Variable offset positioning antenna array for enhanced guidance of automated guided vehicles (AGVS)

• US 8,494,703 B2
• Filed: 01/15/2010
• Issued: 07/23/2013
• Est. Priority Date: 01/17/2009
• Status: Active Grant

• Current Assignee: Volley Automation, Inc.
• Original Assignee: Boomerang Systems Incorporated
• Inventors: Barwick, Stott, Swasey, Merin, Beeny, Lance, Petersen, John A. M.
• Primary Examiner(s): Nguyen, Kim T
• Application Number:
  US12/688,838
• Publication Number:
  US 20100185353A1
• Time in Patent Office: 1,285 Days
• Field of Search: 701/23, 701/36, 701/41, 701/50, 701/61
• US Class Current: 701/23
• CPC Class Codes: B60K 17/30 the ultimate propulsive elements, e.g. ground wheels, being steerable
• CPC Class Codes: B62D 5/0418 Electric motor acting on road wheel carriers
• CPC Class Codes: B62D 7/026 characterised by comprising more than one bogie, e.g. situated in more than one plane transversal to the longitudinal centre line of the vehicle
• CPC Class Codes: E04H 6/00 Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
• CPC Class Codes: E04H 6/183 without transverse movement of the car after leaving the transfer means
• CPC Class Codes: E04H 6/245 without transverse movement of the wheeled parking platform after leaving the transfer means
• CPC Class Codes: E04H 6/305 using car-gripping transfer means
• CPC Class Codes: E04H 6/36 characterised by use of freely-movable dollies
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0297 by controlling means in a control room
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

A Variable Offset Positioning Antenna Array for Enhanced Guidance of Automated Guided Vehicles (AGVs) in automated warehousing or storage systems for automobiles or the like, includes two or more inductor coils producing output as a result of interaction with a guidance wire located in or near the surface of the floor which is energized by a frequency generator, and an on board programmable microprocessor which processes the coil output to determine an exact position of the antenna array relative to the guidance wire. In one embodiment, the antenna array enables an AGV to follow a guidance wire at an offset to the direction of travel in order to allow automated storage and retrieval systems to handle asymmetrical items, such as automobiles, more efficiently and cost effectively by decreasing the building space required for travel aisles, vertical conveyors and storage locations as well as decreasing total individual item processing time.

Claims

1. A variable offset positioning antenna array for an automated guided vehicle (AGV) that is adapted to follow a guide wire having a frequency, comprising:

a) two or more inductor coils that each generate an output based on a strength of the frequency sensed at each coil; and

b) a programmable microprocessor that processes the output from each coil to determine a position of the antenna array relative to the guide wire and uses the determined position to control an offset relative to the guide wire in a path followed by the AGV equipped with the antenna array;

c) wherein the offset relative to the guide wire is dynamically adjusted.

2. The antenna array of claim 1, further adapted to simultaneously follow multiple guide wires having the same or differing frequencies to determine data regarding direction of travel, speed, position, or orientation of the AGV incorporating the antenna array.

3. The antenna array of claim 1, further comprising a front antenna array and a rear antenna array incorporated into the AGV and controlled by a control system to simultaneously provide guidance information to an AGV guidance and control system for steering and guidance of the AGV.

4. The antenna array of claim 1, further comprising use of one or more additional pairs of antenna arrays on the AGV to determine a location of the AGV relative to a multiple-axis guide wire grid.

5. The antenna array of claim 1, wherein the microprocessor determines a position of the AGV relative to the guide wire in an off-wire situation.

6. The antenna array of claim 1, further comprising a control system for enabling the AGV to carry a load in multiple offset positions relative to the guide wire and the direction of travel.

7. The antenna array of claim 1, wherein the guide wire is either a RF wire or magnetic strip.

8. The antenna array of claim 1, wherein the output from the inductor coils comprises:

a) determining two largest output signals out of all of the output signals;

b) determining indexes of two inductor coils that output the two largest output signals;

c) determining if the two inductor coils that output the two largest output signals are adjacent; and

d) computing a position value using an offset value, a relative position value between the two inductor coils, and a coil separation distance.

9. The antenna array of claim 8, wherein computing the position value further comprises:

a) determining a maximum signal out of the two largest output signals;

b) if the index of an inductor coil that outputs the maximum signal is bigger than the index of an indicator coil that outputs the other largest output signal, the position value is computed as follows;

position value=offset−

d/2+RelPos;

otherwise the position value is computed as follows;

position value=offset+d/2+RelPos, wherein d is the coil separation distance, and RelPos is the relative position value between the two inductor coils.

10. The antenna array of claim 9, wherein the offset value is computed by multiplying the coil separation distance by a CoilPair parameter, wherein the CoilPair parameter is set to be a minimum value of the indexes of the two indicator coils.

11. The antenna array of claim 10, wherein the relative position value is computed by multiplying the coil separation distance by a SignalPercentage value, wherein the SignalPercentage value is a ratio between the maximum output signal and a sum of the two largest output signals.