Automated guided vehicle having ground track sensor

• US 5,764,014 A
• Filed: 02/01/1996
• Issued: 06/09/1998
• Est. Priority Date: 02/01/1996
• Status: Expired due to Term

• Current Assignee: Dematic Corporation (KION GROUP AG)
• Original Assignee: Mannesmann Dematic Rapistan Corp. (Siemens AG)
• Inventors: Mickley, Joseph G., Zeitler, David W., Medley, James A., Jakeway, Jerome J.
• Primary Examiner(s): Ro, Bentsu
• Application Number:
  US08/595,353
• Time in Patent Office: 859 Days
• Field of Search: 318/580, 318/587, 318/602, 318/605, 318/618, 318/648, 318/652, 318/653, 318/456, 318/457, 318/461, 318/463, 318/464, 180/6.2, 180/252, 280/1, 280/727, 364/423.098, 364/424.026, 364/424.027, 364/449.1
• US Class Current: 318/587
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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

Abstract

An automated guided vehicle includes a body, at least one driver wheel for propelling the body along a surface, at least one steered wheel for directing the body with respect to the surface and a body-based inertial navigation system. The inertial navigation system senses actual movement of the body in at least three degrees of freedom. Such sensing is accomplished notwithstanding the presence of side slippage of the vehicle. This can be embodied in an automated guided vehicle having a ground track sensor which continuously senses relative movement of the vehicle with respect to the surface being traversed in order to determine an actual velocity vector of the vehicle. The ground track sensor may physically contact the surface in order to sense the relative movement or may be a non-contact sensor. The disclosed navigation system is especially useful with tugger automated guided vehicles.

Claims

1. An automated guided vehicle navigation and steering control system, comprising:

a primary navigation system which senses a heading or a rate-of-change of heading of an automated guided vehicle;

a ground track sensor which continuously senses relative movement of the automated guided vehicle with respect to a surface being traversed by the vehicle in order to determine an actual velocity vector of the vehicle; and

a navigation and control computer which is responsive to said primary navigation system and said ground track sensor for determining an actuated path of movement of the automated guided vehicle and for comparing said actual paths of movement with an intended path of movement in order to control movement of the vehicle.

2. The system in claim 1 wherein said ground track sensor physically contacts the surface in order to sense the relative movement.

3. The system in claim 2 wherein said ground track sensor includes a wheel in physical contact with the surface and does not carry substantially any vehicle weight and is a passive wheel which does not steer or propel the automated guided vehicle.

4. The system in claim 3 including a ground-engaging bias for said wheel.

5. The system in claim 4 wherein said ground-engaging bias includes an arm rotatably mounting said wheel, a horizontal pivot for said arm, and a mechanical bias applying a downward force on said arm.

6. The system in claim 3 wherein said ground track sensor includes a yoke that is rotatably mounted to rotate about a vertical axis, an angle encoder which measures the radial position of said yoke with respect to said vertical axis, a wheel assembly attached to said yoke including a wheel mounted to rotate about a horizontal axis and a distance encoder measuring revolution of said wheel about said horizontal axis.

7. The system in claim 6 including at least one stop which restricts rotation of said yoke to rotate less than 360 degrees about said vertical axis.

8. The system in claim 1 further including at least one driven wheel for propelling the automated guided vehicle and at least one steered wheel for directing the automated guided vehicle.

9. The system in claim 8 wherein said at least one steered wheel includes a steered wheel monitoring system which senses steering angle and rotation of said at least one steered wheel.

10. The system in claim 9 wherein said navigation and control computer is responsive to said steered wheel monitoring system for determining an actual path of movement of the automated guided vehicle when the vehicle is moving in a reverse direction.

11. The system in claim 9 wherein said navigation and control computer is also responsive to said steered wheel monitoring system in order to provide a monitoring of the relative movement of the vehicle with respect to a surface being traversed that is blended with the ground track sensor monitoring.

12. The system in claim 1 wherein said primary navigation system is a dead-reckoning system.

13. The system in claim 12 wherein said primary navigation system is one of an inertial navigation system, a differential odometry system, and a steered wheel odometry system.

14. The system in claim 13 wherein said primary navigation system is an inertial navigation system.

15. An automated guided vehicle, comprising:

a body, at least one driver wheel for propelling said body along a surface, and at least one steered wheel for directing said body with respect to the surface;

a primary navigation system which senses a heading or a rate-of-change of heading of the body;

a distance measuring device which measures distanced travelled by said body in a longitudinal direction;

a ground track sensor which is independent of said wheels and which continuously monitors movement of said body with respect to the surface at least in a lateral direction; and

a navigation and control computer which is responsive to said primary navigation system, to said distance measuring device and to said ground track sensor for determining an actual path of movement of said body and for controlling said steering wheel in order to direct said body along an ideal path of movement.

16. The vehicle in claim 15 wherein said ground track sensor physically contacts the surface in order to sense the relative movement.

17. The vehicle in claim 16 wherein said ground track sensor includes a wheel in physical contact with the surface and does not carry substantially any vehicle weight and is a passive wheel which does not steer or propel the automated guided vehicle.

18. The vehicle in claim 17 including a ground-engaging bias for said wheel.

19. The vehicle in claim 17 wherein said ground track sensor includes a yoke that is rotatably mounted to rotate about a vertical axis, an angle encoder which measures the radial position of said yoke with respect to said vertical axis, a wheel assembly attached to said yoke and including a wheel mounted to rotate about a horizontal axis, and a distance encoder measuring revolution of said wheel about said horizontal axis.

20. The vehicle in claim 15 wherein said at least one steered wheel includes a steered wheel monitoring system which senses steering angle and rotation of said at least one steered wheel.

21. The vehicle in claim 20 wherein said navigation and control computer is responsive to said steered wheel monitoring system for determining an actual path of movement of the automated guided vehicle when the vehicle is moving in a reverse direction.

22. The vehicle in claim 20 wherein said navigation and control computer is also responsive to said steered wheel monitoring system in order to provide a monitoring of the relative movement of the vehicle with respect to a surface being traversed that is blended with the ground track sensor monitoring.

23. The vehicle in claim 15 wherein said primary navigation system is one of an inertial navigation system, a differential odometry system, and a steered wheel odometry system.

24. The vehicle in claim 23 wherein said primary navigation system is an inertial navigation system.

25. An automated guided vehicle comprising:

a body, at least one driver wheel for propelling said body along a floor, at least one steered wheel for directing said body with resect to the floor, and a steered wheel monitoring system which monitors steering angle of said at least one steered wheel;

an inertial navigation sensor which senses rate-of-change of heading of said body;

a ground track sensor which monitors a ground velocity vector with respect to said body independent of said wheels; and

a navigation and control computer which is responsive to said inertial navigation sensor and to said steered wheel monitoring system and said ground track sensor for determining an actual path of movement of said body and for controlling said steering wheel in order to direct said body along an ideal path of movement.

26. The vehicle in claim 25 wherein said navigation and control computer determines an actual path of movement of said body in response to said ground track sensor when the vehicle is moving in a forward direction.

27. The vehicle in claim 25 wherein said navigation and control computer determines an actual path of movement of said body as a blend of said ground track sensor and said steered wheel monitoring system.

28. The vehicle in claim 25 wherein said navigation and control computer determines an actual path of movement of said body in response to said steered wheel monitoring system when the vehicle is moving in a reverse direction.

29. An automated guided vehicle comprising:

a body, at least one driver wheel for propelling said body along a floor, and at least one steered wheel for directing said body with respect to the floor; and

a body-based inertial navigation system which senses actual movement of said body in at least three degrees of freedom irrespective of side slippage of the vehicle.

30. The vehicle in claim 29 wherein said at least three degrees of freedom include vehicle longitudinal velocity, vehicle lateral velocity and vehicle heading.

31. The vehicle in claim 30 wherein said inertial navigation system includes a gyroscope and a ground track sensor which continuously monitors movement of said body with respect to the floor.

32. The vehicle in claim 31 wherein said ground track sensor contacts the floor.

33. The vehicle in claim 31 wherein said gyroscope is one of a spinning mass gyroscope, a fiber optic gyroscope and an acoustic gyroscope.