CA1214847A - Remote switching mechanism - Google Patents
Remote switching mechanismInfo
- Publication number
- CA1214847A CA1214847A CA000427869A CA427869A CA1214847A CA 1214847 A CA1214847 A CA 1214847A CA 000427869 A CA000427869 A CA 000427869A CA 427869 A CA427869 A CA 427869A CA 1214847 A CA1214847 A CA 1214847A
- Authority
- CA
- Canada
- Prior art keywords
- vehicle
- filament
- magnetic
- path
- sensing means
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired
Links
- 230000007246 mechanism Effects 0.000 title abstract description 5
- 230000005291 magnetic effect Effects 0.000 claims description 34
- 239000012530 fluid Substances 0.000 claims description 5
- 230000007935 neutral effect Effects 0.000 claims description 3
- 239000000463 material Substances 0.000 claims 7
- 239000004020 conductor Substances 0.000 claims 4
- 238000010586 diagram Methods 0.000 description 3
- 239000000696 magnetic material Substances 0.000 description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 2
- 230000005294 ferromagnetic effect Effects 0.000 description 2
- 239000000853 adhesive Substances 0.000 description 1
- 230000001070 adhesive effect Effects 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 210000003141 lower extremity Anatomy 0.000 description 1
- 238000005192 partition Methods 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Abstract
TITLE
REMOTE SWITCHING MECHANISM
INVENTOR
Zvi LIVNEH
ABSTRACT
Where automated travel of the vehicle is desired, and there are a number of branches, for directing the vehicle along a variety of different paths, it is be convenient for the vehicle to include a specific sensor means for sensing precoded control instructions placed contigious to the path, whereby to determine which branch path is to be selected by the vehicle as it travels among the main or any of a plurality of branch paths thereof so as to accomplish its task.
REMOTE SWITCHING MECHANISM
INVENTOR
Zvi LIVNEH
ABSTRACT
Where automated travel of the vehicle is desired, and there are a number of branches, for directing the vehicle along a variety of different paths, it is be convenient for the vehicle to include a specific sensor means for sensing precoded control instructions placed contigious to the path, whereby to determine which branch path is to be selected by the vehicle as it travels among the main or any of a plurality of branch paths thereof so as to accomplish its task.
Description
$ ~
This invention relates to a remote switching mechanism and particularly to a indicator and sensor therefor for determining unique switching codes, whereby switching may take place automatically.
In my co-pending application, Serial No. 419,123-4, filed 7 January, 1983 entitled TERRAIN POSITIONED TRACKING
MEANS AND GUIDANCE SENSOR THEREFOR, I have disclosed a guidance system for directing a vehicle along a predetermined path of travel. Such system employs a filament as a means for defining the tracX or proposed path of travel for the vehicle, and a sensor on the vehicle for sensing the track and appropriate mechanisms associated with the sensor for directing the travelling path of the vehicle along the predetermined proposed path or track.
The aforesaid disclosure finds principal application where the path is one continuous path without any significant branches or interbranches.
Where automated travel of the vehicle is desired, and there are a number of branches, for directing the vehicle along a variety of different paths, it would be convenient for the vehicle to include a specific sensor means for sensing precoded control instructions placed contiguous to the path, whereby to determine which branch path is to be selected by the vehicle as it travels among the main or any of a plurality of branch paths thereof so as to accomplish its task.
The invention therefore contemplates a magnetic actuating control module mounted adjacent to a filament defining a diverging path of travel for a moving vehicle, -the module comprising:
(a) a plurality of predetermined spacially disposed magnetic actuating members.
The invention also contemplates a system for controlling the travelling path of a moving vehicle, having a means for steering, into a selected one of a plurality of predetermined diverging pa~hs, said system including:
(a) a control module as aforesaid mounted near a diverging path;
~r, ' J ~
~L21~
(b) a first sensing magnetic means, carried by the vehicle, that is magnetically responsive to the location of the filament;
(c) a second magnetic sensing means carried by said vehicle that is magnetically responsive to a module;
(d) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(e) a second position sensing means responsive to said second magnetic means; and, (f) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
The invention will now be described by way of example and reference to the accompanying drawings in which.
Figure 1 is a perspective view of an embodiment of the invention.
Figure 2 is an elevational view of the travelling vehicle, and an elevational section of the track and control (switching) means.
Figure 3 is a plan view of a typical track indicating a plurality of branches each having precoded control modules or frames in proximity to branch intersections.
Figure 4 is a perspective view of a typical control module or frame.
Figure 5 is a sectional view along line V-V of figure 4.
Figure 6 is a section in elevation through line VI-VI of figure 2.
Figure 7 is an elevational view of the module sensor device on the said vehicle.
Figure ~ is an elevational view, partially in section, showing the response of an operative element of the sensing device of figures 6 and 7.
~ t~
Figure 9 is an electrical schematic diagram of the control circuitry of the module sensor device.
Figure 10 is a perspective of one embodiment of a filament sensing device used to follow the filament path of travel.
Figures 11, llA respectively are explanatory sections along line XI-XI of figure lO.
Figure 12 is an electronic and hydraulic circuit diagram showing means to control the path of travel.
Referring to figure l, a vehicle 10, in the form of a fork-lift truck, is shown travelling in the direction of arrow A along a main path 20. The path 20 has a plurality of branch or satelite paths 201, 202, 221 and 222.
The tracX 20 is predetermined in the manner described by my aforesaid co-pending application and basically is a metal-lic filament, such as a wire, or the like, or alternatively a magnetically cornposed filament. The filament may be placed on the surface with a suitable adhesive, or it may be buried into the surface so as to be protected from wear and scraping.
At stategically located positions along the main and branch paths 20 are ~laced control modules as frames 40, which themselves can be, as well, disposed on the surface, or into the surface as desired. In the drawings, both the track defining filament 20 and the control frames 40 are shown embedded into the sur$ace.
When the vehicle 10 travels over a control frame 40, as in figure 2, a branch sensor 50 carried beneath the vehicle 10 senses the code or signal of the branch switching or control frame 40 and depending on how the sensor 50 is itself encoded, the vehicle will turn at the appropriate next branch, eg., branch 222 of figure 1. In this particular example, and referring to figure 1, the control branch sensor 50 of vehicle 10 has been precoded to sense that control frame 40 in advance of branch 222, (eg. control frame 40-222) and, thus will cause the vehicle 10 to turn, arrow 16, into branch 222, whereby the load of vehicle 10 may be stacked in the warehouse. Thus, by encoding each control frame 20 with different codes, ~ i!
~21~ f preferably unique codes, the vehicle 10 can be variably programmed or instructed to travel into and out of any filament branch as may be required.
Thus, referring to figure 3, and a factory floor control path layout, the same is shown with path 20 including a plurality of branch paths 201 through 212; 221 through 232;
left and right hand loops 21 and 22, merging along a common axis 23, and branching resp~ctively to loading and unloading loops 24 and 25. At various locations, there are positioned turn control modules preferably in the form of control frames 40, and stop and reverse control frames 45.
Referring to figures 4 and 5, the control frame 40 has a rigid surround 41 with oppositely disposed apertures 42 through which slide active rods 43 or inactive rods 44. There are 5 rods for the frame 40 snown, although any number of such rods might be used. In the particular embodiment indicated, "active" rods 43 may be composed of metallic, ferrous or magnetic material, while "non-active" rods 44 of non-metallic or non-magnetic material. Hence, the permutations and combinations of active and non-active rods allow the frame, when there are five such element holding slots, to possess 25 unique signals. By expanding the length of the frame so that there may be more than 5 rod elements, the frame 40 can be constructed so that at each branch 201 through 212, and 221 through 232, the same can be uniquely identified.
Referring to figures 6, 7 and 8, the switch sensor 50 has a plurality of micro-switches 51 addressed in a bank, each suspending at their distal end, a magnet 52, which, if it is an electromagnet, has an energizing wire 53 attached thereto to energize the electromagnet. From each micro-switch 51 extend wires 54 for suitable connection to a branch switching micro-processing unit MP-50 which is part of the switch sensor control mechanism of figure 9.
Referring to figure 8, the direction of travel of the vehicle is in the direction of arrow T, while in figure 6, the direction o~ travel of the vehicle is out of the plane of the ~, paper. When, as in igure 8, the micro-switches 51 are in ~21~
registry over the appropriate locations of an active rod 43 the magnet 52 thereof "senses" the active rod as the vehicle 10 travels. The electromagnet 52 will be attracted toward the rod 43 as per arrow 47 and the actual micro-switch switch of micro-switch 51 is depressed as at arrow 48 whereby the circuit 54 for that micro-switch is closed and that "information" or code is dispatched to the micro-processor, ~-50.
Referring to figure 6, as the vehicle 10 travels, first, third, fourth and fift'n micro-switches 51 descend whereby to "make" contact' the non-active rod element in position 2 is snown in phantom since it is not active and microswitch 512 does not close. As an alternative, rod 43 might not be there at all, or be composed of non-metallic, non-ferrous or non-magnetic materials. In any event micro-switch 512 does not "make" contact while micro-switches 511, 513, 514 and 515 do "make" contact.
Referring to figure 9 and the branch switching sensor control circuit, the micro-switches are shown in a bank as 20 micro-switches 511 through 515, each respectively connecting via their unique connection wires 54 into a circuit with a common battery 60 and to the branch switching micro-processor MP-50. The micro-processor MP-50 itself is powered by a battery source 61 and when the appropriate swiich module or frame encoding, is "sensed" by the micro-switch sensors 51, and is "matched" with that code in the micro-processor MP-50, a control pulse goes to control either the speed of the vehicle through an electro-mechanical device S, or the direction of the vehicle through electro-mechanical device D, or both. The vehicle will thus slow down or turn as per arrow 16 into the appropriate branch 222 while following the underlying filament 20.
Now stop frames 45 may be identical in structure to those of figure 4, save and except for the sequence of rods 43 and 44 therein. They then signal to the micro-processor MP-50 to stop and to turn the vehicle around.
For completeness, it would appear appropriate to ~21~ L~
describe now one of the means for following the track 20 as is described in my aforesaid co-pending application, although it should be appreciated that other means of sensing the filament position can be used as is more particularly disclosed in said co-pending application, Serial Number 419,123-4.
Referring to figures 1 and 10 together, adjacent to switch module or frame sensor 50 is a filament tracking sensor 15. The magnetic filament or ferric or metallic track 20, may be composed of a metallic ribbon or magnetic ribbon and acts as a predetermined path of travel for the fork-lift truck 10 and, hence is a sensor control line 20 as will now be better explained.
Referring to figure 10, the sensor 15 consists of an electromagnet generally indicated as 18 whose attraction to the ferric ribbon or metallic ribbon or ferromagnetic control line 20 is sensed by two strain gauges SGl and SG2, although three are shown in figure 10 (since this figure is identical to figure 2 of my aforesaid co-pending application). (~e reasons for strain gauge SG3 and strain gauge S3 are not relevant to this disclosure and for interest, the disclosure contained in the aforesaid copending application can be addressed.) Each of the strain gauges SGl and SG2 is connected to one of its own branches of its own Wheatstone bridge B forming part of the electronic circuitry E of figure 12.
Referring to figure 12, there are two Wheatstone bridges Bl and B2 having fixed resistors in two of their arms, and strain gauges S and SG, in their other respective arms. A
balancing resistor R completes the circuit in order to allow the balancing of the "null" of each of the Wheatstone bridges. Strain gauges SGl and SG2 respectively sense the lateral movement of the magnet 18 as is seen in figure 10.
The magnet 18 moves, for instance, in the direction of the arrows, figure llA, when the magnetic or ferromagnetic filament 20 is sensed not to be immediately beneath it, eg.
one of the phantom locations of figure llA. Hence, one of the gauges SGl is stressed, while the other gauge SG2 is ~i~14~1~7 strained. Misbalancing of bridges Bl and B2 takes place and the respective voltages from each bridge Bl and B2 are fed to microprocessor MP-15 which thereafter controls hydraulic circuitry H and flow valves FV of figure 12. The mechanical steering is adjusted so the magnet 18 follows over the filament 20.
The electromagnet 18, which in figures 10 and 11 is illustrated only as a permanen~ magnet, for simplicity only, but might be an electro or a permanent magnet, is attached to and carried by a horizontal bar 14 which makes connections to a third strain gauge SG3, which through a horizontal member 13 affixes itself rigidly to the case or housing 17 of the sensor 15. The housing 17 is carried by a depending bracket member 16 and is affixed to the undercarriage of the vehicle 10 adjacent to sensor 50. It should be noted that each of the strain gauges SGl and SG2 has two wires, not referenced, respectivsly connected, pursuant to the electrical circuit diagram of figure 12 to its appropriate Wheatstone bridge B.
In order to compensate for ambient conditions, identical strain gauges Sl and S2 are positioned and mounted against the housing 17 as shown in figure 10 and they are likewise electrically connected to each of one of the other arms of their own Wheatstone bridge B. These latter strain gauges, S, are not strainable or destrainable, but are placed in the environment so that the may "drift", because of am~ient conditions such as temperature and the drift is transferred to their Wheatstone bridge in order to attempt to balance out the drift from its Wheatstone bridge and compensate for ambient conditions. Hence, all the strain gauges S and SG are identical. Thus, only when the respective strain gauge SG is appropriately stressed or destressed, will a "true" voltage appear across the upper and lower limbs of the Wheatstone bridge, as conventionally known, and a true differential signal conveyed to the microprocessor MP-15 for analysis.
Referring now to figure 12, and the hydraulic components, H, of that figure, there is one forward, reverse and transfer flow valve FVl which controls, in response to the ~2~g~347 commands provided by the microprocessor MP-15, hydraulic fluid flows from reservoir 75 via pump P. This valve FV is shown, in figure 12 in the neutral and non-communicating positions.
The upper portion of figure 12H illustrates a hydraulic cylinder 60 that controls steering. Typically, therefore, the hydraulic cylinder 60 is communicated to, on opposite sides of its movable piston 61 with flow control branches each consisting of a free flow valve, 50, only in one direction, and a metering valve 51, parallel therewith. When the flow valve FV is caused to be moved laterally, either left or right, in response to the command from the microprocessor MP-15, cylinder 60 will move, to extend or to contract in a responding manner its piston rod 60. Steering linkages (not shown) are connected to rod 62 and and stearing takes place.
Referring to figure 9, electromagnetic device D corresponds to this.
Those skilled in the art will now appreciate that each of the single microprocessors MP-15 and MP-50 could be partitions within a single microprocessor and further that programming devices (not shown) could the associated with the microprocessor to command, at will, the vehicle around the factory floor.
Those skilled in the art will appreciate that various further embodiments of the invention may be made without deviating from the embodiments of the invention as claimed.
This invention relates to a remote switching mechanism and particularly to a indicator and sensor therefor for determining unique switching codes, whereby switching may take place automatically.
In my co-pending application, Serial No. 419,123-4, filed 7 January, 1983 entitled TERRAIN POSITIONED TRACKING
MEANS AND GUIDANCE SENSOR THEREFOR, I have disclosed a guidance system for directing a vehicle along a predetermined path of travel. Such system employs a filament as a means for defining the tracX or proposed path of travel for the vehicle, and a sensor on the vehicle for sensing the track and appropriate mechanisms associated with the sensor for directing the travelling path of the vehicle along the predetermined proposed path or track.
The aforesaid disclosure finds principal application where the path is one continuous path without any significant branches or interbranches.
Where automated travel of the vehicle is desired, and there are a number of branches, for directing the vehicle along a variety of different paths, it would be convenient for the vehicle to include a specific sensor means for sensing precoded control instructions placed contiguous to the path, whereby to determine which branch path is to be selected by the vehicle as it travels among the main or any of a plurality of branch paths thereof so as to accomplish its task.
The invention therefore contemplates a magnetic actuating control module mounted adjacent to a filament defining a diverging path of travel for a moving vehicle, -the module comprising:
(a) a plurality of predetermined spacially disposed magnetic actuating members.
The invention also contemplates a system for controlling the travelling path of a moving vehicle, having a means for steering, into a selected one of a plurality of predetermined diverging pa~hs, said system including:
(a) a control module as aforesaid mounted near a diverging path;
~r, ' J ~
~L21~
(b) a first sensing magnetic means, carried by the vehicle, that is magnetically responsive to the location of the filament;
(c) a second magnetic sensing means carried by said vehicle that is magnetically responsive to a module;
(d) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(e) a second position sensing means responsive to said second magnetic means; and, (f) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
The invention will now be described by way of example and reference to the accompanying drawings in which.
Figure 1 is a perspective view of an embodiment of the invention.
Figure 2 is an elevational view of the travelling vehicle, and an elevational section of the track and control (switching) means.
Figure 3 is a plan view of a typical track indicating a plurality of branches each having precoded control modules or frames in proximity to branch intersections.
Figure 4 is a perspective view of a typical control module or frame.
Figure 5 is a sectional view along line V-V of figure 4.
Figure 6 is a section in elevation through line VI-VI of figure 2.
Figure 7 is an elevational view of the module sensor device on the said vehicle.
Figure ~ is an elevational view, partially in section, showing the response of an operative element of the sensing device of figures 6 and 7.
~ t~
Figure 9 is an electrical schematic diagram of the control circuitry of the module sensor device.
Figure 10 is a perspective of one embodiment of a filament sensing device used to follow the filament path of travel.
Figures 11, llA respectively are explanatory sections along line XI-XI of figure lO.
Figure 12 is an electronic and hydraulic circuit diagram showing means to control the path of travel.
Referring to figure l, a vehicle 10, in the form of a fork-lift truck, is shown travelling in the direction of arrow A along a main path 20. The path 20 has a plurality of branch or satelite paths 201, 202, 221 and 222.
The tracX 20 is predetermined in the manner described by my aforesaid co-pending application and basically is a metal-lic filament, such as a wire, or the like, or alternatively a magnetically cornposed filament. The filament may be placed on the surface with a suitable adhesive, or it may be buried into the surface so as to be protected from wear and scraping.
At stategically located positions along the main and branch paths 20 are ~laced control modules as frames 40, which themselves can be, as well, disposed on the surface, or into the surface as desired. In the drawings, both the track defining filament 20 and the control frames 40 are shown embedded into the sur$ace.
When the vehicle 10 travels over a control frame 40, as in figure 2, a branch sensor 50 carried beneath the vehicle 10 senses the code or signal of the branch switching or control frame 40 and depending on how the sensor 50 is itself encoded, the vehicle will turn at the appropriate next branch, eg., branch 222 of figure 1. In this particular example, and referring to figure 1, the control branch sensor 50 of vehicle 10 has been precoded to sense that control frame 40 in advance of branch 222, (eg. control frame 40-222) and, thus will cause the vehicle 10 to turn, arrow 16, into branch 222, whereby the load of vehicle 10 may be stacked in the warehouse. Thus, by encoding each control frame 20 with different codes, ~ i!
~21~ f preferably unique codes, the vehicle 10 can be variably programmed or instructed to travel into and out of any filament branch as may be required.
Thus, referring to figure 3, and a factory floor control path layout, the same is shown with path 20 including a plurality of branch paths 201 through 212; 221 through 232;
left and right hand loops 21 and 22, merging along a common axis 23, and branching resp~ctively to loading and unloading loops 24 and 25. At various locations, there are positioned turn control modules preferably in the form of control frames 40, and stop and reverse control frames 45.
Referring to figures 4 and 5, the control frame 40 has a rigid surround 41 with oppositely disposed apertures 42 through which slide active rods 43 or inactive rods 44. There are 5 rods for the frame 40 snown, although any number of such rods might be used. In the particular embodiment indicated, "active" rods 43 may be composed of metallic, ferrous or magnetic material, while "non-active" rods 44 of non-metallic or non-magnetic material. Hence, the permutations and combinations of active and non-active rods allow the frame, when there are five such element holding slots, to possess 25 unique signals. By expanding the length of the frame so that there may be more than 5 rod elements, the frame 40 can be constructed so that at each branch 201 through 212, and 221 through 232, the same can be uniquely identified.
Referring to figures 6, 7 and 8, the switch sensor 50 has a plurality of micro-switches 51 addressed in a bank, each suspending at their distal end, a magnet 52, which, if it is an electromagnet, has an energizing wire 53 attached thereto to energize the electromagnet. From each micro-switch 51 extend wires 54 for suitable connection to a branch switching micro-processing unit MP-50 which is part of the switch sensor control mechanism of figure 9.
Referring to figure 8, the direction of travel of the vehicle is in the direction of arrow T, while in figure 6, the direction o~ travel of the vehicle is out of the plane of the ~, paper. When, as in igure 8, the micro-switches 51 are in ~21~
registry over the appropriate locations of an active rod 43 the magnet 52 thereof "senses" the active rod as the vehicle 10 travels. The electromagnet 52 will be attracted toward the rod 43 as per arrow 47 and the actual micro-switch switch of micro-switch 51 is depressed as at arrow 48 whereby the circuit 54 for that micro-switch is closed and that "information" or code is dispatched to the micro-processor, ~-50.
Referring to figure 6, as the vehicle 10 travels, first, third, fourth and fift'n micro-switches 51 descend whereby to "make" contact' the non-active rod element in position 2 is snown in phantom since it is not active and microswitch 512 does not close. As an alternative, rod 43 might not be there at all, or be composed of non-metallic, non-ferrous or non-magnetic materials. In any event micro-switch 512 does not "make" contact while micro-switches 511, 513, 514 and 515 do "make" contact.
Referring to figure 9 and the branch switching sensor control circuit, the micro-switches are shown in a bank as 20 micro-switches 511 through 515, each respectively connecting via their unique connection wires 54 into a circuit with a common battery 60 and to the branch switching micro-processor MP-50. The micro-processor MP-50 itself is powered by a battery source 61 and when the appropriate swiich module or frame encoding, is "sensed" by the micro-switch sensors 51, and is "matched" with that code in the micro-processor MP-50, a control pulse goes to control either the speed of the vehicle through an electro-mechanical device S, or the direction of the vehicle through electro-mechanical device D, or both. The vehicle will thus slow down or turn as per arrow 16 into the appropriate branch 222 while following the underlying filament 20.
Now stop frames 45 may be identical in structure to those of figure 4, save and except for the sequence of rods 43 and 44 therein. They then signal to the micro-processor MP-50 to stop and to turn the vehicle around.
For completeness, it would appear appropriate to ~21~ L~
describe now one of the means for following the track 20 as is described in my aforesaid co-pending application, although it should be appreciated that other means of sensing the filament position can be used as is more particularly disclosed in said co-pending application, Serial Number 419,123-4.
Referring to figures 1 and 10 together, adjacent to switch module or frame sensor 50 is a filament tracking sensor 15. The magnetic filament or ferric or metallic track 20, may be composed of a metallic ribbon or magnetic ribbon and acts as a predetermined path of travel for the fork-lift truck 10 and, hence is a sensor control line 20 as will now be better explained.
Referring to figure 10, the sensor 15 consists of an electromagnet generally indicated as 18 whose attraction to the ferric ribbon or metallic ribbon or ferromagnetic control line 20 is sensed by two strain gauges SGl and SG2, although three are shown in figure 10 (since this figure is identical to figure 2 of my aforesaid co-pending application). (~e reasons for strain gauge SG3 and strain gauge S3 are not relevant to this disclosure and for interest, the disclosure contained in the aforesaid copending application can be addressed.) Each of the strain gauges SGl and SG2 is connected to one of its own branches of its own Wheatstone bridge B forming part of the electronic circuitry E of figure 12.
Referring to figure 12, there are two Wheatstone bridges Bl and B2 having fixed resistors in two of their arms, and strain gauges S and SG, in their other respective arms. A
balancing resistor R completes the circuit in order to allow the balancing of the "null" of each of the Wheatstone bridges. Strain gauges SGl and SG2 respectively sense the lateral movement of the magnet 18 as is seen in figure 10.
The magnet 18 moves, for instance, in the direction of the arrows, figure llA, when the magnetic or ferromagnetic filament 20 is sensed not to be immediately beneath it, eg.
one of the phantom locations of figure llA. Hence, one of the gauges SGl is stressed, while the other gauge SG2 is ~i~14~1~7 strained. Misbalancing of bridges Bl and B2 takes place and the respective voltages from each bridge Bl and B2 are fed to microprocessor MP-15 which thereafter controls hydraulic circuitry H and flow valves FV of figure 12. The mechanical steering is adjusted so the magnet 18 follows over the filament 20.
The electromagnet 18, which in figures 10 and 11 is illustrated only as a permanen~ magnet, for simplicity only, but might be an electro or a permanent magnet, is attached to and carried by a horizontal bar 14 which makes connections to a third strain gauge SG3, which through a horizontal member 13 affixes itself rigidly to the case or housing 17 of the sensor 15. The housing 17 is carried by a depending bracket member 16 and is affixed to the undercarriage of the vehicle 10 adjacent to sensor 50. It should be noted that each of the strain gauges SGl and SG2 has two wires, not referenced, respectivsly connected, pursuant to the electrical circuit diagram of figure 12 to its appropriate Wheatstone bridge B.
In order to compensate for ambient conditions, identical strain gauges Sl and S2 are positioned and mounted against the housing 17 as shown in figure 10 and they are likewise electrically connected to each of one of the other arms of their own Wheatstone bridge B. These latter strain gauges, S, are not strainable or destrainable, but are placed in the environment so that the may "drift", because of am~ient conditions such as temperature and the drift is transferred to their Wheatstone bridge in order to attempt to balance out the drift from its Wheatstone bridge and compensate for ambient conditions. Hence, all the strain gauges S and SG are identical. Thus, only when the respective strain gauge SG is appropriately stressed or destressed, will a "true" voltage appear across the upper and lower limbs of the Wheatstone bridge, as conventionally known, and a true differential signal conveyed to the microprocessor MP-15 for analysis.
Referring now to figure 12, and the hydraulic components, H, of that figure, there is one forward, reverse and transfer flow valve FVl which controls, in response to the ~2~g~347 commands provided by the microprocessor MP-15, hydraulic fluid flows from reservoir 75 via pump P. This valve FV is shown, in figure 12 in the neutral and non-communicating positions.
The upper portion of figure 12H illustrates a hydraulic cylinder 60 that controls steering. Typically, therefore, the hydraulic cylinder 60 is communicated to, on opposite sides of its movable piston 61 with flow control branches each consisting of a free flow valve, 50, only in one direction, and a metering valve 51, parallel therewith. When the flow valve FV is caused to be moved laterally, either left or right, in response to the command from the microprocessor MP-15, cylinder 60 will move, to extend or to contract in a responding manner its piston rod 60. Steering linkages (not shown) are connected to rod 62 and and stearing takes place.
Referring to figure 9, electromagnetic device D corresponds to this.
Those skilled in the art will now appreciate that each of the single microprocessors MP-15 and MP-50 could be partitions within a single microprocessor and further that programming devices (not shown) could the associated with the microprocessor to command, at will, the vehicle around the factory floor.
Those skilled in the art will appreciate that various further embodiments of the invention may be made without deviating from the embodiments of the invention as claimed.
Claims (5)
1. A system for controlling the travelling path of a moving vehicle, having a means for steering, into a selected one of a plurality of predetermined diverging paths, said system including:
(a) a control module mounted near a diverging path that includes;
(i) a plurality of predetermined spacially disposed magnetic actuating members; and, (ii) at least one non-magnetic actuating member disposed in said spacial relation.
(b) a first sensing magnetic means, carried by the vehicle, that is magnetically responsive to the location of the filament;
(c) a second magnetic sensing means carried by said vehicle that is magnetically responsive to a module;
(d) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(e) a second position sensing means responsive to said second magnetic means; and, (f) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
(a) a control module mounted near a diverging path that includes;
(i) a plurality of predetermined spacially disposed magnetic actuating members; and, (ii) at least one non-magnetic actuating member disposed in said spacial relation.
(b) a first sensing magnetic means, carried by the vehicle, that is magnetically responsive to the location of the filament;
(c) a second magnetic sensing means carried by said vehicle that is magnetically responsive to a module;
(d) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(e) a second position sensing means responsive to said second magnetic means; and, (f) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
2. A system for controlling the travelling path of a moving vehicle into a selected one of predetermined diverging paths, said system including:
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxtaposition with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means; and, (g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxtaposition with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means; and, (g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
3. A system for controlling the travelling path of a moving vehicle into a selected one of predetermined diverging paths, said system including:
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxtaposition with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated; and, (h) and the filament of metalic material is a magnetic filament.
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxtaposition with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated; and, (h) and the filament of metalic material is a magnetic filament.
4. A system for controlling the travelling path of a moving vehicle into a selected one of predetermined diverging paths, said system including:
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxta-position with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
(h) and the filament of metalic material is a magnetic filament; and, (i) wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a micro-processor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communica-ting to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxta-position with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated.
(h) and the filament of metalic material is a magnetic filament; and, (i) wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a micro-processor, programmed to respond to said voltage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communica-ting to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
5. A system for controlling the travelling path of a moving vehicle into a selected one of predetermined diverging paths, said system including:
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxta-position with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated;
(h) and the filament of metalic material is a magnetic filament; and, (i) wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a micro-processor, programmed to respond to said voltgage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communica-ting to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
(a) a control module as claimed in claim 1, mounted near a diverging path;
(b) a filament of metalic material positioned in juxta-position with the travelling surface, so as to trace out sets of predetermined courses of travel;
(c) a moving vehicle adapted to travel over the surface and having means for steering the same so as to follow a course of travel;
(d) a first magnet means, carried by the vehicle, that is magnetically responsive to the location of the said filament;
(e) a first position sensing means, affixed to the first magnet sensing means, for sensing relative lateral positioning of said first magnetic means;
(f) a second position sensing means responsive to said second magnetic means;
(g) first means responsive to said first and second position sensing means for moving said means for steering whereby to direct the travelling path of the vehicle along the path or course of the filament, and for steering the vehicle into and thence along one of said diverging paths when said second magnetic and position sensing means are activated;
(h) and the filament of metalic material is a magnetic filament; and, (i) wherein the first position sensing means includes at least one strain guage attached for stress in response to the relative position of the magnetic means, and electrically connected as one arm of a Wheatstone bridge, voltage means applied across a first pair of arms of said bridge, a pair of conductors connected across and opposite a second pair of said arms of said bridge, said pair of conductors communicating the voltage across said second pair of said arms to a micro-processor, programmed to respond to said voltgage and means connecting the said microprocessor to a fluid control valve including forward, reverse and neutral hydraulic conduits, a source of hydraulic fluid flow communicating to the flow valve, and a pair of hydraulic conduits on opposite sides of the flow valve communica-ting to obverse sides of a movable piston with rod defined by a first hydraulic cylinder, whereby, when the voltage across the second pair of said arms in the Wheatstone bridge has a polarity in one direction, the said rod is caused to move in a first direction and when the said voltage polarity is of opposite polarity the said rod moves in the direction opposite to said first direction, the rod attached to steering linkage of the prime mover to thereby control the path of travel of the vehicle along said filament.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000427869A CA1214847A (en) | 1983-05-11 | 1983-05-11 | Remote switching mechanism |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA000427869A CA1214847A (en) | 1983-05-11 | 1983-05-11 | Remote switching mechanism |
| EP86630181A EP0268718A1 (en) | 1986-11-25 | 1986-11-25 | Remote switching mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1214847A true CA1214847A (en) | 1986-12-02 |
Family
ID=25670030
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000427869A Expired CA1214847A (en) | 1983-05-11 | 1983-05-11 | Remote switching mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CA (1) | CA1214847A (en) |
-
1983
- 1983-05-11 CA CA000427869A patent/CA1214847A/en not_active Expired
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US4736812A (en) | Remote switching mechanism | |
| US4820961A (en) | Linear motion screened inductance sensors | |
| US4976146A (en) | Liquid level measuring apparatus | |
| US4401181A (en) | Road vehicle control system | |
| US4656406A (en) | Electric field guidance system for automated vehicles | |
| EP0559265B1 (en) | Position sensor system | |
| EP1453716A1 (en) | Driverless vehicle guidance system and method | |
| CN1791527A (en) | Rail assembly, rail switch and a transport device provided with a magnetostrictive sensor | |
| BR9405159A (en) | Multilayer magnetoresistive sensor, method of manufacturing it and magnetic storage system that uses it | |
| DE69212222D1 (en) | Spiral displacement system for fluid with flow control device | |
| DE3667343D1 (en) | PASSIVE TRACK SYSTEM FOR GUIDING AND CONTROLLING DRIVERLESS TRANSPORT AND ASSEMBLY UNITS. | |
| US4657087A (en) | Vehicle control system including vehicle with steering and elevation control relative to a filament | |
| DE59701256D1 (en) | Linear drive with magnetoresistive sensors | |
| CA1214847A (en) | Remote switching mechanism | |
| DE59604374D1 (en) | MAGNETIZING DEVICE FOR A MAGNETORESISTIVE THIN-FILM SENSOR ELEMENT WITH A BIA-LAYER PART | |
| EP0268718A1 (en) | Remote switching mechanism | |
| GB2399378A (en) | Hydraulic control arrangement for a mine roof support | |
| CA1138957A (en) | Magnetoresistive position transducer | |
| US3753223A (en) | System to determine the directional mode of travel of vehicles on a roadway | |
| DE3862833D1 (en) | THROTTLE VALVE CONTROL UNIT WITH RELATIVE POSITION LIMIT FOR THROTTLE VALVES. | |
| US3669205A (en) | Vehicle guidance systems | |
| JPS63149708A (en) | Travelling course controller for vehicle | |
| US3861321A (en) | Transportation system and vehicles for the system | |
| KR20210049373A (en) | 6wd . | |
| US5806810A (en) | Spring rail frog having switchable magnet for holding wing rail open |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKEX | Expiry |