Automated warehouse vehicle position determining system

• US 4,218,616 A
• Filed: 03/27/1978
• Issued: 08/19/1980
• Est. Priority Date: 03/27/1978
• Status: Expired due to Term

• Current Assignee: HK Systems Incorporated (KION GROUP AG)
• Original Assignee: Litton Systems Incorporated (Northrop Grumman Corporation)
• Inventors: Loomer, Weston R.
• Primary Examiner(s): Nelms, David C.
• Assistant Examiner(s): Westin, Edward P.
• Application Number:
  US05/890,219
• Time in Patent Office: 876 Days
• Field of Search: 250/561, 250/223 R, 250/566, 250/568, 356/141, 356/152, 356/399, 356/400, 356/401, 214/16.4 A, 214/16.4 B, 180/98, 414/274, 414/281, 340/23
• US Class Current: 250/223.00R
• CPC Class Codes: B65G 1/065 with self propelled cars

Abstract

A system for determining the position of vehicles in an automated warehouse of the type utilizing transfer vehicles and robot vehicles is disclosed. The position determining system includes a photo-electric sensor flexibly coupled to a robot vehicle, which sensor is responsive to its alignment with a pallet stored in the warehouse. The system further includes a photo-electric reflector retaining bracket mounted adjacent to an aisle in the warehouse, the bracket supporting a number of reflectors arranged in a pattern containing information identifying the aisle. A photo-electric transceiver supported by a mounting bracket is connected to a transfer vehicle and is arranged to provide an output signal related to the pattern of the reflectors when the transceiver is in alignment with the reflectors whereby the transfer vehicle is apprised of its location in the warehouse. The system also includes an activation reflector having a smaller reflective expanse than the pattern forming reflectors, the activation reflector being used to activate the pattern responsive portion of the transceiver. The system further includes a pair of fine alignment photo-electric transceivers which serve to finely align the transfer vehicle by requiring the vehicle to search for a position in which the two fine alignment transceivers are simultaneously aligned with a reflector supported by the retaining bracket.

Claims

1. A vehicle position determining system comprising:

a vehicle arranged for movement along a path;

an electro-magnetic wave reflector retaining member;

one or more electro-magnetic wave reflectors supported by said retaining member, said reflectors arranged in a location information containing pattern;

electro-magnetic wave transceiver means;

one of said retaining members and said transceiver means being coupled to said vehicle and the other being fixedly positioned whereby said transceiver means and said retaining member are arranged for relative movement into and out of alignment with one another, said transceiver means adapted to provide an output signal related to said pattern upon the alignment of said transceiver means and said reflectors;

an activation electro-magnetic wave reflector having a reflector expanse which is less than the reflective expanse of the reflectors arranged in said location information containing pattern supported by said retaining member; and

wherein said electro-magnetic wave transceiver means includes an activation transceiver,

the alignment of said activation transceiver with said activation reflector providing a signal adapted to activate the remainder of said transceiver means whereby said transceiver means is permitted to provide said output signal.

2. A vehicle position determining system comprising:

a vehicle arranged for movement along a path;

an electro-magnetic wave reflector retaining member;

one or more electro-magnetic wave reflectors supported by said retaining member, said reflectors arranged in a location information containing pattern;

electro-magnetic wave transceiver means;

one of said retaining members and said transceiver means being coupled to said vehicle and the other being fixedly positioned whereby said transceiver means and said retaining member are arranged for relative movement into and out of alignment with one another, said transceiver means being adapted to provide an output signal related to said pattern upon the alignment of said transceiver means and said reflectors;

a fine alignment electro-magnetic wave reflector supported by said retaining member; and

wherein said electro-magnetic wave transceiver means includes fine alignment transceiving means;

said fine alignment transceiver means comprising first and second discrete electro-magnetic transceivers, the positions of which are selectively adjustable for permitting the varying of the positions of said first and second discrete transceivers relative to one another,

said fine alignment transceiving means adapted to provide a fine alignment signal only when both of said first and second discrete transceivers are aligned with said fine alignment reflector, said fine alignment signal being utilized to precisely control the alignment of said vehicle with a pre-selected location along said path.

3. A vehicle position determining system according to claim 2 wherein said electro-magnetic wave transceiver means are arranged along a first linear path and said first and second discrete electro-magnetic fine alignment transceivers are each selectively adjustable along a second linear path, said first path being orthogonal relative to said second path.