An installation for vehicles moving automatically, without human intervention, between starting and arrival points along a predetermined path consisting of stops, junctions, crossings, inlets, outlets of elevators, etc. An installation in which each self-propelling vehicle is adapted to carry a load
An installation for vehicles moving automatically, without human intervention, between starting and arrival points along a predetermined path consisting of stops, junctions, crossings, inlets, outlets of elevators, etc. An installation in which each self-propelling vehicle is adapted to carry a load and has steering-wheels and a central driving-wheel as well as optical detectors designed to read an optical track laid out on the ground and furnishing passive driving signals, the vehicle also being provided with an ultrasonic emitter-receiver assembly working as a radar and operative to detect obstacles along the path of movement of the vehicle.
대표청구항▼
An installation for transporting loads automatically along a predetermined path extending through corridors or the like, which path includes stops, junctions, crossings, inlets, and outlets for vehicles traveling along said path, said installation comprising an optical track laid along the ground to
An installation for transporting loads automatically along a predetermined path extending through corridors or the like, which path includes stops, junctions, crossings, inlets, and outlets for vehicles traveling along said path, said installation comprising an optical track laid along the ground to define said path, said optical track consisting of an extended, optically detectable central track section which is bounded along its two opposing edges respectively by a pair of optically detectable lateral track sections, said central and lateral track sections having optical characteristics which are different from one another respectively; and at least one vehicle adapted to be guided along said track, said vehicle comprising a substantially rectangular frame having load support means thereon, said vehicle further comprising four steerable ground-engaging wheels located at the four corners of said frame respectively, said four wheels being interconnected to one another by linkages arranged to cause the positions of said four steerable wheels to change in unison, said vehicle also comprising a motor for driving a single ground-engaging driving wheel which is centrally located along the main axis of said frame, and control means carried by said vehicle for controlling the positioning of said four steerable wheels and the operation of said driving wheel, said control means comprising ultrasonic emitter-receiver means located adjacent an end of said vehicle and oriented forwardly of said vehicle for detecting the presence of obstacles forward of and along the path of movement of said vehicle, and said control means further including at least two light emitter-light receiver assemblies carried by said vehicle and oriented downwardly of said vehicle toward said optical track, said two emitter-receiver assemblies being laterally spaced from one another and being positioned respectively to overlap one of the elongated boundary edges between said central track section and one of said lateral track sections respectively, the emitter in each said assembly being operative to emit light toward its associated elongated boundary edge in said track and the receiver in each said assembly being operative to receive optical signals from the portions of said track which are illuminated by said emitters, the receiver in each of said assemblies being operative to produce an output signal which is a function of the lateral position of said assembly relative to the boundary edge between said central track section and the associated one of said lateral track sections as said vehicle travels along said track, and circuit means responsive to the sum and difference of the two signals provided by the two receivers in said assemblies for simultaneously determining that said difference is substantially null and that said sum is substantially the double of an average value, said circuit means being operative to control the positioning of said four steerable wheels and being operative to control said motor of said vehicle when the difference between said two signals is not null in average.
연구과제 타임라인
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이 특허에 인용된 특허 (2)
Oriol ; Andre C., Assembly for the automatic operation of hand carts, especially hospital carts.
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.
Hainsworth Thomas E. (Holland MI) Spanhak F. Nicholaas (Jennison MI) Paske ; Jr. Richard R. (Holland MI), Self-adapting signal detector with digital outputs.
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