| CPC B65G 1/0464 (2013.01) [B65G 1/0478 (2013.01); B65G 1/1373 (2013.01); G05B 19/19 (2013.01); G05D 1/43 (2024.01); G05D 2109/14 (2024.01)] | 6 Claims |
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1. A remotely operated vehicle comprising:
an arrangement to provide a pre-alert and tracking of a position of the vehicle following a travelling route relative to tracks laid out on rails in x-, y-directions on a rail system,
wherein the vehicle has first and seconds sets of wheels connected to drives for moving the vehicle in corresponding x-, y-directions on the rail system,
wherein the arrangement comprises at least one sensor module comprising at least four sensors:
a first sensor directed vertically downwards to detect the rails in the x-direction on the sensor module,
a second sensor directed vertically downwards to detect the rails in the y-direction on the sensor module,
a third sensor directed vertically downwards and positioned on the sensor module to detect a corner of an intersection between the rails in the x-direction and y-direction, and
a fourth sensor configured to detect a remaining distance to the arrival of the vehicle at a set position, by detecting the rails in the x-direction when travelling in the y-direction, and detecting the rail in the y-direction when travelling in the x-direction, the fourth sensor being placed at a predefined position on the sensor module; and
a controller provided on the vehicle to receive output from at least one of the sensors and to pre-alert the remaining distance of the arrival of the vehicle at the position,
wherein, when the vehicle is at the set position, the third sensor does not detect a rail structure.
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