US4924153A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Apparatus for guiding movement of an unmanned moving body
Assignee: Komatsu Ltd
•
Filing: 1989-04-07
•
Granted: 1990-05-08
•
Expires: 2009-04-07
Abstract
Abstract An apparatus for controlling the position and posture of a moving body for inspecting the dust proofing properties of a plurality of filters is disclosed. Marks placed on the filter frames are visually recognized, the position and posture of the unmanned moving body relative to the marks is calculated and controlled to move the unmanned moving body in a predetermined manner.
Inventors
- 👤 Suzuki Toru
- 👤 Atsuhiko Kato
- 👤 Mitsuo Hosoi
- 👤 Ichiro Nakano
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-24 10:06
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0268; G05D1/027; G01; G01C; G01C21/00; G01C21/20; G05D1/0231; G05D1/0234; G05D1/0246; G05D1/0272
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
206 words
An apparatus for guiding the movement of an unmanned moving body for inspecting a dust proofing property of each of a plurality of filters laid on the ceiling or on the floor of a clean room, wherein a number of marks are disposed in a spaced relation along a predetermined reference passage on each of a plurality of fitting frames into which said filters are fitted, said unmanned moving body including: visual recognizing means for visually recognizing the presence of each of said marks; detecting means for detecting a declination angle and a displacement of the unmanned moving body relative to at least two marks which are visually recognized by said visual recognizing means; steering control means for controlling the steering of said unmanned moving body so that said declination angle and said displacement detected by said detecting means assume a predetermined value; a manipulator, having an arm and a probe installed on the top of the arm, for scanning and for sucking air through a specified filter; a granular material measuring instrument for measuring the number of granular materials filtered by said specified filter from the sucked air; and a storing device for storing the value of the number of measured granular materials per filter.
Claim 2
Independent Claim
206 words
An apparatus for guiding the movement of an unmanned moving body for inspecting a dust proofing property of each of a plurality of filters laid on the ceiling or on the floor of a clean room, wherein a number of marks are disposed in a spaced relation along a predetermined reference passage on each of a plurality of fitting frames into which said filters are fitted, said unmanned moving body including: visual recognizing means for visually recognizing the presence of each of said marks; detecting means for detecting a declination angle and a displacement of the unmanned moving body relative to at least two marks which are visually recognized by said visual recognizing means; steering control means for controlling the steering of said unmanned moving body so that said declination angle and said displacement detected by said detecting means assume a predetermined value; a manipulator, having an arm and a probe installed on the top of the arm, for scanning and for sucking air through a specified filter; a granular material measuring instrument for measuring the number of granular materials filtered by said specified filter from the sucked air; and a storing device for storing the value of the number of measured granular materials per filter.
Claim 3
Dependent Claim
25 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein each of the marks has a returnable reflectivity.
Claim 4
Dependent Claim
28 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein the marks are provided on the fitting frames for each filter.
Claim 5
Dependent Claim
82 words
An apparatus for guiding the movement of an unmanned moving body as claimed in claim 1, wherein said steering control means is adapted to control the movement of the unmanned moving body in row, said movement control being carried out in such a manner that the unmanned moving body moves forwardly from one end of the clean room to the substantially central part of the room and then moves rearwardly from the substantially central part to the other end of the room.
References Cited (Backward Citations)
DE202830C
Cited
JPS56145407A
Cited
JPS5757312A
Cited
JPS59184917A
Cited
JPS6118644A
Cited
GB2182634A
Cited
US4821665A
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-05-07 | 1993-11-06 | 1994-05-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-05-07 | 1997-11-06 | 1998-05-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-05-07 | 2001-11-06 | 2002-05-08 | $7700.00 | Window Closed / Lapsed |