公开(公告)号：US4908557A

公开(公告)日：1990-03-13

申请号：US258548

申请日：1988-10-17

申请人： Masahiro Sudare ,  Hisao Tomikawa ,  Mamoru Minami

发明人： Masahiro Sudare ,  Hisao Tomikawa ,  Mamoru Minami

IPC分类号： G05D1/02

CPC分类号： G05D1/0261 ,  G05D2201/0216

摘要： This invention relates to a running control apparatus and method for calculating the running positions and directions of the automatic guided vehicle in response to detected outputs of the magnetic field intensity of magnets arranged at fixed points on the running course in two-dimension by being detected for several times at a predetermined timing by a plurality of magnetic detecting elements which are aligned in a direction intersecting the moving direction of the vehicle, correcting said running positions and directions, and controlling the automatic guided vehicle.

摘要翻译： 本发明涉及一种运行控制装置和方法，用于响应于检测到的排列在行驶路线上的固定点处的磁体的磁场强度的检测输出，来计算自动引导车辆的行驶位置和方向， 通过在与车辆的移动方向交叉的方向上排列的多个磁检测元件在预定定时多次，校正所述行驶位置和方向，以及控制自动引导车辆。

公开(公告)号：US4772832A

公开(公告)日：1988-09-20

申请号：US40175

申请日：1987-04-17

申请人： Mamoru Okazaki ,  Hisao Tomikawa ,  Masahiro Sudare

发明人： Mamoru Okazaki ,  Hisao Tomikawa ,  Masahiro Sudare

IPC分类号： G05D1/02 ,  G05D1/00

CPC分类号： G05D1/0272 ,  G05D1/0261

摘要： This invention relates to a novel guiding method for autonomous traveling vehicle in which the number of the rotation of wheels mounted on both the right and left sides are individually detected when guiding the vehicle along the predetermined route by independently controlling the rotation of the wheels mounted on both the right and left sides, and then based on the number of the rotation of these wheels, the position and the azimuth of the vehicle are computed. Then, based on the computed position and the azimuth of the vehicle by referring to the predetermined route, the target position is set, and then, by the vehicle is made to travel toward the set target position. Setting the target positions and making the vehicle travel toward the target position are repeated so that the autonomous vehicle is guided to the route having been set. When marks are detected during the travel, fixed point correction in reference to the detected marks is executed. Moreover, yawing is corrected when the vehicle is guided to the predetermined route after the fixed point correction.

摘要翻译： 本发明涉及一种自动行驶车辆的新型引导方法，其中，通过独立地控制安装在车辆上的车轮的旋转，沿着预定路线引导车辆时，分别检测安装在左右两侧的车轮的旋转次数 然后基于这些车轮的旋转次数，计算车辆的位置和方位角。 然后，基于计算出的车辆的位置和参考预定路线的方位角，设定目标位置，然后使车辆朝向设定目标位置行驶。 重复设定目标位置并使车辆朝向目标位置行驶，使得自主车辆被引导到已经设定的路线。 当在行进期间检测到标记时，执行参考检测到的标记的定点校正。 而且，在定点校正后，当车辆被引导到预定路线时，偏航被校正。

公开(公告)号：US4183427A

公开(公告)日：1980-01-15

申请号：US914794

申请日：1978-06-12

申请人： Hisao Tomikawa

发明人： Hisao Tomikawa

IPC分类号： B65G47/61 ,  B65G47/36

CPC分类号： B65G47/61

摘要： Conveyor load transfer apparatus, including a follow-up carriage movable in the direction in which a conveyor moves and driven by a double-acting cylinder. A transverse carriage is supported on the follow-up carriage and is movable perpendicular to the running direction of the conveyor, being driven back and forth by a transverse motor mounted on the follow-up carriage. An article-handling segment, driven up and down by an elevation drive source, is mounted on the transverse carriage. A follow-up detector is mounted on the follow-up carriage to generate deviation signals representing relative positions of the follow-up carriage and an article-supporting device of the conveyor. A double-acting cylinder expands and contracts according to the motion of the follow-up carriage, and is connected to a pressure-compensating solenoid flow-rate regulating valve with a check valve connected between the two ports thereof. The elevation drive source includes two individually controlled double-acting air cylinders arranged in series, one air cylinder having a buffering device including a check valve connected between the two ports thereof and a throttle valve, with a check valve, connected to the rod-side port thereof.

摘要翻译： 输送机负载传送装置，包括可沿输送机移动并由双作用气缸驱动的方向移动的随动托架。 横向滑架支撑在随动托架上，并且可垂直于输送机的运行方向运动，由安装在随动托架上的横向马达来回驱动。 由升降驱动源上下驱动的物品处理部分安装在横向滑架上。 随动检测器安装在随动托架上以产生表示随动托架和输送机的物品支撑装置的相对位置的偏差信号。 双作用缸根据随动托架的运动而膨胀和收缩，并连接到压力补偿电磁流量调节阀，止回阀连接在其两个端口之间。 升降驱动源包括两个串联布置的单独控制的双作用气缸，一个气缸具有缓冲装置，该缓冲装置包括连接在其两个端口之间的止回阀和节流阀，止回阀连接到杆侧 端口。

公开(公告)号：US4847774A

公开(公告)日：1989-07-11

申请号：US907368

申请日：1986-09-12

申请人： Hisao Tomikawa ,  Mamoru Okazaki

发明人： Hisao Tomikawa ,  Mamoru Okazaki

IPC分类号： G05D1/02

CPC分类号： G05D1/0261 ,  G05D1/0234 ,  G05D2201/0216

摘要： A method and apparatus for detecting the traveling position and direction of an unmanned vehicle of an autonomous guidance system, wherein pairs of marks are provided along a course on which the unmanned vehicle is to travel and disposed perpendicularly to the course respectively, and at the unmanned vehicle are provided sensors which can detect the marks and specify the relative positions of the marks with reference to the traverse direction of the vehicle body, thereby obtaining the traveling position and/or direction of the vehicle by the relative positions of each pair of marks and a time difference between the time points when either of the marks and another mark being detected respectively or a travel distance between the time points in time. Hence, the traveling position and direction can be accurately and rapidly detected and a shift of the vehicle from the guide course can be quickly eliminated.

摘要翻译： 一种用于检测自主引导系统的无人驾驶车辆的行驶位置和方向的方法和装置，其中沿着无人驾驶车辆行进和平行地设置的路线分别设置成对的标记，并且在无人驾驶 车辆设置有可以检测标记的传感器，并且根据车身的横动方向指定标记的相对位置，从而通过每对标记的相对位置获得车辆的行驶位置和/或方向， 在分别检测到任一个标记和另一个标记的时间点之间的时间差或时间点之间的行进距离。 因此，可以准确，快速地检测出行驶位置和方向，能够快速消除车辆从导引路径的偏移。

公开(公告)号：US4733095A

公开(公告)日：1988-03-22

申请号：US933987

申请日：1986-11-24

申请人： Michito Kurahashi ,  Hisao Tomikawa ,  Yuji Doi

发明人： Michito Kurahashi ,  Hisao Tomikawa ,  Yuji Doi

IPC分类号： B67C3/20 ,  G01F23/28 ,  G01F23/292 ,  G01N15/06

CPC分类号： B67C3/007 ,  B67C3/20 ,  G01F23/292

摘要： A method for detecting a liquid level is monitored at mutually opposing sides of a liquid containing bottle. For monitoring the liquid level at each side of the bottle, a diffused light beam is irradiated toward the liquid surface from a level below the liquid surface. The light reflected at the liquid surface and the light refracted at the liquid surface are detected by a photo-receiving camera which is focused at a standard liquid level. An average value of the monitored liquid levels at both sides is taken as a liquid level indicative value. By employing the aforemention method, accurate detection of the liquid level becomes possible even when the liquid level is unstable.

摘要翻译： 在液体容纳瓶的相互相对的两侧监测液面检测方法。 为了监测瓶子两侧的液位，从液面下方向液面照射漫射光束。 在液面反射的光和在液面折射的光被以聚焦在标准液位的光接收照相机检测。 将两侧监测液位的平均值作为液位指示值。 通过采用上述方法，即使液位不稳定，也能够精确地检测液位。

公开(公告)号：US5588357A

公开(公告)日：1996-12-31

申请号：US328830

申请日：1994-10-25

申请人： Hisao Tomikawa ,  Hideo Matsuo ,  Kazuhito Fujiwara

发明人： Hisao Tomikawa ,  Hideo Matsuo ,  Kazuhito Fujiwara

IPC分类号： A23L2/42 ,  A23L3/015 ,  A23L3/26 ,  A23L3/30 ,  A23L3/32

CPC分类号： A23L3/0155 ,  A23L3/015 ,  A23L3/26 ,  A23L3/32

摘要： A shock wave sterilizer for sterilizing a fluid medium, such as food, by having the fluid medium in an elastic container impacted by shock waves and expansion waves emitted from a shock wave source formed by a source of electric current discharging through an electrical conductor to vaporize the electrical conductor to produce a shock wave that is transmitted through a pressure transfer medium to the container and the fluid medium therein.

摘要翻译： 一种冲击波消毒器，用于通过使弹性容器中的流体介质由冲击波冲击的流体介质和从由电导体排出的电流源形成的冲击波源发射的膨胀波来消毒流体介质以蒸发， 电导体产生通过压力传递介质传递到容器和其中的流体介质的冲击波。