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Process for changing a running direction of an electromagnetically guided driverless vehicle

  • US 4,486,694 A
  • Filed: 05/20/1982
  • Issued: 12/04/1984
  • Est. Priority Date: 05/22/1981
  • Status: Expired due to Fees
First Claim
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1. A process for changing a running direction of an electromagnetically guided driverless vehicle, which is guided along a guide path comprising two parallel wire conductors, said guide path having at least one branch at a turning point, said turning point being located at the center of intersection of said branch and the main way of said guide path, said process being for use with a vehicle which includes right and left drive wheels rotatably mounted on said vehicle, axes of said drive wheels being in alignment with each other, right and left drive motors for driving said right and left drive wheels, respectively, right and left route sensors mounted on said vehicle for sensing magnetic fields induced by said wire conductors, said route sensors being disposed forwardly of said drive wheels and being disposed substantially in registry with said wire conductors, respectively, one output of said route sensors being used as a steering signal and as an on-route signal, and means responsive to said steering and on-route signals for controlling the direction and speed of rotation of each of said drive motors,said process comprising the steps of:

  • deenergizing said right and left drive motors to stop said vehicle at the turning point in such a manner that the axes of said drive wheels are generally in registry with said turning point;

    subsequently driving said right and left drive motors to rotate said right and left drive wheels at the same speed in opposite directions, respectively, so that said vehicle moves angularly in the turning direction about a vertical axis passing through the middle point between said drive wheels;

    subsequently detecting a first turn-off of said on-route signal;

    subsequently detecting a first turn-on of said on-route signal;

    subsequently detecting a second turn-off of said on-route signal;

    subsequently detecting a second turn-on of said on-route signal; and

    subsequently deenergizing said right and left drive motors to stop the angular movement of said vehicle, so that said vehicle can move along the guide path in the new direction.

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