Load detecting system for automatic storage apparatus

• US 4,479,207 A
• Filed: 03/19/1982
• Issued: 10/23/1984
• Est. Priority Date: 03/19/1982
• Status: Expired due to Fees

• Current Assignee: Hartman Material Handling Systems Incorporated
• Original Assignee: Hartman Material Handling Systems Incorporated
• Inventors: Hartman Peter W., Brown, Patsy R.
• Primary Examiner(s): Farley, Richard A.
• Application Number:
  US06/359,794
• Time in Patent Office: 949 Days
• Field of Search: 367/87, 367/93, 367/96, 367/118, 367/99, 367/107, 367/108, 367/112
• US Class Current: 367/107
• CPC Class Codes: G01S 15/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurement G01S15/32
• CPC Class Codes: G01S 15/88 Sonar systems specially adapted for specific applications seismic or acoustic prospecting or detecting G01V1/00

Abstract

Apparatus for detecting a load within a preselected bin of an automatic storage rack has a transducer for directing an ultrasonic beam into the bin and for detecting an echo reflected from a load struck by the beam; a digital counter adapted to generate plural bit binary pulses which is started upon initial transmission of the ultrasonic beam; and a programmable memory coupled to the counter and programmed to generate a given bin-ful output signal upon initial transmission of the beam and to subsequently generate the opposite binary bin-empty output signal if no echo has been detected when the pulses from the counter stored in the memory indicate that sufficient time has elapsed after initial transmission for the beam to travel a predetermined distance into the bin and for an echo from a load struck by the beam to return to the transducer.

Claims

1. An apparatus for signalling bin-full, bin-empty and "no echo" conditions in scanning a storage rack bin that has an open end, the apparatus comprising:

ranging means positioned adjacent said open end for transmitting an ultrasonic signal into said bin and for detecting an echo of said ultrasonic signal, said ranging means including means for generating timing signals for successive elapsed times from the transmission of said ultrasonic signal;

means coupled to said ranging means for generating a bin-full signal in response to said timing signals for one of said elapsed times within a first time range corresponding to a first distance range;

means coupled to said ranging means for generating a bin-empty signal in response to said timing signals for another one of said elapsed times within a second time range corresponding to a second distance range; and

means coupled to said ranging means for generating a "no echo" signal in response to said timing signals for another one of said elapsed times beyond said first and second time ranges.

2. The apparatus of claim 1, further comprising bin indicator means coupled for receiving said bin-empty signal, said bin indicator means also being coupled to said ranging means and being responsive to the detection of the echo during said second time range for storing said bin-empty signal for input to an external controller.

3. The apparatus of claim 2, wherein said bin indicator means is also coupled to receive said bin-full signal, the bin indicator means being responsive to the detection of the echo during said first time range for storing said bin-full signal for input to the external controller.

4. The apparatus of claim 1, further comprising fault indicator means coupled for receiving and storing said "no echo" signal for input to an external controller, said fault indicating means being coupled to said ranging means to be enabled to receive and store said "no echo" signal.

5. The apparatus of claim 1, wherein said means for generating the bin-full signal is responsive to a position signal from an external controller to adjust the length of said first time range and the corresponding distance range in which said bin-full signal is generated.

6. The apparatus of claim 1, wherein said means for generating the bin-empty signal is responsive to a position signal from an external controller to adjust the length of said second time range and the corresponding distance range for which said bin-empty signal is generated.

7. An apparatus for signalling bin-full, bin-empty and "no echo" conditions in scanning a storage rack bin that has an open end, the apparatus comprising:

ranging means positioned adjacent said open end for transmitting an ultrasonic signal into said bin and for detecting an echo of said ultrasonic signal, said ranging means including means for generating count signals representing successive times from transmission of said ultrasonic signal; and

programmed memory means coupled to receive said count signals from said ranging means, said programmed memory means storing bin-full signals, bin-empty signals and "no echo" signals, and being responsive to said count signals to transmit (i) a bin-full signal when said count signals correspond to a time in a first time range, (ii) a bin-empty signal when said count signals correspond to a time in a second time range, and (iii) a "no echo" signal when said count signals correspond to a time extending beyond said first and second time ranges.

8. The apparatus of claim 7, further comprising bin indicator means coupled to receive said bin-empty signal from said programmed memory means, said bin indicator means also being coupled to said ranging means and being responsive to the detection of the echo during said second time range, to store said bin-empty signal for input to an external controller.

9. The apparatus of claim 8, wherein said bin indicator means is also coupled to receive said bin-full signal, said bin indicator means being responsive to the detection of the echo during said first time range to store said bin-full signal for input to the external controller.

10. The apparatus of claim 7, further comprising fault indicator means coupled for receiving and storing said "no echo" signal for input to an external controller, said fault indicator means being coupled to said ranging means to be enabled to receive said "no echo" signal.

11. The apparatus of claim 7, wherein said programmed memory means is responsive to a position signal from an external controller to adjust the length of said first time range for which said bin-full signal will be transmitted in response to said count signals.

12. The apparatus of claim 7, wherein said programmed memory means is responsive to a position signal from an external controller to adjust the length of said second time range for which said bin-empty signal will be transmitted in response to said count signals.

13. A method for generating bin-full, bin-empty and "no echo" signals in scanning a storage rack bin that has an open end, the method comprising:

transmitting an ultrasonic signal into said bin, and then detecting any echo of said ultrasonic signal;

generating timing signals representing a plurality of elapsed times from the transmission of said ultrasonic signal;

generating a bin-full signal in response to said timing signals for a first one of the elapsed times;

generating bin-empty signals in response to said timing signals for elapsed times within a time range following said first one of the elapsed times; and

generating a "no echo" signal in response to timing signals for another one of the elapsed times that is beyond said time range associated with the bin-empty signals.

14. The method of claim 13, further comprising the step of storing one of said bin-empty signals upon the detection of an echo of said ultrasonic signal, said bin-empty signal being stored at a location accessible to an external controller.

15. The method of claim 13, further comprising the step of storing said bin-full signal upon the detection of an echo of said ultrasonic signal, said bin-full signal being stored at a location accessible by an external controller.

16. The method of claim 13, further comprising the step of storing said "no echo" signal when an echo has not been detected through said first elapsed time associated with the bin-full signal and through said time range associated with the bin-empty signals.

17. The method of claim 13, further comprising the step of providing, in response to a position signal from an external controller, additional elapsed times for generating bin-full signals in response to said timing signals.

18. The method of claim 13, further comprising the step of adjusting, in response to a position signal from an external controller, said time range for generating bin-empty signals in response to said timing signals.