nakajima ,  Keiichiro Nakaue ,  Ryuji Otsuka ,  Kakuichi Shiomi ,  Yoichi Kusui

IPC: G08G5/02 ,  G08G5/04 ,  G06F165/00 ,  H04N7/18

CPC classification number: G08G5/0013 ,  G08G5/006 ,  G08G5/025

Abstract: An individual guidance system for aircraft in an approach control area under automatic dependent surveillance which, by supplying the pilot with the required flight data automatically in units of micro air spaces, permits safe and accurate flight with little scope for human error, being an individual guidance system for aircraft in an approach control area under automatic dependent surveillance wherein the air-traffic control system divides the approach control area automatically into a group of micro air spaces, and establishes flight rules within the micro air spaces in order to guide aircraft by establishing no-fly air spaces. Then, at such time as a change has occurred in weather conditions or other data within the approach control area, it establishes in real time in the micro air spaces flight rules, estimated time of landing of the aircraft, estimated time when the aircraft will leave the approach control area and other data in such a manner as to reflect those details, and transmits the flight rules automatically to the system of a given aircraft when the aircraft reaches a position which corresponds to the micro air spaces. The air-traffic control system guides the aircraft in question in accordance with the flight rules which it has transmitted to the system of the aircraft, and the pilot pilots the aircraft.

Abstract translation: 在自动相关监控下的进近控制区域的飞机个人指导系统，通过以微型空间为单位自动提供飞行员所需的飞行数据，允许安全准确的飞行，几乎不存在人为错误，作为个人指导 在空中交通管制系统将自动进场控制区域自动划分为一组微型空中空间，并在微型空中空间内建立飞行规则，以便通过建立无人机 飞行空气空间。 然后，在天气条件或进近控制区内的其他数据发生变化的时候，它在微空中飞行规则，飞机着陆时间，飞机离开的估计时间，实时建立 接近控制区域和其他数据，以反映这些细节，并且当飞机到达对应于微空气空间的位置时，将飞行规则自动地传送到给定飞行器的系统。 空中交通管制系统按照飞行规则对飞机的飞行规则进行指导，飞行员试飞飞机。

公开(公告)号：US6049745A

公开(公告)日：2000-04-11

申请号：US795267

申请日：1997-02-10

Applicant: Barry D. Douglas ,  Joseph A. Bencel

Inventor： Barry D. Douglas ,  Joseph A. Bencel

IPC: G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0261 ,  G05D2201/0216

Abstract: A method and system for navigating automatic guided vehicles (AGVs) through a workplace having intelligible areas provides multi-vehicle traffic control. A guidance apparatus conveys a plurality of guidance signals, and a plurality of radio frequency tags (RF tags) are provided along the path over which the vehicle travels. Each RF tag is capable of conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields. A controller mounts on the vehicles, and includes an AGV computer, a sensor, a radio frequency identification (RFID) reader, and an RF modem for broadcasting messages to other vehicles to facilitate multi-vehicle traffic control. RF tags positioned for identifying characteristic area conditions related to the path of the vehicle reduce the need for custom modifications to guidance software on the host or AGV computers when operating in new environments, e.g., a new factory floor layout. The controller is responsive to at least one of the plurality of guidance signals received by the sensor and at least one characteristic area condition identified by the RF tag reader coupled to the AGV computer for initiating a predetermined action for navigating the vehicle through the area.

Abstract translation: 通过具有可理解区域的工作场所导航自动导引车辆（AGV）的方法和系统提供多车辆交通控制。 引导装置传送多个引导信号，并且沿着车辆行驶的路径设置多个射频标签（RF标签）。 每个RF标签能够响应于电磁激励场传送多个唯一的射频信号中的至少一个。 控制器安装在车辆上，并且包括AGV计算机，传感器，射频识别（RFID）读取器和RF调制解调器，用于向其他车辆广播消息以便于多车辆交通控制。 定位用于识别与车辆路径相关的特征区域条件的RF标签减少了在新环境（例如，新的工厂车间布局）中操作时主机或AGV计算机上对引导软件的定制修改的需要。 所述控制器响应于由所述传感器接收的所述多个引导信号中的至少一个，以及耦合到所述AGV计算机的所述RF标签读取器识别的至少一个特征区域条件，用于启动用于在所述区域导航所述车辆的预定动作。

公开(公告)号：US6044324A

公开(公告)日：2000-03-28

申请号：US984235

申请日：1997-12-03

Applicant: Steven J. Boerhave ,  John F. Cain ,  Neal P. Feltman

Inventor： Steven J. Boerhave ,  John F. Cain ,  Neal P. Feltman

IPC: G06F165/00

CPC classification number: E02D1/00

Abstract: A method and apparatus for collecting and analyzing soil chemistry information from a tract of land is described. An information management system receives reference signals from a global positioning system from which soil sample collection coordinate location information may be calculated and utilized to generate a soil sampling plan for the tract of land. The information management system guides the collection of soil samples according to the soil sampling plan and records geo-referenced soil sample collection information which may be merged with the results of laboratory analysis performed on the soil samples to generate accurate geo-referenced soil chemistry information.

Abstract translation: 描述了从陆地收集和分析土壤化学信息的方法和装置。 信息管理系统接收来自全球定位系统的参考信号，土壤样品收集坐标位置信息可从该全球定位系统计算和利用，以产生陆地的土壤采样计划。 信息管理系统根据土壤采样方案指导收集土壤样品，并记录可与土壤样品进行的实验室分析结果合并的地质参考土样样品采集信息，以产生精确的地质参考土壤化学信息。

公开(公告)号：US6044316A

公开(公告)日：2000-03-28

申请号：US840340

申请日：1997-04-28

Applicant: Donald B. Mullins

Inventor： Donald B. Mullins

IPC: A01B69/04 ,  A01B79/00 ,  A01D41/127 ,  G01S5/14 ,  G01S19/41 ,  G01S19/48 ,  G05D1/02 ,  G06F165/00 ,  A01D41/00

CPC classification number: A01B69/008 ,  A01B79/005 ,  A01D41/127 ,  G01S19/41 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0201

Abstract: A method and apparatus for navigating a remotely guided brush cutting, chipping and clearing apparatus, dependent upon remote positioning data and radio communication signals, having an apparatus locator system for determining the location of the apparatus and a guidance system for navigating and maintaining the apparatus in a desired direction of travel along a particular line of travel and for traversing a plurality of specific data points along the particular line of travel, relative to the surface of the earth.

Abstract translation: 依赖于远程定位数据和无线电通信信号的用于导航远程导向的刷切割，切碎和清除装置的方法和装置，具有用于确定装置的位置的装置定位系统和用于导航和维护装置的引导系统 沿着特定行程行进的期望的行进方向，并且相对于地球的表面沿着特定的行程线穿过多个特定的数据点。

公开(公告)号：US6038501A

公开(公告)日：2000-03-14

申请号：US31041

申请日：1998-02-26

Applicant: Yuichi Kawakami

Inventor： Yuichi Kawakami

IPC: A47L11/00 ,  G05D1/02 ,  G06F165/00

CPC classification number: G05D1/0272 ,  G05D1/0227 ,  G05D1/027 ,  G05D2201/0203

Abstract: An autonomous vehicle capable of traveling and stopping parallel to a wall includes right and left driving wheels receiving driving force to be driven independently, a dependent wheel for supporting the autonomous vehicle together with the driving wheels for a straightforward movement and a U-turn, a motor for driving the right and left driving wheels, a coupling mechanism for transmitting the rotation of the motor to the driving wheels, an encoder for detecting the rotation amount and velocity of the motor, a gyro sensor for detecting the direction of the autonomous vehicle, a distance measurement sensor for measuring the distance to a right or left object of interest, and a controller for controlling the autonomous vehicle through the motor and the driving wheels. The controller receives the output of the encoder, calculates a control value for the driving wheels based on the rotation amount and rotation velocity of the motor, and determines that the autonomous vehicle travels parallel to the wall if the ratios of a time period to turn the autonomous vehicle rightward and a time period to turn the vehicle leftward in a prescribed time period are equal based on the control value.

Abstract translation: 能够平行于墙壁行进和停止的自主车辆包括左右驱动轮，其接收独立驱动的驱动力，用于支撑自主车辆的从动轮与驱动轮一起用于直接运动和U形转弯， 用于驱动左右驱动轮的电动机，用于将电动机的旋转传递到驱动轮的联接机构，用于检测电动机的旋转量和速度的编码器，用于检测自主车辆的方向的陀螺仪传感器， 用于测量与感兴趣的左右物体的距离的距离测量传感器，以及通过马达和驱动轮来控制自主车辆的控制器。 控制器接收编码器的输出，根据马达的旋转量和旋转速度来计算驱动轮的控制值，并且如果自动车辆平行于墙壁行驶，则确定自动车辆转动时间段的比率 自主车辆在规定时间段内向左转动车辆的时间段基于控制值相等。

公开(公告)号：US6035248A

公开(公告)日：2000-03-07

申请号：US912204

申请日：1997-08-15

Applicant: Takaaki Nagai ,  Toshiyuki Nosaka

Inventor： Takaaki Nagai ,  Toshiyuki Nosaka

IPC: B62D6/00 ,  B60W30/00 ,  B61B13/00 ,  G05D1/02 ,  G08G1/00 ,  G08G1/09 ,  G06F165/00

CPC classification number: G05D1/0261

Abstract: A road for guiding an automatically driven vehicle comprises a train of N-polarity magnetic nails arranged along a main path, and a train of S-polarity magnetic nails arranged on a branching path. An automatically driven motor vehicle, including magnetic sensors, runs and is automatically steered by detecting the magnetic nails. The vehicle can be precisely controlled to follow a desired running direction by detecting the presence of magnetic nails with the magnetic sensors. More specifically, at an upstream side of a branch point, when the desired direction is along a main path direction, a driving (steering control) mode of the vehicle is selected in which the magnetic sensors detect N-polarity magnetic nails. Similarly, when the desired direction of travel is along a path which branches off from the main path, a driving (steering control) mode is selected in which the magnetic sensors detect S-polarity magnetic nails. In this manner, the motor vehicle can be automatically driven even at branch points in the road, and wherein the branch points also comprise magnetic nails installed therein at predetermined intervals.

Abstract translation: 用于引导自动驾驶车辆的道路包括沿着主路径布置的一列N极性磁性钉子和布置在分支路径上的一列S极性磁性钉子。 包括磁性传感器在内的自动驾驶的机动车辆通过检测磁性指甲而自动转向。 通过用磁性传感器检测磁性指甲的存在，可以精确地控制车辆跟随期望的运行方向。 更具体地，在分支点的上游侧，当期望的方向沿着主路径方向时，选择车辆的驱动（转向控制）模式，其中磁性传感器检测N极性磁性指甲。 类似地，当期望的行进方向沿着从主路径分支的路径时，选择驱动（转向控制）模式，其中磁性传感器检测S极性磁性指甲。 以这种方式，即使在道路上的分支点也可以自动地驱动机动车辆，并且其中分支点还包括以预定间隔安装在其中的磁指甲。

公开(公告)号：US6032098A

公开(公告)日：2000-02-29

申请号：US631361

申请日：1996-04-12

Applicant: Tsuneo Takahashi ,  Toshiyuki Nozaka ,  Akira Iiboshi ,  Kenshirou Hashimoto

Inventor： Tsuneo Takahashi ,  Toshiyuki Nozaka ,  Akira Iiboshi ,  Kenshirou Hashimoto

IPC: G09B29/10 ,  B60R16/02 ,  B60W30/00 ,  G01C21/00 ,  G01C21/28 ,  G05D1/02 ,  G08G1/09 ,  G08G1/0969 ,  G08G1/16 ,  G06F165/00

CPC classification number: G05D1/0278 ,  G01C21/28 ,  G05D1/0246 ,  G05D1/0257 ,  G05D1/0274 ,  G05D1/0261 ,  G05D2201/0213

Abstract: An automatic travel guiding device is a combination of a navigation control unit and automatic travel control unit that judges the position of a vehicle on a travelling road on the basis of sensed circumstances of the road extending ahead of the vehicle and correcting a current position of the vehicle to a corresponding position on the road map. The device includes means for correcting road circumstances on the basis of road data read from map-information storage medium according to the current position of the vehicle to correlatively increase both the current position accuracy and the travel control accuracy according to travel guiding instruction for following a target course preset on a road map by sensing actual road conditions and to realize automatic travel control at an increased accuracy.

Abstract translation: 自动行驶引导装置是导航控制单元和自动行驶控制单元的组合，其基于在车辆前方的感测到的情况来判断车辆在行驶道路上的位置，并且校正当前位置 车辆到路线图上的相应位置。 该装置包括根据车辆的当前位置根据从地图信息存储介质读取的道路数据来校正道路情况的装置，根据用于跟随的行驶指导指令相关联地增加当前位置精度和行驶控制精度 通过感测实际道路状况在路线图上预设目标路线，并以更高的精度实现自动行驶控制。

公开(公告)号：US6029110A

公开(公告)日：2000-02-22

申请号：US720507

申请日：1996-09-30

Applicant: Gary Zuber ,  Hidekazu Oshizawa

Inventor： Gary Zuber ,  Hidekazu Oshizawa

IPC: G09B29/10 ,  B60K35/00 ,  G01C21/00 ,  G01C21/36 ,  G08G1/0968 ,  G08G1/0969 ,  G06F165/00

CPC classification number: G01C21/3641 ,  B60K35/00 ,  G08G1/096827

Abstract: A method and apparatus provide access to an interactive product to a passenger of a vehicle while limiting access to the interactive product to the driver of the vehicle. At least one control device is provided for allowing user interaction with the interactive product. Interaction with the interactive product via the at least one control device is inhibited while the vehicle is moving. An access device is provided which must be employed in conjunction with the at least one control device to enable user interaction with the interactive product while the vehicle is moving.

Abstract translation: 一种方法和装置提供对车辆乘客的交互式产品的访问，同时限制对车辆驾驶员的交互式产品的访问。 提供至少一个控制设备以允许用户与交互式产品交互。 当车辆移动时，通过至少一个控制装置与交互式产品的交互被禁止。 提供一种接入装置，其必须与至少一个控制装置结合使用，以使得用户在车辆移动时与交互式产品交互。