Geometrical instruments – Gauge – Template
Reexamination Certificate
2000-03-24
2002-01-29
Gutierrez, Diego (Department: 2859)
Geometrical instruments
Gauge
Template
Reexamination Certificate
active
06341430
ABSTRACT:
TECHNICAL FIELD
This invention relates to code templates and methods for use that are needed for the application, removal, and replacement of code markings and code blocks, which are used by automated guidance vehicles (AGV) that move about a floor of a factory, warehouse, or other facility by recognizing and following various types of guide paths, guide lines, and guide tracks. Such guide lines are usually used in conjunction with a wide variety of code markings and/or code blocks, which are encoded with various kinds of information such as positional location codes and synchronization codes that can be sensed and decoded by the AGV for purposes of maneuvering payloads while navigating through the facility. Such AGVs are also commonly referred to in the industry as autonomous guidance, automatic guidance, and automatically or autonomously guided vehicles.
BACKGROUND OF THE INVENTION
Factories, warehouses, and other types of industrial and manufacturing facilities have seen an increased use of AGVs in daily operations. The AGVs are employed in a wide variety of duties and are capable of a wide range of autonomous and/or preprogrammed operations. The AGVs can serve in a wide range of duties including automatically moving products, parts, and people safely, efficiently, and quickly about the facility. Often, AGVs are presently used by inventory storage and order picking systems in warehouses, and by assembly-line manufacturers who require just-in-time delivery from one factory location to another of raw materials, parts, partially or completely assembled automotive components.
In most applications, AGVs move about the floor space of the factory, warehouse, airports, or other type of facility along pre-designated paths. The paths are designated and identifiable to the AGVs in a number of ways, which include, to name only a few, 1) preprogramming the paths or tracks into the AGV computer memory banks; 2) installation of trackways, railways, guide-wires, and other types of prepositioned cables, electrical, and electromechanical devices; 3) prepositioning of AGV recognizable targets; 4) prepositioning of magnetic, energizable, and energy emitting and reflective devices, including specially formulated paints, tapes, and other substances and materials that are applied to floor path and guide ways; and 5) various combinations of the preceding systems.
Ordinarily, the most cost effective systems employ a predesignated path way, guide path, or guide track, which includes a guide line that is applied to the floor surface along the predesignated path way or paths. The AGV is configured to recognize the guide line for purposes of achieving navigational control and accurate movement of the AGV's payload, whether it be people moving across an airport or material moving quickly through an assembly line. Such guide lines can be employed either alone or in combination with any of the previously described systems. The guide lines or tracks are also typically used in conjunction with various types of code markings that are applied to the floor surface, proximate to or along the guide line. Such code markings or code blocks are usually encoded with specific information that can describe a location within the facility. Such code blocks can also serve as way points for various types of AGVs that may be employed and configured for different or cooperative functions. The AGV is usually configured to recognize the code blocks for purposes of speed control, location and way point identification, distance measurement, and for synchronization of on-board distance measuring and location identification devices.
AGVs and guide line marking systems have been in use for some time and are described in more detail in the prior art, which includes U.S. Pat. Nos. 3,935,922 to Cooper et al.; 4,003,445 to DeBruine; and 4,379,497 to Hainsworth et al.; which are all incorporated herein by reference in their entirety. Each of these references also specifically describes various types of guide line and code marking systems.
The code marking systems are recognized by AGV sensing systems that create signals used by on-board control systems. The control systems can thereby establish the AGV's location in the facility, effect navigational control during transit of the AGV, as well as calibrate and synchronize other AGV parameters such as distance measurement sensors, payload disposition controllers, and directional control subsystems. Additional types of navigational control systems and guide line sensing devices configured for use with AGVs are described in U.S. Pat. Nos. 3,970,840 and 4,307,791, both to DeBruine.
Various types of materials have been used to apply code markings to floor surfaces. U.S. Pat. Nos. 4,707,297 to Paske, Jr. et al. and 5,277,839 to Schultz, which are incorporated herein by reference in their entirety, disclose a variety of compounds that may be useful for purposes of applying a guide line to a floor surface, and which are compatible for use with the previously described AGVs and for purposes of the present invention.
The prior art devices have demonstrated that the location of the guide tracks and lines and the precision location of various types of code markings and code blocks can significantly simplify the operation and improve the performance of AGVs during transit. The large majority of AGVs are configured to measure distances during transit in addition to being equipped to follow predesignated path lines or guide tracks that are applied to the floor surface. In most configurations, the AGVs measure the distance traveled in units of length. They also scan for the prepositioned guide line for purposes of remaining within the bounds of the predesignated path way during transit through the facility. In addition to scanning for the guide line, the AGVs are also configured to scan for various types of location and synchronization code markings. Such markings are often arranged in the form of a block of markings positioned on or proximate to the guide line. The location code markings are usually placed in positions, such as intersections on aisles and path ways in the facility, where various different AGVs may need to go in different directions that depend on the final destination of the AGV's payload. Thus, those with skill in the art have come to appreciate that a code block that is misplaced even by a few inches or centimeters can adversely impact the proper operation of the AGVs. This effect is even more pronounced in large facilities such as airports, warehouses, and manufacturing operations where AGVs must transit accurately across large distances.
During routine transit through the facility, the AGV may need to recalibrate its distance measuring equipment because many such measuring systems experience decay in the accuracy of the distance measured over time. Thus, regular resynchronization is needed to minimize inaccuracies in the distance measuring equipment. The synchronization code markings are typically situated at many locations throughout the facility and proximate to the guide line. To minimize inaccuracy in measuring distance, the AGV scans for the prepositioned synchronization code markings or code block, which contains encoded distance measuring information, to recalibrate the onboard distance measuring systems. Such recalibration enables more accurate AGV speed control and distance measurements, which, in turn, prevents collisions and improves the overall accuracy and efficiency of AGV movement through the facility.
Some attempts have been made to improve the accuracy with which AGV users, such as facilities engineers, apply the code markings and code blocks to floor surfaces. Such attempts include use of a template configured with cut-outs that correspond to the various possible code markings. The template can be used to assist in precise placement of the location and synchronization code markings proximate to the guide line or track. However, the templates presently in use suffer from many shortcomings, which include, for example, the lack of any features that al
Carstens Anthony P.
Shields Keith
Ciamacco Vince
Gutierrez Diego
Honda of America Mfg. Inc.
McDonald Alan T.
Smith R. Alexander
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