Automated guided vehicle

• US 4,846,297 A
• Filed: 06/22/1988
• Issued: 07/11/1989
• Est. Priority Date: 09/28/1987
• Status: Expired due to Fees

• Current Assignee: Tennant Company
• Original Assignee: Tennant Company
• Inventors: Field, Bruce F., Kasper, Joseph G.
• Primary Examiner(s): Marmor, Charles A.
• Assistant Examiner(s): MAR, MICHAEL Y
• Application Number:
  US07/222,894
• Time in Patent Office: 384 Days
• Field of Search: 180/167, 180/168, 180/169, 318/587, 364/424, 356/141, 358/93, 358/103, 358/229
• US Class Current: 180/169
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/0238 using obstacle or wall sensors G05D1/0246 and G05D1/0289 take precedence; lidar systems designed for anti-collision purposes G01S17/93
• CPC Class Codes: G05D 1/0244 using reflecting strips

Abstract

An unmanned, self-propelled vehicle in the nature of a mobile robot has an on-board computer that stores path and machine function instructions and activates the drive and steering systems so as to cause the machine to follow a desired path. A plurality of retroreflective targets are mounted along the desired path. They do not have to be mounted at a specific height or distance apart, nor need they be square to the path. An improved guidance system for keeping the vehicle on the prescribed path includes a laterally scanning laser transmitter-receiver mounted on the vehicle. An electromechanical tracking device controls the angle of elevation of the laser beam so as to keep it aimed at each target successively as the vehicle moves. The laser produces signals which steer the vehicle such that the laser transmitter and targets are kept aligned in a vertical plane. A positioning device can move the laser transmitter transversely on the vehicle so that the vehicle centerline may travel in the vertical plane of the laser or may travel in an offset line parallel to the vertical laser plane. Certain ones of the targets are bar coded and a target counter senses and counts them as the machine moves past them to keep track of where the vehicle is located along its desired path. A motion sensing system using reflective microwave sensors provides speed and distance information.

Claims

1. In an automated guided vehicle having a frame, drive means mounted on the frame for propelling the vehicle, and steering means associated with the frame for controlling the vehicle'"'"'s direction of travel, an improved guidance system for controlling the drive means and steering means so as to guide the vehicle along a predetermined path, the guidance system comprising:

a plurality of targets mounted along the desired path;

sighting means mounted on the vehicle for determining the direction from the sighting means to a target, the sighting means including means for defining a reference line and for comparing the target direction to the reference line to determine a heading error angle;

control means responsive to the sighting means for activating the drive means or steering means as required to steer the vehicle along a path defined by said reference line, by substantially reducing the heading error angle to zero; and

positioning means for moving the sighting means laterally of the vehicle in one direction thereby deliberately inducing a non-zero heading error angle so that the control means will steer the vehicle in the opposite direction to regain a zero degree heading error angle, thereby causing the vehicle to move with the longitudinal center line of the vehicle being laterally offset and parallel to the reference line.

2. The vehicle of claim 1 wherein the targets are retroreflective and wherein the sighting means includes transmitting means for emitting a light beam aimed at the targets.

3. The vehicle of claim 2 wherein the sighting means further includes beam sweeping means for moving the light beam in a scanning plane.

4. The vehicle of claim 3 wherein the beam sweeping means moves the transmitted light beam through a scanning angle of less than 180 degrees.

5. The vehicle of claim 4 wherein the sighting means defines the reference line as the bisector of the scanning angle.

6. The vehicle of claim 5 wherein the sighting means is mounted on the vehicle such that the reference line is parallel to a vertical plane through the vehicle'"'"'s longitudinal center line.

7. The vehicle of claim 2 wherein the sighting means further comprises receiving means for detecting said emitted light reflected from a target and defining a target-in-view signal when such light is detected, and the vehicle further comprises;

tracking means on the vehicle for controlling the angle of elevation of the transmitted light beam, with reference to a horizontal plane, so as to maintain a target-in-view signal substantially continuously as the vehicle moves.

8. The vehicle of claim 7 wherein the transmitting means is pivotally mounted on the positioning means about a horizontal axis perpendicular to the reference line, and the tracking means comprises an actuator connected between the positioning means and transmitting means, responsive to the receiving means to pivot the transmitting means as required to maintain a target-in-view signal as the vehicle moves.

9. The vehicle of claim 1 wherein the positioning means further comprises feedback means for providing a signal indicative of the location of the sighting means.

10. The vehicle of claim 9 further characterized in that the feedback means includes a gear rack mounted on the vehicle frame and a resolver having a gear engageable with the rack to turn the resolver to vary its output as the positioning means moves the sighting means.

11. The vehicle of claim 1 wherein the positioning means further comprises at least one guide way mounted on the frame, a platform slidably mounted on the guide way and adapted for supporting the sighting means, a drive screw rotatably mounted on the frame and in driving relation with the platform, and a motor for driving the screw, thereby causing the platform to slide on the guide way.

12. The vehicle of claim 11 further comprising a feedback means including a gear rack mounted on the vehicle frame and a potentiometer attached to the platform and having a gear engageable with the rack to turn the potentiometer'"'"'s wiper as the platform moves, thereby providing a signal indicative of the platform'"'"'s position.

13. In an automated guided vehicle having a frame, drive means mounted on the frame for propelling the vehicle, and steering means associated with the frame for controlling the vehicle'"'"'s direction of travel, an improved method of controlling the drive means and steering means so as to guide the vehicle along a predetermined path, the method comprising the steps of:

placing a plurality of targets along the desired path;

determining the direction from the vehicle to a target;

defining a reference line;

comparing the target direction to the reference line to determine a heading error angle;

activating the drive means or steering means as required to steer the vehicle along a path defined by said reference line, by substantially reducing the heading error angle to zero; and

moving the sighting means laterally of the vehicle in one direction thereby deliberately inducing a on-zero heading error angle so that the control means will steer the vehicle in the opposite direction to regain a zero degree handling error angle, thereby causing the vehicle to move with the longitudinal center line of the vehicle being laterally offset and parallel to the reference line.

14. The method of claim 13 wherein the targets are retroreflective and wherein the direction to one of the targets is determined by emitting a light beam aimed at the target.

15. The method of claim 14 further characterized by the step of moving the light beam in a scanning plane.

16. The method of claim 15 wherein the transmitted light beam is moved through a scanning angle of less than 180 degrees.

17. The method of claim 16 wherein the reference line is defined as the bisector of the scanning angle.

18. The method of claim 17 further characterized by the step of locating the reference line such that it is parallel to a vertical plane through the vehicle'"'"'s longitudinal center line.

19. The method of claim 14 further comprising the steps of detecting transmitted light reflected from a target, defining a target-in-view signal when such light is detected, and controlling the angle of elevation of the transmitted light beam, with reference to a horizontal plane, so as to maintain a target-in-view signal substantially continuously as the vehicle moves.

20. The method of claim 13 further comprising the step of providing a feedback signal indicative of the location of the sighting means.