Travel control device for unmanned vehicle

• US 5,036,935 A
• Filed: 03/05/1990
• Issued: 08/06/1991
• Est. Priority Date: 03/08/1989
• Status: Expired due to Term

• Current Assignee: Kabushiki Kaisha Toyoda Jidoshokki Seisakusho
• Original Assignee: Kabushiki Kaisha Toyoda Jidoshokki Seisakusho
• Inventors: Kohara, Ikumitsu
• Primary Examiner(s): Kashnikow, Andres
• Assistant Examiner(s): Johnson, Brian L.
• Application Number:
  US07/488,665
• Time in Patent Office: 519 Days
• Field of Search: 180/167, 180/168, 180/169, 180/170, 180/275, 180/277, 180/279, 180/131, 318/587, 340/438, 340/439, 340/459, 340/936, 364/424.01, 364/424.02, 364/426.01, 364/426.04, 293/4
• US Class Current: 180/168
• CPC Class Codes: B60L 2200/30 Trolleys
• CPC Class Codes: B60L 50/15 with additional electric power supply with capacitors charged by engine-driven generators B60L50/40; with batteries charged by engine-driven generators B60L50/61
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

A travel control device for an unmanned vehicle automatically travelling along a predetermined travel path. The travel control device comprises non-contact type and contact type obstacle sensors for detecting an obstacle in front of the unmanned vehicle, and the unmanned vehicle is stopped when an obstacle is detected. A working area is predetermined along the travel path, and entrance and exit marks are provided to indicate the working area. When the unmanned vehicle enters the working area, a detection of signals output by the non-contact type obstacle sensor is disabled, to avoid unnecessary stops in the specific area and maintain a smooth travel of the unmanned vehicle. Further, a time counter is provided for counting a time from when the unmanned vehicle is stopped to a time when the unmanned vehicle is restarted, and when the unmanned vehicle is restarted, the unmanned vehicle is caused to travel at a speed higher than a previous speed at which it was travelling before being stopped, to recover a delay time incurred by the stop.

Claims

1. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:

guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path;

at least one non-contact type obstacle sensor and at least one contact type obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path;

first control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by at least one of said obstacle sensors;

area boundary indicating means arranged in said travel path for defining a predetermined working area along said travel path;

detecting means arranged in said unmanned vehicle for detecting signals indicative of said area boundary indicating means while said unmanned vehicle is travelling along said travel path to determine whether said unmanned vehicle is in one of within and outside of said predetermined working area;

second control means responsive to signals from said detecting means for controlling detection of signals from said obstacle sensors so that detection of signals from said at least one non-contact type obstacle sensor is disabled when said unmanned vehicle is travelling within said predetermined working area and detection of signals from both of said types of obstacle sensors are enabled when said unmanned vehicle is travelling outside said predetermined working area.

2. A travel control system according to claim 1, wherein said first control means includes restart control means for restarting said unmanned vehicle in response to a restart signal after an obstacle is detected and said unmanned vehicle is stopped.

3. A travel control system according to claim 2, wherein said restart signal is output when an obstacle detection signal ceases after an obstacle is detected and said unmanned vehicle is stopped.

4. A travel control system according to claim 2, wherein a manually operated restart switch is provided for outputting a restart signal for restarting said unmanned vehicle after said unmanned vehicle is stopped in response to an output of an obstacle detection signal from said contact type obstacle sensor.

5. A travel control system according to claim 1, wherein said steering means and said driving means comprise a pair of steering and driving wheels arranged on an axis perpendicular to the longitudinal axis of said unmanned vehicle and a pair of electric motors connected, respectively, to each of said steering and driving wheels for independently driving said steering and driving wheels.

6. A travel control system according to claim 5, wherein said guide means comprises a conductive wire having a low frequency alternating current flowing therethrough and a position sensor arranged on said unmanned vehicle adjacent the underside thereof and on a line generally parallel to said travel path which line extends between said steering driving wheels, said position sensor having a pickup coil sensitive to the alternating current flowing in said guide means and able to output a steering control signal in accordance therewith.

7. A travel control system according to claim 1, wherein said at least one non-contact type obstacle sensor comprises an ultrasonic sensor and said at least one contact type obstacle sensor comprises a contact bumper arranged at the front of said unmanned vehicle operatively coupled to a switch.

8. A travel control system according to claim 1, wherein said area boundary indicating means comprises a first mark at an entrance to and a second mark at an exit from said predetermined working area.

9. A travel control system according to claim 8, wherein said first mark and said second mark are different.

10. A travel control system according to claim 8, wherein each of said first mark and said second mark is formed from a plurality of mark components arranged in a predetermined pattern.

11. A travel control system according to claim 10, wherein said predetermined patterns of said first mark and said second mark are different.

12. A travel control system according to claim 10, wherein said detecting means comprises a plurality of proximity sensors arranged in a predetermined pattern, whereby said detecting means is able to read the pattern of said first mark and said second mark.

13. A travel control system according to claim 12, wherein said predetermined pattern of said detecting means is the composite resultant of superimposing the patterns of said first mark and said second mark.

14. A travel control system according to claim 1, wherein said travel path is a closed loop path, and said unmanned vehicle travels therealong in one direction only.

15. A travel control system according to claim 1, wherein said travel path includes a work loading station, at least one assembly station, and an unloading station, and said predetermined working area includes said at least one assembly station.

16. A travel control system according to claim 1, wherein said first control means for controlling said driving means causes said unmanned vehicle to travel at a first speed when said unmanned vehicle is outside said predetermined working area and at a second speed lower than said first speed when said unmanned vehicle is within said predetermined working area.

17. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:

guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path;

at least one non-contact type obstacle sensor and at least one contact type obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path;

first control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by at least one of said obstacle sensors;

area boundary indicating means arranged in said travel path for defining a predetermined working area along said travel path;

detecting means arranged in said unmanned vehicle for detecting signals indicative of said area boundary indicating means while said unmanned vehicle is travelling along said travel path to determine whether said unmanned vehicle is in one of inside and outside of said predetermined working area;

second control means responsive to signals from said detecting means for controlling detection of signals from said obstacle sensors so that detection of signals from said at least one non-contact type obstacle sensor is disabled when said unmanned vehicle is travelling within said predetermined working area and detection of signals from both of said types of obstacle sensors are enabled when said unmanned vehicle is travelling outside said predetermined working area, said first control means for controlling said driving means causing said unmanned vehicle to travel at a first speed when said unmanned vehicle is outside said predetermined working area and at a second speed lower than said first speed when said unmanned vehicle is inside said predetermined working area; and

timing means for determining a time from when said unmanned vehicle is stopped in said predetermined working area to a time when said unmanned vehicle is restarted providing a time delay, said first control means including speed control means for causing said unmanned vehicle to travel at a third speed higher than said second speed when said unmanned vehicle is restarted to recover the time delay incurred by stopping of said unmanned vehicle and determined by said timing means.

18. A travel control system for an unmanned surface vehicle provided with steering means and driving means to enable said unmanned vehicle to automatically travel along a predetermined travel path, said travel control system comprising:

guide means provided throughout said travel path and cooperating with said steering means to guide said unmanned vehicle along said travel path;

at least one obstacle sensor arranged on said unmanned vehicle for detecting an obstacle in front of said unmanned vehicle while travelling along said travel path;

control means for controlling said driving means to cause said unmanned vehicle to stop when an obstacle is detected by said at least one obstacle sensor and to thereafter restart;

timing means for determining a time from when said unmanned vehicle is stopped to a time when said unmanned vehicle is restarted providing a time delay; and

said control means including speed control means for causing said unmanned vehicle to travel at a speed higher than a previous speed at which said unmanned vehicle was travelling before being stopped, to recover the time delay incurred by stopping of said unmanned vehicle and determined by said timing means, when said unmanned vehicle is restarted.

19. A travel control system according to claim 18, wherein said control means includes restart control means for restarting said unmanned vehicle in response to a restart signal after an obstacle is detected and said unmanned vehicle is stopped.

20. A travel control system according to claim 19, wherein said restart signal is output when an obstacle detection signal ceases after an obstacle is detected and said unmanned vehicle is stopped.

21. A travel control system according to claim 19, wherein a manually operated restart switch is provided for outputting a restart signal for restarting said unmanned vehicle after said unmanned vehicle is stopped in response to an output of an obstacle detection signal from said contact type obstacle sensor.