Patent US4593239A successfully refreshed from Google Patents.
US4593239A
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Method and apparatus for controlling travel of an automatic guided vehicle
Assignee: Tsubakimoto Chain Co
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Filing: 1984-09-06
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Granted: 1986-06-03
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Expires: 2004-09-06
Abstract
Abstract An automatic guided vehicle detects marks located on a plurality of points along a route it travels using at least three sensors, selects the number of marks detected from each individual sensor as a reference value in accordance with the logic of majority, and stops when the reference value agrees with a predetermined value. Cumulative errors, caused by misdetection are thus avoided and, there is little cumulative error. Thus, accurate control in long distance travel is possible.
Inventors
- 👤 Kenzo Yamamoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 22:59
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0244; G05D1/0259; G05D1/0263
Claims Analysis
Total Claims: 7
Claim 1
Independent Claim
117 words
A method for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point and pass by a plurality of points in order and stop at a predetermined point, comprising the steps of: detecting marks located at said plurality of points by at least three sensors provided on said automatic guided vehicle and counting the number of marks detected, respectively, by each of said sensors; adopting a number which represents a majority among said counted numbers of marks from each of said sensors as a reference value in accordance with the logic of majority; correcting any of said counted numbers which does not equal said reference value.
Claim 2
Independent Claim
117 words
A method for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point and pass by a plurality of points in order and stop at a predetermined point, comprising the steps of: detecting marks located at said plurality of points by at least three sensors provided on said automatic guided vehicle and counting the number of marks detected, respectively, by each of said sensors; adopting a number which represents a majority among said counted numbers of marks from each of said sensors as a reference value in accordance with the logic of majority; correcting any of said counted numbers which does not equal said reference value.
Claim 3
Independent Claim
132 words
An apparatus for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point passing by a plurality of points in order and stop at a predetermined point, comprising; at least three sensors for detecting marks located at said plurality of points; counter means for counting the number of marks detected respectively by each of said sensors; arithmetic means for adopting as a reference value a number occurring the majority of times among said counted numbers in accordance with the logic of majority; and comparator means for comparing said reference value with a predetermined value and for providing a signal when such reference equals said predetermined value; said automatic guided vehicle being caused to stop when said comparator signal is provided occurs.
Claim 4
Independent Claim
132 words
An apparatus for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point passing by a plurality of points in order and stop at a predetermined point, comprising; at least three sensors for detecting marks located at said plurality of points; counter means for counting the number of marks detected respectively by each of said sensors; arithmetic means for adopting as a reference value a number occurring the majority of times among said counted numbers in accordance with the logic of majority; and comparator means for comparing said reference value with a predetermined value and for providing a signal when such reference equals said predetermined value; said automatic guided vehicle being caused to stop when said comparator signal is provided occurs.
Claim 5
Dependent Claim
58 words
An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 2, wherein one of said sensors is disposed on the front side of said automatic guided vehicle and on the center portion thereof, the other two sensors being disposed on the rear side of said automatic guided vehicle and on each side thereof.
Claim 6
Dependent Claim
49 words
An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 3, wherein the counted numbers of marks counted by said counter are corrected when one of said two sensors disposed on the rear side of said automatic guided vehicle detects one of said marks.
Claim 7
Dependent Claim
52 words
An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 3, wherein said one sensor disposed on the front side of said automatic guided vehicle is a sensor for deceleration of said automatic guided vehicle, the other two sensors are sensors for stopping said automatic guided vehicle.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1989-06-02 | 1989-12-02 | 1990-06-03 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-06-02 | 1993-12-02 | 1994-06-03 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-06-02 | 1997-12-02 | 1998-06-03 | $7700.00 | Window Closed / Lapsed |