Storage and retrieval machine control system having an encoder and an optical distance meter

• US 5,798,920 A
• Filed: 11/17/1995
• Issued: 08/25/1998
• Est. Priority Date: 11/17/1995
• Status: Expired due to Fees

• Current Assignee: HK Systems Incorporated (KION GROUP AG)
• Original Assignee: HK Systems Incorporated (KION GROUP AG)
• Inventors: Schneider, Randall M., Crucius, Wesley
• Primary Examiner(s): Voeltz, Emanuel Todd
• Assistant Examiner(s): SMITH-STEWART, DEMETRA R
• Application Number:
  US08/560,434
• Time in Patent Office: 1,012 Days
• Field of Search: 364/167.01, 364/436, 364/423.098, 364/424.027, 364/424.028, 414/273, 414/275, 414/279, 414/281, 414/280, 356/375, 340/989, 340/990, 340/991, 340/992
• US Class Current: 700/66
• CPC Class Codes: B65G 1/0421 with control for stacker crane operations
• CPC Class Codes: G05B 19/39 using a combination of the means covered by at least two of the preceding groups G05B19/21, G05B19/27 and G05B19/33

Abstract

A storage and retrieval machine comprises a base, a carriage, and a control system. The control system is used to control the movement of the carriage in the vertical direction and/or the movement of the base in the horizontal direction. The control system includes at least one encoder and at least one optical distance meter. The encoder provides relative position information during a middle portion of the SRM trajectory, i.e., during the implementation of a feedback control scheme. The optical distance meter provides absolute position information to the control system at an endpoint of the SRM trajectory, i.e., to verify that the SRM has in fact reached its destination. If the control system controls both the movement of the carriage and the movement of the base, then two encoders and two optical distance meters are used.

Claims

1. A storage and retrieval machine comprising:

a base, said base being movable in a horizontal direction;

a carriage, said carriage being moveable in a vertical direction;

a control system, said control system controlling movement from a start point to an end point of a trajectory, said movement being movement of one of said base and said carriage, said control system further including

a rotary distance meter, said rotary distance meter providing information used by said control system to repetitively determine the current position of said one of said base and said carriage along said trajectory as said one of said base and said carriage traverses said trajectory,

an optical distance meter, said optical distance meter providing information used by said control system to determine the absolute position of said one of said base and said carriage near said end point of said trajectory.

2. The storage and retrieval machine according to claim 1, wherein said control system further comprises a look-up table, said look-up table storing error information pertaining to error of said optical distance meter, said error information being generated on the basis of a comparison of distance measurements substantially simultaneously made by said rotary distance meter and said optical distance meter, said error information being stored in said look-up table as a function of the distance of said optical distance meter from a target, and said error information being used by said control system to enhance the accuracy of said optical distance meter and thereby enhance the accuracy with which said one of said base and said carriage is positioned.

3. The storage and retrieval machine according to claim 1, further comprising a servo controller which implements an analog velocity proportional-integral-derivative control system, said servo controller having inputs for said rotary distance meter and said optical distance meter.

4. The storage and retrieval machine according to claim 1, wherein said rotary distance meter is an encoder.

5. The storage and retrieval machine according to claim 1, wherein said optical distance meter also provides information used by said control system to determine the absolute position of said one of said base and said carriage at midpoints of said trajectory.

6. A storage and retrieval machine comprising:

a base, said base being movable in a horizontal direction,

a carriage, said carriage being moveable in a vertical direction,

a control system, said control system controlling movement of said base in said horizontal direction and movement of said carriage in said vertical direction, said control system further including

a first rotary distance meter,

a first optical distance meter, said first optical distance meter cooperating with said first rotary distance meter to provide information to said control system, said information pertaining to said movement of said base,

a second rotary distance meter,

a second optical distance meter, said second optical distance meter cooperating with said second rotary distance meter to provide information to said control system, said information pertaining to said movement of said carriage.

7. A method of controlling movement of a warehouse vehicle from a start point to an end point of a trajectory, said method comprising the steps of:

A. ascertaining the location of said start point;

B. generating information pertaining to said movement of said warehouse vehicle using a rotary distance meter;

C. repetitively determining, based on said generating step (B), the current position of said warehouse vehicle along said trajectory as said warehouse vehicle traverses said trajector;

D. implementing a feedback control system which controls said movement of said warehouse vehicle from said start point to said end point, said feedback control system being implemented based on said movement information generated by said rotary distance meter; and

E. generating information pertaining to said movement of said warehouse vehicle using an optical distance meter, said optical distance meter comprising a laser and a laser beam sensor;

F. ascertaining that the moveable object has reached said end point based on said generating step (E), said ascertaining step further comprising the steps of

1. emitting a laser beam from said laser, and

2. measuring a laser beam travel time, said laser beam travel time being the amount of time required for the laser beam to travel from said laser to said laser beam sensor.

8. The method according to claim 7, wherein said ascertaining step further comprises the step of enhancing the accuracy of said optical distance meter, said enhancing step further comprising the steps of

storing error information in a look-up table, said error information pertaining to error of said optical distance meter as a function of the distance of said optical distance meter from a target,

retrieving said stored error information from said look-up table, and

modifying an output of said optical distance meter based on said stored error information.

9. The method according to claim 8, further comprising the step of generating said error information, said error information generating step comprising the steps of

substantially simultaneously generating (1) a rotary distance meter distance measurement and (2) an optical distance meter distance measurement and

comparing the measurements (1) and (2) to generate said error information.

10. The method according to claim 7, further comprising the steps of ascertaining a time interval, said time interval starting at an update time of said optical distance meter and ending at a time after said update time,

determining a distance traveled by said warehouse vehicle during said time interval,

comparing a distance measurement output of said rotary distance meter with a distance measurement output of said optical distance meter, said comparing step taking into account said distance traveled by said warehouse vehicle during said time interval, and

updating an output of said optical distance meter based on said comparing step.

11. The method according to claim 7, wherein said warehouse vehicle is a carriage of a storage and retrieval machine.

12. The method according to claim 7, wherein said feedback control system implementing step further comprises the step of implementing an analog velocity proportional-integral-derivative feedback control system.

13. A method of calibrating an optical distance meter with a rotary distance meter, said optical distance meter and said rotary distance meter being adapted for monitoring movement of a warehouse vehicle, said vehicle being one of a base of a storage and retrieval machine and a carriage of said storage and retrieval machine, said method comprising the steps of:

advancing said vehicle along a trajectory;

generating a first distance measurement, said first distance measurement being generated by said rotary distance meter;

generating a second distance measurement, said second distance measurement being generated by said optical distance meter, said first and second distance measurements representing substantially the same location of said vehicle; and

storing information pertaining to said second distance measurement in a look-up table as a function of said second distance measurement, said information relating to said first distance measurement.

14. The method according to claim 13, further comprising the steps of ascertaining whether said first distance measurement is within a tolerance of said second distance measurement;

and if said first distance measurement is within a tolerance of said second distance measurement, then repeating said advancing step, said first distance measurement generating step, said second distance measurement generating step, and said storing step until an end of said trajectory is reached;

and if said first distance measurement is not within a tolerance of said second distance measurement, then issuing a fault.

15. The method according to claim 13, further comprising the step of implementing a feedback control system which controls said movement of said vehicle along said trajectory, said feedback control system being implemented based on said movement information generated by said optical distance meter, said implementing step including the steps of retrieving said stored information from said look-up table and modifying an output of said optical distance meter based on said stored information.

16. A storage and retrieval machine comprising:

a base, said base being movable in a horizontal direction;

a carriage, said carriage being moveable in a vertical direction;

a control system;

said control system further including

a horizontal control system which controls movement of said base along a horizontal trajectory, said horizontal control system including

a first rotary distance meter, said first rotary distance meter providing information to said horizontal control system at a middle portion of said horizontal trajectory,

a first optical distance meter, said first optical distance meter providing absolute position information to said horizontal control system at an endpoint of said horizontal trajectory, and

a vertical control system which controls the movement of said carriage along a vertical trajectory, said vertical control system including

a second rotary distance meter, said second rotary distance meter providing relative position information to said vertical control system at a middle portion of said vertical trajectory, and

a second optical distance meter, said second optical distance meter providing absolute position information to said vertical control system at an endpoint of said vertical trajectory.

17. The storage and retrieval machine according to claim 16, further comprising a look-up table, said look-up table storing error information pertaining to error of said first optical distance meter.

18. The storage and retrieval machine according to claim 17, wherein said error information is generated on the basis of a comparison of distance measurements substantially simultaneously made by said first rotary distance meter and said first optical distance meter, said error information being stored in said look-up table as a function of the distance of said first optical distance meter from a target, and said error information being used by said horizontal control system to enhance the accuracy of said first optical distance meter and thereby enhance the accuracy with which said base is positioned.

19. The storage and retrieval machine according to claim 16, further comprising a servo controller, said servo controlling having inputs for said first rotary distance meter, said first optical distance meter, said second rotary distance meter, and said second optical distance meter.

20. A method of controlling movement of a warehouse vehicle along a trajectory, said vehicle being one of a base of a storage and retrieval machine and a carriage of said storage and retrieval machine, said method comprising the steps of:

A. determining the position of said vehicle, said determining step including the steps of

1. generating a first distance measurement with an optical distance meter,

2. generating a second distance measurement with a rotary distance meter, and

3. determining said position of said vehicle based on said first and second distance measurements;

B. repeating step (A) such that said position of said vehicle is repetitively determined (1) as said vehicle traverses said trajectory and (2) based on respective repetitively generated first and second distance measurements; and

C. implementing a feedback control system which controls said movement of said vehicle along said trajectory, said feedback control system being implemented based on the repetitive determinations of said position of said vehicle determined during step (B).