Navigationsystem and method for cordless guidance of pilotless carts

摘要

In a navigation system and method for guide-wire-less guidance of driverless floor conveyors of any wheel configuration, navigation interpolation points (P) are arranged in a linear formation chain along a reference track (19), the regular and/or irregular intervals of which points are a multiple of the vehicle wheelbase (22). The navigation interpolation points (P) are constructed as active and/or passive data carriers of an identification system and are embedded in the roadway surface (3). Nominal path curves and coordinates of the navigation interpolation points (P) are stored inside the vehicle as a geometry data set in a spatially fixed coordinate system (x,y, gamma ) and the absolute angular position gamma of the floor conveyor (1) is measured by means of vehicle-internal magnetostrictive sensors (2) using a distance measurement between the longitudinal axis of the floor conveyor and the centrepoints of two successive navigation interpolation points (Pi) and (Pi + 1). From the deviation (di), correction paths are determined by vehicle-internal transformation of the geometry data set, from which correction paths vehicle-related axis setpoints (Snorm) and ( alpha norm) are formed for driving the steering motor(s) and/or driving motor(s) (10). The steering motor(s) and/or driving motor(s) (10) can be corrected in the space coordinate system by feedback in the space control loop with transformation of the actual axis values (Sact) and ( alpha act) into space coordinates (x,y, gamma ). Each navigation interpolation point (P) is associated with a safety distance (smax) after which an emergency stop of the floor conveyor (1) is triggered as a result of the deviation (di) being too great.