System for sensing arrival of an automatic guided vehicle at a wire

• US 5,127,486 A
• Filed: 11/23/1990
• Issued: 07/07/1992
• Est. Priority Date: 11/23/1990
• Status: Expired due to Fees

• Current Assignee: HK Systems Incorporated (KION GROUP AG)
• Original Assignee: Eaton-Kenway Incorporated
• Inventors: Whatcott, Gary L., Yardley, James V., Petersen, John A. M.
• Primary Examiner(s): Kashnikow, Andres
• Assistant Examiner(s): Johnson, Brian L.
• Application Number:
  US07/617,315
• Time in Patent Office: 592 Days
• Field of Search: 180/167, 180/168, 180/6.48, 180/6.5, 318/587, 340/933, 340/941, 340/988, 364/424.02, 364/449
• US Class Current: 180/168
• CPC Class Codes: B62D 1/28 non-mechanical , e.g. following a line or other known markers
• CPC Class Codes: G05D 1/0261 using magnetic plots
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Apparatus for detecting an automatic guided vehicle'"'"'s longitudinal position and to enable positioning of the vehicle at a load pickup/delivery terminal or other place. In one arrangement a mat having a passive short-circuited loop of wire embedded in it is positioned on the floor. On the vehicle an oscillator and a transmitting antenna provide a primary magnetic field that excites the loop in the mat, inducing current in the loop. The loop current produces a secondary magnetic field. Magnetic receiving antennas on the vehicle detect the secondary magnetic field that is caused by portions of the loop that cross the longitudinal axis of the vehicle. Onboard electronic apparatus ascertains and can control the longitudinal position of the vehicle relative to the mat. The same on-board apparatus enables the vehicle to detect a directly energized (connected to a power source) guidewire in the floor that lies across the vehicle'"'"'s path between terminals and at terminals. The vehicle can also navigate between terminals by dead reckoning.

Claims

1. Apparatus for use with an automatic guided vehicle propelled contiguously along a surface on surface engaging means, comprising:

transmitting means on the vehicle for providing a time-varying primary magnetic field;

passive loop means at said surface for receiving said time-varying primary magnetic field and carrying an electric current induced thereby in said loop means, which produces a secondary magnetic field having a predetermined pattern;

receiving means disposed on said vehicle for sensing said secondary magnetic field and providing time varying signals in response thereto;

said vehicle having a longitudinal axis of substantially forward and reverse travel and said receiving means being oriented on the vehicle so as to receive said secondary magnetic field when a portion of said loop means extends laterally across said longitudinal axis of said vehicle at said receiving means;

signal processing means for receiving said signals and processing them to provide information as to said vehicle'"'"'s longitudinal position.

2. Apparatus as in claim 1 and wherein said passive loop means at said surface comprises at least one closed loop of electrically conductive wire.

3. Apparatus as in claim 1 and wherein said receiving means comprises a set of magnetic detectors including:

a first magnetic detector positioned at a first predetermined longitudinal position on the vehicle for detecting magnetic field at said first position;

a second magnetic detector positioned at a second longitudinal position on the vehicle to the rear of said first detector, for detecting a magnetic field at said second position;

a third magnetic detector positioned at a third longitudinal position on the vehicle to the rear of said second detector, for detecting a magnetic field at said third position;

each of said three detectors providing front signals, middle signals, and rear signals, respectively;

and wherein said signal processing means comprises logic means for processing said three detectors'"'"' signals to ascertain the longitudinal position of said vehicle relative to said axis-crossing portion of said loop means.

4. Apparatus as in claim 3 and wherein said magnetic detectors comprise coils of wire on magnetic core material.

5. Apparatus as in claim 3 and further comprising:

a second set of front, middle, and rear magnetic detectors on said vehicle, each detector for sensing a magnetic field and providing a signal;

said two front magnetic detectors being connected such that each output signal from the two front magnetic detectors reinforces the other output signal from the two front magnetic detectors when both output signals from the two front magnetic detectors result from the same-phase magnetic field excitation, and said two middle detectors are connected such that each output signal from the two middle detectors reinforces the other output signal for the two middle magnetic detectors when both output signals from the two middle detectors result from the same-phase magnetic field excitation, and said two rear detectors are connected such that each output signal from the two rear detectors reinforces the other output signal from the two rear detectors when both output signals from the two rear detectors result from the same-phase magnetic field excitation;

whereby three summed signals are provided; and

,

said logic means for processing the signals comprising means for logically combining said three summed signals to detect the longitudinal position of said vehicle at a predetermined area on the surface when at least one of said two sets of detectors produces signals.

6. Apparatus as in claim 1 and wherein said passive loop means for receiving said primary magnetic field and producing a secondary magnetic field comprises two loop configurations of electrical current conductor disposed side-by-side.

7. Apparatus as in claim 1 and further comprising terminal-positioning apparatus comprising:

means for receiving said information provided by said signal-processing means and means for controlling movement of said vehicle in response to said received information.

8. Apparatus as in claim 7 and wherein said surface has a plurality of such loop means, each at a different respective loop location, and said apparatus further comprises:

main guidance equipment disposed on the vehicle for guiding the vehicle even when the vehicle is not at a loop location;

said main guidance equipment comprising navigation and guidance means for recognizing when the vehicle is at a loop location and for providing an arrival signal thereupon;

means for receiving said arrival signal and means for transferring control of said vehicle from said main guidance equipment to said loop guidance apparatus when at a loop location.

9. Apparatus as in claim 8 wherein the receiving means comprise means for sensing said secondary magnetic field essentially symmetrically disposed about a middle detection means whereby said vehicle is operatively bidirectionally guided over the loop.

10. Apparatus as in claim 1 wherein the receiving means comprise means for automatically calibrating a bias setting whereby an undesired offset in the receiving means caused by energy that is directly magnetically coupled to the receiving means from the transmitter means is nulled.

11. Apparatus for use with an automatic guided vehicle propelled contiguously along a surface on surface-engaging means, comprising:

transmitting means on the vehicle for providing a time-varying primary magnetic field;

passive loop means at said surface for receiving said time-varying primary magnetic field and carrying an electric current induced thereby in said loop means, which produces a secondary magnetic field having a predetermined pattern;

receiving means disposed on said vehicle for sensing said secondary magnetic field and providing time varying signals in response thereto;

said vehicle having a longitudinal axis generally common to forward and reverse travel and said receiving means being oriented on the vehicle so as to receive said secondary magnetic field when a portion of said loop means extends laterally across said longitudinal axis of said vehicle at said receiving means;

signal processing means for receiving said signals and processing them to provide information as to said vehicle'"'"'s longitudinal position at a predetermined area on the surface;

said transmitting means on the vehicle comprises;

oscillator means for providing an alternating electrical signal; and

transmitting means connected with said oscillator means for providing said time-varying primary magnetic field.

12. Apparatus as in claim 11 and wherein said transmitting means comprises means for providing said primary magnetic field as an alternating field at a predetermined frequency, and said secondary magnetic field comprises a field also alternating at the predetermined frequency, and wherein at least one of said receiving means and said signal processing means comprises a bandpass filter having a pass band for passing signals of said predetermined frequency and rejecting other frequencies outside the pass band.

13. Apparatus as in claim 11 and wherein said transmitting means comprises one magnetic core encircled by at least one current-conductive coil.

14. Apparatus as in claim 11 and wherein:

said transmitting means comprise magnetic core means, comprising two spaced apart transmitter magnet means each of which are encircled by at least one current-conductive coil for producing portions of said primary magnetic field;

said two magnetic core means being laterally spaced apart on said vehicle; and

,

said passive loop means includes two loop portions that are similarly laterally spaced apart so that each loop portion is magnetically coupled simultaneously with a respective one of said two spaced-apart transmitter magnets;

whereby both transmitter magnet means are able to induce current into said loop means.