Downward compatible AGV system and methods

US5650703A · kind A · utility

Assignee

• HK Systems, Inc. · US

Inventors

• James V. Yardley · Centerville, US
• Gary L. Whatcott · Holladay, US
• John Arthur Mitsuru Petersen · Bountiful, US
• Bryan A. Bloomfield · Bountiful, US
• Vaughn W. Guest · Farmington, US
• Rick S. Mottes · Roy, US
• Robert K. Forman · Taylorsville, US
• L. Bruce Christensen · Kaysville, US
• Joseph C. Zuercher · Brookfield, US
• Herman P. Schutten · Milwaukee, US

Key dates

• Filing date: Apr 25, 1996
• Grant date: Jul 22, 1997
• Expiry date: Apr 25, 2016

Classification

• Technology area (CPC G): Physics
• CPC primary: G05D1/0274
• WIPO field: Control
• WIPO sector: Instruments

Abstract

An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems providing both guidewire navigation and communication and autonomous navigation and guidance and wireless communication between a central controller and each vehicle. FIGS. 90, 91, 92, 93, and 94 provide a map showing relative orientation of the schematic circuits seen in FIGS. 90A-B, 91A-B, 92A-B, 93A-B, and 94A-B, respectively over paths marked by update markers which may be spaced well apart, such as fifty feet. Redundant measurement capability using inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guidance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation. The control system employs high frequency two-way data transmission and reception capability over the guidewires and via wireless communications. The same data rates and message formats are used in both guide…