Abstract: Automatic guided vehicles are commonly used in industrial material handling operations. Such vehicles must be accurately docked at predetermined stop locations without the guidance or assistance of human operators. The subject apparatus is used in conjunction with a vehicle having a vehicle drive circuit for controllably propelling the vehicle at a velocity responsive to a velocity command signal. At least one ground engaging wheel is equipped with a vehicle brake for controllably stopping the vehicle in response to a brake actuation signal. A position determining element produces a controlled stop signal in response to the vehicle being positioned a predetermined distance from the desired stop location, and an absolute stop signal in response to the vehicle being positioned at the desired stop location.

Abstract: An apparatus and method for measuring the profile of a curvilinear surface is provided. The apparatus includes a light source for substantially uniformly delivering radiant energy along an illumination plane substantially tangent to the curvilinear surface. The delivered radiant energy is optically imaged at a first image plane. A first portion of the delivered radiant energy is blocked by an optical field stop having an accurately straight reference profile edge portion, and a second portion of the imaged radiant energy is focused on a transducer located at a second image plane. The transducer produces a coded data signal in response to the focused radiant energy. A microprocessor receives the coded data signal, determines the deviation of the profile of the curvilinear surface from the reference profile edge portion, and produces a straightness signal in response to the determined deviation. Nonuniformities of the apparatus are automatically compensated for.

Abstract: Earthmoving machines and earthmoving implements are difficult to operate to achieve maximum implement power and to control the implement under changing working conditions. The instant apparatus is designed to maximize implement power by automatically sensing and responding to variables related to implement power and to control the implement by automatically sensing and responding to the longitudinal angular velocity of the machine. The apparatus includes a mechanism for moving the implement in response to sensed variables related to implement power, a transducer for sensing the longitudinal angular velocity of the machine, and a control for modifying the implement position in response to the sensed angular velocity of the machine.

Abstract: Electronic hourmeter devices having non-volatile memories are useful, for example, in industrial vehicles. Advantageously, such non-volatile memories should be free from a need for battery back-up systems and should minimize the number of changes of the internal memory registers. The subject electronic hourmeter apparatus includes both a dynamic memory device and a non-volatile memory device. Data is maintained in each of the memory devices and memory bit changes are minimized by utilizing a gray coded binary representation of a portion of the data and by systematically altering the addressed memory location of a portion of the data in response to one of the stored data values. Data storage occurs both periodically and in response to disconnection of the vehicle battery. Thus, the disclosed electronic hourmeter apparatus 10 advantageously maintains the integrity of the stored data, minimizes the number of bit changes that occur in the non-volatile memory device, and avoids the need for a battery back-up.

Abstract: Electronic hourmeter devices having service reminders are useful, for example, in industrial vehicles. Advantageously, such service reminders should be field programmable for a variety of predetermined service intervals. The subject electronic service reminder is readily field programmable by authorized personnel and is protected from being programmed or reset by unauthorized personnel. A service status indicator is activated in response to the elapsed hourmeter time exceeding the programmed service interval time, and both the hourmeter elapsed time and the service reminder programmed time are resettable in response to a predetermined magnetic flux applied to respective Hall effect switches. Data is advantageously maintained in a non-volatile memory device without need for a battery back-up.

Abstract: An apparatus for controllably actuating an electrical device in response to movement of a control member is useful, for example, in an industrial vehicle, including a chassis, a power supply electrically isolated from the chassis, and a steering assembly having a rotatably connected steering wheel. The subject apparatus includes a control member mounted on and rotatable with the steering wheel. An excitation circuit is provided for supplying a predetermined excitation signal to a receiving circuit which responsively produces a control signal. The control signal is modified in response to a predetermined movement of the control member. A control circuit actuates and deactuates the electrical device in response to receiving the control and modified control signals. Thus, the apparatus controllably actuates the electrical device while maintaining the control member electrically isolated from the power supply. The steering wheel is free to rotate without interconnecting wires or slip rings.

Abstract: An apparatus for controllably delivering power from a device to a workpiece is useful, for example, in performing qualitative material tests on various materials. In the instant apparatus, a sonic generator means controllably supplies sonic power to a workpiece, causing the surface of the workpiece to erode. A sensing means produces an actual power signal having a magnitude responsive to the power consumed by the sonic generator means. A settable means produces a desired power signal, and a control means compares the desired and actual power signals and supplies motor control signals in response to the respective magnitudes of the power signals and to a tracking time interval signal. In response to termination of the tracking time signal, the control means blocks the motor control signals. A motor means controllably moves the sonic generator means relative to the workpiece in response to receiving the motor control signals.

Abstract: A golf club putter (10) is provided that includes a head (12) having first and second putting faces (18, 20) positioned perpendicular to one another and at identical predetermined angles to a top surface (14). The head (12) includes an offset hosel (44) extending generally upwardly from the top surface (14). The hosel (44) has a first end portion (46) connected to the head top surface (14) along an edge opposite the first and second putting faces (18, 20), a second end portion (48) projecting upwardly from the top surface (14) along an axis parallel to and proximate one of the first and second putting faces (18, 20) and at a predetermined angle to the other of the first and second putting faces (18, 20), and an intermediate transverse connecting portion (52) extending across the top surface (14). A shaft (54) has a first end portion (56) connected to the hosel second end portion (48) and extends upwardly therefrom.

Abstract: Information related to the position of a control member of a vehicle is required for control of power delivered to the vehicle motors. Available linear position encoders are expensive and prone to damage in an industrial environment. The instant apparatus provides a simple and durable linear position encoder having a piston adapted to move within a housing. A plurality of sensors are each positioned along a different housing pathway and a plurality of sensible members are each positioned along a different piston pathway. In response to movement of the piston within the housing the sensors deliver respective position signals to an electric circuit means, which, in turn, delivers respective coded digital signals to a vehicle controller. The apparatus is digital in design and is of simple, rugged, and inexpensive construction.

Abstract: The subject brake test apparatus operates in conjunction with a vehicle having a source of power, a traction motor controllably connected to the power source and to at least one vehicle wheel, and a vehicle brake associated with at least one vehicle wheel. An actuator controllably engages and disengages the vehicle brake in response to receiving respective brake control signals, and a transducer produces wheel rotation signals in response to rotation of at least one of the vehicle wheels. A processor controllably delivers a brake engaging signal to the actuator and engages the vehicle brake. A predetermined amount of power from the power source is delivered to the traction motor for a predetermined period of time.

Abstract: Information related to the rotary angular position of a steerable wheel portion of an electric vehicle is required for proper control of the vehicle and especially for differential control of the driven wheels of the vehicle. Available rotary position encoders are expensive, prone to damage in an industrial environment, and sensitive to misalignment between the encoder components. The instant apparatus provides a simple and durable rotary position encoder having a plurality of sensors positioned on a first mounting member and a plurality of sensible members positioned on a second mounting member. The apparatus is digital in design and the particular location and arrangement of the sensors and sensible members advantageously compensates for overtravel and misalignment of the encoder components.

Abstract: Single pedal vehicle speed and direction controls are advantageously applied in industrial vehicles. Available pedals are prone to damage in an industrial environment and require multiple discrete pedal portions for various pedal functions. The instant apparatus provides a simple and durable foot pedal having a unitary pad including first and second integral moveable members and respective sealed switchable members. The pad is advantageously of one piece molded rubber construction and includes first and second resilient portions, each having a curvilinear connecting portion and an intermittent substantially solid connecting portion. The switchable members include respective sealed membrane switches, each having first and second spaced apart electrically conductive contact surfaces.

Abstract: Power assisted steering systems are commonly used on industrial vehicles such as industrial lift trucks. Advantageously, the output of such systems should be responsive to vehicle speed and the systems should be energy efficient. The subject power steering control system includes processor means for receiving a steering demand signal and a speed control signal, producing a high fluid flow rate signal in response to receiving the steering demand signal and to the speed control signal representing a vehicle speed less than or equal to a predetermined vehicle speed, producing a low fluid flow rate signal in response to receiving the steering demand signal and to the speed control signal representing a vehicle speed greater than the predetermined speed, and producing an idle fluid flow rate signal in response to failing to receive the steering demand signal.

Abstract: Apparatus is provided for controlling increases in the speed of a motor, including a transducer coupled to an accelerator pedal, that generates digital numbers representing motor speed commands, a data processor for receiving the speed commands, generating motor speed limit signals in response to the digital numbers and delivering the limit signals to a controllable circuit for supplying power to the motor. The limit signals are delivered in response to time and the magnitude of the speed commands.

Abstract: An electrical switching apparatus (10) for use as a battery disconnect device in a vehicle reduces sparking resulting from the switching of electrical currents by controlling the rate at which such switching occurs with a cam (22) and follower (20) arrangement.The apparatus (10) includes a housing (12) having a cam (22) and a shaft (18) having a follower (20). The shaft (18) extends through the housing (12), and through a movable contact (14). The cam (22) includes first and second detents (28,30) disposed substantially radially opposite one another about the shaft (18) along a first elevational plane. A third detent (34) is annularly positioned between the first and second detents (28,30) and located along a different elevational plane. The third detent (34) is spaced relatively annularly near one of the first and second detents (28,30), and spaced relatively annularly distant from the other of the first and second detents (28,30).

Abstract: Electromagnetic machines of the type having circular arrays of permanent magnets arranged on a rotor and a plurality of pole pieces arranged on a stator, requires that a maximum number of pole pieces be arranged around the stator in order to attain maximum utilization of the magnetic flux and to minimize interpole flux leakage. The instant stator of an electromagnetic machine includes a plurality of U-shaped pole pieces, with adjacent ones of the pole pieces opening in opposite radial directions from an axis of the stator. The pole pieces which open radially inwardly are stepped so as to have a relatively thicker portion radially outwardly from the axis and a relatively thinner portion radially inwardly from the axis. Thus, the number of pole pieces that can be arranged around the stator is maximized, as is the utilization of magnetic flux, and interpole flux leakage is minimized.

Abstract: A control system (28) is provided for controlling the supply of power to a motor (12) having an armature (34) and a plugging diode (38) connected across the armature (34), including a circuit (14) for producing direction command signals, a circuit (98) for generating digital motor power command signals, a circuit (16) for sensing a plugging condition and generating a plug signal, a microprocessor (46) for generating one of a plurality of pulse trains during typical plugging conditions and for automatically overriding the generation of the one pulse train and generating other of the plurality of pulse trains during special plugging conditions. By automatically providing the override feature during the special plugging conditions, the disadvantage of manual override in prior control systems is obviated.

Abstract: Anti-wheel spin control systems are useful, for example, in industrial off-road vehicles. It is desirable that such systems operate automatically and not be unduly influenced by false slip signals caused by steering of the vehicle. It is further desirable that the operability of the control be readily determined by the operator. The instant anti-spin control includes an apparatus for producing a slip signal having a value responsive to the difference in rotational velocity between the vehicle wheels, and for producing a test signal. A processor receives the slip signal and test signal, compares the slip signal value with a first predetermined reference value in response to receiving the slip signal in the absence of the test signal, and compares the slip signal value with a second predetermined reference value in response to receiving both the slip signal and the test signal.

Abstract: The invention pertains to an apparatus (10) for diagnosing and displaying the condition of various components in an electro-mechanical vehicle or other system. The apparatus (10) includes command signal producing devices (12), control signal receiving devices (14), and means (16) for delivering control signals to the receiving devices (14) in response to receiving the produced command signals. The means (16) includes means (128) for receiving diagnostic command signals and displaying a predetermined diagnostic code in response to receiving a predetermined command signal. Both in-service and out-of-service diagnostics are provided for and a minimum of equipment external to the apparatus (10) is required, thus making the system both efficient and low in cost.

Abstract: The invention pertains to a control system (46) for controlling the supply of power to a motor (12) to produce plugging electrical braking and current limit control, including a circuit (60) for controlling the direction of energization of the motor (12), a circuit (88) for generating digital numbers representing command motor speeds, a circuit (14) for generating a data signal representing a plugging condition, a programmable data processor (18) for generating pulse trains in dependence on the plugging condition, and a power transistor element (40) for coupling power to the motor (12) in response to the pulse trains. By using state-of-the-art digital, integrated circuit and software technology, prior, essentially linear or discrete component technology, which is relatively unreliable, expensive and slow, need not be used.