EP0229669A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Integrated wire/surface guidance system
Assignee: Western Atlas Inc
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Filing: 1987-01-15
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Granted: —
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Expires: 2007-01-15
Abstract
Abstract An integrated wire/surface guidance system (100) is disclosed wherein automatically guided vehicles (102) are made to follow a predetermined guidance layout (122). The guidance layout (122) comprises guidewire segments (130) forming wire loops buried beneath the floor surface (124). The guidance layout (122) also includes surface guidepath segments (144), and each of the vehicles (102) includes a surface guidepath sensor arrangement (190) and a buried wire sensor arrangement (172) for detecting the position of the vehicle (102) relative to the surface and buried wire path segments (144, 130), respectively. A control system (170) mounted on the vehicle (102) selectively controls activation of the sensor arrangements (190, 172) and is responsive to sensing signals received from the sensor arrangements so as to control steering and movement along either type of segment, in addition to selectively switching detection control between the same.
Inventors
- 👤 Warner J. Schultz
- 👤 Ernest L. Young
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-26 12:30
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0231; G05D1/0234; G05D1/0242; G05D1/0259; G05D1/0265
Claims Analysis
Total Claims: 16
Claim 1
Independent Claim
119 words
A guidance layout forming a predetermined path and adapted for use in a vehicle guidance system wherein at least one self-propelled vehicle is adapted to follow said guidance layout, the guidance layout comprising: wire guidepath means located in a predetermined disposition relative to a floor surface for providing at least one segment of said guidance layout as a conductive path segment; source means for generating electrical path signals and applying said signals to said wire guidepath means; and surface guidepath means located in a predetermined disposition relative to said floor surface for providing at least one segment of said guidance layout capable of detection by said vehicle in the absence of electrical current passing through said surface guidepath means.
Claim 2
Dependent Claim
119 words
A guidance layout forming a predetermined path and adapted for use in a vehicle guidance system wherein at least one self-propelled vehicle is adapted to follow said guidance layout, the guidance layout comprising: wire guidepath means located in a predetermined disposition relative to a floor surface for providing at least one segment of said guidance layout as a conductive path segment; source means for generating electrical path signals and applying said signals to said wire guidepath means; and surface guidepath means located in a predetermined disposition relative to said floor surface for providing at least one segment of said guidance layout capable of detection by said vehicle in the absence of electrical current passing through said surface guidepath means.
Claim 3
Dependent Claim
47 words
A guidance layout in accordance with claim 1 wherein said layout further comprises code means located proximate said floor surface and detectable by said vehicle for indicating the location of said vehicle along said guidance layout or for indicating particular functions to be performed by said vehicle.
Claim 4
Dependent Claim
42 words
A guidance layout in accordance with claim 1 or 2 characterized in that said layout further comprises central system controller means for selectively transmitting to said vehicle controller information signals representative of a sequence of functions to be performed by said vehicle.
Claim 5
Dependent Claim
211 words
A self-propelled vehicle adapted for use in a vehicle guidance system wherein said vehicle is adapted to follow a predetermined guidance layout, said vehicle comprising: first sensing means for detecting electrical signals flowing through at least one first segment of said guidance layout, and for generating first signals representative of the position of said vehicle relative to said first segment; vehicle control means connected to said first sensing means, and responsive to said first signals for generating first steering control signals; steering control means connected to said vehicle control means, and responsive to said first steering control signals for steering said vehicle in a manner so as to guide said vehicle relative to said first segment; second sensing means for detecting at least one second segment of said guidance layout by detecting electromagnetic signals emitted from said second segment, and for generating second signals representative of the position of said vehicle relative to said second segment; said vehicle control means is connected to said second sensing means and responsive to said second signals for generating second steering control signals; and said steering control means is further responsive to said second steering control signals so as to guide said vehicle as said vehicle moves along said second segment of said guidance layout.
Claim 6
Dependent Claim
211 words
A self-propelled vehicle adapted for use in a vehicle guidance system wherein said vehicle is adapted to follow a predetermined guidance layout, said vehicle comprising: first sensing means for detecting electrical signals flowing through at least one first segment of said guidance layout, and for generating first signals representative of the position of said vehicle relative to said first segment; vehicle control means connected to said first sensing means, and responsive to said first signals for generating first steering control signals; steering control means connected to said vehicle control means, and responsive to said first steering control signals for steering said vehicle in a manner so as to guide said vehicle relative to said first segment; second sensing means for detecting at least one second segment of said guidance layout by detecting electromagnetic signals emitted from said second segment, and for generating second signals representative of the position of said vehicle relative to said second segment; said vehicle control means is connected to said second sensing means and responsive to said second signals for generating second steering control signals; and said steering control means is further responsive to said second steering control signals so as to guide said vehicle as said vehicle moves along said second segment of said guidance layout.
Claim 7
Dependent Claim
99 words
A self-propelled vehicle in accordance with claim 4 characterized in that said vehicle further comprises: operator interface means responsive to manual operation thereof for generating address destination signals representative of a guidance layout destination location to which said vehicle is to travel; and said vehicle control means is responsive to said address destination signals for storing said address destination signals, for determining path segments of said layout from a present location of said vehicle to said destination location, and for generating steering and traction control signals so as to follow said path segments during travel to said destination location.
Claim 8
Dependent Claim
70 words
A self-propelled vehicle in accordance with claim 4 or 5 characterized in that said vehicle further comprises: vehicle communication means responsive to externally-applied controller information signals representative of a sequence of functions to be performed by said vehicle, and for generating externally-applied vehicle communication signals representative of said controller information signals; and said vehicle control means is responsive to said externally-applied vehicle communication signals for executing said sequence of functions.
Claim 9
Dependent Claim
59 words
A self-propelled vehicle in accordance with claim 6 characterized in that said vehicle control means comprises means for generating status communication signals representative of various status parameters associated with said vehicle; and said vehicle communication means is responsive to said status communication signals for transmitting a set of internally-generated vehicle communication signals representative of said various vehicle status parameters.
Claim 10
Dependent Claim
82 words
A self-propelled vehicle in accordance with one of claims 4 to 7 characterized in that said first sensing means comprises: sensor coil means mounted to said vehicle for sensing magnetic fields generated from said guidance layout, wherein sensor coil voltage signals are induced within said sensor coil means as a result of said magnetic fields; and circuit means connected to said sensor coil means for comparing said sensor coil voltage signals and for generating said first signals in accordance with said comparison.
Claim 11
Dependent Claim
97 words
A self-propelled vehicle in accordance with anyone of claims 4 to 8 characterized in that said second sensing means comprises: illumination means for generating electromagnetic light waves and applying said light waves to areas surrounding said second segment of said guidance layout; scanning means for periodically scanning said guidance layout and for detecting electromagnetic light waves emitted from said guidance layout in response to illumination of said guidance layout by said illumination means; and circuit means responsive to said visible electromagnetic light waves for converting said light waves into corresponding electrical signals and generating said second signals.
Claim 12
Dependent Claim
49 words
A self-propelled vehicle in accordance with anyone of claims 4 to 9 characterized in that said steering control means comprises traction control means connected to said vehicle control means, and responsive to traction control signals generated by said vehicle control means for selectively controlling the speed of said vehicle.
Claim 13
Dependent Claim
92 words
A self-propelled vehicle in accordance with anyone of claims 4 to 10 characterized in that said vehicle control means further comprises: means for receiving destination address signals represenative of a destination location of said guidance layout to which said vehicle is travel, and for storing in memory said destination address signals; means for receiving said first signals and said second signals; and means responsive to said first and said second signals for generating said steering control signals so as to control traversal of said guidance layout and the speed of said vehicle.
Claim 14
Dependent Claim
165 words
A self-propelled vehicle in accordance with anyone of claims 4 to 11 characterized in that said vehicle control means further comprises: means for storing information signals representative of a map of said guidance layout; means for detecting the existence of said destination address signals; means responsive to signals indicative of the present location of said vehicle to determine if travel of said vehicle to said destination location requires said vehicle to switch between following of said first segment of said guidance layout and following of said second segment of said guidance layout; means for selectively applying signals to said first sensing means and to said second sensing means so as to selectively follow either said first segment or said second segment; and means responsive to signals received from said second sensing means so as to determine when said vehicle has arrived at said destination location, and means responsive to said determination for applying signals to said steering control means so as to stop said vehicle.
Claim 15
Independent Claim
210 words
A method for guiding at least one self-propelled vehicle along a guidance layout, said method comprising the steps of: a. generating and applying electrical path signals to a wire guidepath located at a predetermined position relative to a floor surface; b. detecting said electrical path signals when said vehicle is following said wire guidepath; c. generating first signals representative of the position of said vehicle relative to said wire guidepath; d. generating first steering control signals responsive to said first signals; e. steering said vehicle in response to said first steering control signals in a manner so as to guide said vehicle along said wire guidepath; f. sensing a surface guidepath of said guidance layout, and generating second signals representative of the position of said vehicle relative to said surface guidepath; g. generating second steering control signals in response to said second signals; h. guiding said vehicle along said surface guidepath in response to said second steering control signals as said vehicle moves along said surface guidepath; i. generating potential path switching signals indicating said vehicle is approaching a potential switching location between said wire guidepath and said surface guidepath; and j. selectively following either said surface guidepath or said wire guidepath in response to said potential path switching signals.
Claim 16
Independent Claim
210 words
A method for guiding at least one self-propelled vehicle along a guidance layout, said method comprising the steps of: a. generating and applying electrical path signals to a wire guidepath located at a predetermined position relative to a floor surface; b. detecting said electrical path signals when said vehicle is following said wire guidepath; c. generating first signals representative of the position of said vehicle relative to said wire guidepath; d. generating first steering control signals responsive to said first signals; e. steering said vehicle in response to said first steering control signals in a manner so as to guide said vehicle along said wire guidepath; f. sensing a surface guidepath of said guidance layout, and generating second signals representative of the position of said vehicle relative to said surface guidepath; g. generating second steering control signals in response to said second signals; h. guiding said vehicle along said surface guidepath in response to said second steering control signals as said vehicle moves along said surface guidepath; i. generating potential path switching signals indicating said vehicle is approaching a potential switching location between said wire guidepath and said surface guidepath; and j. selectively following either said surface guidepath or said wire guidepath in response to said potential path switching signals.
References Cited (Backward Citations)
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