Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1988-10-31
1990-07-10
Ro, Bentsu
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
318580, 364443, B62D 100
Patent
active
049409255
ABSTRACT:
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.
REFERENCES:
patent: 4750123 (1988-06-01), Christian
patent: 4773018 (1988-09-01), Lundstrom
"Journal of Robotic Systems", Beni et al, Editors, 3(1), 5-17 (1986), John Wiley & Sons, Inc. 1986.
Doty Thomas J.
Ho Anh V.
Huang Phen-Lan
Lin Chuan-Fu
Rice Haradon J.
Barndt B. Peter
Comfort James T.
Ro Bentsu
Sharp Melvin
Texas Instruments Incorporated
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