公开(公告)号：US08529187B1

公开(公告)日：2013-09-10

申请号：US13165693

申请日：2011-06-21

Applicant: Thomas A. Ward ,  Kai Stuart Martin

Inventor： Thomas A. Ward ,  Kai Stuart Martin

IPC: B63B27/00

CPC classification number: B65G63/004 ,  B65G57/20 ,  B66C17/20 ,  B66C19/002 ,  B66C19/007 ,  G05D1/0244 ,  G05D1/0261 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0205

Abstract: A storage area is accessed by automated guided vehicles which receive and unload containerized loads. On the waterside, loads are exchanged between the vehicles and ships using quay cranes. On the ground transportation side, loads are exchanged between the vehicles and truck or rail carriers using semi automated or automated remote-controlled bridge cranes. Within the storage area, loads are exchanged between the vehicles and the storage facilities using automated stacking cranes. The vehicles are adapted to receive a cassette storage platform which in turn receives standard ISO containers.

Abstract translation: 通过接收和卸载集装箱货物的自动导向车辆可以进入存储区域。 在水边，使用码头起重机在车辆和船舶之间交换负载。 在地面运输方面，使用半自动或自动化遥控桥式起重机，在车辆和卡车或铁路运输车辆之间交换负载。 在存储区域内，使用自动堆垛起重机在车辆和存储设施之间交换负载。 车辆适于接纳盒式存储平台，该平台又接收标准的ISO容器。

公开(公告)号：US20040112660A1

公开(公告)日：2004-06-17

申请号：US10297417

申请日：2002-12-05

Inventor： Goran Johansson ,  Bengt Ramne

IPC: B62D001/24

CPC classification number: B63B35/54 ,  B63B27/02 ,  G05D1/0236 ,  G05D1/0265 ,  G05D1/0278 ,  G05D2201/0205

Abstract: The present invention relates to an arrangement for a Ro-Ro vessel, which exhibits a number of cargo-receiving spaces provided with a driving surface internally in the vessel, and with a ramp extending between one such space and a quay, along which ramp driverless cargo handling vehicles (7), known as AGV vehicles, are capable of being driven between designated parking places for the purpose of transporting cargo between the quay and the aforementioned cargo-receiving space of the vessel. Means (9) are provided for causing the cargo handling vehicles (7) to be guided between the aforementioned spaces and the quay and into the intended train of vehicles in the designated location in a line (II) and without connecting the cargo handling vehicles (7) to one another.

Abstract translation: 本发明涉及一种用于Ro-Ro容器的装置，其展示了在容器内部设置有驱动表面的多个货物接收空间，以及在一个这样的空间和码头之间延伸的斜坡，沿着该斜坡无斜坡 称为AGV车辆的货物处理车辆（7）能够在指定的停车位之间驾驶，以便在码头和上述货物接收空间之间运输货物。 提供装置（9），用于使货物处理车辆（7）在上述空间和码头之间被引导到在线（II）的指定位置的目的列车中，并且不连接货物搬运车辆 7）彼此。

公开(公告)号：US5219036A

公开(公告)日：1993-06-15

申请号：US918666

申请日：1992-07-22

Applicant: Jurgen Schwager ,  Gerhard Sommer ,  Michael Dongus

Inventor： Jurgen Schwager ,  Gerhard Sommer ,  Michael Dongus

IPC: G05D1/02

CPC classification number: G05D1/0261 ,  G05D1/0255 ,  G05D2201/0205

Abstract: A navigation system for guiding unmanned vehicles with any desired wheel configuration without guide wire for free movement on paths and along curves along a virtual reference path having at least one straight and/or curved section. Discrete elements are floor-installed which are in operative connection with a vehicle internal path control device via the vehicle's internal sensory analysis system for correcting the course of the industrial truck. The discrete elements are arranged at spaced locations exclusively along the area of the reference path forming a linear formation chain as navigation reference points P. The distance between the reference points P are either regular or irregular and may be relatively great distances equal to a multiple of the wheel base of the vehicle. The on-board sensory analysis system exclusively determines the distances and measures the distance between the longitudinal axis of the industrial truck and the navigation reference point P.

Abstract translation: 用于引导具有任何期望的轮构造的无人驾驶车辆的导航系统，而不需要导线，以沿着沿着具有至少一个直线和/或弯曲部分的虚拟参考路径沿着曲线自由移动。 离散元件是地面安装的，其经由车辆的内部感官分析系统与车辆内部路径控制装置操作连接，用于校正工业卡车的路线。 离散元件排列在沿着参考路径的区域的间隔位置处，形成线性形成链作为导航参考点P.参考点P之间的距离是规则的或不规则的，并且可以是相当大的距离， 车轮的底座。 车载感觉分析系统专门确定距离并测量工业车辆的纵向轴线与导航参考点P之间的距离。

公开(公告)号：JP2014134926A

公开(公告)日：2014-07-24

申请号：JP2013001890

申请日：2013-01-09

Applicant: Toyota Industries Corp ,  株式会社豊田自動織機

Inventor： MINATO SATOSHI

IPC: G05D1/02

CPC classification number: B60L15/20 ,  B60L3/0046 ,  B60L11/123 ,  B60L2210/40 ,  B60L2240/12 ,  B60L2260/32 ,  G05D1/0217 ,  G05D1/0223 ,  G05D2201/0205 ,  Y02T10/6217 ,  Y02T10/645 ,  Y02T10/7005 ,  Y02T10/7077 ,  Y02T10/7241 ,  Y02T10/7275

Abstract: PROBLEM TO BE SOLVED: To provide an unmanned carrier transport system and unmanned carrier transport method in which the gradient of a traveling path can be estimated with high accuracy.SOLUTION: An unmanned carrier is made to travel on a predetermined traveling path a plurality of times. A computer 31 acquires information of at least a loading weight, a traveling speed and a travel acceleration of the unmanned carrier when the unmanned carrier is made to travel on the predetermined traveling path a plurality of times, estimates the gradients of respective traveling paths when the unmanned carrier is made to travel on the traveling path on the basis of the acquired information, and performs averaging processing of the estimated gradients of the respective traveling paths.

Abstract translation: 要解决的问题：提供一种无人载波传输系统和无人载波传输方法，其中可以高精度地估计行进路径的梯度。解决方案：使无人载体在预定的行进路径上多次行进 。 计算机31获取当无人载体多次在预定行进路径上行进时的至少载重量，行驶速度和行驶加速度的信息，估计当行驶路径的梯度在 根据所获取的信息使无人载波在行进路径上行进，并对各个行进路径的估计梯度进行平均处理。

公开(公告)号：WO2014005692A3

公开(公告)日：2014-09-04

申请号：PCT/EP2013001924

申请日：2013-07-02

Applicant: ABB AG ,  MITTELDEUTSCHE BRAUNKOHLENGMBH

Inventor： GRALOW BERND ,  HOLZBECHER KLAUS ,  MÜLLER DIETMAR

IPC: G05D1/02 ,  B66C9/16 ,  E21C47/02 ,  G01D1/16

CPC classification number: B65G65/005 ,  B65G43/02 ,  B65G65/06 ,  B65G2812/02108 ,  B65G2812/02267 ,  G01S13/874 ,  G01S13/931 ,  G01S2013/9328 ,  G05D1/02 ,  G05D1/0248 ,  G05D1/0255 ,  G05D1/0257 ,  G05D2201/0205

Abstract: The invention relates to a system which is capable of carrying out a method for detecting and further processing the position of at least one storage space device moving a bulk material. A first storage space device (4) has a gantry having a span width of at least several meters, two gantry legs (19, 20) of which are each supported on a linearly displaceable foot element (2, 3). The system comprises at least one first non-contact distance sensor (1) for measuring a relative distance in the direction between a measuring point located on the first storage space device and a reference point located outside the first storage space device, wherein the first non-contact distance sensor (1) is fitted on one of the two foot elements (2) in order to measure a first relative distance (A1a) between the one foot element (2) and a first fixed reference point (R1). The system further comprises a second non-contact distance sensor (1), which is fitted to the other of the two foot elements (3) in order to measure a second relative distance (A2a) between the other foot element (3) and a second fixed reference point (R2), and an evaluation unit (21, 23), which is designed to use the first and second relative distances (A1a, A2a) to determine a rotation (V) of the first storage space device (4) about a central vertical axis (H), and to pass on the rotation (V) or an item of compensation information used to compensate for the rotation (V) to at least one first control unit (24) for controlling the movement of the foot elements (2, 3).

Abstract translation: 一种系统，提出了一种用于检测和处理能够执行至少一种散装材料储存箱移动装置的位置的方法。 在这种情况下，两个入口支腿（19 20）在每种情况下可线性移动的脚元件（2,3）具有第一储存箱部（4）是具有跨度的至少几米上，所支持的一个门户。 该系统包括至少一第一非接触距离传感器（1），以测量在位于所述第一存储位置设备的测量点和位于所述第一存储位置的装置，外部的参考点之间的方向的相对距离，其中所述第一非接触距离传感器在两个腿构件中的一个（1）（2 ）被附接（用于之间测量第一相对距离A1A）（一个脚元件（2）和第一，固定的基准点R1）。 该系统包括第二非接触距离传感器（1），其被安装在另一方的脚元件（3）的用于其它底座元件（3）和一个第二固定参考点还包括之间测量的第二相对距离（A2A）（R2） 和评估单元（21，23），其从第一和第二相对距离（A1A，A2A）一捻适于确定（V）的第一阵营设备（4）的绕中心竖直轴线（H）和扭转 （V）或旋转（V）的均衡器，用于控制腿构件的移动服务的至少一个第一控制单元（24）上的均衡信息（2，3）通过。

公开(公告)号：WO1995003567A1

公开(公告)日：1995-02-02

申请号：PCT/SE1994000696

申请日：1994-07-18

Applicant: APOGEUM AB ,  NETZLER, Göran

Inventor： APOGEUM AB

IPC: G05D01/02

CPC classification number: B66F9/063 ,  G05D1/0236 ,  G05D1/0246 ,  G05D2201/0205 ,  G05D2201/0216

Abstract: A method and a device for controlling an AGV (8) for route selection upon transfer between different spaces (2, 7) within which said AGV is movable. The spaces are not fixedly related to each other with reference to their relative positions and are restricted from each other by means of area boarder lines (18). When AGV is present within a first of said spaces, it detects for the purpose of transfer of said spaces (7), the relative position of said space by means of two reference means (11, 12) belonging to the second space. Each of said reference means is fixedly related to the present space. The AGV will move over said area border lines (18) between said two spaces selecting route depending on calculating relative position.

Abstract translation: 一种用于控制AGV（8）的方法和装置，用于在所述AGV可移动的不同空间（2,7）之间转移时进行路线选择。 空间不参照其相对位置彼此固定地相关，并且通过区域边界线（18）彼此限制。 当AGV存在于第一空间内时，它检测为了通过属于第二空间的两个参考装置（11,12）来传送所述空间（7）的所述空间的相对位置。 所述参考装置中的每一个固定地与当前空间相关。 AGV将根据计算相对位置在所述两个空间之间的所述区域边界线（18）上移动选择路线。

公开(公告)号：US20190193959A1

公开(公告)日：2019-06-27

申请号：US16312824

申请日：2017-06-21

Applicant: Konecranes Global Corporation

Inventor： Armin Wieschemann ,  Stefan Aldejohann ,  Heiko Schulz ,  Jan-Phillipp Schmidt-Ewig ,  Heinz Eichner

IPC: B65G63/00 ,  G05D1/02

CPC classification number: B65G63/004 ,  G05D1/0289 ,  G05D2201/0205

Abstract: A system for transporting containers using heavy goods vehicles which comprises a separate operating region in which the heavy goods vehicles can be operated, with at least one automated heavy goods vehicle and at least one manually driven heavy goods vehicle being operated together in a mixed traffic situation in the separate operating region.

公开(公告)号：US20160313451A1

公开(公告)日：2016-10-27

申请号：US15201110

申请日：2016-07-01

Applicant: KONECRANES GLOBAL CORPORATION

Inventor： Kari RINTANEN

IPC: G01S19/45 ,  G05D1/02 ,  G01S17/42 ,  B66F9/06 ,  G01S7/48 ,  G01S19/48 ,  B66C19/00

CPC classification number: G01S19/45 ,  B66C19/007 ,  B66F9/063 ,  G01C3/08 ,  G01C21/12 ,  G01S7/4808 ,  G01S17/42 ,  G01S19/48 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0205

Abstract: A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.

Abstract translation: 一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。 所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备 地标 并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。

公开(公告)号：US20140046587A1

公开(公告)日：2014-02-13

申请号：US14112872

申请日：2012-04-20

Applicant: Kari Rintanen

Inventor： Kari Rintanen

IPC: G01C3/08 ,  G01C21/12 ,  G01S19/45

CPC classification number: G01S19/45 ,  B66C19/007 ,  B66F9/063 ,  G01C3/08 ,  G01C21/12 ,  G01S7/4808 ,  G01S17/42 ,  G01S19/48 ,  G05D1/024 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0278 ,  G05D2201/0205

Abstract: A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.

Abstract translation: 一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。 所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备 地标 并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。

公开(公告)号：US08126596B1

公开(公告)日：2012-02-28

申请号：US12348926

申请日：2009-01-06

Applicant: James H. Lee, Jr. ,  Jonathan R. Salton ,  Barry L. Spletzer

Inventor： James H. Lee, Jr. ,  Jonathan R. Salton ,  Barry L. Spletzer

IPC: G05D1/00

CPC classification number: G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0205 ,  G05D2201/0216

Abstract: An apparatus and method for inspecting a plurality of containers are provided. Each container has an outer surface for housing at least one material therein. The techniques provided involve at least one inspection vehicle and at least one detector. Each inspection vehicle has a plurality of wheels for movably positioning about the plurality of containers. The wheels may have at least one magnet for selectively adhering to the outer surface of at least one of the containers whereby the inspection vehicle traverses the container(s). The detector is positionable proximate at least one of the containers. The detector may be deployable from the inspection vehicle to a position adjacent the container(s). The detector has at least one sensor for measuring at least one characteristic of the plurality of containers. At least one base station may be provided for communicating with the inspection vehicle(s) and/or detector(s).

Abstract translation: 提供了一种用于检查多个容器的装置和方法。 每个容器具有用于在其中容纳至少一种材料的外表面。 提供的技术涉及至少一个检查车辆和至少一个检测器。 每个检查车辆具有多个轮，用于围绕多个容器可移动地定位。 车轮可以具有至少一个磁体，用于选择性地粘附到至少一个容器的外表面，由此检查车辆穿过容器。 检测器可靠近至少一个容器定位。 检测器可以从检查车辆展开到与容器相邻的位置。 检测器具有用于测量多个容器的至少一个特性的至少一个传感器。 可以提供至少一个基站用于与检查车辆和/或检测器通信。