Object position and condition detection system

• US 4,247,922 A
• Filed: 10/12/1978
• Issued: 01/27/1981
• Est. Priority Date: 10/12/1978
• Status: Expired due to Term

• Current Assignee: AM International Incorporated (Paragon Corporate Holdings, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: Jackson, Dale H., Murray, Robert R.
• Primary Examiner(s): Farley, Richard A.
• Application Number:
  US05/950,676
• Time in Patent Office: 838 Days
• Field of Search: 340/3 E, 343/5 BD, 343/112 D, 367/2, 367/6, 367/117, 367/128
• US Class Current: 367/6
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G01S 11/14 using ultrasonic, sonic, or infrasonic waves
• CPC Class Codes: G01S 3/30 derived directly from separate directional systems
• CPC Class Codes: G01S 5/0009 Transmission of position information to remote stations involving assistance data G01S5/0236
• CPC Class Codes: G01S 5/18 using ultrasonic, sonic, or infrasonic waves

Abstract

A lift truck (16) carries a leftwardly directed ultrasonic receiver (32L) and a rightwardly directed ultrasonic receiver (32R) and an RF transmitter (34). Upon depositing its load in an assigned bin in a warehouse (FIG. 1), a load sensor (22) is actuated to cause transmission of a coded signal as to lift height and vehicle identification to a central station (60). This initiates a vehicle search by energizing ultrasonic transmitters (42-52). The ultrasonic receivers (32L and 32R) on a vehicle in a path under surveillance detect the sonic signal and relay this to the central station by way of the RF transmitter (34). The time duration which elapsed from energization of the ultrasonic transmitter to detection of the sonic signal is used to measure vehicle path depth and a comparison of the magnitudes of the sonic signals received by the receivers (32L and 32R) indicates the heading direction of the vehicle.

Claims

1. A system for detecting path position of a load carrying vehicle adapted to travel along a path and deposit its load at an assigned location along said path, comprising:

means carried by said vehicle for transmitting a first signal indicative that the load has been removed from the vehicle;

means, for upon actuation, transmitting an energy beam along said path;

receiver means at a central station responsive to said first signal for actuating said energy transmitting means;

beam detection means carried by said vehicle for receiving a said energy beam, said vehicle carried transmitting means being coupled to said detection means and including meand for transmitting a second signal indicative of the reception of said received energy beam, and

said central station receiver means including means responsive to said second signal for determining the path position of said vehicle.

2. A system as set forth in claim 1 wherein said energy transmitting means includes a sonic transmitter for transmitting sonic signals along said path, said beam detection means includes means for detecting said sonic signal when the vehicle is located in said path.

3. A system as set forth in claim 2, wherein said central station receiver means includes means for determining the path depth of the vehicle from the sonic transmitter by timing the elapsed period between transmission of said sonic signal and reception thereof by said vehicle carried beam detection means as manifested by reception of said second signal at said central station.

4. A system as set forth in claim 3, wherein said vehicle carried transmitting means also includes means for transmitting vehicle identification information along with said load information.

5. A system as set forth in claim 4, wherein said vehicle is a lift truck having a load carrying lift movable to various load heights, means carried by said vehicle for providing lift height information for transmission along with said load and vehicle identification information.

6. A system as set forth in claim 2, wherein said vehicle carried transmitting means includes an RF transmitter for transmitting said first signal to said central station, said receiving means at said central station including RF receiver means.

7. A system as set forth in claim 1, wherein said energy transmitting means includes a sonic transmitter for transmitting sonic signals along said path, said vehicle carried beam detection means includes first and second differently directionally directed sonic detector means for supplying said second signal so as to respectively include a first component and a second component having values respectively representative of the magnitudes of sonic signals simultaneously received by said first and second sonic detector means.

8. A system as set forth in claim 7, wherein said central station includes means responsive to said first and second components of said second signal for determining therefrom the vehicle heading direction of said vehicle.

9. A system as set forth in claim 8, wherein said central station includes means for comparing the values of said first and second components to determine which of said sonic detector means received the loudest sonic signal, thereby attaining a measure of vehicle heading direction.

10. A system for detecting path position of a vehicle adapted to travel along a path to an assigned location along said path, comprising:

first transmitter means for transmitting a first signal along said path when the position of said vehicle is to be determined;

first receiver means carried by said vehicle for receiving a said first signal;

second transmiter means carried by said vehicle for transmitting a second signal along said path upon receipt of said first signal by said first receiver means;

second receiver means associated with said first transmitter means for receiving said second signal;

at least one of said first and second transmitter means including means for transmitting a sonic signal, whereby at least one of said first and second signals comprises a sonic signal;

means for determining the position of said vehicle along said path upon the basis of the time interval between transmission and reception of said sonic signal; and

,

said vehicle further carries means for providing an indication that the position of said vehicle is to be determined, and for causing said second transmitter means to transmit a third signal in response to said indication, and wherein said first transmitter menas is actuated to transmit said first signal when said third signal is received by said second receiving means.

11. A system as set forth in claim 10, wherein said first transmitter means comprises a sonic signal transmitter, whereby said first signal comprises a sonic signal.

12. A system as set forth in claim 10, wherein said path position determining means comprises means for providing a time interval measurement indicative of the time interval between transmission of said first signal and reception of said second signal, and means for determining said path position from said time interval measurement.

13. A system as set forth in claim 10, wherein said vehicle comprises a load carrying vehicle, and wherein said indication providing means comprises means for providing said indication upon a change in the amount of load carried by said vehicle.