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1. 发明授权

US5283739A Static collision avoidance method for multiple automatically guided vehicles 失效
标题翻译：多台自动引导车辆的静态碰撞避免方法
公开(公告)号：US5283739A
公开(公告)日：1994-02-01
申请号：US265206
申请日：1988-10-31
申请人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice
发明人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice
IPC分类号： G05D1/00 , G05D1/02 , G06F15/50
CPC分类号： G05D1/0289 , G05D1/0274 , G05D2201/0216
摘要： 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."
摘要翻译：本发明是双向路径上多台自动导向车辆（AGV）的静态防撞方法。它将AGV的允许行驶路径定义为通过工厂车间定义的可能目的地点（称为节点）之间或之间的一系列路径段。 AGV可以移动到或通过这些节点中的任一个，并且可以根据由该方法定义的“规则”以预定顺序到达。本发明通过允许多个AGV在不使用具有可编程双向路径的自由流动AGV的系统中的冲突或过度排队中共存，从而提供比常规AGV系统更好的性能。这种新能力使AGV运动的自由度最大化，同时最大限度地减少碰撞和“死锁”。

2. 发明授权

US4926103A System for dynamically determining position of multiple automatically guided vehicles 失效
标题翻译：用于动态确定多台自动导向车辆位置的系统
公开(公告)号：US4926103A
公开(公告)日：1990-05-15
申请号：US265070
申请日：1988-10-31
申请人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice , Phen-Lan Huang
发明人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice , Phen-Lan Huang
IPC分类号： G05D1/00 , G05D1/02
CPC分类号： G05D1/0289 , G05D1/0274 , G05D2201/0216
摘要： The invention is a method of dynamic collision avoidance for multiple automatically guided vehicles (AGVs) on bidirectional paths. It calculates windows, or areas of computer memory, against which it matches the reported positions of AGVs. The invention acts on information from a central data base in which the factory or operating space of the AGVs is mapped and from AGV position updates supplied by an independently operating visual navigation system. The invention dynamically calculates the locations and dimensions of the windows for each position update. Since these position updates occur in real time, many times each second, the invention provides the means for the AGV system's controller to prevent collisions between the AGVs and other objects without minimizing the degrees of freedom of AGV movement.
摘要翻译：本发明是双向路径上多台自动导向车辆（AGV）的动态碰撞避免方法。它计算与AGV的报告位置匹配的窗口或计算机内存的区域。本发明作用于来自中心数据库的信息，其中映射AGV的工厂或操作空间以及由独立操作的视觉导航系统提供的AGV位置更新。本发明动态地计算每个位置更新的窗口的位置和尺寸。由于这些位置更新实时发生，每秒多次，本发明为AGV系统的控制器提供了防止AGV和其他物体之间碰撞的手段，而不会使AGV运动的自由度最小化。

3. 发明授权

US5280431A Method for controlling the movements of a mobile robot in a multiple node factory 失效
标题翻译：用于控制多节点工厂中的移动机器人的移动的方法
公开(公告)号：US5280431A
公开(公告)日：1994-01-18
申请号：US265207
申请日：1988-10-31
申请人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice
发明人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty , Haradon J. Rice
IPC分类号： G05D1/02 , G06F15/50
CPC分类号： G05D1/0282 , G05D1/0246 , G05D1/0289 , G05D1/0272 , G05D2201/0216
摘要： 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.
摘要翻译：本发明提供了一种用于在诸如AGV之类的移动机器人（例如，AGV）的移动机器人的一个位置（节点）到另一个位置（逐节点）一个工厂。本发明还提供了通过向移动机器人或AGV提供诸如角度和速度的特定转向和驱动信息来产生完成该运动所必需的命令的手段。本发明响应于来自固定控制器的直接命令以及响应于诸如视觉导航系统的外部导航系统或内部推算导航系统提供的连续的逐个节点位置更新来完成这些任务，或两者。

4. 发明授权

US5367456A Hierarchical control system for automatically guided vehicles 失效
标题翻译：自动引导车辆分级控制系统
公开(公告)号：US5367456A
公开(公告)日：1994-11-22
申请号：US647671
申请日：1991-01-24
申请人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty
发明人： David F. Summerville , John P. Williston , Martin A. Wand , Thomas J. Doty
IPC分类号： G05D1/02 , G06F15/50 , G06F9/38
CPC分类号： G05D1/0297 , G05D1/0274 , G05D2201/0216
摘要： The invention is a modular and hierarchically organized set of computer programs which comprise methods for controlling a system of semi-autonomous automatically guided vehicles, such as mobile robots. The methods include control programs which: execute in stationary control computers; communicate between the stationary control computer programs and corresponding programs which execute in mobile control computers aboard the vehicles; operate independently in mobile control computers aboard the vehicles. The invention allows the system executive program to command the mobile vehicles to start, to stop, to transfer material to or from the vehicles, to change batteries in the vehicles, to park the vehicles at specific points in a factory, to move the vehicles from point to point in a factory, and to remove the vehicles from the factory. The invention improves the performance of conventional automatically guided vehicle systems by maximizing the autonomy of individual vehicles while retaining sufficient supervisory control at the system executive level to provide the maximum flexibility in routing and scheduling the activity of the vehicles. The invention "closes the loop" in an automatically guided vehicle system by providing the highest level of control between mobile vehicles and stationary control computers.
摘要翻译：本发明是一种模块化和分层组织的计算机程序集，其包括用于控制诸如移动机器人的半自动自动引导车辆系统的方法。这些方法包括：在固定控制计算机中执行的控制程序; 在固定控制计算机程序和在车辆上的移动控制计算机中执行的相应程序之间进行通信; 在车上的移动控制计算机上独立运行。本发明允许系统执行程序命令移动车辆开始停止向车辆转移材料，以改变车辆中的电池，将车辆停放在工厂的特定点，以将车辆从在工厂点到点，并从工厂拆除车辆。本发明通过最大限度地提高个体车辆的自主性，同时在系统执行层面保持足够的监督控制，从而提高了传统自动导向车辆系统的性能，从而提供了路线和调度车辆活动的最大灵活性。本发明通过在移动车辆和固定式控制计算机之间提供最高水平的控制，在自动导向的车辆系统中“关闭回路”。

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