US3844224A - Guiding system for a computer controlled vehicle - Google Patents

Guiding system for a computer controlled vehicle Download PDF

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Publication number
US3844224A
US3844224A US00280838A US28083872A US3844224A US 3844224 A US3844224 A US 3844224A US 00280838 A US00280838 A US 00280838A US 28083872 A US28083872 A US 28083872A US 3844224 A US3844224 A US 3844224A
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US
United States
Prior art keywords
guide
vehicle
steering
track
rail
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
US00280838A
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English (en)
Inventor
T Ishii
M Koshi
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mechanical Social Systems Foundation
Original Assignee
Japan Society for the Promotion of Machine Industry
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP6258871A external-priority patent/JPS5550849B2/ja
Priority claimed from JP46062587A external-priority patent/JPS5217284B2/ja
Priority claimed from JP6258971A external-priority patent/JPS5310327B2/ja
Application filed by Japan Society for the Promotion of Machine Industry filed Critical Japan Society for the Promotion of Machine Industry
Application granted granted Critical
Publication of US3844224A publication Critical patent/US3844224A/en
Assigned to MECHANICAL SOCIAL SYSTEMS FOUNDATION reassignment MECHANICAL SOCIAL SYSTEMS FOUNDATION ASSIGNMENT OF ASSIGNORS INTEREST. Assignors: JAPAN SOCIETY FOR THE PROMOTION OF MACHINE INDUSTRY OF TOKYO, JAPAN
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/26—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide
    • B62D1/265—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted mechanical, e.g. by a non-load-bearing guide especially adapted for guiding road vehicles carrying loads or passengers, e.g. in urban networks for public transportation

Definitions

  • FIG. 1 A first figure.
  • GUIDING SYSTEM FOR A COMPUTER CONTROLLED VEHICLE BACKGROUND OF THE INVENTION This invention relates to a guiding system for a computer controlled vehicle along a selected path within a traffic network.
  • These traffic networks would provide for a plurality of vehicles all controlled by means of a computer so that each vehicle would follow a selected path so as to reach a desired point in a minimum period of time. In these methods, the vehicle must select the correct path within the traffic network without any malfunction.
  • Such networks require provision of a simplified computer control logic and selecting mechanism to enable quick switching of a vehicle from one track or guideway to another.
  • the features of the present invention include a flat track surface and a guide channel, under the surface thereof, having a rectangular cross section and transversing the length of the track.
  • the bottom of the guide channel is provided with a guide reference means which may be one of a variety of forms.
  • Another feature of the invention is the provision of a steering guide link on the vehicle, the steering linkage having two lower crank portions off-set or staggered with respect to the axis of the link'proper, and carrying two guide wheels mounted on the respective crank positions. Accordingly, the two guide wheels are also positioned in an off-set or staggered relationship.
  • the crank portions carrying the guide wheels are on the lower end of the steering guide link which extends through a slit in the track surface and into the guide channel.
  • the two guide wheels contact the two vertical inner walls of the guide channel, thereby causing the wheels to follow the guide channel.
  • the slit is defined by ribs extending from the upper edges of the channel inwardly.
  • the guide link is further equipped with a guide follower means which is adapted to engage the guide reference means for the purpose of selection of a path at a branch or junction.
  • the manner in which the guide follower means engages the guide reference means is controlled by means of a computer.
  • the computer governs the manner in which the guide follower means engages the guide reference means, which means governs the guide wheels and steering guide link.
  • the steering guide link is operatively connected to the steering mechanism of the vehicle, so that the vehicle will follow the desired path or track.
  • FIG. 1 is a cross-sectional view of an embodiment of the control system of the present invention
  • FIG. 2 is a cross-sectional view taken along the line lI-II of FIG. 1;
  • FIG. 3 is a plan view showing a branch track or guideway intersecting a main track
  • FIG. 4 is a plan view showing another track or guideway junction
  • FIG. 5 is a cross-sectional view of another embodiment of the control system of the invention.
  • FIG. 6 is a cross-sectional view taken along the line IV'IV' of FIG. 5;
  • FIG. 7 is a plan view of a junction of tracks or guideways
  • FIG. 8 is a plan view showing tracks or guide-ways at a junction
  • FIG. 9 is a cross-sectional view of yet another embodiment of the control system of the invention.
  • FIG. 10 is a plan view of the system of FIG. 9;
  • FIG. 11 is a cross-sectional view taken along line VI-VI of FIG. 10.
  • FIG. 12 is a cross-sectional view taken along line VII- VII of FIG. 10.
  • FIGS. 1 to 4 show one embodiment of the present invention.
  • a vehicle I is shown as traveling on surface 3 of a transportation module track 2.
  • the vehicle 1 has a steering guide link 4 extending downwardly from the vehicle I through a slit 5 in track surface 3 and into a guide channel 7.
  • Slit 5 is coextensive with the length of track 2 and is defined by ribs 3' and 3" of surface 3.
  • the lower portion of the steering guide link 4 is of a double crank shape and carries two guide wheels 6 and 6' which are arranged horizontally and in contact with the vertical inner walls 7' and 7", respectively, of the guide channel 7.
  • the two guide wheels 6 and 6' are off-set, or staggered vertically within the guide channel 7 and are guided by the latter.
  • the lower end of steering guide link 4, below the guide wheels 6 and 6, has a flat U-shaped guide follower 27 attached thereto by means of a toggle linkage 26.
  • Guide follower 27 follows the path defined by guide rail 25.
  • the steering guide link 4 is operatively connected with the steering mechanism of the supporting wheels 10 of the vehicle 1 and thus governs the steering angle of the supporting wheels 10 in accordance with the position of the guide follower means 27.
  • the guide follower means 27 is normally spaced from or above the bottom surface 9 of the guide channel 7 as when the vehicle follows the linear track.
  • a rail or guide reference means 25 having a given width (a) and a given height (h).
  • Rail 25' branches from guide rail 25, as shown in FIG. 3.
  • the leg portions 28 and 28' of the guide follower means 27 are designed to selectively contact either side 29 or side 29' of a rail 25 or 25' and to slide along the selected side of the rail.
  • the selecting means (not shown) which controls the toggle mechanism 26 is mounted on vehicle 1 and is remotely controlled by means of a computer.
  • the leg portion 28 will keep sliding along the left side 29 of the rail 25.
  • the flat U-shaped guide follower means 27 will remain biased by spring action against side 29 until another signal is received from the computer.
  • the toggle means 26 is operated, responsive to a computer signal, so as to cause the leg 28' to slide along the right side 29' of the rail 25.
  • FIGS. through 8 show a second embodiment of the invention.
  • a vehicle 101 is shown on the surface 103 of transportation module track 102 similar to that shown in FIG. 1.
  • a steering guide link 105 and guide wheels 106 and 106' are provided similar to those of the first described embodiment of the invention, except for an extension or contacting element 112 affixed to the lower end of the steering guide link 105.
  • the contacting element may assume the form of a round bar or of a flat bar.
  • the steering guide link 105 as in the first embodiment, is operatively connected to the steering mechanism of the vehicle 101 and governs the steering angle of the supporting wheels 110 of the vehicle in accordance with the selected position of the contacting element 112.
  • the contacting element 112 is so designed to remain spaced above the bottom surface 109 of the guide channel 107 when traveling along the linear track.
  • FIG. 7 there is provided on the bottom of the guide channel 107 a run of rail 115 coextensive with the center line of the guide channel. There is also provided a branch rail 115' on the bottom of a branch guide channel 107'.
  • the side of the rail 115 with which the element 112 is in contact will determine the path followed by the vehicle 101 at the branch or joining point of the tracks.
  • the side selected by the contacting element 112 is controlled by means of, for example, electromagnetic means (not shown) which, in turn, is adapted to be controlled by a computer.
  • a rail 115' extending from the branch track 109' to a track 119.
  • an outwardly bent portion 115" having an angle a with respect to the rail 115'.
  • the manner of contact between element 112 and rail 115 or rail 115 is similar to that of the first embodiment and therefore need not again be described.
  • FIGS. 9 through 12 show a third embodiment of the present invention.
  • a vehicle 201 is shown in FIG. 9 on a transportation module track 202.
  • the vehicle has a steering guide link 204 extending from the vehicle 201 through a slit 205 into a guide channel 207.
  • Guide link 204 carries two horizontally placed guide wheels 206 and 206 on its lower crank portion. The two guide wheels 206 and 206 are in contact with the vertical inner walls 207' and 207" of the guide channel 207 so as to be guided thereby.
  • another guide wheel 208 is affixed to the lower end of the steering guide link, contacting the bottom surface 209 of the guide channel 207.
  • the guide link 204 is connected to the steering mechanism of the vehicle 201 so as to steer the supporting wheels 210 of the vehicle 201, i.e., by governing the steering angle of the supporting wheels.
  • the guide follower means is eliminated, with the above two guide wheels themselves assuming that function and 2) the guide reference rail is also eliminated.
  • the guide channels of the branch tracks of this embodiment have deeper or lower bottoms than the bottoms of the guide channels of the main tracks.
  • the bottom 209 of the branch track guide channel 217 is dug, as shown in FIG. 9, to a level lower than that of the guide channel 207 of the main track 202. If the vehicle 201 is to be diverted from the main track 202 onto the branch track 202. the guide wheels 206, 206' and 208 of the steering guide link 204 are lowered into the deeper guide channel 217 in response to a computer signal, as shown in FIG. 12. To facilitate the return of the guide wheels 206, 206' and 208 to the level of the linear main guide channel 207, there is provided a slope 209" at the junction between the lower bottom 209 and the normal bottom 209, as shown in FIG. 9.
  • the steering guide link 204 is held in position by means of a ratchet mechanism. When the steering guide link 204 is to be lowered at the junction of tracks, the steering guide link 204 is released from engagement with the ratchet mechanism in response to a computer signal.
  • the guide wheel 208 serves only to contact the bottom surface of the guide channel.
  • the ratchet mechanism remains in engagement with the steering guide link.
  • the steering guide link will be raised by slope 209", thus bringing that linkage back into engagement with the ratchet mechanism.
  • a guiding system for guiding a computer controlled vehicle through a network of main and branch tracks comprising guide channels extending along the center lines of said tracks below the upper surfaces thereof, a guide rail formed at the bottom of said guide channels, and a flat U-shaped bar attached to the steering mechanism of said vehicle by a toggle means, said bar extending into said guide channels and adapted to selectively engage the sides of said rail to control the direction taken by the vehicle at a junction, said guide channels having a sloped portion at their bottoms to raise said bar out of contact with said rail when the vehicle approaches a track junction.
  • each track has a surface covering said guide channels, said surface having a longitudinal slit coextensive with its length and providing access to the interior of said guide channels.
  • the guiding system of claim 1 further comprising steering guide means connecting said steering mechanism to said toggle means, said steering guide means comprising a crank portion connected to said steering mechanism, at least two horizontally arranged guide wheels connected to said crank portion, said guide wheels adapted to contact the two vertical inner walls of said guide channels in an off-set staggered relationship with respect to the axis of said steering guide

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Railway Tracks (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
US00280838A 1971-08-19 1972-08-15 Guiding system for a computer controlled vehicle Expired - Lifetime US3844224A (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
JP6258871A JPS5550849B2 (enExample) 1971-08-19 1971-08-19
JP46062587A JPS5217284B2 (enExample) 1971-08-19 1971-08-19
JP6258971A JPS5310327B2 (enExample) 1971-08-19 1971-08-19

Publications (1)

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US3844224A true US3844224A (en) 1974-10-29

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Application Number Title Priority Date Filing Date
US00280838A Expired - Lifetime US3844224A (en) 1971-08-19 1972-08-15 Guiding system for a computer controlled vehicle

Country Status (4)

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US (1) US3844224A (enExample)
DE (1) DE2240275C2 (enExample)
FR (1) FR2150195A5 (enExample)
GB (1) GB1399495A (enExample)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4041876A (en) * 1974-09-13 1977-08-16 Transports-Recherches-Etudes Et Groupement D'interet Economique (Tregie) Vehicle guiding system
US4423685A (en) 1980-08-16 1984-01-03 Mannesmann Aktiengesellschaft Crane trolley
US4632038A (en) * 1984-04-30 1986-12-30 Lawrence David L Monorail vehicular system
US5307611A (en) * 1992-09-18 1994-05-03 Orthman Manufacturing, Inc. Vehicle steering control system
US20100326758A1 (en) * 2009-06-30 2010-12-30 Kissel Waldemar F System for Automated Vehicle Operation and Control

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US860847A (en) * 1906-12-06 1907-07-23 Flangeless Railway Corp Flangeless railway system.
GB603469A (en) * 1945-12-10 1948-06-16 Rupert Joseph Curryer Improvements in vehicles requiring track guidance and necessary track
DE845646C (de) * 1950-05-11 1952-08-04 Henri Ruhlmann Fuehrungsvorrichtung fuer Fahrzeuge
GB832742A (en) * 1955-05-12 1960-04-13 Cie Generale Des Ets Lissement Improvements in and relating to the automatic steering of vehicles
DE1116081B (de) * 1957-10-09 1961-10-26 Raffaello Maestrelli Zwangslenkung fuer luftbereifte Fahrzeuge
US3593665A (en) * 1968-12-30 1971-07-20 Rene Henri Charles Marty Conveying system
US3628462A (en) * 1969-07-16 1971-12-21 Republic National Bank Of Dall Vehicle switching apparatus

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3077165A (en) * 1959-04-11 1963-02-12 Pirelli Vehicle guide means
US3532060A (en) * 1966-12-29 1970-10-06 Alden Self Transit Syst Transportation system and vehicle
GB1212832A (en) * 1967-01-25 1970-11-18 Sperry Rand Ltd Improvements in or relating to guidance systems for pneumatic tyred vehicles

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US860847A (en) * 1906-12-06 1907-07-23 Flangeless Railway Corp Flangeless railway system.
GB603469A (en) * 1945-12-10 1948-06-16 Rupert Joseph Curryer Improvements in vehicles requiring track guidance and necessary track
DE845646C (de) * 1950-05-11 1952-08-04 Henri Ruhlmann Fuehrungsvorrichtung fuer Fahrzeuge
GB832742A (en) * 1955-05-12 1960-04-13 Cie Generale Des Ets Lissement Improvements in and relating to the automatic steering of vehicles
DE1116081B (de) * 1957-10-09 1961-10-26 Raffaello Maestrelli Zwangslenkung fuer luftbereifte Fahrzeuge
US3593665A (en) * 1968-12-30 1971-07-20 Rene Henri Charles Marty Conveying system
US3628462A (en) * 1969-07-16 1971-12-21 Republic National Bank Of Dall Vehicle switching apparatus

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4041876A (en) * 1974-09-13 1977-08-16 Transports-Recherches-Etudes Et Groupement D'interet Economique (Tregie) Vehicle guiding system
US4423685A (en) 1980-08-16 1984-01-03 Mannesmann Aktiengesellschaft Crane trolley
US4632038A (en) * 1984-04-30 1986-12-30 Lawrence David L Monorail vehicular system
US5307611A (en) * 1992-09-18 1994-05-03 Orthman Manufacturing, Inc. Vehicle steering control system
US20100326758A1 (en) * 2009-06-30 2010-12-30 Kissel Waldemar F System for Automated Vehicle Operation and Control
US8333157B2 (en) * 2009-06-30 2012-12-18 Wfk & Associates, Llc System for automated vehicle operation and control

Also Published As

Publication number Publication date
GB1399495A (en) 1975-07-02
FR2150195A5 (enExample) 1973-03-30
DE2240275C2 (de) 1983-10-27
DE2240275A1 (de) 1973-03-01

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