[특허]Line follower vehicle with scanning head

[미국특허] Line follower vehicle with scanning head 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	B62D-001/24
출원번호	US-0966885 (1978-12-06)
발명자 / 주소	De Bruine Carl (Grand Rapids MI)
출원인 / 주소	Bell & Howell Company (Chicago IL 02)
인용정보	피인용 횟수 : 38 인용 특허 : 4

초록 ▼

An automatically guided vehicle wherein a guide line is positioned in a predetermined path on the floor and the vehicle has a sensing head positioned over the guide line to detect the position of the guide line with respect to the vehicle and to generate an error signal representative of the vehicle position with respect to the guide line. A control circuit is also provided on the vehicle to steer the vehicle responsive to the error signal generated by the sensing head. The sensing head includes a scanning head to scan across the guide line and to generate an output signal representative of the detected light values at discreet positions of the scan. The control circuit is adapted to steer the vehicle along the right edge, left edge or center of the guide line and is responsive to control codes positioned on the floor adjacent the guide line. The control circuit preferably includes a microprocessor which is programmed to compensate the output signals for any nonlinearity of the light source, variations in scan distance from the scanning head to the floor surface and for any variations in the port size of the light-detecting device on the vehicle. The microprocessor includes a data storage bank for storing a data table relating to the position of the vehicle with respect to the guide line and has the ability to compare the data table for one scan with the data table of subsequent scans to determine the presence of a valid guide line and to update the position of the guide line with respect to the vehicle.

대표청구항 ▼

In a system for automatically guiding a vehicle wherein a guide line having a finite width is positioned in a predetermined path on the floor and wherein a vehicle has means to sense the position of the guide line with respect to the vehicle; means for generating an intelligence signal representative of the position of the vehicle with respect to the guide line; and control means to steer the vehicle responsive to the intelligence signal generated by the sensor means so as to maintain a given position of the vehicle with respect to the guide line as the vehicle moves therealong, the improvement in the sensing means which comprises: means to sequentially scan across the guide line and for generating an output signal having first, second and third components and representative of sequentially detected light values at discreet positions in the scan; and the intelligence signal generating means, being coupled to the scanning means, includes means for detecting the position of the vehicle with respect to the guide line based on the output signal wherein the first and second components are of substantially equal values and in a time sequence with a third component of substantially unequal value therebetween.

이 특허에 인용된 특허 (4) 인용/피인용 타임라인 분석

De Bruine Carl (Grand Rapids MI), Code circuitry for a vehicle guidance mechanism.
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Bennett ; Jr. ; Clarence L. ; Bohman ; Carl E. ; DeLorenzo ; Joseph D. ; Wilhelmsen ; Harald, Guidance assist system for agricultural machines.
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Merezhkin ; Vasily Grigorievich, System for automatic control of object by contrast program.
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Cooper Jack A. (Grand Rapids MI) Debruine Carl (Grand Rapids MI), Vehicle guidance mechanism.
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이 특허를 인용한 특허 (38) 인용/피인용 타임라인 분석

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Young, David W., Apparatus for cleaning lines on a playing surface and associated methods.
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Young,David Wright, Apparatus for cleaning lines on a playing surface and associated methods, enhancements.
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Young, David Wright, Apparatus for cleaning lines on a playing surface and associated methods, handle enhancements.
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Young, David Wright, Apparatus for cleaning lines on a playing surface and associated methods, other handle enhancements.
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Liu, Tian Yu Tommy; Sofman, Boris; Tappeiner, Hanns W.; Palatucci, Mark, Automated detection of surface layout.
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Anthony P. Carstens ; Keith Shields, Automated guidance vehicle guide path code templates and methods for use.
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Field Bruce F. (Minneapolis MN) Kasper Joseph G. (Golden Valley MN), Automated guided vehicle.
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Wilson Richard A. (Everett WA), Control system for automatic guided vehicles.
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Ahlbom Sten H. N. (Vstra Frlunda SEX), Device for steering a steerable wheeled vehicle.
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Sofman, Boris; Tappeiner, Hanns W.; Palatucci, Mark, Distributed system of autonomously controlled mobile agents.
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Sofman, Boris; Tappeiner, Hanns W.; Palatucci, Mark, Distributed system of autonomously controlled mobile agents.
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Sofman, Boris; Tappeiner, Hanns W.; Palatucci, Mark, Distributed system of autonomously controlled mobile agents.
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Sofman, Boris; Tappeiner, Hanns; Palatucci, Mark Matthew, Distributed system of autonomously controlled mobile agents.
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Sofman, Boris; Tappeiner, Hanns W.; Palatucci, Mark, Distributed system of autonomously controlled toy vehicles.
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Sauter Gerald F. (Eagan MN) Nelson George F. (Coon Rapids MN) Andersen David P. (Burnsville MN) Paulinski Dennis W. (Plymouth MN), Dye marker for agricultural row guidance.
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Purchase F. Jack,CAX ; Poole Ross A.,CAX, Guidance system for automated vehicles, and guidance strip for use therewith.
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Sofman, Boris; Tappeiner, Hanns; Palatucci, Mark Matthew; DeNaele, Patrick Lee, Integration of a robotic system with one or more mobile computing devices.
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Lasky, Ty A.; Donecker, Stephen M.; Yen, Kin S.; Ravani, Bahram, Intelligent ultra high speed distributed sensing system and method for sensing roadway markers for intelligent vehicle guidance and control.
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Wikstrm B. W. Sigvard (Videstigen 4 S-93143 Skelleftea SEX), Method at vehicles having a lifting device for compensating departures in the position of loads on the lifting device re.
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Wikstrm Sigvard (Videstigen 4 S-931 43 SkellefteSEX), Method for fine positioning vehicles in extract relationships to geographic reference markings.
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Ahlbom, Sten H. N., Method for updating in a wheeled vehicle steered by dead reckoning.
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Stephens Philip E. (Chelmsford GB2), Vehicle guidance and control system.
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IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

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[미국특허] Line follower vehicle with scanning head 원문보기

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이 특허에 인용된 특허 (4) 인용/피인용 타임라인 분석

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[미국특허] Line follower vehicle with scanning head 원문보기

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이 특허에 인용된 특허 (4) 인용/피인용 타임라인 분석

이 특허를 인용한 특허 (38) 인용/피인용 타임라인 분석

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