Collision avoidance system for track-guided vehicles

• US 6,290,188 B1
• Filed: 02/18/2000
• Issued: 09/18/2001
• Est. Priority Date: 02/18/1999
• Status: Expired due to Term

• Current Assignee: Murata Machinery Limited (Muratec)
• Original Assignee: PRI Automation, Inc. (Azenta, Inc.)
• Inventors: Bassett, Michael R.
• Primary Examiner(s): Le, Mark T.
• Application Number:
  US09/506,705
• Time in Patent Office: 578 Days
• Field of Search: 246/182.B, 246/167.R, 246/182.R, 246/473.R, 246/474, 246/166, 246/1.C, 340/901, 340/902, 340/903, 356/4.01
• US Class Current: 246/182.00R
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween

Abstract

A system to allow track-guided vehicles to avoid collisions with one another in straight track and curved track situations utilizing vehicle mounted devices and without the need for additional active traffic control devices. The system includes track-guided vehicles equipped with a plurality of selective sensors on the front and identifying reflective elements on the rear. Reflective strips mounted on the inner face of curved track allow the selective sensors to detect targets around curves. Retroreflective sensors coupled with corner cube reflective material are a preferred set of sensor and target implementations. The placement of the sensors and reflective elements is specified such that a calibrated system limits the range of the system and is easily maintained.

Claims

1. A system for avoiding collisions of track-guided vehicles on a track, the system comprising:

a plurality of track-guided vehicles having a front and a back;

a plurality of sensors, affixed to the front of each of said plurality of track-guided vehicles, said plurality of sensors being placed and focused to illuminate a predetermined area in front of said track-guided vehicle;

a strip of identifying reflective element disposed on the back of each of said plurality of track-guided vehicles;

said strip being disposed at a predetermined height;

a plurality of highly reflective non-diffusing strips each mounted on an inner face of said track wherever said track curves; and

an actuator for each of said plurality of track-guided vehicles, said actuator able to decelerate said track-guided vehicle, said actuator triggered when any of the plurality of sensors mounted on the respective track-guided vehicle detect an identified reflection from another track-guided vehicle.

2. The system of claim 1 wherein said sensors are retroreflective sensors and said identifying reflective element is a corner cube reflecting element.

3. The system of claim 1 wherein said plurality of sensors include primary sensors and secondary sensors.

4. The system of claim 3 wherein said secondary sensors are selectively powered.

5. The system of claim 3 wherein said primary sensors include a left primary sensor and a right primary sensor.

6. The system of claim 4 wherein said primary sensors are disposed on the outer third of the vehicle and have a centerline at approximately the height of the strip of identifying reflective element.

7. The system of claim 6 wherein said plurality of sensors are focused at an inward angle.

8. The system of claim 6 wherein said plurality of sensors are disposed tilted upward at an angle.

9. The system of claim 8 wherein said angle is 15°

.

10. The system of claim 1 wherein each sensor of the plurality of sensors includes an emitter and a receiver.

11. The system of claim 10 wherein the emitter is an LED.

12. The system of claim 1 wherein the plurality of sensors have a range of 70 inches.

13. The system of claim 1 wherein the strip of identifying reflective element substantially spans the back of said track-guided vehicle.

14. The system of claim 13 wherein the strip of identifying reflective element extends partially around the side of said track-guided vehicle.

15. The system of claim 1 wherein the plurality of highly reflective non-diffusing strips are disposed at a height substantially matching the height of the strip of identifying reflective element when the track-guided vehicle is disposed on the track.

16. A method for avoiding collisions of track-guided vehicles on a track, the method comprising:

placing a plurality of track-guided vehicles having a front and a back on the track;

affixing a plurality of sensors to the front of each of said plurality of track-guided vehicles, said plurality of sensors being placed and focused to illuminate a predetermined area in front of said track-guided vehicle;

mounting one of a plurality of strips of identifying reflective element to each of said plurality of track-guided vehicles;

said strip being disposed at a predetermined height;

mounting a plurality of highly reflective non-diffusing strips on an inner face of said track wherever said track curves; and

decelerating said track-guided vehicle through an actuator, when any of the plurality of selective sensors mounted on the track-guided vehicle detect an identified reflection from another track-guided vehicle.

17. The method of claim 16 wherein said sensors are retroreflective sensors and said identifying reflective element is a corner cube reflecting element.

18. The method of claim 16 wherein said plurality of sensors include primary sensors and secondary sensors.

19. The method of claim 18 wherein said secondary sensors are selectively powered.

20. The method of claim 18 wherein said primary sensors include a left primary sensor and a right primary sensor.

21. The method of claim 16 wherein said affixing step includes affixing said primary sensors on the outer third of the vehicle at a height approximately equal to the height of the strip of identifying reflective element.

22. The method of claim 16 wherein said plurality of sensors are focused at an inward angle.

23. The method of claim 16 wherein said plurality of sensors are disposed tilted upward at an angle.

24. The method of claim 16 wherein said angle is 15°

.

25. The method of claim 16 wherein each sensor of the plurality of sensors includes an emitter and a receiver.

26. The method of claim 25 wherein the emitter is an LED.

27. The method of claim 16 wherein the plurality of sensors have a range of 70 inches.

28. The method of claim 16 wherein the strip of identifying reflective element substantially spans the back of said track-guided vehicle.

29. The method of claim 28 wherein the strip of identifying reflective element extends partially around the side of said track-guided vehicle.

30. The method of claim 16 wherein the plurality of highly reflective non-diffusing strips are disposed at a height substantially matching the height of the strip of identifying reflective element when the track-guided vehicle is disposed on the track.