Method and apparatus for controlling travel of an automatic guided vehicle

• US 4,593,239 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:
  US06/647,995
• 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

Abstract

An automatic guided vehicle detects marks located on a plurality of points along a route it travels using at least three sensors, selects the number of marks detected from each individual sensor as a reference value in accordance with the logic of majority, and stops when the reference value agrees with a predetermined value. Cumulative errors, caused by misdetection are thus avoided and, there is little cumulative error. Thus, accurate control in long distance travel is possible.

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 and pass by a plurality of points in order and stop at a predetermined point, comprising the steps of:

detecting marks located at said plurality of points by at least three sensors provided on said automatic guided vehicle and counting the number of marks detected, respectively, by each of said sensors;

adopting a number which represents a majority among said counted numbers of marks from each of said sensors as a reference value in accordance with the logic of majority;

correcting any of said counted numbers which does not equal said reference value.

2. An apparatus for controlling travel of an automatic guided vehicle to make said automatic guided vehicle travel along a route from a start point passing by a plurality of points in order and stop at a predetermined point, comprising;

at least three sensors for detecting marks located at said plurality of points;

counter means for counting the number of marks detected respectively by each of said sensors;

arithmetic means for adopting as a reference value a number occurring the majority of times among said counted numbers in accordance with the logic of majority; and

comparator means for comparing said reference value with a predetermined value and for providing a signal when such reference equals said predetermined value;

said automatic guided vehicle being caused to stop when said comparator signal is provided occurs.

3. An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 2, wherein one of said sensors is disposed on the front side of said automatic guided vehicle and on the center portion thereof, the other two sensors being disposed on the 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 the counted numbers of marks counted by said counter are corrected when one of said two sensors disposed on the rear side of said automatic guided vehicle detects one of said marks.

5. An apparatus for controlling travel of an automatic guided vehicle as set forth in claim 3, wherein said one sensor disposed on the front side of said automatic guided vehicle is a sensor for deceleration of said automatic guided vehicle, the other two sensors are sensors for stopping said automatic guided vehicle.