Method and apparatus for controlling travel of an automatic guided vehicle

• US 4,593,238 A
• Filed: 09/06/1984
• Issued: 06/03/1986
• Est. Priority Date: 09/17/1983
• Status: Expired due to Fees

• Current Assignee: Tsubakimoto Chain Company
• Original Assignee: Tsubakimoto Chain Company
• Inventors: Yamamoto, Kenzo
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/647,993
• Time in Patent Office: 635 Days
• Field of Search: 318/587, 180/167, 180/168, 180/169
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0263 using magnetic strips
• CPC Class Codes: G09F 2027/001 Comprising a presence or proximity detector
• CPC Class Codes: G09F 27/00 Combined visual and audible advertising or displaying, e.g. for public address

Abstract

An automatic guided vehicle travels for a predetermined distance by detecting the distance covered, and thereafter stops when the mark located at the desired stopping point is detected by at least one sensor. Obstacles on the route, and cumulative error therefore have very little influence on the vehicle'"'"'s travel, so that accurate travel control is obtained.

Claims

1. A method for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point to an objective point and stop at said objective point, comprising the steps of;

detecting a distance of said travel from said start point of said automatic guided vehicle toward said objective point;

comparing said detected distance with a predetermined distance, said predetermined distance being shorter than the distance between said start point and said objective point;

detecting by at least one sensor a mark located at said objective point;

stopping said automatic guided vehicle when said mark is detected on and after the occurrence of said comparing result.

2. An apparatus for controlling travel of an automatic guided vehicle to make said vehicle travel along a route from a start point to an objective point and stop at said objective point, comprising;

covered distance detecting means for detecting a distance covered by said automatic guided vehicle;

comparator means for comparing said distance detected by said detecting mean with a prescribed distance shorter than a distance between said start point and said objective point; and

at least one sensor for detecting a mark located at said objective point;

wherein on and after the occurrence of a comparing result of said comparator, said automatic guided vehicle is caused to stop when said mark is detected by said at least one sensor.

3. An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 2, having a first one of said sensors disposed on a front side of said automatic guided vehicle and on the center portion thereof, and second and third ones of said sensors disposed on a rear side of said automatic guided vehicle and on each side thereof.

4. An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 3, wherein said first sensor disposed on said front side of said automatic guided vehicle is a sensor for providing a signal for causing deceleration of said automatic guided vehicle, and said first and second sensors are sensors for providing a signal for causing stopping of said automatic guided vehicle.