VARIABLE OFFSET POSITIONING ANTENNA ARRAY FOR ENHANCED GUIDANCE OF AUTOMATED GUIDED VEHICLES (AGVS)
First Claim
1. A variable offset positioning antenna array for an automated guided vehicle (AGV) that is adapted to follow a guide wire having a frequency, comprising:
- a) two or more inductor coils that each generate an output based on a strength of the frequency sensed at each coil; and
b) a programmable microprocessor that processes the output from each coil to determine a position of the antenna array relative to the guide wire;
c) wherein the position of the antenna array may be dynamically offset relative to the guide wire.
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Accused Products
Abstract
A Variable Offset Positioning Antenna Array for Enhanced Guidance of Automated Guided Vehicles (AGVs) in automated warehousing or storage systems for automobiles or the like, includes two or more inductor coils producing output as a result of interaction with a guidance wire located in or near the surface of the floor which is energized by a frequency generator, and an on board programmable microprocessor which processes the coil output to determine an exact position of the antenna array relative to the guidance wire. In one embodiment, the antenna array enables an AGV to follow a guidance wire at an offset to the direction of travel in order to allow automated storage and retrieval systems to handle asymmetrical items, such as automobiles, more efficiently and cost effectively by decreasing the building space required for travel aisles, vertical conveyors and storage locations as well as decreasing total individual item processing time.
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Citations
21 Claims
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1. A variable offset positioning antenna array for an automated guided vehicle (AGV) that is adapted to follow a guide wire having a frequency, comprising:
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a) two or more inductor coils that each generate an output based on a strength of the frequency sensed at each coil; and b) a programmable microprocessor that processes the output from each coil to determine a position of the antenna array relative to the guide wire; c) wherein the position of the antenna array may be dynamically offset relative to the guide wire. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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- 13. An automated guided vehicle (AGV) adapted to follow a guide wire or the like, the AGV comprising at least one antenna in communication with a master control system and having a programmable microprocessor that enables the AGV to dynamically assume a linear, angular or skewed offset position relative to the guide wire or the like in accordance with instructions provided by the control system.
- 16. An automated storage system for storing a plurality of objects in storage locations, the automated storage system comprising a master control computer, a guide wire network, and a plurality of automated guided vehicles (AGVs) each having an onboard microprocessor and a receiver for receiving control commands from the master control computer, wherein each AGV can dynamically assume an offset position relative to the guide wire network in accordance with instructions provided by the master control computer.
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21. An automated storage system for storing a plurality of storage lockers in storage locations, the automated storage system comprising a master control computer, a guidance network such as a guide wire network, a plurality of storage lockers, and a plurality of automated guided vehicles (AGVs) each having an onboard microprocessor and a receiver for receiving control commands from the master control computer, wherein each AGV can deliver a storage locker from a loading location to a storage location and dynamically assume an offset position relative to the guide wire network during transport of the storage locker.
Specification