MEANS FOR CONTROLLING AUTOMATICALLY MOVED VEHICLE

• US 3,646,890 A
• Filed: 11/28/1969
• Issued: 03/07/1972
• Est. Priority Date: 11/28/1969
• Status: Expired due to Term

• Current Assignee: James H. Snyder
• Original Assignee: James H. Snyder
• Inventors: Snyder, James H.
• Primary Examiner(s): La Point, Arthur L.
• Assistant Examiner(s): Libman, George H.
• Application Number:
  US04/880,582
• Time in Patent Office: 830 Days
• Field of Search: 214/16.42 307/231 328/48,49 104/88 318/601,603 235/150.2,24
• US Class Current: 104/307
• CPC Class Codes: B65G 1/0421 with control for stacker crane operations
• CPC Class Codes: G05B 19/291 the positional error is used to control continuously the servomotor according to its magnitude

Abstract

A material unit handling and storage system has a stacking vehicle movable within an aisle between loading stations at each column of bins. The location of the vehicle within the aisle is sensed by a group of magnetically activated switches on the vehicle that respond to coded magnetic strips placed adjacent each station. A pulse clock and pulse counter system provide correlated pulses and information on the location of the vehicle and the selected destination for the vehicle is stored in count coincident detectors that produce an output upon the occurrence of the pulses corresponding to the location and destination. The difference in time of the occurrence of the pulses provides information to a driving control means that moves the vehicle in the desired direction at high, intermediate and low speeds as it nears its destination and at a fine positioning speed when it arrives at its destination.

Claims

1. A vehicle control system having a vehicle movable to a plurality of stations along a selected path, a driving means for moving the vehicle, and a means for controlling the driving means, said means for controlling comprising:

a designation means foR producing a unique designation signal for each respective station, a pulse means for producing groups of pulses correlated by sequence of occurrence to sequence of position of the stations, said pulse means comprising a pulse generator means for producing a continuous series of pulses, and a counting means adapted to receive the pulses for producing the defined groups of pulses correlated by sequence of occurrence to the sequence of position of the stations, a location means responsive to the groups of pulses and responsive to the unique designation signals for producing a location signal pulse indicating the station at which the vehicle is located, said location means comprises a location sensing means connected to the vehicle and adapted to respond to the destination means at the station at which the vehicle is located for producing a vehicle location signal indicating the location of the vehicle at said station, and a location indicating means correlated to and responsive to the pulse means output and the vehicle location signal for producing the location signal pulse upon the occurrence of the counting means pulse corresponding to the station indicated by said vehicle location signal, a destination means responsive to the groups of pulses for producing a destination signal pulse indicating the station selected as the vehicle destination, and a control means responsive to the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle.

2. A vehicle control system according to claim 1 wherein said destination means comprises a destination signal means for producing a destination signal indicating the selected vehicle destination, and a destination indicating means correlated to and responsive to the counting means pulses and to the destination signal for producing the destination signal pulse.

3. A vehicle control system according to claim 2 wherein said control means comprises a direction means responsive to the sequence of occurrence of the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle in the direction corresponding to the sequence of occurrence of said signal pulses and thereby in the direction toward the station selected as the destination station.

4. A vehicle control system according to claim 3 wherein said control means comprises an interval sensing means for counting the number of interval pulses occurring between the occurrence of the location signal pulse and the occurrence of the destination pulse and for controlling the driving means to move the vehicle at a higher selected velocity when the number of said interval pulses is greater than a selected number and to move the vehicle at a lower selected velocity when the number of interval pulses is equal to or fewer than said selected number.

5. A vehicle control system according to claim 4 also comprising a destination sensing means responsive to the simultaneous occurrence of the location signal pulse and the destination signal pulse for indicating the location of the vehicle at the selected vehicle destination.

6. A vehicle control system according to claim 1 wherein said control means comprises an interval sensing means for counting the number of interval pulses occurring between the occurrence of the location signal pulse and the occurrence of the destination pulse and for controlling the driving means to move the vehicle at a higher selected velocity when the number of said interval pulses is greater than a selected number and to move the vehicle at a lower selected velocity when the number of interval pulses is equal to or fewer than said selected number.

7. A vehicle control system according to claim 1 wherein said control means comprises an interval sensing means for counting the number of interval pulses indicating the number of stations between the vehicle location and the vehicle destination occurring between the occurrence of said two sIgnal pulses and for controlling the driving means to move the vehicle at a high selected velocity when the number of said interval pulses is greater than a first selected number, to move the vehicle at an intermediate selected velocity when the number of interval pulses is equal to or fewer than said first selected number and greater than a second selected number, and to move the vehicle at a low selected velocity when the number of interval pulses is equal to or fewer than said second selected number.

8. A vehicle control system having a vehicle movable to a plurality of stations along a selected path, a driving means for moving the vehicle, and a means for controlling the driving means, said means for controlling comprising:

a designation means for producing a unique designation signal for each respective station, a pulse means for producing groups of pulses correlated by sequence of occurrence to sequence of position of the stations, a master pulse generator means for producing a continuous series of pulses located in the main control center, a slave pulse generator means for producing a continuous series of pulses located in the remote control center, a main counting means located in the main control center adapted to receive pulses from the master pulse generator for producing defined groups of pulses correlated by sequence of occurrence to the sequence of position of the stations, a remote counting means located in the remote control center adapted to receive the pulses from the slave pulse generator, a synchronizing means located for synchronizing outputs of the first and second counting means, a location means responsive to the groups of pulses and responsive to the unique designation signals for producing a location signal pulse indicating the station at which the vehicle is located, a destination means responsive to the group of pulses for producing a designation signal pulse indicating the station selected as the vehicle'"'"''"'"'s designation, and a control means responsive to the location signal pulse and a destination signal pulse for controlling the driving means to move the vehicle.

9. A vehicle control system according to claim 8 wherein said designation means comprises magnetic devices at each respective station positioned to produce coded magnetic fields unique to each respective station.

10. A vehicle control system according to claim 9 wherein said pulse means comprises a multivibrator producing a continuous series of pulses;

and a digital counter connected to receive the pulses and to produce an output defining said pulses in repeating groups of pulses starting with a selected start pulse with the pulses of said groups of pulses individually corresponding to respective stations.

11. A vehicle control system according to claim 10 wherein said location means comprises a sensing device having groups of magnetically responsive reed switches mounted on the vehicle adapted to respond to the designation device magnetic fields at the stations when the vehicle is at a respective station to produce a vehicle location signal indicating the position of the vehicle at said respective station;

and a coincidence counter detector connected to receive the digital counter output and the vehicle location signal for producing a location signal pulse upon the occurrence of the pulse corresponding to the station indicated by said vehicle location signal.

12. A vehicle control system according to claim 11 wherein said destination means comprises a second coincidence counter connected to receive the digital counter output and to receive an input indicating a station selected as the vehicle destination.

13. A vehicle control system according to claim 12 wherein said control means comprises:

a switching circuit responsive to a first occurring location signal pulse to produce an output of one polarity and to a first occurring destination signal pulse to produce an output of another polarity;

a means reSponsive to the polarity of the control signal to control the driving means to move the vehicle in one direction with one polarity and the other direction with the other polarity;

a ripple counter connected to count the number of interval pulses occurring between the occurrence of the first occurring signal pulse and the second occurring signal pulse; and

means responsive to the ripple counter output for controlling the driving means to move the vehicle at a higher selected velocity when the number of said interval pulses is greater than a selected number and to move the vehicle at a lower selected velocity when the number of interval pulses in equal to or fewer than the selected number.

14. A vehicle control system according to claim 13 wherein said destination means also comprises a centering magnet located to provide a final positioning signal;

and said system also comprises an AND gate connected to receive the signal pulses to produce an output when said signal pulses are simultaneous, and means responsive to the AND gate output for controlling the driving means from the centering magnet to center the vehicle at its destination station.

15. A vehicle control system having a vehicle movable to a plurality of stations along a selected path, a driving means for moving the vehicle, and a means for controlling the driving means, said means for controlling comprising:

a designation means at each station for producing a unique designation pulse group signal for each respective station, a pulse means for producing defined groups of pulses correlated by sequence of occurrence to sequence of position of the stations with at least of said pulses respectively corresponding to said stations, a location means responsive to the groups of pulses and responsive to the unique designation signals for producing a location signal pulse upon the occurrence of the pulse group signal corresponding to said station thereby indicating the station at which the vehicle is located;

a destination means responsive to the groups of pulses for producing a destination signal pulse upon the occurrence of the pulse group signal corresponding to a selected vehicle destination station thereby indicating the destination station of the vehicle; and

a control means responsive to the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle at a selected velocity in the direction toward the station selected as the destination station.

16. A vehicle control system according to claim 15 wherein said pulse means comprises a pulse generating device producing a continuous series of pulses;

and a counting means adapted to receive the pulses for grouping the pulses into defined repetitive groups correlated by sequence of occurrence to the sequence of position of the stations with each of said stations corresponding to one of said pulses of each of said groups.

17. A vehicle control system according to claim 16 wherein said location means comprises a location sensing means connected to the vehicle and adapted to respond to the designation signal at the station at which the vehicle is located for producing a vehicle location signal indicating the location of the vehicle at said respective station;

and a location indicating means correlated to and responsive to the counting means pulses and the vehicle location signal for producing the location signal pulse upon the occurrence of the counting means pulse corresponding to the station indicated by said vehicle location signal.

18. A vehicle control system according to claim 17 wherein said destination means comprises a means for producing a destination signal indicating the selected vehicle destination, and a destination indicating means correlated to and responsive to the counting means pulses and the destination signal for producing the destination signal pulse upon the occurrence of the counting means pulse corresponding to the selected vehicle destination.

19. A vehicle control system according to claim 18 wherein said control means comprises a direction means responsive to the sequence of occurrence of the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle in the direction corresponding to the sequence of occurrence of said two signal pulses and thereby in the direction toward the station selected as the destination station.

20. A vehicle control system according to claim 19 wherein said control means comprises an interval sensing means for counting the number of interval pulses occurring between the occurrence of the location signal pulse and the occurrence of the destination pulse and for controlling the driving means to move the vehicle at a higher selected velocity when the number of said interval pulses is greater than a selected number and to move the vehicle at a lower selected velocity when the number of interval pulses is equal to or fewer than said selected number.

21. A vehicle control system according to claim 19 wherein said control means comprises an interval sensing means adapted to count the number of interval pulses indicating the number of stations between the vehicle location and the vehicle destination occurring between the occurrence of the first of the location signal pulse or the destination pulse for controlling the driving means to move the vehicle at a high selected velocity when the number of said interval pulses is greater than a first selected number, to move the vehicle at an intermediate selected velocity when the number of interval pulses is equal to or fewer than said first selected number and greater than a second selected number, and to move the vehicle at a low selected velocity when the number of interval pulses is equal to or fewer than said second selected number.

22. A vehicle control system according to claim 20 also comprising a destination sensing means responsive to the simultaneous occurrence of the location signal pulse and the destination signal pulse for indicating that the vehicle is at the selected destination station.

23. A vehicle control system according to claim 15 wherein said location means comprises a location sensing means connected to the vehicle and adapted to respond to the unique designation signal at the station at which the vehicle is located for producing a vehicle location signal indicating the location of the vehicle at said respective station;

and a location indicating means correlated to and responsive to the pulse means pulses and the vehicle location signal for producing a location signal pulse upon the occurrence of the pulse means pulse corresponding to the station indicated by said vehicle location signal.

24. A vehicle control system according to claim 15 wherein said destination means comprises a means for producing a destination signal indicating the selected vehicle destination;

and a destination indicating means correlated to and responsive to the pulse means pulses and the destination signal for producing the destination signal pulse upon the occurrence of the pulse means pulse corresponding to the selected vehicle destination.

25. A vehicle control system according to claim 15 wherein said control means comprises a direction means responsive to the sequence of occurrence of the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle in the direction corresponding to the sequence of occurrence of said signal pulses and thereby in the direction toward the station selected as the destination station.

26. A vehicle control system according to claim 15 wherein said control means comprises an interval sensing means adapted to count the number of interval pulses occurring between the occurrence of the location signal pulse and the occurrence of the destination pulse for controlling the driving means to move the vehicle at a higher selected velocity when the number of said interval pulses is greater than a selected number and to movE the vehicle at a lower selected velocity when the number of interval pulses is equal to or fewer than said selected number.

27. A vehicle control system according to claim 15 wherein said control means comprises an interval sensing means adapted to count the number of interval pulses indicating the number of stations between the vehicle location and the vehicle destination occurring between the occurrence of the two signal pulses for controlling the driving means to move the vehicle at a high selected velocity when the number of said interval pulses is greater than a first selected number, to move the vehicle at an intermediate selected velocity when the number of interval pulses is equal to or fewer than said first selected number and greater than a second selected number, and to move the vehicle at a low selected velocity when the number of interval pulses is equal to or fewer than said second selected number.

28. A vehicle control system according to claim 15 also comprising a destination sensing means responsive to the simultaneous occurrence of the location signal pulse and the destination signal pulse for indicating the location of the vehicle at the selected destination station.

29. A vehicle control system having a vehicle movable to a plurality of stations along a selected path comprising:

a driving means for moving the vehicle along the path and for stopping the vehicle at selected stations, a designation means for producing a unique designation signal for each respective station, a remote control center and a main control center with only one of said centers located on the vehicle, a master pulse generating device producing a continuous series of pulses located in the main control center, a slave pulse generating device producing a continuous series of pulses located in the remote control center, a main counting circuit located in the main control center adapted to receive pulses from the master generating device and to define the pulses in groups of pulses correlated by sequence of occurrence to the sequence of position of the stations, a remote counting circuit located in the remote control center adapted to receive the pulses from the slave pulse generating device, a synchronizing means located in the main control center for synchronizing the outputs of the main and remote counting circuit, a location means on the vehicle responsive to the designation signal at the station at which the vehicle is located and to the main counting circuit pulses for producing a location signal pulse upon the occurrence of the pulse corresponding to said station thereby indicating the location of the vehicle at said respective station;

a destination means for producing a destination signal pulse upon the occurrence of the pulse corresponding to the selected vehicle destination thereby indicating the selected vehicle destination, and a direction means responsive to the location signal pulse and the destination signal pulse for controlling the driving means to move the vehicle in the direction corresponding to the sequence of occurrence of said two signal pulses and thereby in the direction toward the station selected as the destination station, whereby said vehicle is moved by said driving means to said destination location.

30. A vehicle control system according to claim 29 wherein said designation means comprises coded groupings of magnets at each station;

and said location means comprises a sensing device located on the vehicle adapted to respond to the coded magnet group at the station at which the vehicle is located for producing a unique vehicle location signal in response to said coded magnet group; and

a count coincidence detector located on the vehicle and responsive to the main counting circuit pulses and the vehicle location signal for producing the location signal pulse upon the occurrence of the pulse corresponding to said station.

31. A vehicle control system according to claim 29 wherein said conTrol means comprises a switching circuit responsive to the sequence of occurrence of the signal pulses to provide a power source of one polarity if the location signal pulse occurs first and of the other polarity if the destination signal pulse occurs first;

means responsive to the polarity of the source to control the direction of movement of the vehicle in response to said polarity;

a pulse counter adapted to count the number of interval pulses occurring between the occurrence of the signal pulses to produce one output when the number of said interval pulses is greater than a selected number and to produce another output when the number of interval pulses is equal to or less than said selected number; and

means responsive to the pulse counter outputs to control the driving means to move the vehicle at one velocity in response to one of said pulse counter outputs and at another velocity in response to the other of said pulse counter outputs.