Remote controlled travel apparatus

• US 4,835,692 A
• Filed: 02/02/1987
• Issued: 05/30/1989
• Est. Priority Date: 02/05/1986
• Status: Expired due to Fees

• Current Assignee: Bridge & Plate Construction Pty Limited
• Original Assignee: Bridge & Plate Construction Pty Limited
• Inventors: Baird, Richard M., Pudney, Jack L.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): Black, Thomas G.
• Application Number:
  US07/009,955
• Time in Patent Office: 848 Days
• Field of Search: 364/424, 364/443, 364/424.01, 364/424.02, 180/167, 180/168, 180/169
• US Class Current: 701/2
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals

Abstract

A remote controlled apparatus particularly for shelf servicing within warehouses. A vehicle is provided for travelling along a path between a plurality of locations. The vehicle has drive means operable for driving the vehicle along the path. Command control means operates the drive means. The control means includes a distance measuring apparatus having an electromagnetic radiation generating unit carried by the vehicle and operable to generate an electromagnetic radiation beam. One or more radiation receiving mirrors are fixed in predetermined relationship to vehicle locations and arranged to receive and reflect back electromagnetic radiation beams from the generating unit. Upon beam reflection, with the generating unit initiates an output signal representative of the distance between the generating unit and a receiving mirror. The control means functions on the basis of the initiated output signal to generate a signal representative of a current location of the vehicle relative to a desired preselected location and to operate the drive means as necessary to move the vehicle along the path to that preselected location.

Claims

1. A controlled vehicle system including:

a vehicle path;

a vehicle for travelling along the vehicle path from a current location to a preselected location, the vehicle having drive means capable for driving the vehicle along the path; and

, common control means for operating the drive means to drive the vehicle, the control means including a distance measuring apparatus having an electromagnetic radiation generating means carried by the vehicle and operable to generate electromagnetic radiation and having radiation receiving means fixed in known positions relative to the vehicle path, the receiving means receiving electromagnetic radiation from the generating means and reflecting the radiation back to the generating means to provide information to the generating means for determining the distance between the generating means and the receiving means, the generating means generating and output signal representative of the distance between the generating means and the receiving means, the control means processing the output signal from the generating means to generate a signal representative of the current location of the vehicle relative to the preselected location and to operate the drive means as necessary to move the vehicle along the path from the current location to that preselected location.

2. A system as claimed in claim 1, wherein the generating means includes a generating unit operable to emit a beam of electromagnetic radiation.

3. A system as claimed in claim 2, wherein the radiation beam is at least substantially continuously emitted during vehicle travel.

4. A system is claimed in claim 3, wherein the radiation beam is a pencil-like beam of infra-red radiation.

5. A system as claimed in claim 2, wherein the generating unit is fixed to the vehicle and the emitted beam extends parallel to a straight line of vehicle travel at any one time, so that when the vehicle travels along a straight path section the beam extends parallel to that path section and when travelling along a non-straight path section then the beam extends parallel to a line lying tangentially to that path section.

6. A system as claimed in claim 1, wherein an array of the receiving devices are provided, the array being configured so that, during apparatus use, the emitted electromagnetic radiation will be received by, and reflected from, only one device at any one time.

7. A system as claimed in claim 6, wherein each receiving device includes a receiving mirror having a plane reflecting surface, the reflecting surface lying in a plane perpendicular to emitted radiation received thereby.

8. A system as claimed in claim 1, wherein the control means also includes an operations controller connected to receive the output signal of the generating means and which functions to compare that signal with a reference signal representative of the preselected vehicle location and operate the vehicle drive means to move the vehicle until the output signal matches the reference signal whereup the vehicle will be in the preselected location.

9. A system as claimed in claim 8, wherein the operations controller includes an electronic central processing unit for directly or indirectly receiving the distance output signal of the generating means.

10. A system as claimed in claim 9, wherein the operations controller also includes a decoder interposed between the generating means and the central processing unit for converting the distance output signal into an input signal to the central processing unit.

11. A system as claimed in claim 10, wherein the distance output signal is an RS 232 serial output signal and the input signal is a 16 bit parallel signal.

12. A system as claimed in claim 11, wherein the input and reference signals are representative of coordinates of the current and preselected locations, respectively, of the vehicle within a coordinate datum system containing the path along with the vehicle can travel.

13. A system as claimed in claim 10, wherein the central processing unit is operable to generate output signals in response to a comparison of the input and reference signals, which output signals directly or indirectly control operation of the drive means.

14. A system as claimed in claim 8, wherein the control means also includes a data inputter located remote from the vehicle, and connected to the operations controller and operable to provide the reference signals thereto.

15. A system as claimed in claim 14, wherein the data inputter includes a data input terminal at which an operator can input information of the preselected location for the vehicle.

16. A system as claimed in claim 15, wherein the data inputter includes a computer with the input terminal being a computer input console including a keyboard for keying in the input information.

17. A system as claimed in claim 1, wherein the vehicle is a track guided stock stacking and retrieval vehicle travelling on one or more vehicle tracks extending along the path.

18. A system as claimed in claim 17, wherein the vehicle includes a frame that moves along the tracks during vehicle travel and a load carrying unit mounted on the frame for supporting and carrying stock during vehicle travel, the load carrying unit being movable relative to the frame, and wherein the control means further includes one or more additional distance measuring apparatus mounted on the vehicle, one of the radiation generating means and receiving means of that additional distance measuring apparatus being fixed on the load carrying unit and the other one being fixed on the vehicle frame, the additional distance measuring apparatus generating a distance output signal representative of the separation distance between the generating means and receiving means, the control means processing the output signal from the generating means to generate a signal representative of a current location of the load carrying unit relative to a desired preselected location and initiate movement of the load carrying unit to that preselected location.