Travel control method for self-propelled carriage

• US 8,380,396 B2
• Filed: 11/09/2005
• Issued: 02/19/2013
• Est. Priority Date: 11/09/2004
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company)
• Inventors: Maruo, Masaru, Takekuma, Hideshi
• Primary Examiner(s): Dager, Jonathan M
• Application Number:
  US11/577,788
• Publication Number:
  US 20080110682A1
• Time in Patent Office: 2,659 Days
• Field of Search: 701/1, 701/2, 701/19, 701 21- 28, 701/36, 701 41- 44, 701 50- 54, 701/65, 701 70- 91, 701/117, 701/124, 701200-202, 701/205, 701/207, 701/223, 701/226, 701300-302, 382/100, 382/153, 700/245, 700250-255, 700258-261, 342/71
• US Class Current: 701/41
• CPC Class Codes: G05D 1/0263 using magnetic strips
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A travel control method for a self-propelled carriage having a travel control section for controlling steering-driving wheels. In the method, the steering-driving wheels are steered by a predetermined angle based on a direction change command, and in this state, the carriage is moved forward and backward for a predetermined distance to make the carriage depart from a base line. Then, the carriage is steered toward the base line to return to the base line. After that, the carriage is made to be able to travel along the base line.

Claims

1. A travel control method for a self-propelled carriage, which includes a base, steering/driving wheels steerably provided to the base, caster wheels provided to the base for stabilizing the carriage, and a travel control section for controlling the steering/driving wheels, and which is designed to shuttle back and forth along a base line in generally opposite directions, the travel control method comprising the steps of:

causing the carriage to move in a first direction along the base line;

stopping the carriage;

steering the steering/driving wheels and carriage at a first predetermined angle while the carriage is stopped;

causing the carriage to begin its return by moving a first predetermined distance in a second direction that is greater than 90 degrees but less than a full 180 degrees from the first direction while the steering/driving wheels and carriage remain at the first predetermined angle, thereby causing the self-propelled carriage to depart from the base line;

steering the steering/driving wheels and carriage at a second predetermined angle so as to direct the carriage back toward the base line;

causing the carriage to move a second predetermined distance while the steering/driving wheels and carriage remain at the second predetermined angle so that the carriage is steered toward the base line, thereby causing the self-propelled carriage to return to the base line; and

steering the steering/driving wheels so a to direct the carriage in its return along the base line while moving in a direction generally opposite the first direction.