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.

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: The invention provides a method for communicating the need to move a mobile robot, such as an AGV, from one location (node) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.

Abstract: A carriage running control system includes a plurality of readable and writable memory media installed along a running track of carriages. Each carriage is capable of communicating information with the memory media. The running track includes special zones such as curved sections, branching sections, merging sections, and sections including stations. When a preceding carriage is present in one of such special zones, the memory medium disposed at the entry end of this zone supplies presence information to a succeeding carriage to prevent the latter from entering the zone. A detector is disposed at the exit end of each such zone for detecting departure of the carriages and resetting the memory medium at the entry end.

Abstract: Method for loading and unloading semitrailers on a train of flat cars by coupling the semitrailers to power driven stanchions respectively, providing the power driven stanchions with automatic control in the form of proximity sensors for governing movement of the semitrailers in accordance with proximity of adjoining semitrailers and automatically steering the stanchions along a guide path to load and unload the train.

Abstract: The system comprises transceivers employing identical modems, one located at a fixed position and connected to the wire and one on a vehicle guided along the wire. The transceiver's specialized modems may be connected to a central host which may be a computer, to a programmable controller, or to a communications bus as required. Additional transceivers may be connected to the communications bus for communication between the central host and additional wires. All central host signals are transmitted to all wire connected modems and sent out on all wires. All signals from vehicle modems are transmitted back to the central host. Each transceiver is adapted to employ one or more identical modem, each connected to a different wire.

Abstract: A transport control apparatus for a plurality of automated guided vehicles traveling a transport path having a confluence junction, a turnout or a crossing is comprised of a conductor of a loop-shaped configuration formed to surround the confluence junction, the turnout or the crossing, a magnetic field generating device provided on each of the plurality of automated guided vehicles and generating a magnetic field having a cycle peculiar to each of the automated guided vehicles, a magnetic field detecting device provided on each of the plurality of automated guided vehicles and detecting a magnetic field, wherein when the magnetic field detecting device of a rear automated guided vehicle detects a magnetic field from the loop-shaped conductor induced by the magnetic field generating device of a front automated guided vehicle, the rear automated guided vehicle is halted.

Abstract: An outer environment of the vehicle is inputted as an image. Image processing is performed to the input image, and many edge segments are extracted. The edge segments which are colinear are clustered in order to perform a matching operation. Matching is performed in a respective set of plural longer edge segments representing plural clusters in correspondence with a set of plural guide signs as standards of guide of the vehicle mapped on the image input surface, and a set of longer edge segments being most matched each other is extracted. From position and headings of the extracted longer edge segments on the image input surface, the position and heading in the outer environment are calculated. The position and heading of the vehicle are detected from these values. The position and heading of the vehicle obtained in the above-mentioned image processing and the position and heading of the vehicle measured by other techniques and are evaluated synthetically.

Abstract: A moving robot system, employing a charging control system for robots, is configured by plural moving robots, at least one charging station and a control station. Each moving robot is designed to perform an operation thereof in accordance with programs stored therein under control of the control station. When the power of a charging-type-battery equipped in each moving robot is consumed and lowered to the predetermined level, it automatically moves to its nearest charging station designated by the control station other than the charging station which is used for another moving robot. In this case, the control station controls the moving robots such that plural moving robots are not simultaneously concentrated to one charging station.

Abstract: A navigation system for guiding unmanned vehicles with any desired wheel configuration without guide wire for free movement on paths and along curves along a virtual reference path having at least one straight and/or curved section. Discrete elements are floor-installed which are in operative connection with a vehicle internal path control device via the vehicle's internal sensory analysis system for correcting the course of the industrial truck. The discrete elements are arranged at spaced locations exclusively along the area of the reference path forming a linear formation chain as navigation reference points P. The distance between the reference points P are either regular or irregular and may be relatively great distances equal to a multiple of the wheel base of the vehicle. The on-board sensory analysis system exclusively determines the distances and measures the distance between the longitudinal axis of the industrial truck and the navigation reference point P.

Abstract: An improved accuracy position and direction updating system for use with an automatic guided vehicle that navigates by dead reckoning. Permanent magnets providing detectable position indicators are mounted in the floor and may be at widely spaced locations such as fifty feet apart along the route of the vehicle. A row of Hall sensors is transversely mounted on the vehicle. The sensors detect the lateral location of each floor magnet relative to the vehicle as the vehicle passes over the magnet. Sensors are precalibrated, correcting for errors in sensor null voltage readings due to changes in sensor characteristics due to causes comprising aging and temperature. Data from five sensors that are closest to the magnet are correlated with a stored pattern of magnetic field and their position data are averaged to determine a first estimate of the lateral or first dimensional position of the vehicle. A running average is calculated from sequentially acquired estimates to improve the results.

Abstract: A self-propelled vehicle capable of all directional movement over a floor surface and adapted to be guided along a path such as a semiconductor processing line. The vehicle is provided with at least three wheels having a construction enabling rotational movement in a rotational plane of the wheel and in a direction orthogonal thereto. When at least four wheels are provided, the vehicle is provided with a suspension mechanism for mounting the wheels and a mechanism for maintaining a parallel relationship of the suspension mechanism and a chassis of the vehicle so that slanting of the vehicle body during travel is avoided. Also, the vehicle is provided with a vibration preventing base interposed between the vehicle and a substance mounting base for controlling the proper vibration frequency of the vibration presenting base to be lower than 1/.sqroot.2 of the proper vibration frequency of the vehicle.

Abstract: A transporting device has at least one autonomous workpiece carrier provided with an electric device and a drive control, and a path system provided with a plurality of stations. The workpiece carrier is provided with a unit for determining the operational parameter of the workpiece carrier and reacting to the deviation of the operational parameter from a predetermined value.

Abstract: An assembly for the controlled programmed handling of articles includes autoguided and robotized vehicles and a plurality of work stations and storage areas. There is a computer communication system between a host computer, the vehicles, and the work and storage areas. The vehicles have manipulator devices to move articles from the vehicle to the work stations and storage areas and vice versa. The work stations include a receiving area, a work area, and an output area with detector devices for detecting articles in each area and for communicating same to the computer. Each vehicle has a non-traction wheel and an encoder device communicating with the non-traction wheel for converting rotation of the non-traction wheel into distance travelled by the vehicle.

Abstract: Stereo image data depicting the lane on which the vehicle is running is rectified into a planar image on which one or more level lines can be generated in a manner to intersect one or both of the edges of the lane. Angles are measured between lines which extend from these the points if intersection in directions normal to the level line or lines and lines which extend tangentially to any curvature which occurs in the road edges at the point of intersection. These angles are recorded, the difference therebetween determined and compared in a manner which determines the attitude of the vehicle on the road. The curvature of the road and the vehicle speed are determined and the best steering angle for the road wheels determined in accordance With a schedule which is recorded in terms of attitude and a parameter variable with the vehicle speed and road curvature.

Abstract: Disclosed is an automatic, self propelled lawn mower that references its position within a cutting area using electronically stored path and terrain information as a primary navigation system, senses a non magnetic, non-current carrying metallic guide path as a secondary navigation system, senses underground metallic references for use as position reference points as a further navigation system, incorporates an ultrasonic obstacle detection system to stop the vehicle if unexpected obstacles are encountered. The vehicle further includes a cow-catcher front bumper arrangement to divert small objects away from the cutting blades, contains bumper switches to shut off the vehicle upon contact with large objects, contains an inclinometer sensor to halt the vehicle during unexpected tilting, incorporates a radio communications link to notify an off-board monitoring system of problems, contains an on-board power generation system using an internal combustion engine, generator, and a battery arrangement.

Abstract: A self-propelled bogie or truck to automatically travel along guide tape attached to a floor surface has a base portion provided with plural non-driving wheels attached to a lower face thereof, an elevating plate moving vertically relative to the base portion, driving wheels attached to the elevating plate at levels of stable relative height positions, an electric motor attached to the base portion, a pressure rod adapted to vertically move when the motor rotates, and compression springs placed between the pressure rod and the elevating plate. When the driving wheels move to the upper storage position, the springs extend, however when the driving wheels move to the lower running position, the springs are compressed giving a ground contacting pressure to the driving wheels.

Abstract: A load transport equipment having self-propelled trucks travelling on a predetermined route so as to transport a load by the truck, wherein an encoder is connected to a motor and the pulse number from the encoder is counted by a counter, the counted value being optically transmitted toward another self-propelled truck following the front self-propelled truck on the predetermined route, the following self-propelled truck receiving the counted value from the front self-propelled truck to obtain a difference between the received counted value and that of the following truck, so that the travel speed of the rear self-propelled truck is controlled on the basis of the difference so that the running speed is controlled in accordance with the distance between the trucks thereby preventing a rear-end collision.

Abstract: An improved accuracy position and direction updating system for use with an automatic guided vehicle that navigates by dead reckoning. Permanent magnets providing detectable position indicators are mounted in the floor and may be at widely spaced locations such as fifty feet apart along the route of the vehicle. A row of Hall sensors is transversely mounted on the vehicle. The sensors detect the lateral location of each floor magnet relative to the vehicle as the vehicle passes over the magnet. Sensors are precalibrated, correcting for errors in sensor null voltage readings due to changes in sensor characteristics due to causes comprising aging and temperature. Data from five sensors that are closest to the magnet are correlated with a stored pattern of magnetic field and their position data are averaged to determined a first estimate of the lateral or first dimensional position of the vehicle. A running average is calculated from sequentially acquired estimates to improve the results.

Abstract: A navigation system for an autonomous vehicle (1). It has a lateral row of detectors (2). The ground has discontinuous buried magnetic markers (3) setting up a localized field which in turn produces an induced current which varies in the detectors (2) in dependence on their position. The markers, formed by magnets (151-155) of selected polarity and number, form magnetic signatures which contain items of information for the vehicle. The on-board vehicle computer (1) can deduce its lateral position and the controls to be carried out to accomplish its mission.

Abstract: A system for controlling at least one go kart in an operation area includes a general transmitter, an area transmitter, a receiver unit on each go kart and an idling device. The operation area includes a track and a pit area. The general transmitter is either a radio transmitter or a loop which encircles the entire operation area. Upon activation of the general transmitter, a signal is emitted such that go karts anywhere in the operation area are idled by the idling device. Activation of the area transmitter, on the other hand, will cause the idle device to idle go karts in at least one of the pit area and an approach area to the pit. This area transmitter includes a loop which encircles the pit area and/or the approach area. A control device with a timer is provided to automatically activate the area transmiter when a predetermined time has elapsed. The control device will also permit an operator to activate the general transmitter when an emergency situation arises.

Abstract: A plurality of mobile robots forming part of a travel control system are controlled by a travel control station. The travel control station directs each of the mobile robots to a destination where it performs selected operations. The robot, in response to instructions from the travel control station, searches the route selected by the travel control station and sends the results of the search to the control station. The travel control station, upon receipt of this information, determines whether or not the travel path searched by the mobile robot is already reserved by another other mobile robot as indicated by data stored in a reservation table. If the path is available, the control station transmits a reservation completion signal to the mobile robot. The mobile robot then travels automatically along the reserved travel path.

Abstract: In accordance with the method, first and second substantially parallel conductors are placed along a pathway and coupled to a controller in a manner so that each may carry a current independently controllable by the controller. A sensing coil is placed in a vehicle having a coil axis approximately perpendicular to the plane of the conductors so as to sense the varying magnetic field caused by varying currents through the two conductors. The controller repetitively provides a half-cycle of current of a given frequency in one of the two wires, immediately followed by another half-cycle of current of the opposite polarity or direction in the other of the two wires.

Abstract: This invention consists of an assembly and apparatus for handling clothes on hangers, and more exactly of an apparatus able of moving clothes or the like from one place to another inside a factory or a warehouse, following instructions that could be provided by an external computer. The apparatus includes basically an autoguided vehicle, a manipulator of two degrees of freedom and a clamp, movable in four degrees of freedom, being all the aforementioned elements specifically designed for controlled handling clothes on hangers. When applied in a factory, a set of apparatus like this one of the invention, communicated with the proper computer, could automate the operations and the internal management of the warehouse or workshop (FIG. 1).

Abstract: In a remotely piloted surface vehicle a television camera is used to send images to a screen on the operator's station. A computer displays the vehicle's intended path on the screen. The path appears as a computer-generated line superimposed on the image of the vehicle's environment, like a stripe painted on the ground. The operator can change or advance the path on the screen with a cursor control. A computer picks certain discrete screen points along the line and maps those screen positions onto ground positions called "waypoints". These are sent to the vehicle's guidance system to direct the vehicle along a path through the waypoints. The transform which maps the screen path onto the ground path depends on the camera orientation and lens. The transform parameters can be adjusted as the camera zooms, pans and tilts. Each time the screen is refreshed, the path line for that screen is calculated by the computer from the ground path, to present the ground path correctly in the new screen.

Abstract: To smoothly switching the steering direction of the vehicle automatically driven along a road, leftward and rightward steering angles (.theta..sub.L, .theta..sub.R) are obtained on the basis of leftward and rightward white lines and by means of leftward and rightward cameras (7, 8) and image processors (9, 10) and a calculator (12), respectively. The obtained leftward and rightward steering angles are compared by a switching section (3). The steering angle output (.theta..sub.out) is switched to the leftward or rightward steering angle (.theta..sub.L, .theta..sub.R) only when both steering angles first roughly match each other, after the steering angle direction signal has been inputted to the switching section from another travel control unit.

Abstract: A novel trailer towing apparatus for an AGV whereby downwardly applied, vertically oriented towing loads are substantially, directly imposed upon the drive wheels of the AGV, thereby increasing wheel to ground frictional forces and resulting towed load capacity. The towing apparatus is attached to the top of the AGV thereby allowing the AGV to turn through a 360.degree. radius without moving the trailer.

Abstract: A navigation system for guiding unmanned vehicles with any desired wheel configuration without guide wire for free movement on paths and along curves along a virtual reference path having at least one straight and/or curved section. Discrete elements are floor-installed which are in operative conneciton with a vehicle internal path control device via the vehicle's internal sensory analysis system for correcting the course of the industrial truck. The discrete elements are arranged at spaced locations exclusively along the area of the reference path forming a linear formation chain as navigation reference points P. The distance between the reference points P are either regular or irregular and may be relatively great distances equal to a multiple of the wheel base of the vehicle. The on-board sensory analysis system exclusively determines the distances and measures the distance between the longitudinal axis of the industrial truck and the navigation reference point P.

Abstract: A computer controlled signalling system to assist a driver in accurately positioning a truck chassis at a preprogrammed specific stop point in a loading/unloading lane adjacent to a dockside container crane to facilitate loading/unloading of containerized cargo by the crane and employing a light signal panel visible to the truck driver and having a series of vertically disposed lights thereon sequentially actuated by a computer. The vertical lights indicate to the driver the exact distance he is from, and when he reaches, the desired stop point. The computer is responsive to a video image received from a video camera disposed over the traffic lane and matches the image(s) received with a programmed image for locating, identifying and signalling the position of the truck.

Abstract: A vehicle guidance system for guiding a vehicle on a virtual track includes a waveguide connected to a member emitting electromagnetic radiation at a frequency between 1 and 100 kHz and disposed on the axis of the track to be followed. At least one set of two magnetic sensors disposed on the vehicle receive the field to determine the lateral offset of the vehicle relative to the axis of the track.

Abstract: A load transport equipment having self-propelled trucks travelling on a predetermined route so as to transport a load by the truck, wherein an encoder is connected to a motor and the pulse number from the encoder is counted by a counter, the counted value being optically transmitted toward another self-propelled truck following the front self-propelled truck on the predetermined route, the following self-propelled truck receiving the counted value from the front self-propelled truck to obtain a difference between the received counted value and that of the following truck, so that the travel speed of the rear self-propelled truck is controlled on the basis of the difference so that the running speed is controlled in accordance with the distance between the trucks thereby preventing a rear-end collision.

Abstract: Apparatus for detecting an automatic guided vehicle's longitudinal position and to enable positioning of the vehicle at a load pickup/delivery terminal or other place. In one arrangement a mat having a passive short-circuited loop of wire embedded in it is positioned on the floor. On the vehicle an oscillator and a transmitting antenna provide a primary magnetic field that excites the loop in the mat, inducing current in the loop. The loop current produces a secondary magnetic field. Magnetic receiving antennas on the vehicle detect the secondary magnetic field that is caused by portions of the loop that cross the longitudinal axis of the vehicle. Onboard electronic apparatus ascertains and can control the longitudinal position of the vehicle relative to the mat. The same on-board apparatus enables the vehicle to detect a directly energized (connected to a power source) guidewire in the floor that lies across the vehicle's path between terminals and at terminals.

Abstract: A high contrast remotely switchable target discriminator, particularly suitable for use with automatic guided vehicles (AGVs), is disclosed. A laser light source directs light through a first polarizer to reflect off a beam splitter toward a target, which may be an AGV guidepath. The target comprises a reflecting material overlaid with a polarization rotator so that the light then reflected from the target has a polarization different from that from the original light source. The reflected light transmits back through the beam splitter to a second polarizer that transmits only light of the rotated polarization. Light that passes through the second polarizer then strikes a detector. A second polarizer-detector combination may be set to transmit and detect only light of the non-rotated polarization so that a sufficiently large ratio of the two different polarizations may be tested.

Abstract: A novel trailer towing apparatus for an AGV whereby downwardly applied, vertically oriented towing loads are substantially, directly imposed upon the drive wheels of the AGV, thereby increasing wheel to ground frictional forces and resulting towed load capacity. The towing apparatus is attached to the top of the AGV thereby allowing the AGV to turn through a 360.degree. radius without moving the trailer.

Abstract: An operation control system for automated guided vehicles conveying articles along an unmanned conveying system. This operational control system comprises a first travel path loop and a second travel path loop along which a first group and a second group of the automated guided vehicles are automatically travelled. A common travel path is provided along which the automated guided vehicles of both the first and the second group are travelled, to enable a transfer of articles between the groups of automated guided vehicles. Also a correlating unit for correlating one automated guided vehicle of the first group with another automated guided vehicle of the second group, and a transfer control unit for controlling the transfer of the articles between the automated guided vehicles are provided. The transfer control unit permits only a transfer of articles between automated guided vehicles correlated with each other by the correlating unit.

Abstract: An automatic working machine which moves forward and turns back with a pre-determined shifted displacement to perform a task in a back and forth manner. The machine comprises sensors for detecting the boundaries of a defined area. The machine moves forward until the sensors detect a boundary or until a specific distance has been traveled, then the machine turns and proceeds forward in the opposite direction. The machine continues to perform in the specific back and forth motion until the task is completed.

Abstract: An image processing section receives data from cameras mounted on the vehicle and produces an image or images from which a first set of so called "local" data is derived and compiled. A sensor section senses the rotational characteristics of two vehicle wheels and the conditions prevailing on either side of the vehicle and complies a second set of so called "global" data. The local and global data are compared and data is only accepted in the event that the differences between the two sets of data fall within predetermined limits and data which falls outside of the ranges deemed erroneous and rejected.

Abstract: A steering control system for a self-propelled working vehicle having steerable front and rear wheels. The control system comprises sensors for detecting a directional or orientation error and a sideways error of the vehicle relative to a reference line or lines extending in a vehicle running direction, and a control unit for steering the vehicle in response to signals received from the sensors. The control unit is capable of steering the vehicle in a turn steering mode for turning the front and rear wheels to the same steering angle in opposite directions and a parallel steering mode for turning the front and rear wheels to the same steering angle in the same direction. When the directional error and the sideways error take place simultaneously, the control unit determines directions and angles for turning the front and rear wheels to correct the two errors simultaneously.

Abstract: A wire guidance system for a materials handling vehicle, such as a turret stockpicker, detects an alternating signal carried by a buried wire. Two sets of four sensors each are carried at either end of the vehicle. The distance and angle of the vehicle is determined by reference to the distance measurements of each sensor set, as calculated by a microcomputer. Deviations in the angle or speed from predetermined limits will cause brakes to be applied and require operator intervention before the vehicle can be restarted.

Abstract: A reference signal used for orienting an object has a beam of electromagnetic radiation with a first signal component that is a rotating component and also a second signalcomponent which is periodically generated when the first signal component is in a predetermined direction. The beam may be a linearly polarized laser light beam with a rotating plane of polarization, an unpolarized laser light beam with a rotating and shaped image of predetermined configuration, or a linearly polarized microwave beam with a rotating plane of polarization. The second signal component may be generated as a component of the beam bearing the first signal component or separately generated and propagated. Provisions are made for receiving and comparing the direction indicated by the reference signal with the direction of the object to be oriented and the information derived from the comparison is analyzed and processed to provide an output signal that useful in orienting the object.

Abstract: An improved method of guiding the movement of an unmanned vehicle. A number of luminous points are arranged on a movement passage for the unmanned vehicle in the form of an arrangement pattern indicative of informations on the purpose of guiding. A visual sensor mounted on the unmanned vehicle detects the luminous points to reveive the informations on the purpose of guiding therefrom so that the movement of the unmanned vehicle is guided on the basis of the informations on the purpose of guiding which have been received in that way. According to a system of giving to the unmanned vehicle informations on the purpose of guiding in dependence on a manner of arranging luminous points, a number of informations on the purpose of guiding can be transmitted to the unmanned vehicle. Moreover, an area occupied especially by the marks for the purpose of guiding on the movement passage can be reduced much more than the conventional method.

Abstract: A travel control device for an unmanned vehicle automatically travelling along a predetermined travel path. The travel control device comprises non-contact type and contact type obstacle sensors for detecting an obstacle in front of the unmanned vehicle, and the unmanned vehicle is stopped when an obstacle is detected. A working area is predetermined along the travel path, and entrance and exit marks are provided to indicate the working area. When the unmanned vehicle enters the working area, a detection of signals output by the non-contact type obstacle sensor is disabled, to avoid unnecessary stops in the specific area and maintain a smooth travel of the unmanned vehicle.

Abstract: A method of moving and guiding a cart on a course, comprising the step of burying magnetic elements under a ground surface of the course to form a marker line in a moving direction of the cart. The magnetic elements comprise different poles defining one of S-shaped and zigzag-shaped routes and a predetermined route of a cart movement. A pole polarity is sensed for switching movement of the cart between the one of S-shaped and zigzag-shaped routes and the predetermined route for moving the cart along the marker line.

Abstract: An auto-carrying system has a self-propelled vehicle and a mobile carrier capable of carrying the vehicle such that the vehicle can run onto and off the carrier. Sensor actuating poles are arranged along the path of movement of the carrier, while sensors capable of generating signals for controlling the running of the vehicle are carried by the vehicle such that they can engage with the sensor actuating poles during the movement of the carrier so as to control the running operation of the vehicle.

Abstract: A steering control system for a moving vehicle wherein a light beam emitted from the moving vehicle is scanned along the circumferential direction thereof, and the light beam reflected by light-reflecting means disposed at at least three reference points is received to detect a position of the moving vehicle comprising, an azimuth detection means for detecting azimuths of the respective light-reflecting means, a position calculation means for calculating the position of the moving vehicle based on the azimuths detected, and a means for stopping travel of the moving vehicle when a following beam signal has not been detected over a predetermined period of time after detecting a preceding beam signal from a particular light reflecting means.

Abstract: A sensor unit for traffic control of an automatic guided vehicle. Traffic sensor means generates a signal of a specified frequency. Control means controls the direction of the automatic guided vehicle as a function of signal generated by the traffic sensor means. Control sensor means coupled with the traffic sensor means and the direction controlling means sends a stop signal to one or more of the vehicles to resolve conflicts at intersections and avoid collisions and deadlocking.

Abstract: The present invention is directed to a method of and an apparatus for guiding a moving object such as an unattended transporting vehicle traveling in a factory to travel along a preset traveling path including curves.

Abstract: An AGV and guidance system for transporting material between at least two pickup and delivery stands. The AGV has a chassis for carrying objects. A computer processor is supported by the chassis for controlling and monitoring AGV operation. An interactive display is connected to the computer processor and mounted on the chassis for displaying status, current assignment and diagnostic information relating to AGV operation.

Abstract: A mobile cleaning apparatus device automatically follows guides such as walls or other obstacles, by engaging the guides with a detector element and controlling the steering of the apparatus in response to the level of forces sensed by the detector.

Abstract: In a method of controlling travel of an automated guided vehicle, the automated guided vehicle is guided to travel along a guide marker arranged in a lattice form when the automated guided vehicle goes straight, and, when it turns, curve travel by autonomous control from a starting lattice point to a target lattice point.