Navigation system for automatic guided vehicle

• US 6,049,745 A
• Filed: 02/10/1997
• Issued: 04/11/2000
• Est. Priority Date: 02/10/1997
• Status: Expired due to Fees

• Current Assignee: John Bean Technologies Corporation
• Original Assignee: FMC Corporation
• Inventors: Douglas, Barry D., Bencel, Joseph A.
• Primary Examiner(s): Zanelli, Michael J.
• Application Number:
  US08/795,267
• Time in Patent Office: 1,156 Days
• Field of Search: 701/23, 701/24, 318/587, 180/167, 180/168, 180/169
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0261 using magnetic plots

Abstract

A method and system for navigating automatic guided vehicles (AGVs) through a workplace having intelligible areas provides multi-vehicle traffic control. A guidance apparatus conveys a plurality of guidance signals, and a plurality of radio frequency tags (RF tags) are provided along the path over which the vehicle travels. Each RF tag is capable of conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields. A controller mounts on the vehicles, and includes an AGV computer, a sensor, a radio frequency identification (RFID) reader, and an RF modem for broadcasting messages to other vehicles to facilitate multi-vehicle traffic control. RF tags positioned for identifying characteristic area conditions related to the path of the vehicle reduce the need for custom modifications to guidance software on the host or AGV computers when operating in new environments, e.g., a new factory floor layout. The controller is responsive to at least one of the plurality of guidance signals received by the sensor and at least one characteristic area condition identified by the RF tag reader coupled to the AGV computer for initiating a predetermined action for navigating the vehicle through the area.

Claims

1. A system for navigating an automatic guided vehicle through a congested area, comprising:

a guidance apparatus for conveying a plurality of guidance signals for guiding the vehicle, said guidance apparatus being positionable relative to the area along a path over which the vehicle travels;

a plurality of routing tags, each of said routing tags conveying at least one of a plurality of unique states sufficient in number to provide information for identifying a characteristic area condition related to the path of the vehicle;

a controller for mounting on the vehicle for controlling the operation of the vehicle, said controller comprising an information processor, and a communications transceiver coupled to said information processor for broadcasting a message to other vehicles in the area, said information processor broadcasting said message upon approaching an intersection, and no longer broadcasting said message after leaving the intersection;

said routing tags being positioned along the path over which the vehicle travels, said controller being responsive to at least one of the plurality of guidance signals and at least one characteristic area condition for navigating the vehicle through the area.

2. A system for navigating an automatic guided vehicle through a congested area, comprising:

a guidance apparatus for conveying a plurality of guidance signals for guiding the vehicle, said guidance apparatus being positionable relative to the area along a path over which the vehicle travels;

a plurality of radio frequency tags, each of said radio frequency tags conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields;

an electromagnetic field generator positionable in the vicinity of each of said radio frequency tags for generating electromagnetic excitation fields at one or more of said radio frequency tags;

a controller for mounting on the vehicle for controlling the operation of the vehicle, said controller comprising an information processor, a sensor coupled to said information processor for receiving the plurality of guidance signals via said guidance apparatus, a radio frequency tag reader coupled to information processor for receiving the unique radio frequency signals in response to the electromagnetic excitation fields, and a communications transceiver coupled to said information processor for broadcasting a message to other vehicles in the area, said information processor broadcasting said message upon approaching an intersection, and no longer broadcasting said message after leaving the intersection;

said radio frequency tags being positioned along the path over which the vehicle travels, each unique radio frequency signal of said radio frequency tags identifying a characteristic area condition related to the path of the vehicle; and

said controller being responsive to at least one of the plurality of guidance signals received by said sensor and at least one characteristic area condition identified by said radio frequency tag reader coupled to said information processor for initiating a predetermined action for navigating the vehicle through the area.

3. A system as recited in claim 2, wherein the congested area is a factory floor and said guidance apparatus comprises a wire guidance system for conveying a plurality of electrical guidance signals via wires embedded in the factory floor below the path over which the vehicle travels.

4. A system as recited in claim 3, wherein the unique radio frequency signals from said radio frequency tags identify one of the plurality of electrical guidance signals received by said sensor for use by said information processor as the predetermined action for navigating the vehicle through the factory floor.

5. A system as recited in claim 2, wherein said radio frequency tags convey the unique radio frequency signals in a sufficient number of states or values to convey information sufficient to identify the characteristic area condition related to the path of the vehicle.

6. A system as recited in claim 5, wherein said radio frequency tags convey the states or values of the unique radio frequency signals in the form of a multi-bit signal and said radio frequency tag reader decodes the multi-bit signal using said information processor to identify the characteristic area condition related to the path of the vehicle.

7. A system as recited in claim 6, wherein said radio frequency tags convey the states or values of the unique radio frequency signals in the form of American Standard Code for Information Interchange (ASCII) symbology.

8. A system as recited in claim 5, wherein one of the states of the unique radio frequency signals from said radio frequency tags identifies the characteristic area condition related to the path as directions to a destination for the vehicle.

9. A system as recited in claim 8, wherein one of the states of the unique radio frequency signals from said radio frequency tags identifies the characteristic area condition related to the path as directing the vehicle to change its course of direction as the predetermined action for navigating the vehicle through the area.

10. A system as recited in claim 5, wherein one of the states of the unique radio frequency signals from said radio frequency tags identifies the characteristic area condition related to the path as directing the vehicle for picking-up or dropping-off a load of materials in transit.

11. A system as recited in claim 5, wherein one of the states of the unique radio frequency signals from said radio frequency tags identifies the characteristic area condition related to the path as an intersection being approached or cleared by the vehicle to facilitate safe navigation through the intersection.

12. A system as recited in claim 2, wherein said radio frequency tag reader of said controller includes said electromagnetic field generator, said tag reader and said generator combination providing radio frequency identification (RFID) mounted on the vehicle for positioning in the vicinity of said radio frequency tags as the vehicle travels thereover for identifying the characteristic area condition.

13. A system as recited in claim 2, wherein said communications transceiver comprises a radio frequency modem coupled to said information processor.

14. A system as recited in claim 2, wherein the unique radio frequency signals from said radio frequency tags identify the characteristic area condition related to the path as an intersection being approached or cleared by the vehicle, and wherein said transceiver broadcasts a vehicle-crossing message to the other vehicles indicating that the intersection is in use to facilitate safe navigation through the intersection.

15. A system as recited in claim 14, wherein said transceiver broadcasts the vehicle-crossing message for the duration that the intersection is in use.

16. A system as recited in claim 14, wherein said controller, responsive to said radio frequency tags identifying that an intersection is being approached, uses said transceiver for receiving vehicle-crossing message broadcasts from the other vehicles to facilitate safe navigation through the intersection.

17. A method of navigating an automatic guided vehicle through a congested area, comprising the steps of:

conveying a plurality of guidance signals for guiding the vehicle relative to the area along a path over which the vehicle travels;

providing a plurality of radio frequency tags, each of said radio frequency tags conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields;

positioning said radio frequency tags along the path over which the vehicle travels, each unique radio frequency signal of said radio frequency tags identifying a characteristic area condition related to the path of the vehicle;

generating electromagnetic excitation fields in the vicinity of one or more of said radio frequency tags;

receiving the plurality of guidance signals via said guidance apparatus using an information processor mounted on the vehicle;

identifying the unique radio frequency signals in response to the electromagnetic excitation fields using said information processor;

responding to at least one of the plurality of guidance signals and at least one characteristic area condition identified using said information processor for initiating a predetermined action for navigating the vehicle through the area; and

broadcasting a message upon approaching an intersection, and no longer broadcasting said message after leaving the intersection.

18. A method as recited in claim 17, wherein the step of providing the plurality of radio frequency tags provides information for identifying the characteristic area condition related to the path as an intersection being approached or cleared by the vehicle to facilitate safe navigation through the intersection.

19. A method as recited in claim 17, wherein said area is a factory floor and the step of providing the plurality of radio frequency tags provides information for identifying one of the plurality of guidance signals for navigating the vehicle through the factory floor.

20. A system navigating an automatic guided vehicle through a congested area, comprising:

means for conveying a plurality of guidance signals for guiding the vehicle relative to the area along a path over which the vehicle travels;

means for providing a plurality of radio frequency tags, each of said radio frequency tags conveying at least one of a plurality of unique radio frequency signals in response to electromagnetic excitation fields;

means for positioning said radio frequency tags along the path over which the vehicle travels, each unique radio frequency signal of said radio frequency tags identifying a characteristic area condition related to the path of the vehicle;

means for generating electromagnetic excitation fields in the vicinity of one or more of said radio frequency tags;

means for receiving the plurality of guidance signals via said guidance apparatus using an information processor mounted on the vehicle;

means for identifying the unique radio frequency signals in response to the electromagnetic excitation fields using said information processor;

means for responding to at least one of the plurality of guidance signals and at least one characteristic area condition identified using said information processor for initiating a predetermined action for navigating the vehicle through the area; and

means for broadcasting a message to other vehicles upon approaching an intersection, and no longer broadcasting said message after leaving the intersection.

21. A system as recited in claim 20, wherein said means for providing the plurality of radio frequency tags provides information for identifying the characteristic area condition related to the path as an intersection being approached or cleared by the vehicle to facilitate safe navigation through the intersection.

22. A system as recited in claim 20, wherein said area is a factory floor and said means for providing the plurality of radio frequency tags provides information for identifying one of the plurality of guidance signals for navigating the vehicle through the factory floor.