Abstract: An automated system for immobilizing a vehicle and method therefore typically employed in a motor vehicle for disabling the throttle and deploying the brake and clutch control systems after a theft of the vehicle has occurred is disclosed. The invention includes a plurality of devices for monitoring a plurality of parameters of the vehicle and for generating the triggering signal. A central control microprocessor is employed for receiving and analyzing the plurality of parameters and for detecting the triggering signal. A throttle adjustable range actuator module is utilized for disabling the throttle of the vehicle upon detection of the triggering signal. Finally, a brake adjustable range actuator module is included for deploying the brakes to stop the vehicle. Additionally, a clutch adjustable range actuator module is included for deploying a manual clutch, if the vehicle is fitted with one, for preventing the wheels of the vehicle from being driven.

Abstract: A guidance system for an automated guided vehicle which moves on a floor surface, comprises a running line composed of grooves of a predetermined length formed in the floor surface and arranged in a lengthwise direction to form a single array, and an operation control code composed of a combination of a plurality of grooves selected from groups having different lengths formed in the floor surface on the running line or in the proximity of the running line.

Abstract: A vehicle guiding system enables a plurality of vehicles to run in a platoon with minimum assistance from drivers, and is intended to enhance effective use of from auto-drive lane. When the vehicle runs in the platoon, a front running vehicle detects its displacement from a magnetic nail, and calculates a steering amount to be corrected (i.e. control variables). The front running vehicle not only controls its own movements on the basis of the control variable data but also transmits them to a following vehicle. The following vehicle does not detect its displacement from the magnetic nail, but controls its steering amount on the basis of the received control variable data. The first following vehicle transfers the control variable data to a further following vehicle. The further following vehicle simply receives the control variable data from the following vehicle, and does not calculate its own control variables.

Abstract: The motion detection system of the present invention includes a pair of signal reflectors positioned at a defined location for directing signals into the path of travel of an object. A corresponding pair of signal detecting devices positioned on the moving object detects the signals and produces responsive electrical signals. An electrical circuit is connected to receive these electrical signals and to provide an electrical output indicative of the direction of travel of said object.

Abstract: A video camera or equivalent sensor is mounted on a vehicle and used to detect the lane markings on the road (usually the white painted lines). An associated signal processor (11) estimates the vehicle's lateral position in relation to the lane markings. An electric motor (4) coupled to the steering mechanism (1) is used to provide a torque input to the steering which may either assist or oppose the steering torque from the driver. The processor (11) is designed to assist the driver to maintain the vehicle's lane position by holding the vehicle at a set-point using a biasing torque. This simulates the effect of the lane being cambered upwards towards the lane edges. However the driver is able to override or cancel the effect if the driver applied steering torque exceeds a prescribed torque threshold.

Abstract: A system for preventing collisions between a vehicle and other objects, the vehicle having a blind side, an opposite driver side, a from end and an opposite rear end, has side ranging capability that determines the distance from the blind side of the vehicle to an object in a lane immediately adjacent to the blind side while the vehicle is in the process of moving into a traffic lane immediately adjacent to the blind side. Rear ranging capabilities are employed to determine the distance from the rear side to an object behind the vehicle while the vehicle is in the process of backing up. A calculating capability, responsive to the side ranging capability and the rear ranging capability, determines when an object is in a lane immediately adjacent to the blind side while the vehicle is in the process of moving into the lane immediately adjacent to the blind side and also determines when an object is behind the vehicle while the vehicle is in the process of backing up.

Abstract: A conventionally constructed baby walker 5 having a lower support member 6 to which are attached front wheels 10 and 11 (not shown) and rear wheels and 12 and 13 (not shown) in contact with floor surface 14 has further magnetically activated brake assembly 21 moveably attached to support member 6, the bottom surface of which is also in contact with floor surface 14. Brake assembly 21 further contains a permanent magnet disposed above surface 14 and attached to an internal latching mechanism. A magnetically permeable arc shaped strip 15 is further attached to floor surface 14 using conventional screws 19. Preferably strip 15 is placed in front of staircase 20 or other level drop such as may be encountered with a patio or porch. As walker 5 is propelled across surface 14 and over strip 15, the permanent magnet is downwardly attracted to the permeable strip releasing the latching mechanism and engaging brake assembly 21.

Abstract: An autonomous personal service robotic apparatus, such as a robotic golf caddy, including a drive assembly for movement of the robotic caddy, a digital computer having memory devices in which are stored a digital map and navigation rules, and having a operations program for the control of performance of personal services, including movement and navigation of the caddy in the environment, and a position determination assembly for determining the position of the robotic device in the environment. The position determination assembly also dynamically determines the position of unmapped elements in the environment and super imposes or overlays them with the mapped elements and position of the robotic apparatus. Position preferably is determined by differential GPS techniques. The navigational rules for the robotic device control its movement in the environment in response to its sensed position in the mapped environment, the sensed unmapped elements and preferably the sensed relative position of the user.

Abstract: A vehicle's position is determined, normally within .+-.0.37 inches, relative to an imaginary center line of a road lane along which are buried, normally about every 13 feet, completely passive resonant circuits, normally each a simple, inexpensive and durable 1-turn 11.5" diameter shallow loop of #12 copper wire in series with a proper capacitor, nominally 10 nanofarads, for resonance. In-lane positional determination is in and by a phase detection circuit, and process. A low-power r.f. electromagnetic field, normally 1.9432 MHz, is maintained in a (i) vertically- or (ii) horizontally-oriented first loop, normally a 6-turn 6-inch coil. Resonance is electromagnetically induced in nearby road coils; radiated fields are not involved. The induced r.f. field is itself then detected in a another, second, loop means within the vehicle.

Abstract: A metal detector and distance sensor for a motor vehicle. A departure of the motor vehicle from a correct path indicated by one or two metal lines covered with paint in the road is signaled. The metals lines are formed by projecting a jet of metal in the gaseous state at high speed onto the road surface. A covering of paint is then formed over the metal line on the road surface. A turbine supplied by an air compressor projects the jet of metal in the gaseous state from a vehicle or a trailer having a metal supply device and a painting device thereon. A display indicates the direction of departure from the correct path and the distance separating the motor vehicle from a preceding vehicle. Alarm signals can be emitted upon the departure.

Abstract: An inter-vehicle distance measuring apparatus is composed of an inter-vehicle data measuring and transmitting unit for measuring and transmitting inter-vehicle distance data related to the distance between a vehicle in front and a host vehicle, a communications unit installed by a road for receiving the inter-vehicle distance data transmitted from the inter-vehicle data measuring and transmitting unit, an inter-vehicle distance measuring unit for measuring the distance between the vehicle in front and the host vehicle, a correction amount determining unit for calculating a correction amount for correcting the distance between the vehicle in front and the host vehicle measured by the measuring unit based on the inter-vehicle distance data received by the communications unit, and a correcting unit for correcting the distance between the vehicle in front and the host vehicle measured by the inter-vehicle distance measuring unit based on the correction amount.

Abstract: In order to provide smooth control a vehicle control method includes concatenating like-kind direction arrows in a configuration space. In addition, a stopping criterion is used to change a control signal in time to achieve stopping at a desired setpoint. To improve error recovery, control signals are changed in response to an error exceeding a predetermined limit.

Abstract: A motor-driven cart includes a manned/unmanned operation change-over switch, first and second electric motors for driving the cart, a handle lever provided to a main body of the cart to be swung to a predetermined angle with respect to a left, right, forward or backward direction, and a device for generating electric signal for steering and for speed control in response to a swing operation of the handle lever. When an operator changes the manned/unmanned operation change-over switch to its manned operation side and the handle lever is placed in its neutral zone, the motors are put in their stopped state. When the operator manipulates the handle lever in the left, right, forward or backward direction to a position outside the neutral zone, the forward or reverse rotational speeds of the first and second motors are increased in proportion to the extent of the swing operation to turn the cart to the left or right direction or to perform the forward or backward speed control.

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 apparatus and method in which a vehicle is guided along a path defined by a centerline and left and right boundaries parallel to and spaced laterally on opposite sides thereof and in which a passenger in the vehicle can steer it for lateral movement between the boundaries. The method and apparatus utilize an electrical conductor to define the center of the pathway and a sensor for sensing the position of the vehicle relative to the electrical conductor. Based on a comparison of the position of the vehicle and the steering command received from the passenger, as well as the steer angle position of the vehicle, the vehicle is confined to a predetermined envelope, while permitting the passenger to steer the vehicle within the envelope.

Abstract: A wheel support apparatus for a carriage, a carriage having the wheel support apparatus and an article transport system having the carriage. The wheel support apparatus comprises wheel support frames for supporting a pair of wheels and motors for driving the pair of wheels. The wheel support frames are attached to body frames through a bearing to be pivotable about a vertical axis located in an intermediate position between the pair of wheels. The bearing includes an inner race having a dimension such that part of the pair of wheels enter a space surrounded by the inner race. The wheel support frames support the wheels with part of the wheels entering the space.

Abstract: A guidance system for a self-advancing vehicle such as a floor washing machine is provided in an arrangement which does not spoil the beauty of, for example, a floor surface, which can be reused multiple times, which is low in cost and which more reliably follows a guidance line. A guidance line is drawn with a luminous material or with a coating material mainly consisting thereof along a predetermined traveling path on a floor surface. The guidance line is drawn on the floor surface with a mixture in which the luminous material is dissolved or dispersed in a solvent. Alternatively, a mixture in which the luminous material is mixed with a coating agent such as floor polish or wax is applied to the floor surface to draw the guidance line. The luminous material is, for example, an ultraviolet-absorbing material, an infrared-absorbing material or a visible light-absorbing material.

Abstract: A low-cost solid state replacement circuit for an inertial platform with the resulting consequence of increased resolution, significantly reduced cost, and improved reliability and accuracy. The invention comprises no moving parts and permits the use of a strap-down angular rate sensor system which has a fixed orientation relative to an AGV on which the circuit is used. The invention creatively emulates encoder signals previously emanating from the inertial table through the use of a voltage controlled oscillator, a direction of turn determining circuit and an encoder emulator. Cabling which exists in current inertial tables does not need to be changed and information format previously used remains unchanged.

Abstract: The present invention relates to an automatic system for controlling the steering of a non-railed transfer crane travelling along a lane indicant. The system comprises a vision sensor for continuously photographing the condition of a crane's actual travelling direction with respect to lanes represented by the lane indicant, and outputting predetermined deviations (distance as well as angle) showing off-centered degrees between the crane's actual travelling direction and the lanes based on the photographed image signal, and a deviation processor for outputting a control signal to a motor driver so that the crane can travel toward removing the deviation distance. By properly changing a rotative velocity of the crane's wheels, the present invention prevents the crane's travelling direction from being off-centered from the lanes.

Abstract: An accident alarm system continuously assesses the potential for a collision between a host vehicle and an object, based solely on input signals representative of the host vehicle velocity and the distance to the object measured at intervals at time t, by first assessing the status of the host vehicle to determine whether it is moving with constant velocity, stationary, accelerating, or decelerating, and then carrying out different signal processing routines to determine, as necessary, whether the object is moving with constant velocity, stationary, accelerating, or decelerating, the magnitude of the host vehicle and object accelerations, and the direction of movement of the object. Warning signals are generated based on these determinations, which assume that the vehicle and object will continue to possess the same acceleration or deceleration until a collision occurs.

Abstract: By a first homogeneous transformation matrix representing a position and orientation of a moving body in an absolute space, and a second homogenous transformation matrix representing a position and attitude of a manipulator in its operating space, position and orientation information of the moving body in the absolute space, and position and attitude information of the manipulator in its operating space are represented by a same representing method, and furthermore, the position and attitude of the manipulator are controlled on the basis of information of a third homogeneous transformation matrix representing the position and attitude of the manipulator including the position and orientation information of the moving body in the absolute space obtained on the basis of the first and second homogeneous transformation matrices.

Abstract: A low-cost solid state replacement circuit for an inertial platform with the resulting consequence of increased resolution, significantly reduced cost, and improved reliability and accuracy. The invention comprises no moving parts and permits the use of a strap-down angular rate sensor system which has a fixed orientation relative to an AGV on which the circuit is used. The invention creatively emulates encoder signals previously emanating from the inertial table through the use of a voltage controlled oscillator, a direction of turn determining circuit and an encoder emulator. Cabling which exists in current inertial tables does not need to be changed and information format previously used remains unchanged.

Abstract: A magnetically guided unmanned vehicle system to carry various loads along a guide path of a closed loop which comprises guide path consists of magnetic tape, a magnetic guide type steering drive unit having a magnetic sensor to detect magnetism from said tape and a drive wheel, said steering drive unit having a driving means to drive said drive wheel and a steering means controlled automatically by signals detected by said magnetic sensor, a trolley which has wheels at each of the four corners of the lower surface of a chassis thereof, the front said wheels having a universal casters, and a carriage shelf assembly which has one or a plurality of horizontal automatic roller conveyer(s) as shelves. The magnetically guided vehicle can be constructed by combining the trolley, the steering drive unit and the carriage shelf assembly and the trolley can be used for its original purposes by disassembling such parts.

Abstract: An inductive guidance arrangement for non-track-bound vehicles on a vehicle supporting surface. Guidance conductors laid alongside the supporting surface carry an alternating current which generates an alternating magnetic field. The actual transverse position of the vehicle relative to the alternating magnetic field is continuously detected by aerial crossed coils arranged on the vehicle at a defined distance above the supporting surface. A controller and steering apparatus arranged on the vehicle detect the actual transverse position of the vehicle relative to a desired position, and generate a steering instruction, which eliminates transversal positional deviation. The guidance conductors are arranged parallel to one another at the same vertical position, with a mutual transverse spacing of approximately 50% of the vertical height of the aerial crossed coils above the supporting surface.

Abstract: The present invention features a material handling vehicle that is capable of operating in a manned mode, a wire guidance mode, and a rail guidance mode. This manned material handling vehicle contains a steering management control system comprising a logic program which allows the vehicle to adapt itself to different wire control systems. That is, the particular parameters, frequency and amplitude of the underlying wire guidance system can be determined. In this manner, the manned vehicle is universally adaptive to a wide variety of wire guidance systems.

Abstract: The enunciator system for an AGV includes a transmitter mounted on the AGV connected to an electrical control circuit having a plurality of individual switches operable to cause the transmitter to transmit a specific signal upon arrival of the AGV at predetermined locations along a circuitous route. Each location along the AGV route has identifier markings detectable by the AGV such that the AGV will stop for a predetermined period of time at each location as it travels along its route. If a switch for a specific location is actuated, the transmitter will transmit a signal to a receiver at that location which then triggers an audio or visual alarm at the location to alert a person at the location as to the arrival of an item on the AGV. After a predetermined period of time, the alarm will cease and the AGV will continue along its circuitous route.

Abstract: A routeless guiding method for guiding a moving body, in which the driving speeds of the body's right and left driving wheels are independently controlled according to an operational expression including parameters based on a positional relation between the body's present position and a target position to guide the body to a target position without designating a route. To guide the body, the gain of an azimuth deviation parameter related to a traveling direction of the moving body to the target position is changed in response to the distance between the moving body and the target position, and further the gain is made to be of two kinds so that the traveling route of the moving body is not unstable in shifting from one gain to another.

Abstract: Apparatus for determining the position of a mobile vehicle relative to a fixed location marker device which comprises a coil energized to emit a magnetic field composed of lines of magnetic flux extending radially and arcuately from the ends of the coil's longitudinal axis. A sensor unit mounted on the mobile vehicle comprises four identical sensing coils each responsive to the frequency of the magnetic field of the marker device and each having a major axis. These sensor coils are supported in two pairs with the major axes of the sensor coils of each pair disposed on either side of a common central plane and extending parallel thereto, this common central plane extending transversely to the longitudinal axis of the marker device coil. Each pair of sensor coils is arranged in an X pattern in which their major axes cross each other medially and perpendicularly to define a center for the coil pair.

Abstract: A mobile robot for and a method of producing accurate physical lay-out and reference lines or performing work on a plane surface through cartesian coordinates or angle and distance systems is provided. The mobile robot has an on-board computer, a navigation system, and an emissions system. The robot is provided with a drive, for receipt of a floppy, or an internal drive, that can be programmed by an interested party directly or from a remote location by a plug-in. The program is loaded with locations that require treatment, work or equipment positioning. The robot locates and treats the coordinates with emission means, such as an ink jet type marking system, for workmen or for directly performing work at the coordinates.

Abstract: A method of moving and guiding the travel of a golf cart between a plurality of marker lines by steering the cart, when sensing one marker line, toward the other marker line. A plurality of parallel lines to be sensed is formed by linearly disposing magnetic elements between the marker lines such that the extended parts of the parallel lines traverse the marker lines. An angle of the golf cart going into, or traversing, the parallel lines to be sensed by the golf cart is calculated when the golf cart, having a golf cart sensor, advances linearly and traverses the lines. The steering angle of the golf cart is altered such that the angle of the golf cart departure from the parallel lines is always at a fixed value with respect to the parallel lines.

Abstract: A method and apparatus for guiding a driverless vehicle along a path defined by a guide cable carrying a current in a horizontal road surface includes mounting a first coil, having a major coil axis, at +45 degrees relative to the horizontal on said vehicle, mounting a second coil, having a major coil axis, at -45 degrees relative to the horizontal on said vehicle such that the axes of said first and second coils intersect, sensing both the radial and circular field vectors of the electromagnetic field with each coil, comparing the magnitude of the radial vector with the magnitude of the circular vector for each coil whereby the lateral position of the intersection point of the axes of the coils is determined relative to the guide cable to indicate the lateral displacement of the vehicle relative to said path, and using the displacement information in the vehicle steering system.

Abstract: An article transport system includes a plurality of article loading and unloading stations, at least one carriage for running between the stations to transport articles therebetween, and a base station installed on the ground to provide the carriage with running instructions at an article transport request received from one of the stations. Each of the base station, loading and unloading stations and carriage includes a radio communication unit. Article transport requests and running instructions are transmitted by radio communication.

Abstract: An automated ultrasonic guidance apparatus is adapted to be mounted on a vehicle having a guidance steering system for steering the vehicle on a desired track between adjacent crop rows or sides of a furrow. The apparatus includes first and second sensors for transmitting and receiving ultrasonic ranging signals. The sensors are mountable on a vehicle for directing the ranging signals downwardly and outwardly in opposite directions toward adjacent crop rows or sides of a furrow such that the ranging signals strike the rows or furrow and are reflected back into the respective sensor. Variable ranging outputs from the sensors are operatively associated with the guidance steering system to cause it to steer the vehicle toward the desired track.

Abstract: A wire guidance apparatus for an automated guided vehicle which comprises a first crossed coil sensor for acquiring a wire and tracking along curves in the wire as the vehicle is travelling in the forward direction, a second crossed coil sensor for acquiring the wire and tracking along the wire when the vehicle is travelling in the reverse direction, third and fourth sensors for tracking along straight runs in the wire and circuitry for switching between the crossed coil sensors and the third and fourth sensors. Circuitry is also provided to generate a guidance error signal from the outputs of either of the crossed coil sensors or both the third and fourth sensors. The guidance error signal is then used to control a motor connected to a steerable wheel of the vehicle to maintain the vehicle in alignment with the wire.

Abstract: The invention is an automated storage library including one or more robotic accessors which move upon the surface of a horizontal plane including the openings to storage cells. The accessors are wireless, remotely controlled vehicles. The vehicles employ known tracking mechanism(s) to move between locations within the library. The storage cells are embedded beneath the horizontal surface. The horizontal plane is a floor which is formed by the surface of the storage cells. Openings in the floor are also the access openings to the storage cells. Storage media are raised and lowered into the storage cells by a picker mechanism on the vehicles.

Abstract: A method and device for uncoupling a self-propelled truck from a carring truck, wherein an uncoupling point defined on a path is detected by a sensor so as to temporarily stop a motor of the self-propelled truck, thereby provisionally stopping the two trucks at the uncoupling point, then another motor is driven to cause disengagement in an engagement element, and thereafter only the self-propelled truck is again moved, while maintaining such disengagement, so as to complete the uncoupling of the carrying truck from the self-propelled truck.

Abstract: An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path. The system uses past and present position data to calculate a predetermined path for the vehicle. Gain factors and comfort factors are determined to maximize comfort to passengers of the system and to optimize performance of the system.

Abstract: A lifting mechanism for a no-man vehicle self-propelled and run along a guide tape installed on a floor has a lifting motor secured to a base frame of the no-man vehicle, a cam disc driven by the lifting motor, and a lifting member 6 coming into contact with the cam disc and moving up-and-down when the cam disc rotates. There are on the circumference of the cam disc the first cam face 21 formed with a radius around the axis center point B of the rotary shaft passing through the cam disc and the second cam face 20 formed with a radius around the center point A different from the center point B.

Abstract: In accordance with the present invention, an automatic lateral guidance control system for motor vehicles is provided which includes a steering servo actuator which steers the vehicle. The steering servo actuator also allows for manual control by the driver. A detector detects when the automatic control is malfunctioning or is not present, and restores manual control to the driver. The system also includes a provision for stability augmentation to compensate for oversteering or understeering.

Abstract: An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing subsystem for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path.

Abstract: A household trash delivery system having a guidance member moveable within a track. The cart is controlled by a programmable timer to send the cart from a household location to a curbside destination at a desired time, and the return of the cart from the curbside destination to the household destination at a second desired time. The cart may be elevated above obstacles adjacent to the track such as a mound of snow and has a built in pressure sensitive system to cut off power temporarily if it encounters an obstacle such as a small child within the path of the cart.

Abstract: Method and device for coupling a self-propelled truck with a carrying truck, wherein the self-propelled truck is provided with a female engagement member having right and left catching spacings, whereas the carrying truck is provided with a male engagement pin, and wherein, while the self-propelled truck is moving along a rectilinear or curved path, the male engagement pin is caught and engaged in one of the right and left catching spacings, thereby effecting automatic, unmanned coupling of those two trucks. Also, an uncoupling arrangement is provided by disposing an uncoupling stand member at a proper uncoupling point and an uncoupling arm member at the self-propelled truck.

Abstract: An intelligent vehicle highway system requires a multi-functional roadway reference system to help the vehicle locate its lateral and longitudinal position along a highway. This information at a minimum is required to control the vehicle. The present invention consists of a roadway reference system in which discrete markers installed in the center of a traffic lane code one or more bits of information. An on-board sensing system acquires the information when the vehicle passes over the reference markers and thereby determines vehicle deviation and upcoming road geometry. Other coded information may be provided through the passive discrete markers to include such items as geographical position, warning of future conditions and the like.

Abstract: The operational fitness of a magnetic sensor for detecting buried magnets can be tested from time to time by an electromagnet installed in proximity to the sensor. The electromagnet is a small coil of wire mounted near the sensor, such as a Hall effect device, which when energized, generates a test magnetic field. The analog output of the sensor is compared with preestablished values when the electromagnet is energized to verify the proper operation of the sensor; it is also compared with preestablished values when sensing buried magnets to confirm operation of the sensor, the strength of the buried magnet, and the alignment of the sensor with respect to the magnet. A threshold detector senses the output of the sensor to indicate when a magnetic field is detected, and the peak analog output of the sensor is stored and compared to a reference after the sensor passes the magnet.

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 vehicle control system for a multi-branching track has a main travelling track for guiding a vehicle, a storage unit disposed before a branch point and storing data for selectively guiding the vehicle to one of a plurality of branch tracks, and a data-reading unit mounted on the vehicle and for reading the data stored at the storage unit. The storage unit stores data of branching directions of the branch tracks and further data of addresses of stations included in the respective branch tracks, with the data and further data being correlated with each other.

Abstract: A lane sensing system (20) comprises a processor (22) operable to drive an infrared optical transmitter (24). Light is reflected by a center stripe (18) placed in the center of a highway lane. Reflected light is received in right and left receivers (26) and (28). The processor (22) uses the information to control a power steering control system (30) and a speed control system (32). Information may be encrypted into the center stripe (18) and used by processor (22) to control the speed of the vehicle (10) or to display information to an operator of the vehicle (10) through a display system (34).

Abstract: Apparatus and method for determining the condition of the floor to be cleaned by a cleaning robot. The apparatus comprises an ultrasonic wave signal transmitting circuit for transmitting an ultrasonic wave signal to an ultrasonic wave signal transmitter under the control of a microcomputer, a receiving amplifying unit for amplifying the ultrasonic wave signal transmitted from the ultrasonic wave signal transmitter and received in a ultrasonic wave signal receiver, a receiving demodulating unit for smoothing the output signal from the receiving amplifying unit to demodulate it and then apply it to the microcomputer. According to the control of the microcomputer, the ultrasonic wave signal is transmitted for a predetermined period. The period from the time when the ultrasonic wave signal is transmitted to the time when the ultrasonic wave signal is received in the ultrasonic wave signal receiver is measured.

Abstract: A parallel traveling control system detects distances to a guide rail provided on a road surface of a traveling lane or set close thereto, and drives the brake pressures in such a direction that the distances between the vehicle and the guide rail coincide with set values. Additionally, the system detects the rotation of the steering wheel, designates automatic parallel traveling in which the brake pressures are driven to correct the vehicle's direction, and terminates automatic parallel traveling when the steering wheel is rotated more than a predetermined angle.

Abstract: The invention is a method of static collision avoidance for multiple automatically guided vehicles (AGVs) on bidirectional paths. It defines the allowable travel path for an AGV as a series of path segments through or between possible destination points (called nodes) which are defined for the factory floor. AGVs can move to or through any of these nodes and can arrive in a predetermined order, according to "rules" defined by the method. The invention provides better performance than conventional AGV systems by allowing multiple AGVs to coexist in the same pathways without collision or excessive queueing in systems which use free-roving AGVs having programmable bidirectional paths. This new ability maximizes the degrees of freedom of AGV movement while minimizing collisions and "deadlock.