US4751658A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Obstacle avoidance system
Assignee: ETM REALTY TRUST
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Filing: 1986-05-16
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Granted: 1988-06-14
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Expires: 2006-05-16
Abstract
Abstract A system for avoiding obstacles in the path of a vehicle including a sensor assembly having a field of view with a plurality of sectors for detecting the distance of objects within each sector. The system further includes an element for identifying obstructed sensors in which objects are detected within a predetermined range and a device for selecting an unobstructed sector close in alignment to the direction of the path to designate around the object a clear path which is close to the original path.
Inventors
- 👤 Mark B. Kadonoff
- 👤 Joseph K. Siberz
- 👤 Austin Franklin
- 👤 II Robert W. George
- 👤 Paul J. Peng
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 12:54
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/02; B25J5/00; B25J5/007; G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0234; G05D1/0242; G05D1/0255; G05D1/0268; G05D1/0272; G05D1/0276; G05D1/028; G05D1/0282; G05D1/0212; G05D1/0225; G05D1/0246
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
92 words
A system for avoiding obstracles in a first path of a vehicle, comprising: sensor means having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of the first path to designate around the object an unobstructed second path which is close to the first path.
Claim 2
Independent Claim
92 words
A system for avoiding obstracles in a first path of a vehicle, comprising: sensor means having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of the first path to designate around the object an unobstructed second path which is close to the first path.
Claim 3
Dependent Claim
28 words
The obstacle avoidance system of claim 1 in which said sensor means includes a plurality of individual sensors, each one of said sensors aligned with a different sector.
Claim 4
Dependent Claim
14 words
The obstacle avoidance system of claim 2 in which said sensors are ultrasonic transducers.
Claim 5
Dependent Claim
26 words
The obstacle avoidance system of claim 1 in which said field of view of said sensor means is centered toward the direction of the first path.
Claim 6
Dependent Claim
27 words
The obstacle avoidance system of claim 1 in which said means for selecting includes means for designating the sector closest in alignment to the first path direction.
Claim 7
Dependent Claim
27 words
The obstacle avoidance system of claim 1 further including means for turning the vehicle toward the selected sector to put the vehicle on the unobstructed second path.
Claim 8
Dependent Claim
29 words
The obstacle avoidance system of claim 1 in which said means for selecting includes means for designating unobstructed sectors, which are immediately adjacent to obstructed sectors, as obstructed sectors.
Claim 9
Dependent Claim
35 words
The obstacle avoidance system of claim 1 further including means for adjusting the drive velocity of the vehicle as a function of the nearest detected object to slow the vehicle as it approaches an object.
Claim 10
Dependent Claim
75 words
The obstacle avoidance system of claim 8 in which said means for adjusting includes: second sensor means having a field of view, said field of view having a plurality of sectors and being aligned with the direction of travel of the vehicle for detecting the distance of objects within each sector; and proximity means, responsive to said second sensor means, for identifying the obstructed sector in which an object is detected at the closest range.
Claim 11
Dependent Claim
33 words
The obstacle avoidance system of claim 9 further including means for resolving the direction of travel of the vehicle to determine the sector of the second sensor means facing the direction of travel.
Claim 12
Dependent Claim
30 words
The obstacle avoidance system of claim 1 further including path following means for returning the vehicle from the unobstructed second path to the first path after the object is avoided.
Claim 13
Dependent Claim
54 words
The obstacle avoidance system of claim 11 in which said path following means includes means for altering the heading of the vehicle toward the first path as a function of the lateral deviation of the vehicle from the first path and of the distance designated to elapse before the vehicle reaches the first path.
Claim 14
Dependent Claim
151 words
An obstacle avoidance system for use with a robot having a body which has an azimuthal angle that is optimally fixed in space and provides the basic reference to the outside world, a drive system including wheels for enabling movement of the robot, and a synchronous steering mechanism which turns the wheels independently of the body to face them toward the direction of travel, comprising: sensor means, disposed in the body, having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of a first path of the robot to designate around the object an unobstructed second path which is close to the first path.
Claim 15
Dependent Claim
151 words
An obstacle avoidance system for use with a robot having a body which has an azimuthal angle that is optimally fixed in space and provides the basic reference to the outside world, a drive system including wheels for enabling movement of the robot, and a synchronous steering mechanism which turns the wheels independently of the body to face them toward the direction of travel, comprising: sensor means, disposed in the body, having a field of view with a plurality of sectors for detecting the distance of objects within each sector; means, responsive to said sensor means, for identifying obstructed sectors in which objects are detected within a predetermined range; and means, responsive to said means for identifying, for selecting an unobstructed sector close in alignment to the direction of a first path of the robot to designate around the object an unobstructed second path which is close to the first path.
Claim 16
Dependent Claim
28 words
The obstacle avoidance system of claim 13 in which said sensor means includes a plurality of individual sensors, each one of said sensors aligned with a different sector.
Claim 17
Dependent Claim
26 words
The obstacle avoidance system of claim 13 in which said field of view of said sensor means is centered toward the direction of the first path.
Claim 18
Dependent Claim
35 words
The obstacle avoidance system of claim 13 further including means for adjusting the drive velocity of the robot as a function of the nearest detected object to slow the robot as it approaches the object.
Claim 19
Dependent Claim
75 words
The obstacle avoidance system of claim 16 in which said means for adjusting includes: second sensor means having a field of view, said field of view having a plurality of sectors and being aligned with the direction of travel of the robot for detecting the distance of objects within each sector; and proximity means, responsive to said second sensor means, for identifying the obstructed sector in which an object is detected at the closest range.
Claim 20
Dependent Claim
30 words
The obstacle avoidance system of claim 13 further including path following means for returning the vehicle from the unobstructed second path to the first path after the object is avoided.
Claim 21
Dependent Claim
54 words
The obstacle avoidance system of claim 18 in which said path following means includes means for altering the heading of the vehicle toward the first path as a function of the lateral deviation of the vehicle from the first path and of the distance designated to elapse before the vehicle reaches the first path.
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) | 1991-06-14 | 1991-12-14 | 1992-06-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1995-06-14 | 1995-12-14 | 1996-06-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1999-06-14 | 1999-12-14 | 2000-06-14 | $7700.00 | Window Closed / Lapsed |