EP0330639A2
Expired / Lapsed
EP
⏱️ 0.0 years remaining
Automatic guided vehicle traffic control system and method
Assignee: NDC Automation Inc
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Filing: 1989-02-24
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Granted: —
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Expires: 2009-02-24
Abstract
Abstract A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop. The control system comprises a passive closed antenna loop positioned adjacent to the path along a length thereof, a vehicle transmitter located on each vehicle for inducing an electromagnetic signal in the antenna loop for only so long as one of the vehicles is positioned on the portion of the path adjacent the antenna loop, and a vehicle receiver located on each vehicle operating in the system. The receiver is positioned on the vehicle in spaced-apart relation to the vehicle transmitter for sensing the signal induced in the antenna loop and generating an output to the guidance system of the vehicle. A signal is induced in the antenna loop by a first vehicle is detected by the vehicle receiver of a second vehicle when in proximity to the antenna loop and the second vehicle is slowed or stopped as required to avoid a collision between the first and second vehicles. When the first vehicle no longer induces a signal in the antenna loop the second vehicle is permitted to continue along the path.
Inventors
- 👤 Fredrik Holmqvist
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-10-28 02:01
CPC Classifications
G; G05; G05D; G05D1/00; G05D1/02; G05D1/021; G05D1/0259; G05D1/0265; G05D1/0287; G05D1/0289
Claims Analysis
Total Claims: 26
Claim 1
Independent Claim
227 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a passive closed antenna loop positioned adjacent to said path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in said antenna loop for only so long as one of said vehicles is positioned on the portion of the path adjacent the antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in the antenna loop and generating an output to the guidance system of said vehicle; whereby a signal induced in said antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path.
Claim 2
Dependent Claim
227 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a passive closed antenna loop positioned adjacent to said path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in said antenna loop for only so long as one of said vehicles is positioned on the portion of the path adjacent the antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in the antenna loop and generating an output to the guidance system of said vehicle; whereby a signal induced in said antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path.
Claim 3
Dependent Claim
233 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a passive closed antenna loop positioned adjacent to an intersection of the path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in said antenna loop for only so long as one of each of said vehicles is positioned on the portion of the path adjacent the antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in the antenna loop and generating an output signal to the guidance system of said vehicle; whereby a signal induced in said antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path.
Claim 4
Dependent Claim
233 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a passive closed antenna loop positioned adjacent to an intersection of the path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in said antenna loop for only so long as one of each of said vehicles is positioned on the portion of the path adjacent the antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in the antenna loop and generating an output signal to the guidance system of said vehicle; whereby a signal induced in said antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path.
Claim 5
Dependent Claim
38 words
A control system according to claim 2, wherein said path includes an intersection of the type where at least two path branches merge to form a single path, and wherein said antenna loop is positioned adjacent said intersection.
Claim 6
Dependent Claim
33 words
A control system according to claim 2, wherein said path includes an intersection of the type where at least two path branches cross, and wherein said antenna loop is positioned adjacent said intersection.
Claim 7
Dependent Claim
243 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles each having a guidance system thereon follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a plurality of passive closed antenna loops positioned serially in spaced-apart relation adjacent to said path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in a first of said antenna loops for only so long as one of said vehicles is positioned on the portion of the path adjacent said first antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in said first antenna loop and generating an slow or stop output to the guidance system of said vehicle whereby a signal induced in said first antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path, thereby buffering said vehicles from each other.
Claim 8
Dependent Claim
243 words
A control system for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles each having a guidance system thereon follow a path on a floor surface and reduce speed or stop, said control system comprising: (a) a plurality of passive closed antenna loops positioned serially in spaced-apart relation adjacent to said path along a length thereof; (b) a vehicle transmitter located on each vehicle operating in the system for inducing an electromagnetic signal in a first of said antenna loops for only so long as one of said vehicles is positioned on the portion of the path adjacent said first antenna loop; (c) a vehicle receiver located on each vehicle operating in the system, said receiver being positioned on said vehicle in spaced-apart relation to said vehicle transmitter for sensing the signal induced in said first antenna loop and generating an slow or stop output to the guidance system of said vehicle whereby a signal induced in said first antenna loop by a first said vehicle is detected by the vehicle receiver of a second vehicle when in proximity to said antenna loop and said second vehicle is slowed or stopped as required to avoid a collision between said first and second vehicles, and whereby when said first vehicle no longer induces a signal in said antenna loop said second vehicle is permitted to continue along the path, thereby buffering said vehicles from each other.
Claim 9
Dependent Claim
36 words
A control system according to claim 5, wherein the vehicle sensing transmitters of second and successive vehicles induce signals in second and successive respective antenna loops for buffering said second and successive vehicles from following vehicles.
Claim 10
Dependent Claim
116 words
A control system according to claim 5 or 6, wherein said vehicle transmitter is positioned on the trailing end of each the vehicle relative to the direction of movement of the vehicle and said vehicle receiver is positioned on the leading end of the vehicle relative to the direction of movement of the vehicle, and wherein the spacing of said antenna loops and the spacing of the vehicle transmitter and the vehicle receiver on each vehicle are such that a given vehicle when receiving a signal from one of the antenna loops also transmits a signal to an adjacent antenna loop for reception by a following vehicle, thereby buffering said vehicles from collision with each other.
Claim 11
Dependent Claim
45 words
A control system according to claim 1, 2 or 5, and including first and second vehicle receivers positioned on opposite ends of each of said vehicles and at least one vehicle transmitter positioned on each of said vehicles intermediate said first and second vehicle receivers.
Claim 12
Dependent Claim
39 words
A control system according to claim 5, wherein said path also includes an intersection of the type where at least two path branches merge to form a single path, and wherein said antenna loop is positioned adjacent said intersection.
Claim 13
Dependent Claim
34 words
A control system according to claim 5, wherein said path also includes an intersection of the type where at least two path branches cross, and wherein said antenna loop is positioned adjacent said intersection.
Claim 14
Dependent Claim
60 words
A control system according to claim 9 or 10, wherein one of said at least two branch paths carries a first guidance signal and the other of the branch paths carries a second guidance signal discrete from the first guidance signal, and said vehicle receiver includes means for awarding priority to a predetermined one of the first or second frequencies.
Claim 15
Independent Claim
186 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a passive closed antenna loop positioned adjacent to the path along a length thereof; (b) inducing an electromagnetic signal onto the antenna loop from a first vehicle for only so long said first vehicle is positioned on the portion of the path adjacent the antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path after said first vehicle no longer induces a signal in said antenna loop.
Claim 16
Independent Claim
186 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a passive closed antenna loop positioned adjacent to the path along a length thereof; (b) inducing an electromagnetic signal onto the antenna loop from a first vehicle for only so long said first vehicle is positioned on the portion of the path adjacent the antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path after said first vehicle no longer induces a signal in said antenna loop.
Claim 17
Independent Claim
213 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a passive closed antenna loop positioned adjacent to an intersection of the path along a length thereof; (b) inducing an electromagnetic signal onto the antenna loop from a first vehicle for only so long said first vehicle is positioned on the portion of the path in the vicinity of the intersection adjacent the antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles as the first vehicle passes through the intersection; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path and through the intersection after said first vehicle has passed through the intersection and no longer induces a signal in said antenna loop.
Claim 18
Independent Claim
213 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a passive closed antenna loop positioned adjacent to an intersection of the path along a length thereof; (b) inducing an electromagnetic signal onto the antenna loop from a first vehicle for only so long said first vehicle is positioned on the portion of the path in the vicinity of the intersection adjacent the antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles as the first vehicle passes through the intersection; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path and through the intersection after said first vehicle has passed through the intersection and no longer induces a signal in said antenna loop.
Claim 19
Dependent Claim
39 words
A control system method according to claim 13, wherein said path includes an intersection of the type where at least two path branches merge to form a single path, and wherein said antenna loop is positioned adjacent said intersection.
Claim 20
Dependent Claim
33 words
A control system according to claim 13, wherein said path includes an intersection of the type where at least two path branches cross, and wherein said antenna loop is positioned adjacent said intersection.
Claim 21
Independent Claim
197 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a plurality of passive closed antenna loops positioned serially in spaced-apart relation adjacent to the path along a length thereof; (b) inducing an electromagnetic signal onto a first of said antenna loops from a first vehicle for only so long said first vehicle is positioned on the portion of the path adjacent the said first antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path after said first vehicle no longer induces a signal in first antenna loop.
Claim 22
Independent Claim
197 words
A method for regulating AGV vehicle flow in an AGV system of the type wherein a plurality of AGV vehicles have a guidance system thereon enabling each of the AGV vehicles to follow a path on a floor surface and reduce speed or stop, said method comprising the steps of: (a) providing a plurality of passive closed antenna loops positioned serially in spaced-apart relation adjacent to the path along a length thereof; (b) inducing an electromagnetic signal onto a first of said antenna loops from a first vehicle for only so long said first vehicle is positioned on the portion of the path adjacent the said first antenna loop; (c) a second vehicle sensing the presence of the signal induced in the antenna loop; (d) said second vehicle generating an output to the guidance system of said second vehicle to slow or stop said second vehicle as required to avoid a collision between the first and second vehicles; and (e) said second vehicle generating an output to the guidance system of said second vehicle and permitting said second vehicle to continue along the path after said first vehicle no longer induces a signal in first antenna loop.
Claim 23
Dependent Claim
37 words
A control sytem method according to claim 16, and including the step of inducing signals from second and successive vehicle in second and successive respective antenna loops for buffering said second and successive vehicles from following vehicles.
Claim 24
Dependent Claim
43 words
A control system method according to claim 16, wherein said method includes the step of providing an intersection of the type where at least two path branches merge to form a single path, and wherein said antenna loop is positioned adjacent said intersection.
Claim 25
Dependent Claim
38 words
A control system method according to claim 16, wherein said method includes the step of providing an intersection of the type where at least two path branches cross, and wherein said antenna loop is positioned adjacent said intersection.
Claim 26
Dependent Claim
74 words
A control system method according to claim 18 or 19, and including the step of providing one of said at least two branch paths with a first guidance signal and the other of the branch paths with a second guidance signal discrete from the first guidance signal, and awarding priority to a predetermined one of the first or second frequencies for permitting the vehicle on the branch path having the higher priority to proceed.
References Cited (Backward Citations)
No citation records indexed.
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