Remotely operated vehicle with an arrangement to provide a pre-alert and tracking of a position of the vehicle

Patent metadata

Field	Value
Publication number	US-12434909-B2
Application number	US-202017757412-A
Country	US
Kind code	B2
Filing date	Dec 15, 2020
Priority date	Dec 20, 2019
Publication date	Oct 7, 2025
Grant date	Oct 7, 2025

Abstract

A remotely operated vehicle includes an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system. The vehicle has first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system. The arrangement includes at least one sensor module provided with at least four sensors. A first sensor is directed vertically downwards to detect the rails in the x-direction on the sensor module. A second sensor is directed vertically downwards to detect the rails in the y-direction on the sensor module. A third sensor is positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction. A fourth sensor is configured to detect a remaining distance to the arrival of the vehicle at a set position, by detecting the rails in the x direction when travelling in the y direction, and detecting the rail in the y direction when travelling in the x direction. The fourth sensor is placed at a predefined position on the sensor module. A controller is provided on the vehicle to receive the output from at least one of the sensors and to pre-alert the remaining distance of the arrival of the vehicle at the position.

First claim

The invention claimed is:

1. A remotely operated vehicle comprising:
an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system,
wherein the vehicle has first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system,
wherein the arrangement comprises at least one sensor module comprising at least four sensors:
a first sensor directed vertically downwards to detect the rails in the x-direction on the sensor module,
a second sensor directed vertically downwards to detect the rails in the y-direction on the sensor module,
a third sensor directed vertically downwards and positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction, and
a fourth sensor configured to detect a remaining distance to the arrival of the vehicle at a set position, by detecting the rails in the x-direction when travelling in the y-direction, and detecting the rail in the y-direction when travelling in the x-direction, the fourth sensor being placed at a predefined position on the sensor module; and

a controller provided on the vehicle to receive output from at least one of the sensors and to pre-alert the remaining distance of the arrival of the vehicle at the position,
wherein, when the vehicle is at the set position, the third sensor does not detect a rail structure.

2. The remotely operated vehicle according to claim 1 , wherein the sensor module is mounted into a structure of the vehicle in a corner position at least partly behind at least one of the wheels of the vehicle.

3. The remotely operated vehicle according to claim 1 , wherein the arrangement further comprises:
a first sensor module arranged in a corner position of the vehicle, and
a second sensor module arranged at a diametrically opposite corner position of the vehicle such that the corresponding sensors of the first and second sensor module are equally spaced from respective corner positions.

4. The remotely operated vehicle according to claim 1 , wherein output of at least one of the sensors is used in a feedback loop in a controller for providing signals causing additional or less deceleration of the vehicle.

5. A method for pre-alerting and tracking of a position of a remotely operated vehicle following a travelling route relative to tracks laid out on rails in x, y directions on a rail system, the vehicle having first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system,
wherein the vehicle comprises:
an arrangement of at least one sensor module comprising at least four sensors:
a first sensor directed vertically downwards to detect the rails in the x-direction on the sensor module,
a second sensor directed vertically downwards to detect the rails in the y-direction on the sensor module, and
a third sensor directed vertically downwards and positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction, and
a fourth sensor configured to detect a remaining distance to the arrival of the vehicle at a set position, by detecting the rails in the x-direction when travelling in the y-direction, and detecting the rail in the y-direction when travelling in the x-direction, the fourth sensor being placed at a predefined position on the sensor module; and

a controller provided on the vehicle configured for performing the method:
moving the vehicle on rails in the x- and y-directions according to the travelling route towards the position,
receiving output from at least one of the sensors when a rail is detected in the x- or y-directions of the rails defining a grid cell of the position,
using the output in a feedback loop to a controller,
providing signals to the wheels for additional or less deceleration as necessary based on a predetermined or model of a change of speed profile stored in a memory of the controller, and
detecting, controlling, and confirming the position of the vehicle based on measured data from the first, second, and third sensor,

wherein, when the vehicle is at the set position, the third sensor does not detect a rail structure.

6. The method according to claim 5 , wherein the arrangement comprises:
a first sensor module arranged in the corner position of the vehicle, and
a second sensor module arranged at a diametrically opposite corner position of the vehicle such that the corresponding sensors of the first and second sensor module are equally spaced from respective corner positions.

Assignees

• Autostore Tech As

Inventors

• Austrheim Trond
• Gjerdevik Øystein

Classifications

• G05D2109/14

  moving on a grid · CPC title

• B65G1/0478

  for matrix-arrangements · CPC title

• G05B19/19

  characterised by positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title