Control apparatus for running moving object
First Claim
1. A running control apparatus for a moving vehicle, comprising a pair of photoelectric sensors on the vehicle, each sensor including a light emitting element and a light receiving element, a pair of reflectors at a predetermined target position opposing said photoelectric sensors, first means for stopping the moving vehicle when the light receiving elements of said pair of sensors each substantially simultaneously receives light reflected by a corresponding one of said reflectors of the target, and means for fixed point turning said moving vehicle near said target position until said moving vehicle assumes an attitude whereat at least one of said sensors receives a maximum amount of light reflected from said reflectors.
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Accused Products
Abstract
The present invention relates to an apparatus for controlling a moving object and particularly for automatically stopping the moving object in a predetermined position and direction. The apparatus comprises a pair of photoelectric sensors having a light emitting element and a light receiving element for the moving object, and a pair of reflectors at predetermined positions opposing the photoelectic sensors. The moving object is stopped when the received light outputs of the photoelectric sensors are balanced with each other preferably in a vehicle in an automated factory.
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Citations
13 Claims
- 1. A running control apparatus for a moving vehicle, comprising a pair of photoelectric sensors on the vehicle, each sensor including a light emitting element and a light receiving element, a pair of reflectors at a predetermined target position opposing said photoelectric sensors, first means for stopping the moving vehicle when the light receiving elements of said pair of sensors each substantially simultaneously receives light reflected by a corresponding one of said reflectors of the target, and means for fixed point turning said moving vehicle near said target position until said moving vehicle assumes an attitude whereat at least one of said sensors receives a maximum amount of light reflected from said reflectors.
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13. A running control apparatus for a self-propelled vehicle, comprising:
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photoelectric means including scanning means rotatably mounted on said vehicle, rotating means for rotating said scanning means, said photoelectric means including a pair of light receiving means, a pair of reflectors at predetermined target positions opposing said light receiving means, first means for stopping the vehicle when the light receiving means of said photoelectric means each substantially simultaneously receives light reflected by corresponding ones of said reflectors, means for fixed point turning said vehicle, first rotation detecting means connected for detecting an amount of rotation of wheels moving said vehicle and for producing wheel rotation signals representative thereof, said fixed point turning means comprising control means responsive to said wheel rotation signals for determining an amount of rotation of said vehicle and for producing a vehicle rotation signal representative of the rotation of said vehicle, means for activating said rotating means for said scanning means to rotate said scanning means until a predetermined signal is received from said light receiving means and for generating a scanning means rotation signal, and means responsive to said scanning means rotation signal to generate a control signal for activating driving means for the wheels moving said vehicle to rotate said vehicle in accordance with said scanning means rotation signal.
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Specification