US 4,967,862 A · Tether-guided vehicle and method of controlling same

Abstract

A tether-guided vehicle and method of controlling same. A tether sensor indicates the angle, .theta., of the tether with respect to the vehicle and the tension, T, on the tether. A contact-sensitive bumper disposed about at least the front periphery of the vehicle indicates the position, P, and force, F, of contact with an obstacle. A drive system moves the vehicle in response to tether angle, .theta., and tension, T, thereby providing a "servo pull" feature. When the vehicle contacts an obstacle, it stops, backs up, turns and resume forward motion to circumnavigate the obstacle, thereby providing an "obstacle avoidance" feature. The servo pull and obstacle avoidance features make the vehicle suitable in a number of applications, such as for canister vacuums, hospital or factory carts, and the like.

Claims17

Dependent claims

A method of controlling the movement of a semiautonomous vehicle about a surface comprising the steps of:

providing a tether attached to the vehicle;
sensing tension, T, on the tether;
providing the vehicle with a contact sensitive bumper about at least a front peripheral portion of the vehicle;
causing the vehicle to move forward at a velocity, v, in response to the second tension on the tether;
in response to the bumper contacting an obstacle, causing the vehicle to stop and back up a distance, d;
after the vehicle has backed up the distance, d, causing the vehicle to turn through an angle, .alpha.,;
and
after the vehicle has turned through the angle, .alpha., resuming a forward motion in response to continued tension, T, on the tether.

5 more elements

Dependencies are inferred from the claim text.

Tether-guided vehicle and method of controlling same

Life of this patent

Tether-guided vehicle and method of controlling same

Life of this patent

Abstract

Claims17