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1. 发明授权

US5434781A Method and apparatus for guiding a driverless vehicle using a sensor tracking a cable emitting an electromagnetic field 失效
标题翻译：用于使用跟踪发射电磁场的电缆的传感器来引导无驾驶车辆的方法和装置
公开(公告)号：US5434781A
公开(公告)日：1995-07-18
申请号：US106427
申请日：1993-08-13
申请人： Cornell W. Alofs , Ronald R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth
IPC分类号： B62D20060101 , B62D1/28 , G05D20060101 , G05D1/02 , G05D1/03 , B62D1/00
CPC分类号： G05D1/0265 , B62D1/28 , G05D2201/0216
摘要： 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.
摘要翻译：用于沿着在水平路面中承载电流的引导电缆限定的路径引导无驾驶车辆的方法和装置包括相对于所述车辆上的水平面以+45度的方式安装具有主线圈轴线的第一线圈，安装具有主线圈轴线的第二线圈相对于所述车辆上的水平面在-45度处，使得所述第一和第二线圈的轴线相交，感测与每个线圈的电磁场的径向和圆形场矢量，比较具有每个线圈的圆形矢量的大小的径向矢量的大小，由此线圈的轴线的交叉点的横向位置相对于导引缆线确定以指示车辆相对于所述路径的横向位移，并使用车辆转向系统中的位移信息。

2. 发明授权

US06272406B1 Guidance system for an automated guided-vehicle 失效
公开(公告)号：US06272406B1
公开(公告)日：2001-08-07
申请号：US09038693
申请日：1998-03-09
申请人： Cornell W. Alofs , Ronald R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth
IPC分类号： B62D6500
摘要： A guidance system for guiding an automated guided vehicle along a pathway is disclosed which includes rails for holding the AGV to the generally straight portions of the pathway and a non-rail guidance system for directing the AGV from the end of a first rail segment to the beginning of another. The rails provide the necessary level of control to allow an unmanned vehicle to move at high speeds while the non-rail guidance system eliminates the need for the rail switches that would otherwise be needed to shift a rail guided vehicle from one rail portion to another.

3. 发明授权

US5825481A Optic position sensor 失效
标题翻译：光学位置传感器
公开(公告)号：US5825481A
公开(公告)日：1998-10-20
申请号：US857898
申请日：1997-05-16
申请人： Cornell W. Alofs , Ronald R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth
IPC分类号： G01C21/00 , G01B11/26 , G01S3/783 , G01S7/481 , G01S17/02 , G01S17/06 , G01S17/42 , G01S17/87 , G01S17/93
CPC分类号： G01S17/42 , G01S3/783 , G01S17/026 , G01S17/87 , G01S7/4818
摘要： The present invention involves an apparatus and a method for optically detecting and determining the angular position of a target. The apparatus comprises a pair of optic sensors arranged so that at least a portion of their sensing areas overlap. Their overlapping areas define the total sensing, or active sensing, area for the apparatus. Each of the optic sensors in the apparatus senses light, or other optically sensible transmission, either projected or reflected from a target positioned within the total sensing area and produces a signal relative to the amount of light sensed. The signals are then interpreted to determine the angular position of the target based on the relative signals from the optic sensors. The method of the present invention determines the angular position of a target within an area, defined by the overlapping sensing areas of a pair of optic sensors, by interpreting the relative signal intensities from the pair of optic sensors. Once the angular position is determined, the distance of the target from a line either perpendicular to or parallel to the center line of the sensor array can be calculated if the other quantity is known.
摘要翻译：本发明涉及用于光学地检测和确定目标的角位置的装置和方法。该装置包括一对光学传感器，其布置成使得其感测区域的至少一部分重叠。它们的重叠区域定义了设备的总感测或主动感测区域。设备中的每个光学传感器感测从位于总感测区域内的目标投影或反射的光或其它光学感应传输，并产生相对于感测光量的信号。然后将信号解释为基于来自光学传感器的相对信号来确定目标的角位置。本发明的方法通过解释来自一对光学传感器的相对信号强度来确定由一对光学传感器的重叠感测区域限定的区域内的目标的角度位置。一旦确定了角度位置，如果其他数量已知，则可以计算目标与垂直于或平行于传感器阵列的中心线的线的距离。

4. 发明授权

US6092010A Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles 失效
标题翻译：用于描述，生成和检查自动导向车辆的非线制导轨的方法和系统
公开(公告)号：US6092010A
公开(公告)日：2000-07-18
申请号：US922752
申请日：1997-09-03
申请人： Cornell W. Alofs , Ronald R. Drenth , Justin R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth , Justin R. Drenth
IPC分类号： G08G1/09 , G05D1/02 , G06F17/00 , G06F19/00 , G01C22/00
CPC分类号： G05D1/0274 , G05D1/0261 , G05D2201/0216
摘要： A method and system for controlling the movement of one or more automatic guided vehicles includes a system controller, a number of non-wire automatic guided vehicles (AGV's) and location markers positioned on a floor. The system controller serves as a dispatcher and traffic controller for the system, providing, in one embodiment, two way wireless communication to each AGV in the system. Each AGV is equipped with a navigation and guidance system for controlling the AGV's movement along a predefined guidepath. Differential X, Y-coordinates from a path point database stored in the system controller are communicated to a given AGV which can then follow the predefined guidepath. Communicating just the differential X, Y-coordinates allows for improved control over systems utilizing a large number of AGV's.
摘要翻译：用于控制一个或多个自动导向车辆的移动的方法和系统包括系统控制器，多个无线自动导向车辆（AGV）和位于地板上的位置标记。系统控制器用作系统的调度员和业务控制器，在一个实施例中，向系统中的每个AGV提供双向无线通信。每个AGV配备有导航和引导系统，用于控制AGV沿着预定制导轨的运动。将存储在系统控制器中的路径点数据库的差分X，Y坐标传送给给定的AGV，然后可以遵循预定义的路线。仅传达差分X，Y坐标可以改善对使用大量AGV的系统的控制。

5. 发明授权

US5916285A Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle 失效
标题翻译：用于检测无人驾驶车辆的前进，反向和横向运动的方法和装置
公开(公告)号：US5916285A
公开(公告)日：1999-06-29
申请号：US713539
申请日：1996-09-13
申请人： Cornell W. Alofs , Ronald R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth
IPC分类号： G01C21/00 , B60B33/00 , G05D1/02
CPC分类号： G05D1/027 , G05D1/0272 , G05D2201/0216
摘要： This invention relates to a swivel caster fitted with rotational and swivel angle measurement sensors mounted to a driverless vehicle so that the lateral motion of the vehicle can be detected and accounted for by the vehicle's navigation and guidance system. A preferred embodiment of the present invention is a driverless vehicle comprising a navigation and guidance system having an angular motion sensor and a track wheel caster assembly equipped with a caster pivot sensor and a wheel rotation sensor to determine the relative position of the vehicle by taking into account substantially all movement of the vehicle along the surface upon which the vehicle is travelling. These sensors enable the navigation system to more accurately determine the vehicles current position and enable the guidance system to better guide the vehicle.
摘要翻译：本发明涉及一种安装在无人驾驶车辆上的旋转和旋转角度测量传感器的旋转脚轮，从而可以通过车辆的导航和引导系统来检测和考虑车辆的横向运动。本发明的优选实施例是一种无人驾驶车辆，其包括具有角运动传感器的导航和引导系统和配备有脚轮枢转传感器和轮转动传感器的履带轮脚轮组件，以通过进入车轮旋转传感器来确定车辆的相对位置车辆沿着车辆行驶的表面基本上全部运动。这些传感器使得导航系统能够更精确地确定车辆的当前位置，并且使引导系统能够更好地引导车辆。

6. 发明授权

US5467084A Vehicle position determining apparatus 失效
标题翻译：车辆位置确定装置
公开(公告)号：US5467084A
公开(公告)日：1995-11-14
申请号：US218716
申请日：1994-03-28
申请人： Cornell W. Alofs , Ronald R. Drenth
发明人： Cornell W. Alofs , Ronald R. Drenth
IPC分类号： G01C21/00 , G01C3/06 , G01R33/00 , G01S5/16 , G05D1/02 , G08G1/01
CPC分类号： G05D1/0261 , G05D1/0272 , G05D2201/0216
摘要： 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. The two pairs of coils are mounted with their centers spaced apart a fixed distance on a base line which the major axes of the coils cross at a 45 degree angle. Position signals from the sensor coils are processed to produce X and Y coordinate values indicating the relative position of the sensor unit to the marker device. The marker device may be inductively excited from an antenna on the mobile vehicle.
摘要翻译：用于确定移动式车辆相对于固定位置标记装置的位置的装置，其包括被激励以发射由从线圈的纵向轴线的端部径向和弧形延伸的磁通线组成的磁场的线圈。安装在移动车辆上的传感器单元包括四个相同的检测线圈，每个检测线圈响应于标记器件的磁场的频率，并且每个具有长轴。这些传感器线圈被支撑成两对，其中每对的传感器线圈的长轴设置在公共中心平面的两侧并且平行延伸，该公共中心平面横向于标记器件线圈的纵向轴线延伸。每对传感器线圈以X图案布置，其中它们的长轴在中间和垂直方向上彼此交叉以限定线圈对的中心。两对线圈安装成其中心在基线上间隔一定距离，线圈的长轴以45度角交叉。处理来自传感器线圈的位置信号，以产生指示传感器单元相对于标记装置的相对位置的X和Y坐标值。标记装置可以从移动车辆上的天线感应激励。

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