Abstract: An automatic drive prevention mechanism for an automated vehicle. The mechanism includes a switch frame having a rectangular periphery pivotally mounted on the automated vehicle and a switch mechanism, including a switch, coupled between the switch frame and the vehicle drive means, the switch being arranged to be activated to interrupt drive power to the vehicle when the frame is pivoted out of its neutral position. The switch mechanism includes a self-centering switch controller and the switch is arranged so that pivoting the switch frame causes actuation of the switch and release of the switch frame permits the self-centering controller to urge the switch mechanism to return to its original configuration thereby deactivating the switch and permitting the drive to be re-started.

Abstract: A system for determining the position of vehicles in an automated warehouse of the type utilizing transfer vehicles and robot vehicles is disclosed. The position determining system includes a photo-electric sensor flexibly coupled to a robot vehicle, which sensor is responsive to its alignment with a pallet stored in the warehouse. The system further includes a photo-electric reflector retaining bracket mounted adjacent to an aisle in the warehouse, the bracket supporting a number of reflectors arranged in a pattern containing information identifying the aisle. A photo-electric transceiver supported by a mounting bracket is connected to a transfer vehicle and is arranged to provide an output signal related to the pattern of the reflectors when the transceiver is in alignment with the reflectors whereby the transfer vehicle is apprised of its location in the warehouse.

Abstract: A photoelectric sensing apparatus for a pallet carrying robot vehicle is disclosed. The sensing apparatus includes a plurality of photoelectric sensors mounted on the robot vehicle for sensing the location of stored pallets mounted on storage rails in order to signal the control logic to stop the robot vehicle at a desired position. If the robot vehicle is unloaded, one sensor functions to sense the location of a stored pallet after the robot vehicle has moved directly under the stored pallet. If the robot vehicle is loaded, another sensor functions to sense the location of a stored pallet immediately before the robot vehicle reaches the same. Each sensor comprises a light transmitter for projecting a light beam along a first axis, and a receiver sensitive along a second axis to receive a reflected light signal and generate an electrical signal in response thereto.