Automatic vehicle control system

• US 4,956,777 A
• Filed: 06/09/1988
• Issued: 09/11/1990
• Est. Priority Date: 06/09/1988
• Status: Expired due to Fees

• Current Assignee: RJ Reynolds Tobacco Company (British American Tobacco PLC)
• Original Assignee: R J Reynolds Tobacco Company (R. J. Reynolds Tobacco)
• Inventors: Donovan, Michael F., Hunt, William R. III, Martin, Marvin R., Twine, David C., Shamb, Aftab, Shepard, Michael D., Hughes, Kolleen C., Summers, William F., Utt, Lonnie M. Jr., Jarvis, William R., Gardea, Raymond A. II, Cearley, Thomas W.
• Primary Examiner(s): Chin, Gary
• Application Number:
  US07/204,336
• Time in Patent Office: 824 Days
• Field of Search: 364/424.01, 364/424.02, 364/513, 180/167, 180/168, 180/169, 371/9.1
• US Class Current: 701/24
• CPC Class Codes: B61L 27/04 Automatic systems, e.g. controlled by train; Change-over to manual control
• CPC Class Codes: G05B 19/41865 characterised by job scheduling, process planning, material flow
• CPC Class Codes: G05B 19/41895 using automatic guided vehicles [AGV] control of position or course of AGV's G05D1/00
• CPC Class Codes: G05B 2219/31002 Computer controlled agv conveys workpieces between buffer and cell
• CPC Class Codes: G05B 2219/31286 Detect position of articles and equipment by receivers, identify objects by code
• CPC Class Codes: G05B 2219/31432 Keep track of conveyed workpiece, batch, tool, conditions of stations, cells
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes

Abstract

The system includes a first computer for communicating with automatic guided vehicles on a guided vehicle loop and storing information related to vehicle position. A second computer determines vehicle destinations. The first computer and the second computer maintain separate databases. Information in the data of the first computer relating to vehicle position is copied into the database of the second computer to assist in making vehicle destination determinations and the vehicle destination information stored in the database of the second computer is copied into the first computer. The invention also includes a unique fast and slow polling routine to insure that data transfer to the vehicles requiring it most is achieved in any polling cycle.

Claims

1. A system, comprising:

a guided vehicle path;

a plurality of guided vehicles operating along said path;

a plurality of indicators positioned along said path for indicating to said vehicles position on said path; and

a guided vehicle controller, comprising;

means for communicating with said guided vehicles;

a first computer system for exchanging information with said guided vehicles through said communicating means, said first computer system including a first memory section for storing information received from said vehicles including vehicle position information of each vehicle in relation to said indicators and including a second memory section for storing information to be transmitted to said vehicles including vehicle destination information;

a second computer system for receiving vehicle movement requests from external sources and determining which vehicles are to respond to said requests, said second computer system including a third memory section for storing information relating to vehicle position in relation to said indicators and including a fourth memory section for storing information including vehicle destination information;

first transfer means for copying said information in said first memory section to said third memory section so that said first memory section and said third memory section contain the same vehicle position information; and

second transfer means for copying said information in said fourth memory section to said second memory section so that said fourth memory section and said second memory section contain the same vehicle destination information.

2. A system as claimed in claim 1 wherein said first transfer means includes an intermediate memory for temporarily storing said vehicle position information.

3. A system as claimed in claim 1 wherein said second transfer means includes an intermediate memory for temporarily storing said vehicle destination information.

4. A system as claimed in claim 1 wherein said guided vehicle controller further includes a third computer system for backing up said first computer system, said third computer system having a fifth memory section for storing said vehicle position information and a sixth memory section for storing said vehicle destination information, and a fourth computer system for backing up said second computer system, said fourth computer system having a seventh memory section for storing said vehicle position information and an eight memory section for storing said vehicle destination information and said first transfer means includes means for copying said vehicle position information to said fifth memory section and to said seventh memory section, and said second transfer means includes means for copying said vehicle destination information to said sixth memory section and to said eighth memory section.

5. A system as claimed in claim 1 wherein said vehicle position information for each vehicle includes the last position indicator passed by the vehicle and the next position indicator to be reached by the vehicle.

6. A system as claimed in claim 1 wherein said first computer system includes means for determining the expected travel time of each vehicle to an upcoming position indicator and said first computer system stores information indicative of said expected travel time in said first memory section.

7. A system as claimed in claim 6 wherein said first transfer means copies said expected travel time information from said first memory section to said third memory section.

8. A system as claimed in claim 1 wherein said communicating means comprises a radio communications link between said first computer system and each vehicle.

9. A system, comprising:

a guided vehicle path;

a plurality of guided vehicles operating along said path;

a plurality of indicators positioned along said path for indicating to said vehicles position on said path; and

a guided vehicle controller, comprising;

means for communicating with said guided vehicles;

a first computer system for exchanging information with said guided vehicles through said communicating means, said first computer system including a first memory section for storing information received from said vehicles including vehicle position information of each vehicle in relation to said indicators and including a second memory section for storing information to be transmitted to said vehicles including vehicle destination information;

a second computer system for receiving vehicle movement requests from external sources and determining which vehicles are to respond to said requests, said second computer system including a third memory section for storing information relating to vehicle position in relation to said indicators and including a fourth memory section for storing information including vehicle destination information;

first transfer means for copying said information in said first memory section to said third memory section so that said first memory section and said third memory section contain the same vehicle position information; and

second transfer means for copying said information in said fourth memory section to said second memory section so that said fourth memory section and said second memory section contain the same vehicle destination information;

wherein said first computer system polls said vehicles using a fast polling routine for vehicles within a first predetermined distance of a next position indicator and using a slow polling routine after the fast polling routine is completed, and wherein said fast polling routine includes requesting information from each vehicle as to its position, storing said requested fast polling position information in said first memory section and indicating to each fast polled vehicle whether it should stop or continue

10. A system as claimed in claim 9 wherein said slow polling routine comprises sending new destination information to each vehicle requiring a new destination, and requesting of vehicles not polled during said fast polling routine information relating to vehicle position, storing said requesting slow poll vehicle position information in said first memory section, indicating to said slow polled vehicles whether they should stop or continue and requesting error information from all vehicles.

11. A system as claimed in claim 9 wherein said fast polling routine is begun at predetermined time intervals and said slow polling routine is begun only after said fast polling routine is completed, and wherein said first computer system designates a cycle time and terminates said slow polling routine when said cycle time has ended, stores information relating to the termination of said slow polling routine in said first memory section and continues the slow polling routine when a subsequent fast polling routine is indicated.

12. A system, comprising:

a plurality of vehicles traveling on predetermined paths;

indicators on said paths for indicating to said vehicles the position of said vehicles along said paths;

means for communicating with each of said vehicles;

a controller for receiving position information from said vehicles through said communicating means and for transmitting control information to said vehicles through said communicating means, said controller including means for prioritizing said vehicles based on an expected distance to said indicators such that vehicles expected to be within a first predetermined distance of one of said indicators are given a high priority and vehicles expected to be within a second predetermined distance to one of said indicators are given a low priority, said control information including a first type of information to be sent to said vehicles and a second type of information to be sent to said vehicles, and means for polling said vehicles first in a high priority sequence and then in a low priority sequence such that, during said high priority sequence, said high priority vehicles are polled to obtain position information from each polled vehicle and said first type of information is transmitted to each polled vehicle, and such that, during said low priority sequence, low priority vehicles are polled to obtain position information and said first type of information is transmitted to said low priority vehicles and said second type of information is transmitted to said high priority vehicles and to said low priority vehicles.

13. A system as claimed in claim 12 wherein said controller establishes a polling cycle having a predetermined time, and wherein said polling means polls all of said high priority vehicles regardless of said polling cycle but terminates said polling of said low priority vehicles when said predetermined time has expired.

14. A system as claimed in claim 13 wherein said polling cycle is repetitive and said polling means polls all high priority vehicles during each repetition of said polling cycle and polls low priority vehicles only after all of said high priority vehicles have been polled and said predetermined time has not expired.

15. A system as claimed in claim 12 wherein, during said low priority sequence, said polling means first transmits said second type of information to all vehicles requiring it, then polls said low priority vehicles to obtain position information.

16. A system as claimed in claim 15 wherein said second type of information comprises destination information.

17. A system as claimed in claim 12 wherein said first type of information comprising blocking data indicates that the polled information should stop and release blocking data indicates that the polled vehicle should continue.

18. A system as claimed in claim 12 wherein said information received from said vehicles includes a request for a new destination.

19. A system as claimed in claim 12 wherein said information received from said vehicles includes an indication of an error.