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1. 发明授权

US4940925A Closed-loop navigation system for mobile robots 失效
标题翻译：移动机器人的闭环导航系统
公开(公告)号：US4940925A
公开(公告)日：1990-07-10
申请号：US265196
申请日：1988-10-31
申请人： Martin A. Wand , Anh V. Ho , Chuan-Fu Lin , Phen-Lan Huang , John P. Williston , Haradon J. Rice , Thomas J. Doty
发明人： Martin A. Wand , Anh V. Ho , Chuan-Fu Lin , Phen-Lan Huang , John P. Williston , Haradon J. Rice , Thomas J. Doty
IPC分类号： G05D1/00 , G01C21/04 , G05D1/02
CPC分类号： G05D1/0297 , G05D1/0246 , G05D1/0282 , G05D2201/0216
摘要： A visual navigation system provides absolute position information to multiple automatically guided vehicles (AGVs) such as mobile robots. The beacon-equipped AGVs emit light visible to overhead television cameras. The beacons are arranged and controlled so that the vision systems can acquire, measure, and report the locations of multiple AGVs. The system controller incorporates a programmable "factory map", or knowledge base, of allowable paths of travel for the AGVs, which navigate by dead reckoning with periodic position updates from the visual navigation system. The visual navigation system notifies the autonomous AGVs and the system controller when an AGV strays from its command path. The combination of computer controls in the elements of the system provides the means to stop and to recover straying AGVs. The navigation system visually monitors normal AGV travel, off-course corrections, "lost" AGV searches, and recovery. Thus, it provides closed-loop, servo-like operation.
摘要翻译：视觉导航系统为诸如移动机器人的多个自动导向车辆（AGV）提供绝对位置信息。配备有信标的AGV可以向架空电视摄像机发出可见的光。信标的布置和控制使得视觉系统可以获取，测量和报告多个AGV的位置。系统控制器包含可编程的“工厂地图”或知识库，用于AGV的允许行驶路线，其通过来自视觉导航系统的定期位置更新的航位推算导航。当AGV从其命令路径流出时，视觉导航系统通知自治AGV和系统控制器。系统元素中的计算机控制的组合提供了停止和恢复偏离AGV的手段。导航系统可视地监视正常的AGV行程，离线修正，“丢失”AGV搜索和恢复。因此，它提供闭环，伺服状操作。

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。

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