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

• US 8,818,607 B2
• Filed: 10/10/2012
• Issued: 08/26/2014
• 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:
  US13/648,821
• Publication Number:
  US 20130041546A1
• Time in Patent Office: 685 Days
• Field of Search: 701/23, 701/25, 414/267, 414/279
• 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

An automated storage system for storing a plurality of objects in storage locations, the automated storage system comprising a master control computer, a guidance network, a plurality of automated guided vehicles (AGVs) each having an onboard microprocessor and a receiver for receiving control commands from the master control computer, and a plurality of trays for engagement with the plurality of AGVs for transportation and storage of the objects.

Claims

1. An automated storage system for storing a plurality of objects in storage locations, the automated storage system comprising:

a master control computer;

a guidance network;

a plurality of automated guided vehicles (AGVs) each having an onboard microprocessor and a receiver for receiving control commands from the master control computer; and

a plurality of stackable trays for engagement with the plurality of AGVs for transportation and storage of the objects,

wherein the AGV further comprises a variable offset positioning antenna array that is adapted to follow the guidance network, and

wherein the variable offset positioning antenna array further comprises;

a) two or more inductor coils that each generate an output based on a strength of a 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 guidance network;

c) wherein the position of the antenna array may be dynamically offset relative to the guidance network.

2. The automated storage system of claim 1, wherein each tray further comprises a plurality of legs that create a clearance under the tray for accommodating movement of an AGV thereunder.

3. The automated storage system of claim 2, wherein each tray further comprises a plurality of contact points for engagement with an AGV for movement of the tray by the AGV.

4. The automated storage system of claim 3, wherein each tray is elongated relative to an AGV upon engagement of the AGV with the tray.

5. The automated storage system of claim 1, wherein each AGV can dynamically assume an offset position relative to the guidance network in accordance with instructions provided by the master control computer.

6. The automated storage system of claim 5, wherein the guidance network is a guide wire network.

7. The automated storage system of claim 6, wherein the storage locations are determined based on a dimensional analysis of the objects supported on the trays.

8. The automated storage system of claim 7, wherein the storage locations are variably defined and populated based on a dimensional analysis of the objects supported on the trays.

9. The automated storage system of claim 1, wherein the plurality of AGVs are adapted to simultaneously acquire and move multiple objects on multiple trays at a time.

10. The automated storage system of claim 1, wherein each AGV further comprises a plurality of omni-directional drive and steering systems.

11. The automated storage system of claim 1, further comprising a plurality of storage lockers loaded on the trays, wherein each AGV can deliver a storage locker from a loading location to a storage location.

12. The automated storage system of claim 11, wherein each AGV can dynamically assume an offset position relative to the guidance network during transport of the storage locker.

13. The automated storage system of claim 1, wherein the AGV is further adapted to simultaneously follow multiple guide wires of a guidance system having same or differing frequencies to determine data regarding a direction of travel, speed, position, or orientation of an AGV incorporating the antenna array.

14. An automated method of storing a plurality of objects in storage locations comprising:

a) providing a master control computer and a guidance network;

b) providing a plurality of automated guided vehicles (AGVs) each having an onboard microprocessor and a receiver for receiving control commands from the master control computer; and

c) providing a plurality of stackable trays for engagement with the plurality of AGVs for transportation and storage of the objects;

d) wherein an object is loaded onto a tray at a loading location to form an object-laden tray; and

e) wherein an AGV engages with the object-laden tray to deliver the object-laden tray from the loading location to a storage location;

the method further comprising providing the AGV a variable offset positioning antenna array that is adapted to follow the guidance network, and

wherein the variable offset positioning antenna array further comprises;

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

a programmable microprocessor that processes the output from each coil to determine a position of the antenna array relative to the guidance network;

wherein the position of the antenna array may be dynamically offset relative to the guidance network.

15. The automated method of claim 14, wherein the objects are storage lockers.

16. The automated method of claim 14, wherein the objects are vehicles.

17. The automated method of claim 14, wherein the storage locations are determined based on a dimensional analysis of the objects supported on the object-laden trays.

18. The automated method of claim 17, wherein the storage locations are variably defined and populated based on a dimensional analysis of the objects supported on the object-laden trays.