US 4,716,530 AGranted

System for automatically controlling movement of unmanned vehicle and method therefor

AssigneeMeidensha Corporation

InventorsHiroshi Ogawa, Yasuyuki Miyazaki, Susumu Yoshida, Shinichi Sasaki

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Abstract

A system for automatically controlling movement of an unmanned vehicle and method therefor wherein one or more than one marker is installed between each branched corner formed by a guide road through which the vehicle passes for providing an indicating means for the vehicle to accelerate, decelerate, or turn the branched corner and the vehicle includes detecting means for detecting the presence of the marker and outputting a signal indicating that the marker is located at the corresponding position and a controller in which data and main program on a pattern of turning the movement of the vehicle at any given branched corner and vehicle speed control according to the detected number of markers in accordance with a route of movement from a starting point which is loaded prior to the start of the vehicle so that the control for turning the movement direction of the vehicle and vehicle speed is carried out by fetching the corresponding above-described data and main program of the pattern according to the number of detected markers. Furthermore, at least one timer is provided in the controller which outputs an interrupt signal so that an interrupt program is executed for controlling an on-and-off period of steering and/or movement motor chopper circuit with the main program being temporarily halted.

Claims18

Dependent claims

A system for automatically controlling movement of an unmanned vehicle, comprising:

(a) first means having at least one curved corner defining at least one predetermined route from a starting point to a final destination of the vehicle so as to guide the vehicle to move therealong, the first means including (a) a guide wire extended on the ground along the predetermined route of movement, (b) a generator for generating an alternating current magnetic field around the guide wire, and (c) a detector installed on the vehicle for detecting the magnetic field around the guide wire and outputting a signal indicating the intensity of the magnetic field;
(b) second means, disposed near the first means along the predetermined route, for indicating one of various movement control modes to be carried out by the vehicle, the second means including a plurality of markers, each marker located on at least one side of said guide wire adjacent to the curved corner and each marker generating a signal;
(c) third means, installed on the vehicle, for detecting the presence of said second means as the vehicle moves;
and
(d) fourth means, installed on the vehicle and having predetermined data on the various control modes of movement of the vehicle to be carried out sequentially during movement of the vehicle along the predetermined route when said second means is detected by said third means for controlling the movement of the vehicle along the predetermined route, the fourth means controlling the movement of the vehicle in any one of the various control modes and controlling the movement direction of the vehicle according to the total detected number of said markers so as to move the vehicle along the guide wire in accordance with the signal from the detector.

2 more elements

A system for automatically controlling movement of an unmanned vehicle, comprising:

(a) a plurality of stations at which the vehicle starts or stops;
(b) guide means connected between each of said stations for guiding the vehicle to move therealong, said guide means having at least one branched corner located so that the vehicle turns in accordance with a predetermined route of movement from one of said stations at which the vehicle starts to one of said stations at which the vehicle stops;
(c) a plurality of markers installed aside said guide means for indicating any one of various control modes of movement of the vehicle to be carried out when the vehicle moves along the predetermined route of movement;
(d) a marker sensor installed on the vehicle for detecting the presence of said markers during movement of the vehicle;
and
(e) a controller installed on the vehicle for storing predetermined data on the various control modes of movement of the vehicle to be carried out sequentially during movement of the vehicle along the predetermined route and for controlling movement of the vehicle in any one of the various control modes according to the total detected number of said markers.

3 more elements

Dependencies are inferred from the claim text.