Automatic guiding device for an indoor goods transporter
First Claim
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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.
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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.
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Citations
9 Claims
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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:
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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. - View Dependent Claims (2, 3, 4, 5)
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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:
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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.
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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:
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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. - View Dependent Claims (8, 9)
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Specification