Abstract: An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. FIGS. 90, 91, 92, 93, and 94 provide a map showing relative orientation of the schematic circuits seen in FIGS. 90A-B, 91A-B, 92A-B, 93A-B, and 94A-B, respectively over paths marked by update markers which may be spaced well apart, such as fifty feet. Redundant measurement capability using inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation.

Abstract: An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. Vehicle steering and control includes autonomous guidance and navigation of the vehicle over paths marked by update markers which may be spaced well apart, such as fifty feet. The control system employs high frequency two-way data transmission and reception capability over the guidewires and via wireless communications. The same data rates and message formats are used in both guidewire and wireless communications systems. Substantially the same communications electronics are used for the central controller and each vehicle. Novel navigation and guidance algorithms are used to select and calculate a non-linear path to each next vehicle waypoint when the vehicle is operating in the autonomous mode.

Abstract: A connector assembly for interconnecting a vehicle and a trailer having a hitch element includes a gripper assembly which is operable to engage the hitch element. The gripper assembly includes a plurality of jaws which are pivotally connected with and are disposed in a circular array on a base. A rotatable ring circumscribes the circular array of jaws. A motor is connected with the ring and is operable to rotate the ring in a first direction to pivot the jaws toward each other. The motor is operable to rotate the ring in a second direction, which is opposite to the first direction, to pivot the jaws away from each other. The ring and jaws are interconnected by a plurality of links. The motor is connected with the ring by a drive chain. A hitch element detector detects when the hitch element is positioned in the gripper assembly. A ring position detector detects when the ring is in predetermined positions relative to the base.

Abstract: An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. Autonomous vehicle navigation comprises travel over paths marked by update markers which may be spaced well apart, such as fifty feet Redundant measurement capability comprising inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation.

Abstract: Traction apparatus for driving a vehicle and accurately sensing the distance traveled, in which a drive mechanism is encircled by a separate ring-shaped encoder wheel. The encoder wheel, which is part of a travel-sensing mechanism, nests annularly with the drive mechanism so that the width of the combination is minimized. The travel-sensing mechanism can be assembled to the vehicle without disturbing the drive mechanism. There is enough radial clearance in the toroidal encoder wheel to permit the drive mechanism to move up and down within the encoder wheel. The encoder wheel has approximately the same outside diameter as the drive wheel, so certain common-mode measurement errors cancel. The encoder wheel and the drive wheel are approximately concentric and closely spaced laterally to minimize measurement errors that would otherwise occur upon turning of the vehicle.