Abstract: A guidance system for guiding a plurality of unmanned vehicles along guide wires. A plurality of data communication circuits are provided which form an extensive network. A traffic control computer composes a coded vehicle instruction for assigning tasks and allocates resources to said unmanned vehicles. The traffic control computer polls the status of each vehicle at varying time intervals and receives a response from said vehicle.The network connecting the computer and the communication circuits prevents reception of data transmissions from more than one vehicle at a time. Other messages are temporarily stored.Data transmitters generate low frequency, low power signals which have a high data transmission rate.Digital data is converted at the transmitters into cosine waveforms of selected frequencies. The cosine waveforms are transposed into sine waveforms at receivers. Low impedance or high impedance characteristics are imposed upon the guide wires.

Abstract: A guidance system for guiding a plurality of unmanned vehicles along guide wires. A plurality of data communication circuits are provided which form an extensive network. A traffic control computer composes a coded vehicle instruction for assigning tasks and allocates resources to said unmanned vehicles. The traffic control computer polls the status of each vehicle at varying time intervals and receives a response from said vehicle. The network connecting the computer and the communication circuits prevents reception of data transmissions from more than one vehicle at a time. Other messages are temporarily, stored. Data transmitters generate low frequency, low power signals which have a high data transmission rate. Digital data is converted at the transmitters into cosine waveforms of selected frequencies. The cosine waveforms are transposed into sine waveforms at receivers. Low impedance or high impedance characteristics are imposed upon the guide wires.

Abstract: A vehicle (10) particularly adapted for use as an automated guided vehicle uses standard plastic tote boxes as a body shell (13) and as a battery carrier (20). The vehicle includes a drive wheel assembly (14) and a bogey assembly (16) which pivot about center pivot points and are steered by a single motor-driven steering assembly (18) which provides dual fifth wheel steering. Commonly-driven ball screw lift assemblies (122) engage the underside of nestable load-carrying tote boxes (22) for pickup and delivery functions. The weight of the load carrier(s) is transferred through the vehicle frame (12) to load transfer assemblies (76) on the drive and bogey assemblies.

Abstract: Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device.An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils.

Abstract: A system, including methods and apparatus, requiring digital communication between two devices using radio frequency communications to provide the link. Apparatus for decoding a digital data stream is provided, which data stream has been imposed on a base band signal where the rate of data transmission is as high as twice the frequency of the base band signal. A differential amplifier is employed to recognize the beginning and end of a segment of a wave cycle which represents a digital bit.

Abstract: A system and method for automated materials handling is disclosed wherein palletized goods are stored and retrieved with maximum through-put. This system is particularly applicable for pallets of comparatively large size. In accordance with this system and method, input loads are queued prior to displacement onto a continuous conveyor serviced by a plurality of S/R machines. The queued loads are metered onto the conveyor on a far to near aisle correspondence basis and are simultaneously exchanged for output loads at each of the aisle locations. The method includes compensation for circumstances where outputs exceed inputs and where inputs exceed outputs by empty pallet management.

Abstract: An automobile transportation and storage pallet used in automated storage and retrieval systems. The pallet is provided with steel tire channels connected and supported by a plurality of steel support members. Safety grip strips applied to the tire channels provide tire traction thereon. A corrugated drip pan interposed between the tire channels collects any drippings from the automobile. Tire blocks adjustably mounted to the tire channels secure the tires of the automobile resulting in proper alignment of the automobile with respect to the pallet and preventing movement of the automobile thereon. The tire blocks can be adjusted to conform to any size of tire and wheel base.