公开(公告)号：US5023534A

公开(公告)日：1991-06-11

申请号：US283400

申请日：1988-12-22

申请人： Satoshi Ueda ,  Masahiro Sudare ,  Yasuyuki Suyama ,  Kazuhiko Kishimoto ,  Kenshi Suzuki ,  Shiroh Inoue ,  Shunji Sakura

发明人： Satoshi Ueda ,  Masahiro Sudare ,  Yasuyuki Suyama ,  Kazuhiko Kishimoto ,  Kenshi Suzuki ,  Shiroh Inoue ,  Shunji Sakura

IPC分类号： G05D1/02

CPC分类号： G05D1/0234 ,  G05D1/0246

摘要： An automatic guided vehicle comprising a loading table provided with positioning motors for three directions including two on a horizontal plane and a rotational one around a vertical axis and also with optical sensors for detecting positioning marks at stop positions so that positioning of the automatic guided vehicle at a stop point thereof may be ensured in high precision, and a method for positioning the automatic guided vehicle without attendant with high precision in such manner that the optical sensors detect degrees of deviation between the guided vehicle and the positioning marks, and positioning motors are driven after computing three-directional positioning correction values based on the result of detection or reducing deviation at the loading table.

摘要翻译： 一种自动引导车，包括装载台，该装载台具有三个方向的定位马达，包括水平面上的两个和围绕垂直轴的旋转轴的定位马达，还包括用于检测停止位置处的定位标记的光学传感器，使得自动引导车辆的定位在 可以高精度地确保其停止点，并且可以以高精度定位自动导引车辆的方法，使得光学传感器检测导向车辆和定位标记之间的偏离程度，并且定位电动机被驱动 在基于检测结果计算三方位定位校正值或减小装载台的偏差之后。

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：US5090552A

公开(公告)日：1992-02-25

申请号：US654484

申请日：1991-02-12

申请人： Kiyoshi Fukuyama ,  Toru Wada ,  Kozo Kitabata ,  Masahiro Sudare ,  Shigemi Tsuchitani ,  Kazuya Ohminami

发明人： Kiyoshi Fukuyama ,  Toru Wada ,  Kozo Kitabata ,  Masahiro Sudare ,  Shigemi Tsuchitani ,  Kazuya Ohminami

IPC分类号： B65G47/38 ,  B65G1/04 ,  B65G1/133 ,  B65G1/137 ,  B65G17/00 ,  B65G17/48 ,  B65G47/52 ,  B65G47/64

CPC分类号： B65G1/133 ,  B65G17/002 ,  B65G2201/02

摘要： A three dimensional sorting apparatus utilizes a plurality of frame members, supported for circulating movement in a closed path. A tray is mounted for up and down movement on each of the frame members and is guided along rails which determine its height. Change-over rails, controlled to move up and down, are provided to connect a first guide rail extending past an intake station to a selected one of a plurality of secondary guide rails extending at different levels past a plurality of discharge stations. This enables an article to be discharged into a selected one of several discharge ports at a selected discharge station. Discharge is carried out by pivoting the tray forward upon release of a tray-retaining latch by a discharge assisting device at each discharge station. Alternatively, the article is carried on a conveyor driven by a pinion which is activated by a discharge assisting rack at each discharge station.

摘要翻译： 三维分类装置利用多个框架构件，支撑在闭合路径中循环运动。 在每个框架构件上安装用于上下运动的托盘，并且沿着确定其高度的导轨被引导。 被设置为上下移动的转换轨道被设置成将经过进气站延伸的第一导轨连接到通过多个排放站以不同水平面延伸的多个辅助导轨中选定的一个。 这使得物品可以在选定的放电站排放到多个排出口中的所选择的一个中。 通过在每个放电站处由放电辅助装置释放托盘保持闩锁来使托盘向前摆动来进行放电。 或者，物品被运送在由每个排放站处的排放辅助架活动的小齿轮驱动的输送机上。

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。