Method of guiding industrial trucks having at least one steerable wheel and system for carrying out the method

• US 4,918,362 A
• Filed: 12/15/1988
• Issued: 04/17/1990
• Est. Priority Date: 12/18/1987
• Status: Expired due to Fees

• Current Assignee: Jungheinrich Unternehmensverwaltung GmbH
• Original Assignee: Jungheinrich Unternehmensverwaltung KG
• Inventors: Haelbich, Rolf, Hanel, Jurgen, Pridat, Volker, Christensen, Sven, Hoener, Siegfried
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): Ip, Paul
• Application Number:
  US07/285,096
• Time in Patent Office: 488 Days
• Field of Search: 318/587, 318/632, 318/568, 318/580, 364/424.01, 364/424.02, 364/513, 180/167, 180/168, 180/169, 901/1, 901/7, 901/14
• US Class Current: 318/587
• CPC Class Codes: G05D 1/0244 using reflecting strips
• CPC Class Codes: G05D 1/0265 using buried wires
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00

Abstract

An industrial truck comprising at least one steerable wheel is to be guided in dependence on direction-controlling signals which are transmitted to the industrial truck. At a junction the truck receives a direction-controlling steering signal, which causes the at least one steerable wheel to be laterally offset from the guiding signal line until a signal equilibrium which depends on the offset has been established in the steering controller. In dependence on the distance traveled and/or on time, a resetting signal is received which causes the steering means to return to an operating condition in which the vehicle is centered over a signal guiding line to be followed. The signals are transmitted by a guiding signal line, which is buried in the ground and cooperates with a sensor, which is provided at the center of the vehicle and scans the guiding signal line so as to control the deflection of steerable wheels of the vehicle. When a branch to the left or right extends from the straight guiding signal line, a signal calling for a lateral offset from the guide wire (4; 15, 16) is delivered and maintained for causing the vehicle to move along a course that is parallel to the guide wire (4; 15, 16). That parallel offset travel is continued until a signal for resetting the vehicle to a centered position over the guide wire is received.

Claims

1. A system for guiding industrial trucks having at least one steerable wheel and other wheels consisting of driven wheels or rollers, said system comprising a guiding signal line providing at the ground a trace for emitting radiation in one of the modes consisting of reflection and a field derived from power that is supplied to said line,

which guiding signal line constitutes a guiding element,

said system also comprising branches extending to the left or right from a straight portion of the guiding element and consisting of arcuate guiding elements,

said system comprising special marks in front of each of said branches,

said marks being operable in one of the modes consisting of an identification-signal from the ground and a signal modulation of the radiation from the guiding signal line,

in which system the industrial truck comprises a sensor centrally scanning said guiding element and for receiving the radiation and circuitry for evaluating the radiation which has been received by said sensors so as to derive signals from said radiation,

said industrial truck comprising steering means (26) for controlling a deflection of at least one steerable wheel of said industrial truck,

which steering means are operatively connected to the sensor by means for controlling the steering means independence on a signal that has been received by the sensor for causing the steerable wheel to be laterally deflected to a course that is laterally offset from the guiding signal line,

the industrial truck further comprising a direction-presetting subassembly for controlling the steerable wheel, said subassembly is presettable by one of the modes consisting of a time measurement and a travel measurement, and

means (24, 31, 33, 50, 56) for effecting a control lateral deflection of said steerable wheel are provided and are triggerable by one of said modes,

triggering means for triggering said deflection control means are provided and comprise one of the signal generators consisting of an identification mark and means for modulating said radiation,

said deflection control means being operable to effect a lateral offset of said steerable wheel from the guide element (4, 5;

15,

     16) at the ground and to maintain the offset for a travel along a course that is parallel to the guiding signal line (4, 5;

15,

     16).

2. A system according to claim 1, wherein

identification marks are provided at the ground, which identification marks consist of signal generators for emitting an address signal identifying a branch,

said industrial truck carries a receiver (51), which is adapted to receive said address signal and in response to said address signal to deliver to the steering means (26) of the industrial truck a controlling signal for deflecting the steerable wheel to a course (9'"'"', 10'"'"') that is laterally offset from said guiding signal line, and

a signal generator is provided at the ground and is adapted to emit a signal for terminating the deflection toward the laterally offset course.

3. A system according to claim 1, wherein said direction-presetting subassembly carried by the industrial truck comprises circuitry for effecting a lateral deflection to a course which is laterally offset 20 to 120 mm from the guiding signal lines.

4. A system according to claim 1, wherein

said industrial truck comprises a timer, which is operatively connected to a signal-generating circuitry, which is adapted to be triggered as the industrial truck has moved onto the branch and which is arranged to be disabled after a predetermined time which is determined by the timer and in response to its disabling delivers a signal to the direction-presetting subassembly to cause the latter to return the industrial truck to a centered position over a guide wire by resetting means for imparting a reverse deflection to the steerable wheel to a normal position relative to the guide wire.

5. A system according to claim 4, wherein

travel control means of the system cooperate with the guiding element to generate a pulse when said steerable wheel has performed a predetermined length of travel,

said travel control means are arranged to be triggered as the steerable wheel moves onto a branch and to be disabled after a predetermined length of travel, and

resetting means are provided, which are arranged to be triggered in response to the disabling of the travel control means and to guide the industrial truck to a centered position over a guide wire.

6. A system according to claim 1, wherein

a timer is provided and

said industrial truck is provided with a travel-measuring device (59) and a switch (58),

which is adapted to be enabled in dependence on a signal from a signal receiver (51) carried by the industrial truck via a course-selecting circuit (50) and a selector switch (61) and is operable to reset the timer.

7. A system according to claim 1, wherein

said direction-presetting subassembly comprises feelers,

marks are provided at the ground and are disposed laterally of the guiding signal line and consist of an elevation or depression in the surface,

each of said feelers is engageable with at least one of said marks and in response to said engagement to operate said direction-presetting subassembly.

8. A system according to claim 7, wherein

said industrial truck comprises a plurality of drive motors, one of which is a travel drive motor and at least one of which is a steering motor for imparting to said steerable wheel a lateral deflection,

connecting circuitry is provided for operatively connecting said steering motor to at least one of said feelers and comprises a circuit for limiting the time in which a lateral deflection is imparted to said steerable wheel, which circuit comprises control means for returning said direction-presetting subassembly to a position for a travel of such steerable wheel on a straight course.

9. A system according to claim 1, wherein

said direction-presetting subassembly is operable to impart in response to a signal unbalance a predetermined lateral deflection to the steerable wheel by means of said steering means and thereafter to move said steerable wheel by means of said steering means to a position in which said steerable wheel is parallel to said guiding signal line when said signal unbalance has been eliminated,

three comparators (30 to 32) are provided for detecting said signal unbalance, and

said direction-presetting subassembly comprises switchable control signal generators, which control said steering means for a travel of the steerable wheel on a course which is parallel to and laterally offset from the guide wire for a predetermined time or for a predetermined length of travel.

10. A system for guiding industrial trucks having at least one steerable wheel and other wheels consisting of driven wheels or rollers, said system comprising a guiding signal line providing at the ground a trace for emitting radiation in one of the modes consisting of reflection and a field derived from power that is supplied to said line,

which guiding signal line constitutes a guiding element,

said system also comprising branches extending to the left or right from a straight portion of the guiding element and consisting of arcuate guiding elements,

said system comprising special marks in front of each of said branches,

said marks being operable in one of the modes consisting of an identification-signal from the ground and a signal modulation of the radiation from the guiding signal line,

in which system the industrial truck comprises a sensor centrally scanning said guiding element and for receiving the radiation and circuitry for evaluating the radiation which has been received by said sensors so as to derive signals from said radiation,

said industrial truck comprising steering means (26) for controlling a deflection of at least one steerable wheel of said industrial truck,

which steering means are operatively connected to the sensor by means for controlling the steering means independence on a signal that has been received by the sensor for causing the steerable wheel to be laterally deflected to a course that is laterally offset from the guiding signal line,

the guiding signal line being adapted to emit a signal for returning the steerable wheel to a course that is centered on the guiding signal line,

a direction-presetting subassembly is provided on the industrial truck and is operatively connected to the sensor and said sensor is adapted to receive said resetting signal from said signal line and in response to said resetting signal to cause said direction-presetting subassembly to reset the at least one steerable wheel.

11. A system for guiding industrial trucks having at least one steerable wheel and other wheels consisting of driven wheels or rollers, said system comprising a guiding signal line providing at the ground a trace for emitting radiation in one of the modes consisting of reflection and a field derived from power that is supplied to said line,

which guiding signal line constitutes a guiding element,

said system also comprising branches extending to the left or right from a straight portion of the guiding element and consisting of arcuate guiding elements,

said system comprising special marks in front of each of said branches,

said marks being operable in one of the modes consisting of an identification-signal from the ground and a signal modulation of the radiation from the guiding signal line,

in which system the industrial truck comprises a sensor centrally scanning said guiding element and for receiving the radiation and circuitry for evaluating the radiation which has been received by said sensors so as to derive signals from said radiation,

said industrial truck comprising steering means (26) for controlling a deflection of at least one steerable wheel of said industrial truck,

which steering means are operatively connected to the sensor by means for controlling the steering means independence on a signal that has been received by the sensor for causing the steerable wheel to be laterally deflected to a course that is laterally offset from the guiding signal line,

said industrial truck carries a terminating signal generator (56) for generating a signal for terminating the travel of the steerable wheel on the laterally offset course and a course-selecting circuit (50),

said course-selecting circuit (50) is adapted to be connected to the terminating signal generator (56) via a change-over switch that is controlled by one of the signal generators consisting of an external identification mark (62) and a controller for measuring one of the parameters consisting of the length of travel and time.