Sensor system and method for use with an automated guided vehicle (AGV)
First Claim
1. A method for operating a sensor system for an automated guide vehicle (AGV), comprising the steps of:
- (a) providing a sensor system having a plurality of magnetic sensor elements that interact with a magnetic indicating system that is laid out on the ground and follows a pre-determined path;
(b) obtaining sensor readings for each of the magnetic sensor elements;
(c) storing the sensor readings for each of the magnetic sensor elements at a memory device; and
(d) using a known location of each of at least some of the magnetic sensor elements on the sensor system along with the stored sensor readings associated with the at least some of the magnetic sensor elements to determine a center of field value that represents the center or centroid of a corresponding magnetic field produced by the magnetic indicating system, wherein, for each of the at least some magnetic sensor elements, the known location of the sensor elements is weighted with the magnitude of the associated stored sensor reading.
1 Assignment
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Accused Products
Abstract
A sensor system for use with an automated guided vehicle (AGV) includes a plurality of sensor units electronically coupled to a sensor control module via parallel communications. Each sensor unit may include a sensor array having a plurality of sensor elements, a conditioning circuit having one or more filter/amplifiers, and a conversion circuit. The sensor control module may be configured to communicate with other AGV components via serial communications. The sensor system is capable of obtaining and storing sensor readings with or without associated offset values and can use the sensor readings to determine the center of a magnetic field using methods that require relatively little processing power. A method of calibrating the sensor system may include determining and storing offset values for a plurality of sensor elements and may be performed with the sensor system installed or uninstalled to the AGV.
82 Citations
18 Claims
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1. A method for operating a sensor system for an automated guide vehicle (AGV), comprising the steps of:
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(a) providing a sensor system having a plurality of magnetic sensor elements that interact with a magnetic indicating system that is laid out on the ground and follows a pre-determined path; (b) obtaining sensor readings for each of the magnetic sensor elements; (c) storing the sensor readings for each of the magnetic sensor elements at a memory device; and (d) using a known location of each of at least some of the magnetic sensor elements on the sensor system along with the stored sensor readings associated with the at least some of the magnetic sensor elements to determine a center of field value that represents the center or centroid of a corresponding magnetic field produced by the magnetic indicating system, wherein, for each of the at least some magnetic sensor elements, the known location of the sensor elements is weighted with the magnitude of the associated stored sensor reading. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method for operating a sensor system for an automated guide vehicle (AGV), comprising the steps of:
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(a) providing a sensor system having an array of magnetic sensor elements that interact with a magnetic indicating system that is laid out on the ground and follows a pre-determined path; (b) obtaining sensor readings for the magnetic sensor elements; (c) storing the sensor readings for the magnetic sensor elements at a memory device; and (d) calculating a center of field value that represents the center or centroid of a corresponding magnetic field by; determining a first edge of the magnetic field during the sensor reading sweep of step (b), wherein the first edge is associated with the sensor element that first exceeds a predetermined threshold, and then determining a second edge of the magnetic field during the sensor reading sweep of step (b), wherein the second edge is associated with the sensor element that last exceeds the predetermined threshold, wherein the calculation of the center of field includes a weighting calculation of a range of the sensor elements, wherein the weighting calculation uses a known location on the sensor system, the sensor readings for each of the range of sensor elements, and known locations for each of the range of sensor elements, wherein the range includes the sensor element firstly exceeding the predetermined threshold, the sensor element lastly exceeding the predetermined threshold, and all the sensors elements therebetween. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification