Automatic guided vehicle and method for controlling the same

Patent metadata

Field	Value
Publication number	US-9329599-B1
Application number	US-201414583462-A
Country	US
Kind code	B1
Filing date	Dec 26, 2014
Priority date	Nov 21, 2014
Publication date	May 3, 2016
Grant date	May 3, 2016

Abstract

An automatic guided vehicle includes a vehicle body and a positioning identification module which being furnished in the vehicle body further includes a three-axis magnetic signal sensing unit and a logic operation processing unit. The logic operation processing unit is connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom. A magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle. The three-axis magnetic signal sensing unit senses the magnetic field of magnetic pointer unit and generates a magnetic field information that transmits to the logic operation processing unit.

First claim

What is claimed is:

1. An automatic guided vehicle, comprising:
a vehicle body; and
a positioning identification module furnished at the vehicle body, further comprising:
a three-axis magnetic signal sensing unit; and
a logic operation processing unit connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom;

wherein a magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle and the three-axis magnetic signal sensing unit senses the magnetic pointer unit and generates a magnetic field information which transmits to the logic operation processing unit to generate an identification data.

2. The automatic guided vehicle as claimed in claim 1 , wherein the magnetic pointer unit has a first magnetic element and a second magnetic element as well as a preset distance between them.

3. The automatic guided vehicle as claimed in claim 2 , wherein the first magnetic element has at least a magnetic member and the second magnetic element has at least a magnetic member.

4. The automatic guided vehicle as claimed in claim 2 , wherein the number of magnetic members of the first magnetic element is a multiple of the number of the magnetic members of the second magnetic element.

5. The automatic guided vehicle as claimed in claim 1 , wherein the positioning identification module has a low flux filter which connects the three-axis magnetic signal sensing unit and the logic operation processing unit by the signal transmitted therefrom.

6. The automatic guided vehicle as claimed in claim 5 , wherein the low flux filter receives the magnetic signal of the three-axis magnetic signal sensing unit and reduces the noise of the magnetic field information to enhance noise ratio of the magnetic field signal.

7. The automatic guided vehicle as claimed in claim 5 , wherein the positioning identification module further has a receiving module which receives connects the low flux filter and the logic operation processing unit by the signal transmitted therefrom.

8. The automatic guided vehicle as claimed in claim 7 , wherein the receiving module receives the magnetic field information of the low flux filter to transform the magnetic field information into a digitalized magnetic field information.

9. The automatic guided vehicle as claimed in claim 7 , wherein the receiving module is an analog/digital converter or a serial peripheral interface bus.

10. The automatic guided vehicle as claimed in claim 7 , wherein the positioning identification module further has a memory buffer unit that connects the receiving module and logic operation processing unit by the signal transmitted therefrom.

11. The automatic guided vehicle as claimed in claim 10 , wherein the memory buffer unit receives the digitalized magnetic field information of the receiving module and temporarily store the digitalized magnetic field information.

12. The automatic guided vehicle as claimed in claim 10 , wherein the positioning identification module further has a data base that connects the logic operation processing unit by signal transmitted therefrom.

13. The automatic guided vehicle as claimed in claim 12 , wherein the data base has a multiplicity of original identification data, and the logic operation processing unit is employed to compare the identification data with the original identification data to determine the marching direction of the automatic guided vehicle.

14. The automatic guided vehicle as claimed in claim 1 , wherein the automatic guided vehicle is an automatic moving carrier.

15. A controlling method of the automatic guided vehicle, comprising the following steps:
sensing a magnetic field of a magnetic pointer unit from a starting end to an ending end by a three-axis magnetic signal sensing unit;
generating digitalized magnetic information wherein the automatic guided vehicle passes the magnetic pointer unit, where the position of the second magnetic element and the position of the first magnetic element furnished thereof are seen to be the starting and the ending ends respectively;
receiving the digitalized magnetic information from a receiving module, by a logic operation processing unit and obtaining a turning deviation angle of the moving direction and the marching direction of the automatic guided vehicle or the distance between the automatic guided vehicle and the magnetic pointer unit;
obtaining identification data by the logic operation processing unit in accordance with the turning deviation angle between the moving direction and the marching direction information of the automatic guided vehicle or the distance between the automatic guided vehicle and the magnetic pointer unit; and
judging whether the automatic guided vehicle deviates from its marching direction by comparing the identification data with an original identification data of a data base by the logic operation processing unit;
issuing an instruction by the logic operation processing unit to the automatic guided vehicle to modify its marching direction if the automatic guided vehicle deviates from its marching direction.

16. The controlling method of the automatic guided vehicle as claimed in claim 15 , wherein the magnetic pointer unit has a first magnetic element, a second magnetic element, and a preset distance between them; the position of the first magnetic element is the ending end and the position of the second magnetic element is the starting end.

17. The controlling method of the automatic guided vehicle as claimed in claim 15 , wherein the logic operation processing unit makes use of the modes that (1) the relationship that the energy strength is inversely proportional to the square of the distance; (2) the information provided by the encoder of the of the automatic guided vehicle; (3) inversely infer the distance and direction by utilizing the magnet spacing of the connecting line of the magnetic elements to obtain the turning deviation angle of the moving direction of the automatic guided vehicle, the marching direction information of the automatic guided vehicle, or the distance between the automatic guided vehicle and the magnetic pointer unit.

18. The controlling method of the automatic guided vehicle as claimed in claim 15 , wherein the identification data is denoted by proportional mode.

Assignees

• Ind Tech Res Inst

Inventors

• Sun Kuan-Chun
• Han Meng-Ju
• Hu Jwu-Sheng
• Wu Cheng-Hua

Classifications

• G05D1/0261 Primary

  using magnetic plots · CPC title