Automatic guiding device for an indoor goods transporter

• US 4,413,210 A
• Filed: 12/19/1980
• Issued: 11/01/1983
• Est. Priority Date: 01/15/1980
• Status: Expired due to Fees

• Current Assignee: Kottgen GmbH & Company KG
• Original Assignee: Kottgen GmbH & Company KG
• Inventors: Gronau, Jurgen
• Primary Examiner(s): Weldon, Ulysses
• Application Number:
  US06/218,411
• Time in Patent Office: 1,047 Days
• Field of Search: 73/505, 343/12 R, 343/112 CA, 250/200, 250/201, 250/202, 46/117, 318/16, 340/52 H, 180/167-169, 180/79.1, 180/131, 180/142
• US Class Current: 318/16
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93

Abstract

An automatic guiding device for an indoor goods transporter comprising a path detector being responsive to stationary guiding facilities and controlling a steering means of the vehicle.

Claims

1. An automatic guiding device for guiding a travelling vehicle in a path parallel to a stationary lateral surface at a predetermined distance from the lateral surface, the guiding device comprising:

transmitter means for transmitting a propagating wave signal to the lateral surface;

receiver means for receiving the wave signal reflected from the lateral surface;

measuring means responsive to the transmitter means and the receiver means, for determining the transit time of the wave signal from the transmitter means to the receiver means, and providing a signal indicative of the measured lateral distance from the vehicle to the lateral surface and for providing an outside range signal when the measured lateral distance is outside a predetermined range;

comparison means for comparing the measured lateral distance signal with a predetermined reference distance signal;

steering means responsive to the comparison means, for steering the vehicle so that the vehicle maintains a predetermined distance from the lateral surface; and

holding means responsive to the measuring means, for holding the steering means in response to the outside range signal so that the vehicle continues on the course set immediately prior to the measured lateral distance falling outside the predetermined range.

2. A guiding device according to claim 1 wherein the transmitter means includes a sound transmitter and the receiver means includes a sound receiver.

3. A guiding device according to claim 1 wherein the transmitter means includes an electromagnetic wave transmitter and the receiver means includes an electromagnetic wave receiver.

4. A guiding device according to claim 3 wherein the transmitter means includes a laser.

5. The guiding device of claim 1 wherein the vehicle has drive means for driving the vehicle, the guiding device further comprising timing means responsive to the measuring means, for timing an interval of time upon the initiation of the outside range signal from the measuring means, and disconnecting means, cooperating with said timing means, for disconnecting the drive means upon the expiration of the timed interval if the outside range signal from the measuring means is still present.

6. An automatic guiding device for guiding a travelling vehicle in a path parallel to intermittent stationary lateral surfaces at a predetermined distance from the lateral surfaces, the guiding device comprising:

transmitter means for transmitting a propagating wave signal to a lateral surface;

receiver means for receiving the wave signal reflected from the lateral surface;

measuring means responsive to the transmitter means and the receiver means, for determining the transit time of the wave signal from the transmitter means to the receiver means, and providing a signal indicative of the measured lateral distance from the vehicle to the lateral surface and for providing an outside range signal when the measured lateral distance is outside a predetermined range;

comparison means for comparing the measured lateral distance signal with a predetermined reference distance signal;

steering means responsive to the comparison means, for steering the vehicle to set a course such that the vehicle maintains a predetermined distance from the lateral surfaces; and

holding means responsive to the measuring means, for controlling the steering means in accordance with the last measured lateral distance signal within the predetermined range so that the vehicle holds the last course set if a discontinuity outside the predetermined range is encountered.

7. In a transport vehicle having steering means for steering the vehicle and a guiding device for automatically guiding the vehicle by measuring the lateral distance from the vehicle to a stationary lateral surface and controlling the steering means of the vehicle in accordance with the measured distance, the improvement comprising:

means for detecting when the measured lateral distance exceeds a predetermined maximum; and

means responsive to the detecting means for controlling the steering means to maintain the steering course set immediately prior to the measured lateral distance exceeding the predetermined maximum and for releasing the steering means when the measured lateral distance is below the predetermined maximum.

8. The vehicle of claim 7 further comprising timing means for timing the duration of time during which the measured lateral distance exceeds the predetermined maximum;

and stopping means, cooperating with said timing means, for stopping the vehicle if the measured lateral distance remains in excess of the predetermined maximum upon the expiration of a period of time.

9. The vehicle of claim 8 wherein the duration of the period of time timed by the timing means is inversely proportional to the speed of the vehicle.