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1. 发明授权

US4675935A Control and monitor for a floor maintenance device 失效
标题翻译：控制和监控地板维护装置
公开(公告)号：US4675935A
公开(公告)日：1987-06-30
申请号：US839878
申请日：1986-03-14
申请人： Joseph G. Kasper , Bruce F. Field , Keith R. Westrum , Charles E. Grimes
发明人： Joseph G. Kasper , Bruce F. Field , Keith R. Westrum , Charles E. Grimes
IPC分类号： A47L11/10 , A47L11/40 , A47L11/204
CPC分类号： A47L11/4011 , A47L2201/06
摘要： A floor scrubber has rotating brushes for scrubbing a floor, drive motors for the brushes, and a brush height control circuit for raising and lowering the brushes in accordance with a desired brush pattern. The scrubber includes a solution tank, a recovery tank and a detergent tank for application and recovery of the cleaning solution. A solution tank pump, a detergent tank pump and a fan for use in vacuuming used cleaning solution into the recovery tank are each connected to their respective tanks. There are actuating means connected to the brush drive motors, pumps, fan and brush height control circuit. Sensors monitor the solution tank, recovery tank and detergent tank, as well as the speed of the floor scrubber. A start signal for the actuating means is only provided when the sensors determine certain prestart conditions have been met in the solution tank, recovery tank, detergent tank and a certain predetermined speed has been reached for the floor scrubber.
摘要翻译：地板洗涤器具有用于擦洗地板的旋转刷，用于刷子的驱动马达和用于根据期望的刷子图案升高和降低刷子的刷高控制电路。洗涤器包括溶液罐，回收罐和用于清洁溶液的应用和回收的洗涤剂罐。溶液罐泵，洗涤剂罐泵和用于将使用过的清洁溶液抽吸到回收罐中的风扇各自连接到它们各自的罐。有驱动装置连接到电刷驱动电机，泵，风扇和电刷高度控制电路。传感器监测溶液罐，回收罐和洗涤剂罐以及地板洗涤器的速度。仅当传感器确定溶液罐，回收罐，洗涤剂罐中已达到某些预先确定的条件并已达到地板洗涤器的某一预定速度时，才提供启动装置的启动信号。

2. 发明授权

US4846297A Automated guided vehicle 失效
标题翻译：自动导引车
公开(公告)号：US4846297A
公开(公告)日：1989-07-11
申请号：US222894
申请日：1988-06-22
申请人： Bruce F. Field , Joseph G. Kasper
发明人： Bruce F. Field , Joseph G. Kasper
IPC分类号： G01S17/93 , G05D1/02
CPC分类号： G01S17/936 , G05D1/0238 , G05D1/0244
摘要： An unmanned, self-propelled vehicle in the nature of a mobile robot has an on-board computer that stores path and machine function instructions and activates the drive and steering systems so as to cause the machine to follow a desired path. A plurality of retroreflective targets are mounted along the desired path. They do not have to be mounted at a specific height or distance apart, nor need they be square to the path. An improved guidance system for keeping the vehicle on the prescribed path includes a laterally scanning laser transmitter-receiver mounted on the vehicle. An electromechanical tracking device controls the angle of elevation of the laser beam so as to keep it aimed at each target successively as the vehicle moves. The laser produces signals which steer the vehicle such that the laser transmitter and targets are kept aligned in a vertical plane. A positioning device can move the laser transmitter transversely on the vehicle so that the vehicle centerline may travel in the vertical plane of the laser or may travel in an offset line parallel to the vertical laser plane. Certain ones of the targets are bar coded and a target counter senses and counts them as the machine moves past them to keep track of where the vehicle is located along its desired path. A motion sensing system using reflective microwave sensors provides speed and distance information.
摘要翻译：移动机器人性质的无人驾驶的自行车辆具有车载计算机，其存储路径和机器功能指令并激活驱动和转向系统，以使机器遵循期望的路径。沿期望的路径安装多个回射目标。它们不需要在特定的高度或距离上分开安装，也不需要它们与路径平齐。用于将车辆保持在规定路径上的改进的引导系统包括安装在车辆上的横向扫描激光发射器 - 接收器。机电跟踪装置控制激光束的仰角，以便随着车辆的移动，它连续地对准目标。激光器产生引导车辆的信号，使得激光发射机和目标物保持在垂直平面中对准。定位装置可以将激光发射器横向移动到车辆上，使得车辆中心线可以在激光的垂直平面中行进，或者可以在平行于垂直激光平面的偏移线中行进。某些目标是条形码，目标计数器会在机器移过它们时检测并对其进行计数，以跟踪车辆位于所需路径的位置。使用反射式微波传感器的运动感测系统提供速度和距离信息。

3. 发明授权

US4790402A Automated guided vehicle 失效
标题翻译：自动导引车
公开(公告)号：US4790402A
公开(公告)日：1988-12-13
申请号：US101508
申请日：1987-09-28
申请人： Bruce F. Field , Joseph G. Kasper
发明人： Bruce F. Field , Joseph G. Kasper
IPC分类号： G01S17/93 , G05D1/02 , B62D1/00
CPC分类号： G01S17/936 , G05D1/0238 , G05D1/0244
摘要： An unmanned, self-propelled vehicle in the nature of a mobile robot has an on-board computer that stores path and machine function instructions and activates the drive and steering systems so as to cause the machine to follow a desired path. A plurality of retroreflectve targets are mounted along the desired path. They do not have to be mounted at a specific height or distance apart, nor need they be square to the path. An improved guidance system for keeping the vehicle on the prescribed path includes a laterally scanning laser transmitter-receiver mounted on the vehicle. An electromechanical tracking device controls the angle of elevation of the laser beam so as to keep it aimed at each target successively as the vehicle moves. The laser produces signals which steer the vehicle such that the laser transmitter and targets are kept aligned in a vertical plane. A positioning device can move the laser transmitter transversely on the vehicle so that the vehicle centerline may travel in the vertical plane of the laser or may travel in an offset line parallel to the vertical laser plane. Certain ones of the targets are bar coded and a target counter senses and counts them as the machine moves past them to keep track of where the vehicle is located along its desired path. A motion sensing system using reflective microwave sensors provides speed and distance information.

4. 发明授权

US4996468A Automated guided vehicle 失效
标题翻译：自动导引车
公开(公告)号：US4996468A
公开(公告)日：1991-02-26
申请号：US322103
申请日：1989-03-13
申请人： Bruce F. Field , Joseph G. Kasper
发明人： Bruce F. Field , Joseph G. Kasper
IPC分类号： G01S17/93 , G05D1/02
CPC分类号： G01S17/936 , G05D1/0238 , G05D1/0244 , G01S7/4972 , G05D2201/0203
摘要： An unmanned, self-propelled vehicle in the nature of a mobile robot has an on-board computer that stores path and machine function instructions and activates the drive and steering systems so as to cause the machine to follow a desired path. A plurality of retroreflective targets are mounted along the desired path. They do not have to be mounted at a specific height or distance apart, nor need they be square to the path. An improved guidance system for keeping the vehicle on the prescribed path includes a laterally scanning laser transmitter-receiver mounted on the vehicle. An electromechanical tracking device controls the angle of elevation of the laser beam so as to keep it aimed at each target successively as the vehicle moves. The laser produces signals which steer the vehicle such that the laser transmitter and targets are kept aligned in a vertical plane. A positioning device can move the laser transmitter transversely on the vehicle so that the vehicle centerline may travel in the vertical plane of the laser or may travel in an offset line parallel to the vertical laser plane. Certain ones of the targets are bar coded and a target counter senses and counts them as the machine moves past them to keep track of where the vehicle is located along its desired path. A motion sensing system using reflective microwave sensors provides speed and distance information.
摘要翻译：移动机器人性质的无人驾驶的自行车辆具有车载计算机，其存储路径和机器功能指令并激活驱动和转向系统，以使机器遵循期望的路径。沿期望的路径安装多个回射目标。它们不需要在特定的高度或距离上分开安装，也不需要它们与路径平齐。用于将车辆保持在规定路径上的改进的引导系统包括安装在车辆上的横向扫描激光发射器 - 接收器。机电跟踪装置控制激光束的仰角，以便随着车辆的移动，它连续地对准目标。激光器产生引导车辆的信号，使得激光发射机和目标物保持在垂直平面中对准。定位装置可以将激光发射器横向移动到车辆上，使得车辆中心线可以在激光的垂直平面中行进，或者可以在平行于垂直激光平面的偏移线中行进。某些目标是条形码，目标计数器会在机器移过它们时检测并对其进行计数，以跟踪车辆位于所需路径的位置。使用反射式微波传感器的运动感测系统提供速度和距离信息。

5. 发明授权

US4757566A Control of torque in floor maintenance tools by drive motor load 失效
标题翻译：通过驱动电机负载控制地板维护工具中的扭矩
公开(公告)号：US4757566A
公开(公告)日：1988-07-19
申请号：US78204
申请日：1987-07-27
申请人： Bruce F. Field , Joseph G. Kasper
发明人： Bruce F. Field , Joseph G. Kasper
IPC分类号： A47L11/19 , A47L11/40 , E01H1/05 , A47L11/16
CPC分类号： A47L11/4011 , A47L11/4066 , A47L11/4069 , E01H1/053
摘要： An automatic tool torque compensator for a surface maintenance machine such as a sweeper or scrubber includes an actuator for raising and lowering one or more rotatable surface maintenance tools and one or more electric or hydraulic motors for driving the tools. There is a circuit for sensing the current load in at least one of the electric motors, or the differential pressure in one or more of the hydraulic motors, and providing a signal representative thereof. There is a circuit for manually selecting a desired tool torque to be applied from a plurality of possible tool torques and for providing an electrical signal representative thereof. The electrical signal representative of the desired tool torque to be applied to the tools and the drive motor load current signal or the differential hydraulic pressure signal representative of actual tool torque applied to the tools are used to control the actuator for raising and lowering the surface maintenance tools. This automatically varies the pressure of the tools against the surface to maintain a desired torque in the tools at a nearly constant value even though the surface may vary in its resistance to the tools due to variations in its elevation or texture, or the degree of soilage on it.

6. 发明授权

US4679271A Automatic tool force compensator for a surface maintenance machine 失效
标题翻译：表面维修机自动刀具补偿器
公开(公告)号：US4679271A
公开(公告)日：1987-07-14
申请号：US839877
申请日：1986-03-14
申请人： Bruce F. Field , Joseph G. Kasper
发明人： Bruce F. Field , Joseph G. Kasper
IPC分类号： B24B49/16 , A47L9/28 , A47L11/20 , B23Q15/013 , B24B29/00 , E01H1/05 , A47L11/18
CPC分类号： A47L9/2894 , A47L11/20 , A47L11/4011 , A47L11/4058 , A47L9/2831 , A47L9/2847 , A47L9/2857 , A47L9/2889 , E01H1/056
摘要： There is disclosed an improvement in a surface maintenance machine whereby means are provided for automatically maintaining a desired normal force by a maintenance tool against a surface being maintained, although there may be undulations in the surface, variations in the condition of the surface and changes in the tool caused by wear. Normal force is applied to the tool by gravity and an actuator, both acting through a load cell which senses their algebraic sum, compares this with a preset desired force and operates the actuator as needed to maintain the force at or near the pre-set level. Further, the load on the motor or motors driving the tool is sensed and compared against high and low reference points. If drive motor load is outside of the reference limits a signal is provided which causes a decrease or increase in the normal force to maintain the motor load within limits.

7. 发明授权

US4986378A Machine configuration and method for steering a vehicle away from a wall 失效
标题翻译：用于将车辆转向远离墙壁的机器配置和方法
公开(公告)号：US4986378A
公开(公告)日：1991-01-22
申请号：US319355
申请日：1989-03-06
申请人： Joseph G. Kasper
发明人： Joseph G. Kasper
IPC分类号： A47L11/40 , B62D1/24 , B62D11/02
CPC分类号： A47L11/4061 , B62D1/24 , B62D11/02
摘要： A machine configuration which permits readily maneuvering a vehicle away from a wall or line of objects that the vehicle has been traveling close to, or closely following the walls around an inside corner. The vehicle has a frame carrying two rear drive wheels and one or more front caster wheels. The drive wheels are individually driven by separate motors. The drive wheels are inset from the sides of the machine so that turning maneuvers can be made adjacent a wall without the wheels contacting the wall. The rear frame or structure of the machine is disposed within an envelope defined such that turning maneuvers adjacent a wall unit will not bring the rear structure into contact with the wall. With the steering geometry and frame construction set up in this manner, the vehicle can be turned away from the wall by operating the drive motors at differential rates, and no part of the vehicle will touch the wall. The vehicle can also follow closely along an inside corner of two walls.
摘要翻译：一种机器配置，其允许容易地操纵车辆远离车辆已经行进的墙壁或物体线，靠近或紧密地靠近内角的墙壁。车辆具有承载两个后驱动轮和一个或多个前脚轮的框架。驱动轮由单独的电机单独驱动。驱动轮从机器的侧面插入，使得可以在墙壁附近进行转动操作，而不会使车轮接触墙壁。机器的后框架或结构设置在限定为使得邻近墙壁单元的转动操作将不会使后部结构与壁接触的外壳内。以这种方式设置转向几何形状和框架结构，通过以不同的速率操作驱动马达，车辆可以被转动离开墙壁，并且车辆的任何部分都不会碰到墙壁。车辆也可以沿着两个墙壁的内角紧密跟随。

8. 再颁专利

USRE29957E Powered rotary brush 失效
标题翻译：动力旋转刷
公开(公告)号：USRE29957E
公开(公告)日：1979-04-10
申请号：US750656
申请日：1976-12-15
申请人： Joseph G. Kasper
发明人： Joseph G. Kasper
IPC分类号： A47L11/24 , E01H1/05 , E01H1/08
CPC分类号： A47L11/4069 , A47L11/24 , A47L11/4041 , E01H1/056 , E01H1/0854
摘要： .Iadd.A sweeping machine having a frame, a pair of support members, and means for mounting the support members on the frame. A brush is rotatably mounted between the support members. A drive mechanism for the brush includes a source of power in a form capable of being transmitted by conduit means and a motor attached to one of the support members and being located substantially within an interior chamber defined by the brush and with the motor being capable of utilizing power from the source to rotate the brush..Iaddend.

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