Control system for autonomous transportation carriages - uses microprocessor to calculate position from beacons reflecting acoustic signals from on-board emitter

摘要

A microprocessor (80) with dynamic (82) and passive memories is coupled through an interface (88) to an acoustic emitter (90). The emitter output is pulsed and the microprocessor receives signals from a fixed beacon (92) through two detectors (94,96). The microprocessor calculates the difference between the arrival times of signals at the two detectors. Filters (98) ensure only the signals from the emitter are received. The microprocessor also receives signals from angular coders (50,52) on the drive wheel and steering mechanism. By integrating the distance signals the position of the vehicle in a given area is calculated. The calculated and stored values are compared and control signals are issued to the drive motor (44) and steering control to correct the difference.