Floor position sensing apparatus and method

• US 4,613,804 A
• Filed: 07/08/1985
• Issued: 09/23/1986
• Est. Priority Date: 07/08/1985
• Status: Expired due to Term

• Current Assignee: HK Systems Incorporated (KION GROUP AG)
• Original Assignee: Eaton-Kenway Incorporated
• Inventors: Swenson, Ronald R.
• Primary Examiner(s): Dobeck, B.
• Application Number:
  US06/752,865
• Time in Patent Office: 442 Days
• Field of Search: 318/587, 180/168, 180/169, 104/88, 364/424
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0263 using magnetic strips

Abstract

Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device.

An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils. The location of the marker with respect to the vehicle is determined by comparing the magnitude of the voltages produced in the plurality of secondary coils.

Claims

1. A guidance system for guiding at least one unmanned trackless work-producing vehicle, the system comprising:

at least one unmanned trackless work-producing vehicle;

metallic bench mark means separate from said vehicle;

sensor means carried on the vehicle, the sensor means comprising means by which a plurality of magnetic fields are selectively generated, one of said magnetic field being around said metallic bench mark means, means producing a composite voltage proportional to the summation of the plurality of magnetic fields and means periodically sampling said composite voltage, said sampling means being in electrical communication with said composite voltage producing means; and

control means in electrical communication with the sensor means receiving and analyzing each sampled composite voltage and controlling the displacement of the vehicle based on said analysis.

2. A system according to claim 1 wherein the composite voltage producing means comprise means located asymmetrically across a boundary between areas of opposite magnetic fields produced by said magnetic field generating means.

3. A system according to claim 1 wherein said magnetic field generating means further comprise:

means producing an alternating current;

coil means converting said alternating current into a magnetic field in electrical communication with said alternating current producing means.

4. A system according to claim 1 wherein the composite voltage producing means further comprise a plurality of spaced voltage producing means.

5. A guidance system for guiding at least one unmanned trackless work-producing vehicle, the system comprising:

at least on unmanned trackless work-producing vehicle;

metallic bench mark means;

sensor means carried on the vehicle, the sensor means comprising magnetic field generating means, means producing a composite voltage proportional to a plurality of magnetic fields, the composite voltage producing means further comprising a plurality of spaced voltage producing means, and means periodically sampling said composite voltage, said sampling means being in electrical communication with said composite voltage producing means; and

, the sampling means comprising means identifying a maximum voltage for each of the spaced voltage producing means,

control means receiving and analyzing each sampled composite voltage and controlling the displacement of the vehicle based on said analysis in electrical communication with the sensor means, the control means comprising means in electrical communication with said identifying means comparing said maximum voltages, and means in electrical communication with said comparing means determining the location of said metallic bench mark means with respect to said spaced voltage producing means.

6. A system according to claim 5 wherein the metallic bench mark means further comprise a non-ferromagnetic material and wherein the control means comprises means in electrical communication with the identifying means and the comparing means discriminating between the non-ferromagnetic bench mark means and ferromagnetic materials.

7. A system according to claim 6 wherein said nonferromagnetic bench mark means comprise an aluminum material.

8. A system according to claim 5 wherein the metallic bench mark means comprise a plurality of metallic bench marks.

9. A system according to claim 8 wherein said plurality of metallic bench marks comprises several non-continuous metallic bench mark sections.

10. A guidance system for guiding at least one unmanned trackless work-producing vehicle, the system comprising:

at least one unmanned trackless vehicle;

metallic bench mark means;

magnetic field generating means carried on the vehicle;

means carried on the vehicle detecting said magnetic field and a second magnetic field associated with the metallic bench mark means and discriminating the second magnetic field from any magnetic field associated with a non-bench mark metallic object adjacent to the vehicle;

means carried on the vehicle producing a voltage, the magnitude of which is dependant on the relative location of the metallic bench mark means and the vehicle;

means in electrical communication with the voltage producing means evaluating said voltage; and

control means in electrical communication with the discriminating means and the evaluating means receiving and analyzing the evaluated voltage and controlling the displacement of the vehicle based on said analysis.

11. A system according to claim 10 wherein the discriminating voltage producing means comprise means located asymmetrically across a boundary between areas of opposite magnetic fields produced by said magnetic field generating means.

12. A system according to claim 10 wherein said magnetic field generating means further comprise:

means producing an alternating current;

coil means in electrical communication with said alternating current producing means converting said alternating current into a magnetic field.

13. A system according to claim 10 wherein the voltage producing means further comprise a plurality of spaced voltage producing means.

14. A system according to claim 13 wherein the sampling means comprise means identifying a maximum voltage for each of the spaced voltage producing means, and wherein the control means comprise means in electrical communication with said identifying means comparing said maximum voltages, and means in electrical communication with said comparing means determining the location of said metallic bench mark means with respect to the said spaced voltage producing means.

15. A system according to claim 14 wherein the metallic bench mark means further comprise a non-ferromagnetic material and wherein the control means comprise means in electrical communication with the identifying means and the comparing means discriminating between the non-ferromagnetic bench mark means and ferromagnetic materials.

16. A system according to claim 15 wherein said non-ferromagnetic bench mark means comprise an aluminum material.

17. A system according to claim 14 wherein the metallic bench mark means comprise a plurality of metallic bench marks.

18. A system according to claim 17 wherein said plurality of metallic bench marks comprises several non-continuous metallic bench mark sections.

19. A method for steering a trackless unmanned work-producing vehicle along a path comprising;

producing a first varying magnetic field at the vehicle;

using said first magnetic field to coil-produce a first electric current at the vehicle;

using said first magnetic field to create a second varying magnetic field about a metallic bench mark adjacent to the vehicle;

using said second magnetic field to coil-produce a second electric current at the vehicle;

creating and measuring a plurality of vector sums of the said first and second voltages to determine the maximum observed amplitude of said vector sums;

transducing said vector sums into vehicle steering commands; and

causing the trackless vehicle to be steered in accordance with said steering commands.

20. A method according to claim 19 wherein the step of coil-producing a second electric current comprises inducing electric currents in a plurality of coils.

22. A method according to claim 19 wherein the second using step comprises creating a second varying magnetic field about a non-ferromagnetic bench mark strip by direct action of said first magnetic field.

23. A method according to claim 19 wherein the second using step comprises creating a second varying magnetic field about a metallic bench mark, said second varying magnetic field being more than 180°

out of phase with said first magnetic field.

21. A method according to 19 wherein the transducing step comprises:

comparing the maximum observed amplitude of voltage for each of a plurality of coils;

determining the location of the trackless unmanned vehicle with reference to said maximum of observed values; and

producing corresponding steering commands for said trackless, unmanned vehicles.

24. A method for steering a trackless vehicle along a predetermined path comprising;

producing a first varying magnetic field at the vehicle;

inducing at the vehicle a first coil-produced electric current, by direct use of said first magnetic field;

creating a second varying magnetic field about a metallic bench mark adjacent to the vehicle, by direct use of said first magnetic filed;

inducing at the vehicle a second coil-produced electric current, by action of said second magnetic field;

creating and measuring a plurality of vector sums of the said first and second voltages to determine the maximum observed amplitude of said vector sums;

eliminating all voltages except those produced by said first and second magnetic fields thereby identifying the metallic bench mark with certainty as being a part of the predetermined vehicle path;

transducing said vector sums into steering commands; and

steering a trackless vehicle in accordance with said steering commands.

25. A method of guiding at least one unmanned trackless work-producing vehicle comprising:

generating a plurality of magnetic fields in respect to at least one unmanned trackless work-producing vehicle, selectively including one magnetic field around non-vehicle site-defining metallic objects of predetermined characteristics;

producing a series of successive composite voltage at the vehicle proportional to the plurality of magnetic fields;

periodically samplings said composite voltages;

analyzing each sampled composite voltage;

discriminating between the site-defining metallic objects and other metallic objects having different characteristics; and

controlling the displacement of the vehicle based on said analysis.

26. A method of guiding at least one unmanned trackless work-producing vehicle comprising:

generating a first magnetic field from at least one unmanned trackless vehicle;

creating a second magnetic field in association with a metallic bench mark spaced from the vehicle;

detecting said first magnetic field and the second magnetic field associated;

discriminating the second magnetic from any magnetic field associated with a non-bench mark metallic object adjacent to the vehicle;

producing a voltage, the magnitude of which is dependant on the relative location of the metallic bench mark and the vehicle;

evaluating said voltage;

analyzing the evaluated voltage; and

controlling the displacement of the vehicle based on said analysis.