Vehicle guidance system employing radio blocking

• US 4,284,160 A
• Filed: 03/19/1979
• Issued: 08/18/1981
• Est. Priority Date: 03/19/1979
• Status: Expired due to Term

• Current Assignee: Rapistan Demag Corporation (Siemens AG)
• Original Assignee: Barrett Electronics Corporation
• Inventors: Lieby, David G., DeLiban, Robert
• Primary Examiner(s): Mitchell, David M.
• Assistant Examiner(s): UNDERWOOD, DONALD W
• Application Number:
  US06/021,335
• Time in Patent Office: 883 Days
• Field of Search: 180/168, 180/167, 318/587, 246/5, 246/167 R, 246/34 B, 246/187 C, 104/297, 104/298, 104/299, 104/295
• US Class Current: 180/168
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0265 using buried wires

Abstract

A guidance system for guiding a plurality of unmanned vehicles along a traffic layout includes a plurality of code devices which divide the traffic layout into a plurality of zones and identify each zone by a unique identifying code. Each vehicle includes control circuits having code sensors which sense the identifying code as the vehicle enters a zone and provide data to a present memory which stores present address data representing the identity of the zone in which the vehicle is now traveling. A past memory, which receives data from the present memory, stores past address data representing the identity of the zone in which the vehicle was previously traveling. The control circuits further include a time slot generator which provides timing signals defining a plurality of time slots each of which is assigned to a different zone. A comparator circuit responds to the past address data and the timing signals to effect transmission of a position signal during the time slot assigned to the zone in which the vehicle was previously traveling, and a further comparator circuit responds to the present address data and the timing signals to cause the vehicle to be halted whenever a position signal is received during the time slot assigned to the zone in which the vehicle is presently traveling.

Claims

1. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks, the combination comprising:

identification means for each of said blocks which provide a unique identifying signal for each block;

vehicle control means for each vehicle including heading means for directing the vehicle along the traffic layout, input means for receiving the identifying signal for a given block as the vehicle passes adjacent to its identification means, and means responsive to identifying signals received by said input means for generating position signals indicative of the location of the vehicle along the traffic layout, each of said vehicle control means including timing means operable when enabled to generate a plurality of timing signals which define a plurality of time channels, transmitter means, and enabling circuit means responsive to said timing signals and one of said position signal to enable said transmitter means to transmit a presence signal during at least one of said time channels indicative of a state of occupancy of a given block; and

synchronizing means for periodically generating a synchronizing signal which is transmitted to the vehicles for enabling the timing means of each of said vehicle control means, thereby synchronizing the operation of the timing means for all of the vehicles.

2. A system as set forth in claim 1 wherein the vehicle control means for each vehicle further comprises receiver means for receiving presence signals transmitted by other vehicles, said enabling circuit means being responsive to said timing means and a received presence signal to halt the vehicle in its movement into a given block during the period another vehicle is transmitting a presence signal indicative of its occupancy of a block having a predetermined relation to said given block.

3. A system as set forth in claim 2 wherein said certain ones of said time channels are associated with different ones of said blocks, said timing means including means for counting the timing signals and for providing a plurality of binary coded signals, each identifying a different one of said time channels, and at least one of said position signals comprising a binary coded signal identifying the block in which the vehicle is located, and wherein said enabling circuit means comprises comparator means for comparing said binary coded timing signals with one of said position signals to provide a control output during the time channel associated with the block in which the vehicle is located, and hold means responsive to the control output provided as the vehicle enters a given block to halt the vehicle in its movement into said given block whenever a presence signal is received during the time channel associated with said given block.

4. A system as set forth in claim 2 which comprises guidance means for radiating guidance signals to define paths of said layout, said heading means including signal detecting means responsive to said guidance signals for enabling said vehicle to follow the paths of said traffic layout, the transmitter means and receiver means of each vehicle control means having respective output and input stages coupled to said guidance conductor means to enable the presence signals transmitted by each vehicle to be conducted through said guidance conductor means to other vehicles, and said synchronizing means being coupled to said guidance conductor means to enable the synchronizing signals to be conducted through said guidance conductor means to said vehicles.

5. A system set forth in claim 4 wherein said traffic layout has a main path and secondary path diverging from said main path at a decision point, said guidance means comprising a first guidance conductor extending along said main path and a second guidance conductor extending along said secondary path, first signal generating means for applying signals at a first frequency to said first guidance conductor for defining said main path, and second signal generating means for applying signals at a second frequency to said second conductor for defining said secondary path, said heading means including frequency responsive means adjustable to respond substantially only to the signals of one of said first and second frequencies to thereby control said vehicle to follow an alternative one of said main and secondary paths, and means responsive to receipt of the identifying signal provided by the identification means associated with said decision point to control said frequency responsive means to adjust to the one of the frequencies which represents the preferred route from said decision point to a preselected one of a plurality of stations located along said traffic layout, and wherein said secondary path coverages with said main path at a converging point having an associated identification means which provides converging code signals identifying such point as a converging point, said enabling means including expansion means operable when said input means detects said converging code signals to cause said comparator means to respond to presence signals transmitted in a plurality of time channels by a further vehicle traveling in a further block towards said converging point for controlling the travel of said first-mentioned vehicle through said converging point.

6. A system as set forth in claim 2 wherein said transmitter means for each of said vehicle control means is enabled to transmit a presence signal during the time channel associated with the block in which the vehicle was previously traveling and said enabling means responds to presence signals transmitted during the time channel in which the vehicle is presently traveling.

7. A system as set forth in claim 2 wherein said transmitter means is enabled to transmit presence signals during a plurality of time channels which are associated with blocks having a predetermined relation to the block in which the vehicle is presently traveling.

8. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks, the combination comprising:

identification means for each of said blocks which provide a unique identifying signal for each block; and

vehicle control means for each vehicle including heading means for directing the vehicle along the traffic layout, input means for receiving the identifying signals for each block as the vehicle passes adjacent to the identification means for the blocks, means responsive to identifying signals received by said input means for generating position signals indicative of the location to the vehicle along the traffic layout, each position signal comprising a binary coded signal identifying the block in which the vehicle is located, timing means operable when enabled to generate a plurality of binary coded timing signals which define and identify a plurality of time channels, certain ones of said time channels being associated with different ones of said blocks, enabling means including a comparator circuit for comparing one of said position signals with said timing signals and for generating an enabling signal during at least one of said time channels, identified by a coded timing signal corresponding to said one position signal, and transmitter means responsive to said enabling signal to generate a presence signal representative of the location of the vehicle along the traffic layout.

9. A system as set forth in claim 8 wherein said vehicle control means further comprises receiver means for receiving the presence signals transmitted by other vehicles, and wherein said enabling means comprises a further comparator circuit for comparing a further one of said position signals with said timing signals and for generating a control signal during the time channel associated with a given block the vehicle is about to enter and identified by a coded timing signal corresponding to said further position signal, and hold means responsive to control signal and a received presence signal, indicative of occupancy of a block having a predetermined relation to said given block, to halt the vehicle in its movement into said given block.

10. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks, the combination comprising:

path defining means for defining said traffic layout;

identification means for each of said blocks which provide a unique identifying signal for each block; and

a control system for each vehicle including heading means responsive to said path defining means for directing said vehicle along said traffic layout;

input means for receiving different ones of said identifying signals in response to movement of the vehicle adjacent to different ones of said identification means;

each vehicle control system including control means operable when enabled to respond to said input means and provide a position signal indicative of the location of said vehicle along said traffic layout;

synchronizing means at a control location for periodically generating a synchronizing signal which is transmitted to all of the vehicles;

each vehicle control system further including timing means responsive to said synchronizing signal for generating a plurality of timing signals which define a plurality of time slots, different ones of said time slots being assigned to different ones of said blocks, transmitter means for each vehicle responsive to the position signal provided by its associated control means to transmit a presence signal during a time slot indicative of the block in which the vehicle is located, receiver means for each vehicle for receiving the presence signals transmitted by other vehicles, and hold means responsive to said position signal and a received presence signal to halt the vehicle in its movement into a given block during the period another vehicle is transmitting a presence signal indicative of its presence in a block having a predetermined relation to said given block.

11. A system as set forth in claim 10 wherein said path defining means comprises first guidance conductor means for radiating guidance signals at a first frequency for defining a main path of said traffic layout and second guidance conductor means for radiating guidance signals at a second frequency defining a secondary path of said traffic layout which diverges from said main path at a decision point, the presence signals of each of said vehicle control systems being transmitted over said guidance conductor means to other ones of said vehicles, and said path defining means further including signal generating means at said control location for generating guidance signals at said first and second frequencies for application to said first and second guidance conductor means, respectively, said vehicle heading means having frequency responsive means for sensing said guidance signals and controlling the travel of said vehicle over said main and secondary paths.

12. A system as set forth in claim 11, wherein the synchronizing signal is transmitted over said first and second guidance conductor means and received by the receiver means of each vehicle control system.

13. A system as set forth in claim 12 which includes first receiver means at said control location for detecting the presence signals transmitted over said first guidance conductor means and for applying said presence signals to said second guidance conductor means and second receiver means for receiving the presence signals transmitted over said second guidance conductor means and for applying said presence signals to said first guidance conductor means.

14. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks, the combination comprising:

path defining means for defining said traffic layout;

identification means for each of said blocks which provide a unique identifying signal for each block; and

a control system for each vehicle including heading means responsive to said path defining means for directing said vehicle along said traffic layout;

input means including sensing means for sensing said identifying signals as said vehicle enters the associated block, encoder means responsive to said sensing means for providing data signals coded to represent information provided by the identification means;

memory means for storing said data signals, said memory means including present memory means for storing data signals representing the identification of the block in which the vehicle is presently traveling, past memory means for storing data signals representing the identification of the block in which the vehicle was previously traveling;

transmitter means operable to transmit a presence signal indicative of the location of said vehicle along said traffic layout;

control means responsive to data signals stored by said past memory means to control the operation of said transmitter means; and

receiver means for receiving presence signals transmitted by other vehicles, said control means being responsive to said first data signals stored by said present memory means and a received presence signal to halt the vehicle in its movement into a given block during the period another vehicle is transmitting a signal indicative of its presence in a block having a predetermined relation to said given block;

memory control means responsive to said input means to be effective each time the vehicle enters a new block to cause the data signals stored in said present memory means to be transferred to said past memory means and to cause data signals, representing the identification of the new block, provided by said encoder means to be stored in said present memory means.

15. A system as set forth in claim 14 wherein said control means includes means responsive to said past memory means to enable said transmitter means to transmit said presence signal, and means responsive to said present memory means to enable said hold means to respond to a presence signal received from a further vehicle.

16. A system as set forth in claim 14 in which said identification means for each of said blocks comprises a plurality of code devices arranged in first and second rows, and wherein said input means comprises first and second two memory means, and means responsive to signal outputs of the code devices of the first row as sensed by said sensing means as the vehicle travels adjacent thereto to generate a signal for enabling said first row memory means to receive coded data signals representing information provided by said code devices of said first row, and means responsive to said first means for enabling said second row memory means to receive the coded data signals representing information provided by the code devices of said second row, said memory control means being responsive to an output of one of said first and second row memory means to effect the transfer of the data signals stored in said present memory means to said past memory means and to effect the transfer of code signals stored in said first and second row memory means to said present memory means over said encoder means.

17. A system as set forth in claim 16 wherein said code devices provide information identifying the block with which it is associated and further information representing heading information for said vehicle heading means.

18. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks, the combination comprising:

path defining means for defining said traffic layout;

identification means for each of said blocks which provide a unique identifying signal for each block; and

a control system for each vehicle including heading means responsive to said path defining means for directing said vehicle along said traffic layout;

input means for receiving different ones of said identifying signals in response to movement of the vehicle adjacent to different ones of said identification means and for providing data signals indicative of the location of the vehicle along the traffic layout;

present memory means for storing the data signals;

past memory means for receiving said storing data signals from the present memory means to thereby store data signals representing the identity of the block in which the vehicle was previously traveling, time slot generating means for providing timing signals defining a plurality of time slots including a different time slot corresponding to each of said blocks;

first comparator circuit means responsive to said timing signals and to data signals stored by said memory means to effect transmission of a position signal during the time slot assigned to the block in which the vehicle was previously traveling, and second comparator circuit means responsive to said timing signals and to data signals stored by said present memory means to generate an output to cause the vehicle to be halted whenever a position signal provided by another vehicle is received during the time slot assigned to the block in which the vehicle is presently traveling.

19. A system as set forth in claim 18 which further comprises memory control means responsive to said input means as said vehicle travels adjacent to the identification means for each block to effect the transfer of the data signals in said present memory means to said past memory means and to effect the storage in said present memory means of data signals representing the information provided by the identification means of the block which the vehicle is presently entering.

20. A system as set forth in claim 18 wherein said time slot generating means comprises a digital counter means operable when enabled to generate sets of digitally coded signals each defining a different one of said time slots, said past memory means and said present memory means each providing a set of digitally cooded signals as an address for the identity of the block in which the vehicle was previously traveling and the block in which the vehicle is presently traveling, said first and second comparator circuit means being operable to compare the sets of data signals provided by said counter means with the data signals provided by said past and present memory means in generating said position signal and said output for halting the vehicle.

21. A system as set forth in claim 20 which further comprises synchronizing means at a control location for generating a synchronizing signal for transmission to the vehicle control systems for all of said vehicles for synchronizing the operation of the counter means of each of said vehicles.

22. A system as set forth in claim 18 wherein said path defining means comprises guidance conductor means for radiating guidance signals for defining said traffic layout, said synchronizing signal and said presence signals being transmitted over said guidance conductor means.

23. In a guidance system for guiding a plurality of vehicles along a traffic layout, which includes at least one traffic path having a plurality of stations and a plurality of location identification points spaced along said path, including said stations, positioned at said points, the combination comprising guidance conductor means extending along said traffic layout, drive means for energizing said guidance conductor means to provide course-defining signals along said guidance conductor means, each of said vehicles including guide path sensing means for sensing the course defining signals to providing heading information indicative of desired route to a preselected one of said stations and control means for controlling route selection and advancement of said vehicle along said route, said control means including sensing means responsive to each location identification means to provide location data signals;

control means responsive to data signals to generate a control output;

transmitter means responsive to said control output to generate a presence signal indicative of the position of said vehicle, means for coupling said presence signal to said guidance conductor means for transmission thereover to other vehicles located on said traffic layout; and

receiver means coupled to said guidance conductor means for receiving presence signals transmitted by other vehicles and for providing an output to said control means to effect halting of the vehicle in accordance with the location of the vehicle relative to other vehicles, and synchronizing means coupled to said guidance conductor means at a control location for generating a synchronizing signal which is transmitted over said guidance conductor means to all of said vehicles for synchronizing the operation of the control means thereof to thereby enable different ones of said vehicles to transmit their position signals during a different one of a plurality of time intervals each of which is indicative of a different location along the traffic layout.

24. In a guidance system for guiding a plurality of vehicles along a traffic layout divided into a plurality of traffic control blocks and having a main path and a seconary path diverging from said main path at a decision point and a plurality of stations located along said paths, the combination comprising:

identification means positioned at a number of points along said layout, including said stations and said decision point, for providing coded information signals, including block-identification signals, the identification means at each of said points being operable to provide block identification signals which are different than the block identification signals provided at other points in the traffic layout, a control system for each vehicle for controlling the travel of the vehicle to a preselected station beyond said decision point over a first, preferred path, said control system including sensing means operative to sense the information provided by the identification means at said decision point, heading means for comparing information indicative of said preselected station with the location information provided by said sensing means, steering means operable to provide a steering signal representative of the preferred path for said identified decision point to said preselected station;

transmitter means for transmitting a presence signal indicative of the location of the vehicle;

receiver means for receiving the presence signals transmitted by other mobile vehicles located along said traffic layout; and

control means for utilizing the received presence signals to over-ride the steering signal in the selection of a second, alternative path whenever the steering signal would otherwise direct a vehicle to enter the first path and encounter a congested traffic condition thereat, said control means including timing means operable when enabled for generating a plurality of timing signals defining a plurality of time slots, different ones of said time slots being assigned to different ones of said points along said layout, and said control means including means responsive to said timing signals and to the information sensed by said sensing means to transmit its position signal during the time slot assigned to the block in which the vehicle was previously traveling, said control means further including means responsive to presence signals received from other vehicles and to information sensed by said sensing means in selecting a path for the vehicle beyond said decision point; and

synchronizing means for periodically generating a synchronizing signal which is transmitted to the vehicles for enabling the timing means of each of said vehicle control means, thereby synchronizing the operation of the timing means for all of the vehicles.

25. A system as set forth in claim 24 wherein said control means includes means responsive to information provided by said sensing means to be operable to provide a control output when a presence signal is transmitted by a further vehicle during the time slot assigned to the first block on the preferred path extending from said decision point, said control output being used to halt the vehicle in its movement into the first block of said alternative path extending from said decision point in response to the receipt of a presence signal during the time slot assigned to the first block of said alternative path extending from said decision point.

26. A system as set forth in claim 24 wherein said secondary path converges with said main path at a converging point, the identification means associated with said converging point providing converging code signals identifying such point as a converging point, said control means including expansion means responsive to said converging code signals to enable said hold means to respond to presence signals transmitted in a plurality of time slots which are assigned to blocks leading toward said converging point.