Material handling systems with high frequency radio location devices
First Claim
1. A system for determining the location of material handling system components:
- a plurality of stationary high frequency electromagnetic energy emitting and detecting beacons positioned in an area at known locations, said stationary beacons emitting and detecting high frequency radio electromagnetic energy;
at least one mobile electromagnetic energy beacon positioned on-board the material handling system component, said mobile beacon capable of communicating with said plurality of stationary beacons using high frequency radio electromagnetic energy; and
a controller adapted to determine at least a location of said mobile beacon based upon the communications between said stationary beacons and said mobile beacon.
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Accused Products
Abstract
A material handling system uses high-frequency location devices for determining the location of mobile units, such as AGVs, overhead mono-rails, conveyor components, or individual articles being transported by such units. The high-frequency location devices may also be used to identify the contents and/or routing information for material being moved within a facility. AGVs may incorporate the high-frequency location devices into their navigation systems to utilize the position and/or heading updates provided by the location devices in guiding the vehicle. The location devices work in cooperation with a number of stationary location devices, such as beacons, that are positioned within the environment at known locations, such as in or adjacent the ceiling of the workplace environment. High-frequency radars may also be used to provide electronic bumpers to the AGVs, allowing them to sense obstacles and take appropriate action to avoid collisions with the obstacles.
76 Citations
72 Claims
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1. A system for determining the location of material handling system components:
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a plurality of stationary high frequency electromagnetic energy emitting and detecting beacons positioned in an area at known locations, said stationary beacons emitting and detecting high frequency radio electromagnetic energy;
at least one mobile electromagnetic energy beacon positioned on-board the material handling system component, said mobile beacon capable of communicating with said plurality of stationary beacons using high frequency radio electromagnetic energy; and
a controller adapted to determine at least a location of said mobile beacon based upon the communications between said stationary beacons and said mobile beacon. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31)
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32. A kit for modifying a navigation system of an automatic guided vehicle that uses one or more incremental navigation sensors in combination with at least one fixed reference sensor to estimate the vehicle'"'"'s position, said fixed reference sensor being adapted to detect references positioned at known locations, said kit comprising:
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a plurality of electromagnetic energy emitting beacons for positioning at known locations throughout an environment;
at least one electromagnetic energy sensor for positioning on a vehicle, said electromagnetic energy sensor adapted to detect signals emitted from said plurality of electromagnetic energy emitting beacons; and
a controller adapted to use said detected signals in combination with said one or more incremental navigation sensors to generate a position estimate of said vehicle. - View Dependent Claims (33, 34, 35, 36, 37, 38)
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39. A method of installing an AGV system comprising:
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providing a plurality of electromagnetic energy emitting beacons;
providing at least one automatic guided vehicle that includes at least one sensor for detecting transmissions from said plurality of beacons;
placing at least three of said beacons at known locations within an environment;
measuring the location of the at least three beacons within the environment;
placing additional ones of the beacons within the environment;
using the at least three beacons to measure the location of said additional ones of said beacons within the environment; and
communicating the location of said plurality of beacons to said automatic guided vehicle. - View Dependent Claims (40, 41, 42, 43)
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44. An automatic guided vehicle comprising:
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a body;
at least one navigation sensor on said body for use in determining the vehicle'"'"'s location;
a motor for moving the vehicle;
a high frequency radio location radar positioned on said body, said radar capable of detecting objects located off of the vehicle; and
a controller which controls the movement of the vehicle based, at least partially, on objects detected by the radar. - View Dependent Claims (45, 46, 47, 48, 49)
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50. A communications system for an automatic guided vehicle comprising:
- an ultra-wideband transmitter positioned off the vehicle that transmits information to the vehicle via ultra-wideband signals; and
an ultra-wideband receiver positioned on said vehicle that receives information transmitted via ultra-wideband signals from said transmitter.
- an ultra-wideband transmitter positioned off the vehicle that transmits information to the vehicle via ultra-wideband signals; and
- 51. The system of claim 51 wherein said communications system is further adapted to communicate via ultra-wideband signals directly with other automatic guided vehicles.
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57. A material handling system comprising:
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a plurality of automatic guided vehicles, each of said plurality of automatic guided vehicle including an ultra-wideband communications system;
at least one ultra-wideband transmitter positioned on or adjacent to a load of material to be moved by one of said plurality of automatic guided vehicles, said transmitter adapted to transmit a message to said plurality of automatic guided vehicles indicating that the load of material is to be moved to a destination; and
a controller adapted to determine which of said plurality of automatic guided vehicles is to retrieve said load in response to said message. - View Dependent Claims (58, 59, 60)
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61. A high frequency radio location determination system for determining the position of at least one mobile unit in a material handling system comprising:
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at least one high frequency beacon and at least one high frequency sensor, one of said at least one beacon and said at least one sensor being positioned at a known location within an environment, the other of said at least one beacon and said at least one sensor being positioned so as to move with the mobile unit; and
at least one controller for determining the location of the mobile unit by way of either time of flight or time of arrival measurements of at least one high frequency signal communicated between said at least one beacon and said at least one sensor; and
a transmitter that transmits the location of the mobile unit to a processor. - View Dependent Claims (62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72)
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Specification