Patent EP0389459A2 successfully refreshed from Google Patents.
EP0389459A2
Expired / Lapsed
EP
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Tether-guided vehicle and method of controlling same
Assignee: Transitions Research Corp
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Filing: 1990-03-13
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Granted: —
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Expires: 2010-03-13
Abstract
Abstract A tether-guided vehicle and method of controlling same are disclosed. A tether sensor indicates the angle, ϑ, of the tether with respect to the vehicle and the tension, T, on the tether. A contact-sensitive bumper disposed about at least the front periphery of the vehicle indicates the position, P, and force, F, of contact with an obstacle. A drive system moves the vehicle in response to tether angle, ϑ, and tension, T, thereby providing a "servo pull" feature. When the vehicle contacts an obstacle, it stops, backs up, turns and resumes forward motion to circumnavigate the obstacle, thereby providing an "obstacle avoidance" feature. The invention automatically frees a tether-guided vehicle from a jammed condition. It also improves the maneuverability of tether-guided vehicles. The servo pull and obstacle avoidance features make the vehicle suitable in a number of applications, such as for canister vacuums, hospital or factory carts, and the like. The vehicle may be tethered to another robotic vehicle.
Inventors
- 👤 William Pong
- 👤 Joseph F. Engelberger
- 👤 William S. Kazman
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-25 13:23
CPC Classifications
A; A47; A47L; A47L9/00; A47L9/009; A47L5/00; A47L5/12; A47L5/22; A47L5/36; A47L5/362; B; B62; B62D; B62D1/00; B62D1/24; E; E04; E04H; E04H4/00; E04H4/14; E04H4/16; E04H4/1654; A47L2201/00; A47L2201/04
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
126 words
A method of controlling the movement of a semiautonomous vehicle about a surface comprising the steps of: providing a tether attached to the vehicle; sensing tension, T, on the tether; providing the vehicle with a contact sensitive bumper about at least a front peripheral portion of the vehicle; causing the vehicle to move forward at a velocity, v, in response to the sensed tension on the tether; in response to the bumper contacting an obstacle, causing the vehicle to stop and back up a distance, d; after the vehicle has backed up the distance, d, causing the vehicle to turn an angle, α,; and after the vehicle has turned through the angle, α, resuming its forward motion in response to continued tension, T, on the tether.
Claim 2
Independent Claim
126 words
A method of controlling the movement of a semiautonomous vehicle about a surface comprising the steps of: providing a tether attached to the vehicle; sensing tension, T, on the tether; providing the vehicle with a contact sensitive bumper about at least a front peripheral portion of the vehicle; causing the vehicle to move forward at a velocity, v, in response to the sensed tension on the tether; in response to the bumper contacting an obstacle, causing the vehicle to stop and back up a distance, d; after the vehicle has backed up the distance, d, causing the vehicle to turn an angle, α,; and after the vehicle has turned through the angle, α, resuming its forward motion in response to continued tension, T, on the tether.
Claim 3
Dependent Claim
22 words
A method according to claim 1, wherein: the forward velocity, v, of the vehicle is proportional to the tension on the tether.
Claim 4
Dependent Claim
38 words
A method according to claim 1, wherein: the bumper senses a position, P, of contact with an obstacle relative to the vehicle; and in response to contact with an obstacle, the vehicle backs up away from the obstacle.
Claim 5
Dependent Claim
33 words
A method according to claim 1, wherein: the bumper senses a position, P, of contact with an obstacle relative to the vehicle; and after backing up, the vehicle turns away from the obstacle.
Claim 6
Dependent Claim
18 words
A method according to claim 1, wherein: the vehicle pauses after contacting an obstacle and before backing up.
Claim 7
Dependent Claim
18 words
A method according to claim 1, further comprising: sounding an audible device when the vehicle contacts an obstacle.
Claim 8
Dependent Claim
27 words
A method according to claim 1, wherein: after backing up, the vehicle turns through an angle, α, proportion to a position, P, of contact with the obstacle.
Claim 9
Dependent Claim
31 words
A method according to claim 1, further comprising: repeating the steps of backing up, turning and resuming forward motion of the vehicle until a detour around the obstacle can be made.
Claim 10
Dependent Claim
36 words
A method according to claim 1, further comprising: sensing a directional angle ϑ the tether makes with the vehicle; and causing the vehicle to move forward in response to the sensed directional angle of the tether.
Claim 11
Dependent Claim
38 words
A method according to claim 1, further comprising: providing the tether with a sensor indicative of a user holding the tether; and prohibiting any motion of the vehicle if the tether is not being held by a user.
Claim 12
Dependent Claim
31 words
A method according to claim 1, wherein: the vehicle is towed, via the tether, by a towing vehicle; and upon causing the vehicle to stop, signalling the towing vehicle to stop.
Claim 13
Dependent Claim
33 words
A method according to claim 1, further comprising: incorporating a soft start feature, f, in the step of causing the vehicle to move forward in response to the sensed tension on the tether.
Claim 14
Dependent Claim
35 words
A method according to claim 1, further comprising: incorporating a damping factor, h, in the step of resuming vehicle forward motion after the vehicle has backed up and turned in response to contacting an obstacle.
Claim 15
Dependent Claim
87 words
A semiautonomous vehicle for moving about a surface, comprising: a body member; means for moving and turning the body member; a tether attached to the vehicle; tether sensor means, to which the tether is attached, for sensing tension, T, on the tether; bumper means disposed about at least a front peripheral portion of the vehicle for sensing contact of the vehicle with an obstacle; and means for exercising control over motion and turning of the vehicle in response to the tether sensor means and the bumper means.
Claim 16
Dependent Claim
87 words
A semiautonomous vehicle for moving about a surface, comprising: a body member; means for moving and turning the body member; a tether attached to the vehicle; tether sensor means, to which the tether is attached, for sensing tension, T, on the tether; bumper means disposed about at least a front peripheral portion of the vehicle for sensing contact of the vehicle with an obstacle; and means for exercising control over motion and turning of the vehicle in response to the tether sensor means and the bumper means.
Claim 17
Dependent Claim
11 words
Apparatus according to claim 14, wherein the bumper means is force-sensitive.
Claim 18
Dependent Claim
27 words
Apparatus according to claim 14, further comprising: means, associated with the tether sensor means, for sensing the angle ϑ of the tether with respect to the vehicle.
Claim 19
Dependent Claim
60 words
Apparatus according to claim 14, where the tether means includes: a flange to which the tether is attached; a platform which is relatively fixed with respect to the vehicle; means resiliently holding the flange against the platform; and at least one force sensitive device disposed between the flange and the platform indicating a torque resulting from tension on the tether.
Claim 20
Dependent Claim
37 words
Apparatus according to claim 17, wherein: the means resiliently holding the flange against the platform includes a foam sandwiched between the flange and the platform and clips exerting a bias to hold the flange against the platform.
Claim 21
Dependent Claim
34 words
Apparatus according to claim 18, wherein: the bias is established to preload the at least one force sensitive device to a midpoint of its operating range when there is no tension on the tether.
Claim 22
Dependent Claim
19 words
Apparatus according to claim 17, wherein the at least one force sensitive device is disposed rearward of the tether.
Claim 23
Dependent Claim
18 words
Apparatus according to claim 17, wherein: two force sensitive devices are disposed between the flange and the platform.
Claim 24
Dependent Claim
44 words
Apparatus according to claim 21, wherein: the two force sensitive devices are disposed on either side of a longitudinal centerline of the vehicle so as to provide a differential output in response to off-center (non-longitudinal) tension on the tether indicative of a steering input.
References Cited (Backward Citations)
No citation records indexed.
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