Method of and a device for safeguarding a vehicle or machinery movable in space
First Claim
1. A method of safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, or an operatorless transporting vehicle against collision, wherein by the use of distance sensors, especially ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal for acting on the vehicle movement is initiated when predetermined threshold values are not reached, said method comprising the steps of initiating the distance measurements in time synchronism for all sensors, and jointly processing the obtained measuring signals for producing at least a reaction signal.
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Accused Products
Abstract
A method of and a device for safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, an operatorless transporting vehicle or the like against collision, in which by the use of distance sensors, especially ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal is initiated when a preset threshold value is not reached, said method and device being characterized by a time-synchronous actuation of the distance sensors in a compound circuit which in case of a dangerous approach of the vehicle to an obstacle triggers a reaction signal which is either a speed reduction signal or a stop signal. Moreover, the measuring signal can be utilized as a command signal for actively influencing the vehicle movement, e.g. for driving around the obstacle or the like.
80 Citations
21 Claims
- 1. A method of safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, or an operatorless transporting vehicle against collision, wherein by the use of distance sensors, especially ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal for acting on the vehicle movement is initiated when predetermined threshold values are not reached, said method comprising the steps of initiating the distance measurements in time synchronism for all sensors, and jointly processing the obtained measuring signals for producing at least a reaction signal.
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3. A device for safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, or an operatorless transporting vehicle against collision, wherein, by the use of distance sensors, especially ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal is initiated when predetermined threshold values are not reached, comprising:
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a time module (20) for initiating the measuring operations of all said distance sensors (40) in time-synchronism, and then clocking the measuring operations of all said sensors, a comparator module (24,
26) for comparing the measured distance values from the individual distance sensors (40) with the threshold values and providing the reaction signal when said threshold values are not reached,an output module for identifying a triggering one of said distance sensors and an interface (36) for converting the reaction signal to a signal for influencing the drive unit of the system. - View Dependent Claims (4, 5, 6, 7, 12, 14, 15, 20)
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- 8. A device for safeguarding a vehicle or machinery movable in space, such as a robot, a stacker, or an operatorless transporting vehicle against collision, wherein, by the use of ultrasonic sensors with echo time measurement, the distance from an obstacle is measured and a reaction signal is initiated when predetermined threshold values are not reached, comprising a receiving means fixed on the vehicle (2) for adjustably mounting said sensors at presettable angles, said receiving means having means for interchangeably mounting a directional horn and an adjusting projection for presetting said angles.
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16. A device for safeguarding a vehicle movable in space against collision comprising:
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plural ultrasonic sensors capable of measuring the distance from the vehicle to an obstacle; and receiving means for adjustably mounting said ultrasonic sensors at predetermined angles relative to the vehicle, said receiving means comprising; a housing having a bore for accommodating an adjustably directed swivel head containing one of said ultrasonic sensors, said swivel head having a projection for removably receiving an adjusting device for positioning said head and thereby the ultrasonic sensor contained therein, at one of said predetermined angles. - View Dependent Claims (17)
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18. A method of safeguarding a vehicle movable in space against collision with an obstacle, said vehicle having a plurality of sensors for emitting signals related to determining the distance from the vehicle, comprising the steps of:
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(a) transmitting said signals from all said sensors simultaneously; (b) receiving reflections of said signals that are reflected from an obstacle back to said vehicle; and (c) jointly processing said reflections by; (i) measuring the elapsed time between transmitting said signals and the time of receipt of said reflections, (ii) making a first comparison of said measured elapsed time to a first predetermined elapsed time threshold, (iii) generating a first reaction signal responsively to said first comparison for stopping said vehicle when said measured elapsed time is less than said first threshold, (iv) making a second comparison of said measured elapsed time to a second predetermined elapsed time threshold, and (v) generating a second reaction signal responsively to said second comparison for slowing the speed of said vehicle when said measured elapsed time is less than said second threshold.
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19. A device for safeguarding a vehicle movable in space against collision with an obstacle comprising:
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plural sensors for emitting signals and for receiving reflections of said signals from an obstacle; a time module for triggering all of said sensors to emit said signals simultaneously and for determining elapsed time between triggering of all said sensors and time of receipt of said reflections by each of said sensors; a first comparator module for comparing said determined elapsed time to a first predetermined threshold, said first predetermined threshold being a first predetermined elapsed time from the triggering of all said sensors; a first signalling means for generating a first reaction signal responsively to said first comparator for stopping the vehicle when said determined elapsed time is less than said first threshold; a second comparator module for comparing said determined elapsed time to a second predetermined threshold, said second predetermined threshold being a second predetermined elapsed time from the triggering of all said sensors longer than said first predetermined elapsed time; a second signalling means for generating a second reaction signal responsively to said second comparator for slowing the speed of the vehicle when said determined elapsed time is less said second threshold; and means for adjusting said first and second thresholds in said first and second comparators, respectively, for each of said sensors, whereby said first and second thresholds may be the same for all said sensors or different for each of said sensors. - View Dependent Claims (21)
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Specification