Electricity: motive power systems – Plural diverse motor controls – Running-speed control
Patent
1986-08-14
1987-04-21
Shoop, Jr., William M.
Electricity: motive power systems
Plural diverse motor controls
Running-speed control
318275, 318139, 318371, 318372, H02P 304
Patent
active
046599703
ABSTRACT:
Automatic guided vehicles are commonly used in industrial material handling operations. Such vehicles must be accurately docked at predetermined stop locations without the guidance or assistance of human operators. The subject apparatus is used in conjunction with a vehicle having a vehicle drive circuit for controllably propelling the vehicle at a velocity responsive to a velocity command signal. At least one ground engaging wheel is equipped with a vehicle brake for controllably stopping the vehicle in response to a brake actuation signal. A position determining element produces a controlled stop signal in response to the vehicle being positioned a predetermined distance from the desired stop location, and an absolute stop signal in response to the vehicle being positioned at the desired stop location. A logic control circuit receives the stop signals and produces a brake actuation signal having a value sufficient to partially engage the vehicle brake and a velocity command signal having a value sufficient to continue to propel the vehicle at a predetermined low velocity in response to receiving the controlled stop signal. The logic control circuit produces a velocity command signal having a minimum value in response to receiving the absolute stop signal.
REFERENCES:
patent: 3715642 (1973-02-01), Walter
patent: 3969661 (1976-07-01), Morinaga et al.
patent: 4485444 (1984-11-01), Maruyama et al.
Caterpillar Industrial Inc.
Noe Stephen L.
Ro Bentsu
Shoop Jr. William M.
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