Abstract: A voltage control system for a vehicular power generator includes a receiver unit that receives voltage pulse signals indicating characteristics of the voltage control system from an external device with stability. The device periodically reads two cycles of leading edges or trailing edges, or two periods of high level pulses or low level pulses. When a difference between the two cycles or periods is within a predetermined range, the indicated value of the present voltage pulse signal is used to control the power generator. When the difference is out of the predetermined range, the indicated value of the stored previous pulse signal is used instead.

Abstract: A robot cleaner system capable of accurately docking with an external charging apparatus and a method for docking with an external charging apparatus comprising a power supply terminal connected to a supply of utility power, an external charging apparatus including a terminal stand for supporting the power supply terminal and fixing the external charging apparatus at a predetermined location, a driving unit for moving a cleaner body, an upper camera disposed on the cleaner body, for photographing a ceiling, a charging battery disposed in the cleaner body, for being charged by power supplied from the power supply terminal, a bumper disposed along an outer circumference of the cleaner body and outputting a collision signal when a collision with an obstacle is detected, and a robot cleaner disposed at the bumper to be connected with the power supply terminal and including a charging terminal connected to the charging battery, wherein, prior to starting on operation, the robot cleaner photographs an upward-lookin

Abstract: A method of avoiding collisions between a robot and at least one other object such as another robot is provided in which the user does not need to make any provisions in a robot program for avoiding collisions and defining common work-areas. Furthermore, the method allows for automatic configuration of the workcell from a collision avoidance standpoint. It determines automatically which components have potential collisions with which other components. Since the inventive method is based on predicting the configurations of the moving components over a period of time sufficient enough to allow the machines to stop safely and checks for interference, a priori knowledge of trajectories is not required. If a collision is predicted the machines are commanded to a stop on or off their paths. In this way the inventive collision avoidance method can also be used as a safeguard with other explicit methods.

Abstract: A method of utilizing a robot system is provided comprising the steps of commanding the robot system to perform a function in an area, the area having an area layout including at least one area segment. The method further includes accessing by the robot system a stored map of the area layout, the stored map having at least one function task associated with the at least one area segment, localizing a first position of the robot system in the area, determining a function path from the first position of the robot system for navigation of the area and completion of the at least one function task, repeatedly continuously localizing a current position of the robot system while navigating the robot system along the function path, and completing the at least one function task that is associated with the current position of the robot system.

Abstract: In a vehicle backward movement assisting apparatus for in-line parking, at a stop position of a vehicle, a seesaw switch is manipulated until an in-line guide line is superimposed on a target point which is a corner of a frame of a parking space, and a steering wheel is turned until the vehicle space mark is superimposed on the parking space, and the vehicle is moved backward while the steering angle of the steering wheel is held. When an eye mark is superimposed on the parking space, the vehicle is stopped, and the steering angle of the steering wheel is made maximum and the vehicle is moved backward, to thereby complete the in-line parking at the parking space.

Abstract: There is therefore provided, in accordance with a preferred embodiment of the present invention, a robotic system for systematically moving about an area to be covered. The system includes at least one boundary marker (48) located along the outer edge of the area to be covered, a robot (40) with a navigation system (41) and a sensor unit (43). The navigation system (41) navigates the robot (40) in generally straight, parallel lines from an initial location and turns the robot (40) when the robot (40) encounters one of the boundary markers (48), thereby to systematically move about the area to be covered. The sensor unit (43) senses proximity to one of the at least one boundary marker (48).

Abstract: In an arrangement and method for determining a spatial position of an object on a thermal basis, an imaging thermal sensor detects a thermal image of the environment and outputs corresponding signals to a processing unit coupled to the sensor. The processing unit accepts the signals, evaluates the image in view of a thermal marking, and determines the spatial position of the object dependent on the marking. The arrangement and the method can be employed in combination with a robot for orientation and for travel path control of the robot.

Abstract: A method and apparatus to allow compatible speed operations and physical coupling of decoder equipped locomotives to locomotives without decoders when operating on conventional track power. The improvements utilize mechanisms added to improve decoder fault protection, and that can also be usefully additionally employed to allow voltage accurate mode-conversion using a novel, cost reduced and simplified mode-switching arrangement. Additionally, a convenient automation of the mode switching arrangement is shown by using different relay switch configurations controlled by the decoder logic.

Abstract: An autonomous vehicle, such as a robotic cleaning device, includes wheels which support the vehicle and allow the vehicle to traverse a surface. Downward looking wheel sensors sense the presence of a surface in front of the wheels. Another sensor is provided at or near a leading edge of the vehicle for sensing the presence beneath the leading edge of the vehicle. The vehicle is arranged so that movement of the vehicle is possible if the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, provided that the wheel sensors indicate that there is a surface adjacent to the wheel. When the leading edge sensor senses that there is no surface beneath the leading edge of the vehicle, the vehicle performs an edge following routine.

Abstract: Four wheels are provided to four corners of a frame of an automatic guided vehicle. One of the wheels is mounted to the frame and remaining three wheels are mounted on a swing frame that is movably fixed upwardly and downwardly to the frame with a shaft and bearings in order that all wheels are touched to a floor surface always. In addition, a cylinder unit is provided. Its cylinder tube is connected to the swing frame and its rod connected to a piston in the cylinder tube is connected to the frame through a universal coupling. In addition, valves are provided to communicate with the both sides of the piston in the cylinder tube through ports of the cylinder tube. When a robot arm provided to the automatic guided vehicle is operated, the valves are closed to inhibit the incompressive fluid to enter and exit the cylinder tube to lock the swing frame.

Abstract: A legged mobile robot possesses degrees of freedom which are provided at roll, pitch, and yaw axes at a trunk. By using these degrees of freedom which are provided at the trunk, the robot can smoothly get up from any fallen-down posture. In addition, by reducing the required torque and load on movable portions other than the trunk, and by spreading/averaging out the load between each of the movable portions, concentration of a load on a particular member is prevented from occurring. As a result, the robot is operated more reliably, and energy is used with greater efficiency during a getting-up operation. Therefore, it is possible for the robot to independently, reliably, and smoothly get up from various fallen-down postures such as a lying-on-the-face posture, a lying-on-the-back posture, and a lying sideways posture.

Abstract: A mobile robot placed on an automatic production line is provided. The mobile robot collects information on operating conditions of other mobile robots placed around it and flow of workpieces on the production line and determines action to be taken next based on the formation. A production system using such a mobile robot and a system inputting an operation program corresponding to a workstation into a mobile robot automatically are also provided. This enables measures to be taken quickly against a change in production, thereby providing a system which achieves high efficiency production.

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed.

Abstract: A method for the drive coordination of a rail-guided vehicle with individual-wheel drive traveling on straight track, including the steps of determining a differential speed (&Dgr;n) of opposite track wheels and a control value (&Dgr;M) by a controller as a function of a set point, whereby the set point is ideally zero and the frequency and the damping of the control value (&Dgr;M) can be dynamically adjusted by controller parameters. The invention further comprises a method for the drive coordination of a rail-guided vehicle with individual-wheel drive, in particular when the vehicle is traveling over curves, in which at least one axle is fastened so that it can rotate with respect to the underbody, whereby the angular position (&ggr;st) of the axle with respect to the underbody is regulated so that the track wheels are tangential to the rail by setting the angular position (&ggr;sl) of the axle by means of the torque set points (MSet,l MSet,r) of the individual wheel drives.

Abstract: A system for operating an autonomous robot for performing tasks, such as lawn mowing, includes an indicator and a robot configured for detecting the indicator and generating a map of the working area bounded by the indicator and correcting the position of the robot in accordance with the generated map of the working area.

Abstract: An automatic cart for transporting golf clubs or other objects and accessories. The cart has at least one electric drive motor connected to at least one wheel of the cart, at least one electronic controller for controlling the motor, and a plurality of sensors peripherally disposed on the cart. The sensors are used to detect the presence of obstacles in the path of the cart and to sense the signals coming from an external signal source associated with the user. A microcomputer control unit analyses information from the sensors and coordinates movement of the cart so that it stays near the user.

Abstract: An automated guided apparatus capable of accurately determining its position within a walled environment such as a mine or building. A mobile unit incorporating an inertial measurement unit and a gray scale vision system processor/camera and/or a laser pointer is able to initialize its location and then update its location within the environment. The apparatus is especially adapted for producing tunnel plan views (“TOPES”) and also for guiding equipment through such environments.

Abstract: A vehicle position calculation unit (1) calculates a position of a vehicle on a plan view, and an estimate locus calculation unit (2) calculates an estimate movement locus of a vehicle body when the vehicle is moved at a maximum steering angle with respect to the vehicle position, and a display unit (3) displays the vehicle position calculated by the vehicle position calculation unit (1) together with the estimate locus of the vehicle body calculated by the estimate locus calculation unit (2). Thus, even a beginner driver of the vehicle can easily and quickly park the vehicle with accuracy and safety while monitoring the estimate movement locus of the vehicle on the display screen.

Abstract: A system for controlling steering of a vehicle, including a steering means such as a steering wheel with an electric motor which assists steering of the driven wheels of the vehicle, first steering control means for controlling the motor, a CCD camera for detecting a lane condition of a road on which the vehicle travels, a yaw rate sensor for detecting motion of the vehicle, steering assist torque calculating means for calculating a steering assist torque necessary for holding the lane, a torque sensor for detecting an actual steering torque manually applied to the steering means by the driver, and second steering control means for calculating a torque command to be output to the first steering control means based on the steering assist torque calculated by the steering assist torque calculating means and the actual steering torque such that the torque command decreases.

Abstract: A speed controller for a self-traveling vehicle, capable of traveling at high speed along curves, downhill roads, and uphill roads without colliding with an object detected by an object detecting means, is provided.

Abstract: An apparatus for controlling a model railroad locomotive includes a Digital Command Control (DCC) decoder and a power switch. The power switch selectively connects the railroad locomotive's motor to either the decoder or directly to an energy source, such as the tracks, but not both the decoder and the energy source simultaneously. When the motor is connected directly to the energy source, rather than through the decoder, the model railroad locomotive speed and direction is determined by the magnitude and polarity of the voltage applied. The motor may alternatively be powered through the decoder by actuating the power switch. The decoder receives electrical energy as an input, and converts the energy to deliver as an output a variable electric motor drive power source. In addition to receiving energy as an input, the decoder also receives electrical signals representative of an operator's control instructions.

Abstract: An electronic bordering system for a working tool in which a border cable is placed above, under or on ground or floor, so that it separates an inner area within the border cable from an outer area. The working tool is preferably intended for attendance of ground or floor. A signal generator feeds the border cable with current, whose magnetic field affects at least one sensing unit located on the working tool, so that the sensing unit emits signals to a control unit, which in cooperation with an engine control, or a signal system for a driver, and at least one driving source directs the tool's movement in order to prevent it from remoting from the inner area. The signal generator feeds the border cable with current containing at least two alternating-current components of different frequency, and the components are lying in a known relation of time to each other.

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed.

Abstract: The invention described here concerns the use of GPS (Global Positioning System) interferometry, or any similar satellite constellation, to estimate the attitude of a vehicle, and is particularly suited for LEO (Low Earth Orbit) satellites. The invention is based on a system of gyroscopic and interferometric sensors and a piece of software to process the data received by such sensors. The invention can be applied to any type of vehicle (terrestrial, naval, aircraft or spacecraft) to determine the attitude of the vehicle with respect to an inertial reference system.

Abstract: A method for automatically operating a robot, attached to a lawnmower or other unmanned machine, within an enclosed area is disclosed.

Abstract: In a closed loop control system that governs the movement of an actuator a filter is provided that attenuates the oscillations generated by the actuator when the actuator is at a resonant frequency. The filter is preferably coded into the control system and includes the following steps. Sensing the position of the actuator with an LVDT and sensing the motor position where motor drives the actuator through a gear train. When the actuator is at a resonant frequency, a lag is applied to the LVDT signal and then combined with the motor position signal to form a combined signal in which the oscillation generated by the actuator are attenuated. The control system then controls ion this combined signal. This arrangement prevents the amplified resonance present on the LVDT signal, from causing control instability, while retaining the steady state accuracy associated with the LVDT signal.

Abstract: Control system for controlling a dynamic physical system. New, substantially decoupled axes are derived from physical axes of a dynamic system. Closed-loop controllers operate on signals representing the new or synthesized axes to control the coordinate parameters. Control signals are then converted into the original physical axes to generate signals to control the original axes. A preferred embodiment is the application of the control technique to a gantry machine having three degrees of freedom. Actual coordinates are converted to one linear coordinate and one rotational coordinate. The bandwidth of controllers operating on these two coordinates are separated so that crosstalk is diminished and performance improved.

Abstract: The vehicle guidance system is provided for guiding a vehicle, such as a load haul dump vehicle in an underground mine. An elongate element, for example in the form of a rope or the like is aligned with the path of the vehicle and is suspended above the path. The element includes a fluorescent material which absorbs radiation at one frequency and radiates radiation at a second, lower frequency. The vehicle includes a lamp for illuminating the element at the first frequency, e.g. ultraviolet light, and a camera or other detector to detect the second frequency, which may be in the visible spectrum, radiated from the elongate element. The relative position of the elongate element and the image provided by the detector is used to steer the vehicle to keep it on the desired path. The elongate element can be provided with portions that radiate different frequencies in response to the first frequency, which different frequencies are used to provide additional information, e.g. an indication of branch paths.

Abstract: An amusement ride provides an interactive experience to its passengers. The amusement ride includes at least one ride vehicle movable along a track. The amusement ride senses inputs from at least one passenger that affects various elements of the ride. The elements can be the speed of the vehicle, acceleration of the vehicle, direction of travel, orientation of the ride vehicle or the like. The inputs can be audible inputs or optical inputs, water spray, or can be activated manually by the passengers.

Abstract: A pickup sensor for picking up an image on a floor is installed on a mobile body with a working machine mounted thereon in order to correct for the position deviation of a working machine due to possible deviation in the stop position of a mobile body to always ensure accurate working without increasing the working time of the overall system at the time of stopping the mobile body at a predetermined position and allowing said working machine to perform predetermined operation according to previously given teaching data. At the time the teaching data is given, the pickup sensor picks up an image (reference picked image) including a regular pattern and a predetermined identification mark formed on a floor. At the time the working machine works, the pickup sensor also picks up an image (on-pause picked image) on the floor surface at the stop position.

Abstract: An electronic control system including a collision avoidance system is for use on an electric cart, such as used for shopping, wherein the electronic control system includes a databus board for expanding user options on the electric cart. The collision avoidance system includes sensors which detect the presence of objects in the path of the moving cart and the system acts to stop the cart when the objects are detected. Additional user options of the electronic control system are an anti-theft system for deterring cart theft and vandalism and a voice module for playing recorded messages to the cart operator.

Abstract: In order to improve the quality of the work of a robot that applies wax, a user enters the ambient environment data (temperature, wax concentration, and the like) of the robot via a controller prior to initiation of the work by the robot. According to the input data, the maximum time (drying time) T before another coat of wax is to be applied without degradation in quality is identified. A travel path is generated according to the time T. The travel is actually carried out according to the calculated path.

Abstract: A system guides self-propelled equipment through passageways, such as underground mine corridors. The vehicle contains a signal generator for bouncing signals off the walls of the passageways. A receiver collects the signals bounced off of the passageways to determine the distance to side walls of the passageways. A storage device contains a set of interlinking nodes that represent at least one path through the passageways. Each of the nodes contains steering information. A processor finds the distance to the side walls of the passageways in order to steer the vehicle through the passageways. The system's operational state and method of steering changes depending upon the location of the equipment in the interlinking nodes.

Abstract: A system for correcting the steering force of a vehicle having a steering wheel whose rotary motion exerted by a vehicle driver is converted into a turn motion of the steering wheels of the vehicle through a steering mechanism. The system is provided with sensors including a CCD camera for detecting the condition of the road ahead having at least one traffic lane on which the vehicle is traveling and a position of the vehicle with respect to the traffic lane. In the system the desired steering force is determined to be generated by the steering mechanism necessary for keeping the detected position of the vehicle with respect to the traffic lane based on the detected parameter and the steering mechanism is biased such that the steering mechanism generates the desired steering force. Conditions on the next adjacent lanes are monitored and the degree of danger is estimated to determine the biasing force. The system can be realized on muscular-energy steering systems or power-assisted steering systems.

Abstract: A robot includes an obstacle sensing mechanism for sensing an angle formed between a first wall and a forward travel direction of the robot. The robot then travels parallel to the first wall while the obstacle sensing mechanism senses a front distance of the robot from a wall located in front of the robot and sideward distances of the robot from walls located to respective sides of the robot. In response to the sensing of changes in the sideward distances, the robot is able to divide the area into separate cells which together define an environmental map of the area. That map is stored in the robot's memory.

Abstract: A robotic system for automated durability road testing of a vehicle includes a robotic body that is positioned on a base plate, and the base plate in turn is positioned on the driver's seat of a vehicle. The robotic body includes a brake pedal bell crank assembly for operating the brake pedal, and an accelerator beel crank assembly for operating the accelerator pedal. Additionally, the robotic body includes a steering wheel shaft that is engaged with the steering column of the vehicle for turning the vehicle, and a shift mechanism engaged with the gear shifter of the vehicle to shift the gears of the vehicle.

Abstract: A self-propelled steerable robot emits ultrasonic waves in forward, rightward and leftward directions. On the basis of detecting those waves after being reflected from the walls, a controller on the robot determines an angle of travel of the robot relative to a wall of a room, enabling the robot to be turned and oriented parallel to opposite walls of the room. By then emitting waves toward those opposite walls and detecting the waves reflected therefrom, respective distances of the robot to those opposite walls can be determined. By turning the robot toward the longer of the two distances, and repeating the above steps, the robot can eventually become disposed at a center of the room. Then the robot advances from the center until reaching one of four known points in the room where the respective distances between both opposite walls changes. This enables the controller to determine where in the room the robot is located. The robot then travels along a predetermined path from that point.

Abstract: In an autonomous navigation system for a mobile robot or a manipulator which is intended to guide the robot through the workspace to a predetermined target point in spite of incomplete information without colliding with known or unknown obstacles. All operations are performed on the local navigation level in the robot coordinate system. In the course of this, occupied and unoccupied areas of the workspace are appropriately marked and detected obstacles are covered by safety zones. An intermediate target point is defined in an unoccupied area of the workspace and a virtual harmonic potential field is calculated, whose gradient is followed by the robot. Mobile robots with such an autonomous navigation system can be used as automated transport, cleaning and service systems.

Abstract: A semi-autonomous parking system calculates the current position as well as the desired trajectory required to accomplish the parking task by utilizing vehicle position measurements. The parking system alters the power steering's required effort to maneuver the vehicle thus providing tactile feedback to the vehicle operator. The required effort is decreased when it is determined that the operator is steering the vehicle within the desired trajectory and is increased when it is determined that the operator is steering the vehicle outside the desired trajectory. The operator can feel increases and decreases in steering effort at the steering wheel.

Abstract: The automatic guide method for vehicles relates to an automatic guide method for the operation of unmanned vehicles which, guided along guide paths preset on the floor in factories and warehouses, etc., carry and handle various loads in a fully automated fashion, and more particularly to an automatic guide method which has a course-search function and function to prevent straying such that a vehicle which is positioned at the start of an operation with its magnetic sensor off the guide path within certain limits or which strays off course abruptly for some reason during ordinary operation, is restored to the guide path by searching and finding the magnetic tape.

Abstract: A fin assembly for effecting guidance of a vehicle through a fluid medium cludes an electromagnet fixed in a portion of the vehicle, and a rigid shaft fixed to a hull portion of the vehicle and extending outwardly therefrom and in alignment with the electromagnet. A fin is rotatably mounted on the shaft and is, at least in part, a permanent magnet. A switch assembly is provided in the vehicle for effecting in a first portion of the electromagnet an attractive force between the electromagnet and the permanent magnet, and in a second portion of the electromagnet a repelling force therebetween, to cause the fin to rotate on the shaft in a selected direction to effect the guidance of the vehicle.

Abstract: A system for automatically steering a vehicle through an irregular structure. A flexible lighting tube, in proximity to the back of the structure, communicates with at least one canted video camera. A processor takes the output of the camera, determines the position of the vehicle, and provides guidance to the vehicle's steering mechanism.

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: A charging apparatus of driverless transporting vehicle comprises a power unit, an electrode assembly connected to the power unit and sildably anlong a predetermined direction, a motor for sliding the assembly, an electrode unit rotatably journalled with assembly by a shaft and contactable with charging terminal of the vehicle and a spring for rotating the electrode unit around the shaft and extruding it outside. Wherein when the assembly slides, the electrode unit comes in contact with the terminal, further when the assembly slides, the electrodo unit comes in contact with the terminal, rotates around the shaft against the spring and keeps its contact with the terminal.

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: A running control system for a mobile robot has the functions necessary for motion clustered into a danger avoidance portion, a safe region advance portion and an interest region follow portion, and these are coupled to a motion actuator control portion which directly controls each movement of the robot, and fused in the motion actuator control portion. Operation commands are configured from a moving distance and a moving direction of the mobile robot. In addition, there is also a coupling in the direction of the safe region advance portion from the danger avoidance portion but internal situations such as the failure and end of processing and like are transmitted using these couplings of portions. Interference between intelligent behavior and reflexive behavior is basically performed via the motion actuator control portion.

Abstract: A nonholonomic camera space manipulation system which allows a mobile manipulator which can have both holonomic and nonholonomic movement to autonomously use computer vision to move with respect to a goal position without any prior knowledge or calibration between the two or more video cameras used with the computer vision and the manipulator base or arm, the cameras and the goal, or the base and arm and the goal position. Cues are associated with the manipulator arm and the goal position(s) or target bodies; the cues being distinguishable in the two dimensional focal plane camera spaces of the cameras from the surrounding environment. A processing unit, identifying the position of the cues in each camera space, compares those positions and instructs movements of the manipulator base and/or manipulator arm to achieve movement of the visual cue on the arm with respect to the goal position or target body visual cue in camera space.

Abstract: A control apparatus for controlling a plane working robot comprise a running unit for running on a plane surface, a steering unit for steering the running unit in a predetermined direction, a working unit for performing predetermined plane working such as cleaning, and a detecting unit for detecting information about running direction and distance of the robot and an obstacle on the plane surface, thus permitting the working robot to take an optimum running path while avoiding an obstacle on the basis of sensor outputs from the detecting unit.

Abstract: An autopilot with long term yaw coordination capabilities which utilizes lateral acceleration to generate a rudder force command which is combined with the sensed rudder force to create an error signal which is combined with a rudder servo velocity signal and then integrated to create a virtual rudder position feedback signal for combination with the rudder position commands, generated from yaw rate information.

Abstract: Disclosed is a computer control device designed to be incorporated in a vehicle such as, for example, a robotic vehicle, which device is designed to be used to guide the vehicle in a desired path. The device includes a multiplicity of Hall effect sensors designed to sense a permanent magnet tape placed on a floor surface and extending along the desired path of motion. A permanent magnet bar code may also be installed on the floor surface and the device includes a reader to read the bar code and transmit read information to the computer, with the computer storing pathway information based upon the bar code. Other aspects are disclosed.