Cart retriever vehicle

• US 6,220,379 B1
• Filed: 06/04/1997
• Issued: 04/24/2001
• Est. Priority Date: 02/13/1996
• Status: Expired due to Term

• Current Assignee: Dane Industries, Inc.
• Original Assignee: Dane Industries, Inc.
• Inventors: Schugt, William, Dominguez, Stephan
• Primary Examiner(s): Swann, J. J.
• Assistant Examiner(s): Cuff, Michael
• Application Number:
  US08/869,183
• Time in Patent Office: 1,420 Days
• Field of Search: 180/167, 180/65.1, 180/65.6, 180/15, 180/16, 180/907, 280/33.992
• US Class Current: 180/65.1
• CPC Class Codes: B60K 1/00 Arrangement or mounting of electrical propulsion units B60K7/00 takes precedence; arrangement or mounting of plural diverse prime-movers for mutual or common propulsion B60K6/00; electric transmission arrangements B60K17/12; electric equipment or propulsion of electrically-propelled vehicles per se B60L; current-collectors for power supply lines of electrically-propelled vehicles B60L5/00
• CPC Class Codes: B60K 1/04 of the electric storage means for propulsion exchanging batteries for electric propulsion of vehicles B60L53/80; for auxiliary purposes only B60R16/04; supplying batteries to, or removing batteries from, vehicles B60S5/06
• CPC Class Codes: B60L 15/40 Adaptation of control equipment on vehicle for remote actuation from a stationary place devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00
• CPC Class Codes: B60L 2200/44 Industrial trucks or floor conveyors
• CPC Class Codes: B60L 2240/30 Parking brake position
• CPC Class Codes: B60L 50/66 Arrangements of batteries
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B60L 53/305 Communication interfaces
• CPC Class Codes: B60L 58/18 of two or more battery modules
• CPC Class Codes: B62B 3/1404 Means for facilitating stowing or transporting of the trolleys; Antitheft arrangements B62B5/0423 takes precedence
• CPC Class Codes: B62B 5/0006 Bumpers; Safety devices
• CPC Class Codes: B62B 5/0053 Arrangements of batteries
• CPC Class Codes: B62B 5/0076 Remotely controlled
• CPC Class Codes: B62D 39/00 Vehicle bodies not otherwise provided for , e.g. safety vehicles safety equipment B60R21/00
• CPC Class Codes: Y02P 90/60 Electric or hybrid propulsion means for production processes
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A vehicle for retrieving wheeled shopping carts in parking lots. The vehicle is an electric-powered vehicle with electronic remote control which allows one operator to use the device for retrieval of the wheeled shopping carts. The vehicle can be operated in a remote or manual mode. The vehicle includes a cart coupling means for securing the wheeled shopping carts to the vehicle. The coupling means includes two arcuate jaw members which surround the rear tube frame members of the shopping cart. A locking rod is pushed across one jaw member to secure the shopping cart to the coupler assembly. When operating in the remote control, the operator guides the vehicle with a remote transmitter. The remote transmitter transmits signals using a pulse code modulation system. The signals use a 400 Mhz. carrier for digital signals. The vehicle can likewise be operated in a manual mode. The vehicle provides a foot pedal seat and steering wheel for manual operation. The electric drive means for powering the vehicle includes dynamic braking and a parking brake. A controller controls the electric drive means providing speed control to allow for dynamic load compensation. The parking brake is actuated automatically when the vehicle has come to a stop or released automatically when motion is sensed.

Claims

1. A vehicle for moving shopping carts, comprising:

(a) a chassis supported by at least two wheels;

(b) a shopping cart coupler mounted to the chassis releasably attaching at least one shopping cart or a shopping cart train;

(c) an electric motor supported by said chassis powering said vehicle in response to a drive signal;

(d) a control panel having a mode selector selecting between a plurality of operational modes, including a manual mode and a remote mode;

(e) at least one remote control device generating and transmitting an operator signal to operate the vehicle in the remote mode, the operator signal including a target speed value;

(f) a manual control device generating and transmitting an operator signal and a stop signal to operate the vehicle in the manual mode;

(g) a receiver on the vehicle communicating with the remote control device to operate the vehicle in the remote mode;

(h) a controller on the vehicle controlling vehicle movement in response to the operator signal, said controller comprising;

i. a signal receiver connected to the receiver, the signal receiver receiving the operator signal;

ii. a motor switching circuit generating a motor interface signal in response to the operator signal;

iii. a motor interface circuit receiving the motor interface signal from the motor switching circuit and generating a drive signal to power the motor;

iv. a speed sensing circuit generating a present speed signal; and

v. a speed regulating circuit coupled to the motor interface circuit, wherein the speed regulating circuit is operative to modify the drive signals in response to changes in the present speed signal such that the present speed signal approaches one of the at least one target speed, whereby the speed of the vehicle tends to be maintained substantially constant during the attachment and release of the one or more shopping carts or shopping cart trains coupled to the vehicle

(i) a brake controller operative to drive the electric motor in an opposite direction in response to the stop signal.

2. The vehicle of claim 1, wherein the remote control device communicates with the signal receiver of the controller using a pulse code modulation system.

3. The vehicle of claim 2, wherein the pulse code modulation system comprises a carrier signal modulated with at least one digital command.

4. The vehicle of claim 3, wherein the at least one digital command further comprises a stop command for stopping the vehicle.

5. The vehicle of claim 3, wherein the at least one digital command further comprises a slow command for driving the vehicle at a speed approaching a first speed, and a fast command for driving the vehicle at a speed approaching a second speed, wherein the second speed is faster than the first speed.

6. The vehicle of claim 3, further comprising a horn, wherein the at least one digital command further comprises a horn command for enabling the horn on the vehicle.

7. The vehicle of claim 3, wherein the signal receiver comprises an identifier code and wherein the at least one digital command further comprises a security code matching the identifier code on the signal receiver.

8. The vehicle of claim 1, wherein the speed sensing circuit couples to a tachometer for receiving the present speed signal.

9. The vehicle of claim 8, wherein the tachometer further comprises:

(a) a wheel mounted on an axis of the electric motor, said wheel comprising slits arranged in a circumference of a concentric line around said axis;

(b) at least one light emitting diode (LED) positioned to direct light through the slits from one side of said wheel; and

(c) at least one LED sensor located on the other side of said wheel positioned to receive light directed through the slits by the at least one LED as the wheel rotates around the axis.

10. The vehicle of claim 1, further comprising a speed limit filter for limiting the vehicle speed to a predetermined maximum speed.

11. The vehicle of claim 1, wherein the speed sensing circuit comprises a monostable vibrator triggered by the present speed signal, and the target speed defines a duty cycle for a set speed signal coupled to the motor interface circuit.

12. The vehicle of claim 11, further comprising a speed signal sensor for generating a control voltage level indicative of the target speed according to the duty cycle of the set speed signal, wherein the control voltage is coupled to the motor interface circuit.

13. The vehicle of claim 12, wherein the motor interface circuit comprises a pulse width modulation circuit operative to receive the control voltage level and to generated motor drive signals responsive to the control voltage level.

14. The vehicle of claim 1, wherein the at least one remote control device further comprises a variable drive control device for generating and transmitting a variable drive signal, the variable drive signal including a plurality of voltage levels, each indicative of a target speed.

15. The vehicle of claim 1, wherein the manual control device further comprises a variable drive control device for generating and transmitting a variable drive signal, the variable drive signal including a plurality of voltage levels, each indicative of a target speed.

16. The vehicle of claim 15, further comprising a seat;

and wherein the variable drive control device comprises a foot-operated control pedal.

17. A vehicle adapted for moving at least one wheeled cart, comprising:

(a) a chassis supported by at least two wheels;

(b) a coupling system mounted to the chassis for releasably attaching at least one wheeled cart or a train of wheeled carts;

(c) an electric motor supported by the chassis for powering the vehicle;

(d) a control panel having a mode selector for selecting one of a plurality of operational modes, including a manual mode and a remote mode;

(e) a manual control device generating and transmitting a move signal and a stop signal to operate the vehicle in the manual mode;

(f) a remote control device operating the vehicle in the remote mode, wherein the remote control device generates a radiant energy signal comprising one of a plurality of vehicle commands, including a stop command and at least one move command;

(g) a receiver on the vehicle receiving the radiant energy signal;

(h) a signal receiver coupled to the receiver receiving the radiant energy signal, the signal receiver operative to generate a stop signal in response to a stop command and a remote move signal in response to a move command, wherein the remote move signal includes a target speed value;

(i) a controller controlling the vehicle movement in response to a move signal or a remote move signal, wherein, when a remote move signal is received, the controller controls the power to the electric motor to move the vehicle at a speed substantially equal to the target speed value; and

(j) a brake controller operative to drive the electric motor in an opposite direction in response to the stop signal.

18. The vehicle of claim 17, further comprising a parking brake controller operative to inhibit energy to a parking brake actuator to engage a parking brake, and operative to energize the parking brake actuator to release the parking brake.

19. The vehicle of claim 18, wherein the parking brake actuator comprises a solenoid coupled to a parking brake mechanism that brakes the vehicle by frictionally contacting a parking disc coupled to a drive shaft of the electric motor.

20. The vehicle of claim 18, wherein the parking brake controller operates the parking brake actuator using power modulation.

21. The vehicle of claim 17, wherein the remote control device communicates with the receiver using a pulse code modulation system.

22. The vehicle of claim 21, wherein the pulse code modulation system comprises a carrier signal modulated with at least one digital command.

23. The vehicle of claim 22, wherein the stop command comprises a digital command.

24. The vehicle of claim 22, wherein the at least one move command comprises a digital command and at least one move command includes a slow command for driving the vehicle at a speed approaching a first speed, and a fast command for driving the vehicle at a speed approaching a second speed, where the second speed is higher than the first speed.

25. The vehicle of claim 22, further comprising a horn, wherein the at least one digital command comprises a horn command for operating the horn on the vehicle.

26. The vehicle of claim 22, wherein the signal receiver comprises an identifier code and wherein the at least one digital command further comprises a security code matching the identifier code on the signal receiver.

27. A vehicle for moving shopping carts comprising:

(a) a chassis supported by at least two wheels;

(b) a device coupled to the chassis releasably connecting at least one shopping cart or a shopping cart train to the vehicle;

(c) an electric motor supported by said chassis powering said vehicle in response to a drive signal;

(d) a control panel having a mode selector selecting between a plurality of operational modes, including a manual mode and a remote mode;

(e) at least one remote control device generating and transmitting an operator signal to operate the vehicle in the remote mode, the operator signal including a target speed value;

(f) a manual control device generating and transmitting an operator signal and a stop signal to operate the vehicle in the manual mode;

(g) a receiver on the vehicle communicating with the remote control device to operate the vehicle in the remote mode; and

(h) a controller on the vehicle controlling vehicle movement in response to the operator signal, said controller comprising;

i. a signal receiver connected to the receiver, the signal receiver receiving the operator signal;

ii. a motor switching circuit generating a motor interface signal in response to the operator signal;

.

iii. a motor interface circuit receiving the motor interface signal from the motor switching circuit and generating a drive signal to power the motor;

iv. a speed sensing circuit generating a present speed signal; and

v. a speed regulating circuit coupled to the motor interface circuit, wherein the speed regulating circuit is operative to modify the drive signals in response to changes in the present speed signal such that the present speed signal approaches one of the at least one target speed, whereby the speed of the vehicle tends to be maintained substantially constant during the attachment and release of the one or more shopping carts or shopping cart trains coupled to the vehicle

(i) a brake controller operative to drive the electric motor in an opposite direction in response to the stop signal.