Abstract: A mobile transport unit for independently operating within an enclosed environment. The transport unit is adapted for carrying a robotic manipulator arm and cargo within the environment, and includes an infrared communications transmitter/receiver for communicating with an extra-vehicular central processing unit. The transport unit includes electric motors for driving and for steering the unit. A laser docking module precisely determines the vehicle's location relative to a fixed point within the environment. Ultrasonic sensors placed about the vehicle can detect objects within a preselected range for collision avoidance and safety purposes. The vehicle is controlled by a central computer which receives inputs from the infrared communications system and from on-board sensors including directional sensors, distance measuring sensors, a gyroscope, the ultrasonic sensors, and the docking module.

Abstract: Apparatus for transferring electrical power between a power supplying apparatus and power consuming apparatus and having a separable high frequency transformer with a primary permanently mounted to the power supply apparatus and a secondary mounted about the power consuming apparatus. A charging control circuit mounted on the consuming apparatus, e.g. a mobile vehicle includes means for detecting current and voltage delivered through the transformer, and also for monitoring storage batteries within the vehicle. The power supply apparatus includes a power supply circuit comprising a ferrite core transformer and capacitor forming a parallel resonant circuit. The primaries of the transformer are alternately driven by a driver about opposing polarities. The drivers are controlled by a voltage-controlled pulse-width modulator which provides a square wave input to the drivers to cause them to alternatively energize the ferrite core transformer.

Abstract: An optical positional sensing apparatus for providing precise position and approach angle of a mobile assembly with respect to a fixed assembly. The apparatus includes a light source and optics to produce a rotating horizontal beam. Optics and a transducer are included which can detect the light beam when reflected back on itself. A corner reflector is affixed to a piece of equipment to which the mobile assembly will travel. The beam is rotated by means of a drive motor. Light hitting the corner reflector is reflected directly back under three circumstances, i.e. when the beam strikes either corner or when the beam is perpendicular to the reflector. A rotary encoder is coupled to the drive mechanism and supplies continuous angular positional data to a microprocessor. The transducer is also coupled to the microprocessor which generates data sets of angular location for each transducer signal. Simple trigonometric calculations provide the desired position and approach angle data.