Method and system for controlling automatic guided vehicle

• US 5,305,217 A
• Filed: 07/01/1991
• Issued: 04/19/1994
• Est. Priority Date: 07/03/1990
• Status: Expired due to Fees

• Current Assignee: Fuji Electric Company Limited (Fuji Electric Systems Company Limited)
• Original Assignee: Fuji Electric Company Limited (Fuji Electric Systems Company Limited)
• Inventors: Nakamura, Katsunari, Kawakami, Motozo, Asano, Kenzi, Kita, Tadae, Shimizu, Tsunezi
• Primary Examiner(s): Black, Thomas G.
• Assistant Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US07/723,614
• Time in Patent Office: 1,023 Days
• Field of Search: 364/424.02, 180/167, 180/168, 180/169, 318/567, 318/568
• US Class Current: 701/25
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

A method of controlling a guided vehicle to run along a desired running route comprising the steps of; dividing a display screen into a predetermined grid, wherein the display screen corresponds an area over which the running route is desired, and each grid block corresponds to a portion of the area, establishing a plurality of symbol blocks each symbol block representing a running route segment having a predetermined characteristic, the characteristic being visually represented on the display screen and electronically represented by symbol block data, producing a layout diagram corresponding to the running route by entering a selected pattern of symbol blocks into the display screen grid, extracting electronic symbol block data for each selected symbol block entered and storing the electronic symbol block data, and producing map information corresponding to the stored electronic symbol block, such that the guided vehicle is controlled along the running route by the map information.

Claims

1. A method of controlling a guided vehicle to run along a desired running route comprising the steps of:

dividing a display screen into a predetermined grid, wherein said display screen corresponds an area occupied by the running route;

establishing a plurality of symbol blocks, each symbol block representing a running route segment having a predetermined characteristic, said characteristic being visually represented on said display screen and electronically represented by symbol block data;

producing a layout diagram corresponding to the running route by entering a selected pattern of symbol blocks into the display screen grid;

extracting electronic symbol block data for each selected symbol block entered and storing the electronic symbol block data; and

producing map information corresponding to the stored electronic symbol block data, such that the guided vehicle is controlled along the running route by said map information.

2. A method of controlling a guided vehicle according to claim 1, wherein said plurality of predetermined symbol block characteristics includes, running route stations, running route branching nodes, straight running route portions, curve running route portions, running route junction nodes, and a home station.

4. A method of controlling a guided vehicle according to claim 2, wherein said map information producing step further comprises the steps of:

producing a route information table for storing the display screen positions of the selected symbol blocks and information corresponding to the selected symbol blocks; and

producing a branch information table for storing stations which are passed when the guided vehicle travels a branching option of a respective running route branching node, and stations which are passed when the guided vehicle travels the other branching option of the respective running route branching node.

5. A method of controlling a guided vehicle according to claim 4, further comprising the step of producing route tables for storing which branching option the guided vehicle travels at a respective running route branching node, by searching all running route branching nodes between a designated starting station and a designated terminal station.

6. A method of controlling a guided vehicle according to claim 5, wherein the starting station and terminal station are designated by command information from a command system.

7. A method of controlling a guided vehicle according to claim 6, further comprising the step of producing a running information table for storing operations to be performed by the guided vehicle at each running route branching node, according to said command information, said map information, said route information table, said branch information table and said route tables.

3. A method of controlling a guided vehicle to run along a desired running route comprising the steps of:

dividing a display screen into a predetermined grid, wherein said display screen corresponds an area occupied by the running route;

establishing a plurality of symbol blocks, each symbol block representing a running route segment having a predetermined characteristic, said characteristic being visually represented on said display screen and electronically represented by symbol block data;

producing a layout diagram corresponding to the running route by entering a selected pattern of symbol blocks into the display screen grid;

extracting electronic symbol block data for each selected symbol block entered an storing the electronic symbol block data;

producing map information corresponding to the stored electronic symbol block data, such that the guided vehicle is controlled along the running route by said map information;

said plurality of predetermined symbol block characteristics including running route stations, running route branching nodes, straight running route portions, curve running route portions, running route junction nodes, and a home station; and

said symbol block data comprising a variable portion and a constant portion, said variable portion including station numbers, said constant portion including information relating to the direction travelled by the guided vehicle along the running route portion.

8. A system for controlling a guided vehicle to guide the vehicle along a desired running route, comprising:

means for displaying a layout diagram corresponding to the running route, said layout diagram being displayed in a predetermined grid pattern such that portions of said layout diagram representing segments of the running route may be designated by their position within the grid pattern;

means for establishing symbol blocks, each symbol block representing a running route segment having a predetermined characteristic, said characteristic being visually represented on said display means and electronically represented by symbol block data;

means for selectively entering symbol blocks into the grid pattern to thereby produce a layout diagram;

means for storing the symbol block data corresponding to the selected symbol blocks;

means for producing map information corresponding to said stored symbol block data such that the guided vehicle is guided along the running route by said map information.

9. A system for controlling a guided vehicle according to claim 8, wherein said symbol block characteristics include, running route stations, running route branching nodes, straight running route portions, curve running route portions, running route junction nodes, and a home station.

10. A system for controlling a guided vehicle to guide the vehicle along a desired running route, comprising:

means for displaying a layout diagram corresponding to the running route, said layout diagram being displayed in a predetermine grid pattern such that portions of said layout diagram representing segments of the running route may be designated by their position within the grid pattern;

means for establishing symbol blocks, each symbol block representing a running route segment having a predetermined characteristic, said characteristic being visually represented on said display means and electronically represented by symbol block data;

means for selectively entering symbol blocks into the grid pattern to thereby produce a layout diagram;

means for storing the symbol block data corresponding to the selected symbol blocks;

means for producing map information corresponding to said store symbol block data such that the guided vehicle is guided along the running route by said map information;

said symbol block characteristics including running route stations, running route branching nodes, straight running route portions, curve running route portions, running route junction nodes, and a home station; and

said symbol block data comprising a variable portion and a constant portion, said variable portion including station numbers, said constant portion including information relating to the direction travelled by the guided vehicle along the running route portion.

11. A system for controlling a guided vehicle according to claim 10, wherein said map information producing means further comprises:

means for producing a route information table for storing the display screen positions of the selected symbol blocks and information corresponding to the selected symbol blocks; and

means for producing a branch information table for storing stations which are passed when the guided vehicle travels a branching option of a respective running route branching node, and stations which are passed when the guided vehicle travels the other branching option of the respective running route branching node.

12. A system for controlling a guided vehicle according to claim 11, further comprising means for producing route tables for storing which branching option the guided vehicle travels at a respective running route branching node, by searching all running route branching nodes between a designated starting station and a designated terminal station.

13. A system for controlling a guided vehicle according to claim 12, wherein the starting station and terminal station are designated by command information from a command system.

14. A system for controlling a guided vehicle according to claim 13, further comprising means for producing a running information table for storing operations to be performed by the guided vehicle at each running route branching node, according to said command information, said map information, said route information table, said branch information table and said route tables.