公开(公告)号：WO2021078582A1

公开(公告)日：2021-04-29

申请号：PCT/EP2020/078729

申请日：2020-10-13

Applicant: AUTOSTORE TECHNOLOGY AS [NO]/[NO]

Inventor： AUSTRHEIM, Trond ,  FJELDHEIM, Ivar

IPC: B65G1/04 ,  B25J11/008 ,  B25J5/02 ,  B65G1/0464 ,  G05B19/41895 ,  G05D1/0027 ,  G05D2201/0216 ,  H04W28/02 ,  H04W4/90

Abstract: The invention relates to an automated storage and retrieval system (1) comprising a rail system (108,308) with perpendicular tracks in X and Y direction, wherein the storage and retrieval system (1) comprises: - a plurality of remotely operated container handling vehicles (230,330,240,340,250,350) configured to move laterally on the rail system (108,308); and - a main control system (109) using a first communication system for communicating with the plurality of remotely operated container handling vehicles (230,330,240,340,250,350), wherein the main control system (109) monitors and controls the movement of the plurality of container handling vehicles (230,330,240,340,250,350) via the first communication system; - at least one service vehicle movable on the rail system (108,308), wherein the at least one service vehicle is configured to bring a malfunctioning remotely operated container handling vehicle to a service area (160) outside of the rail system where the remotely operated container handling vehicles (230,330,240,340,250,350) operate; wherein the system further comprises: - a secondary control system using a second communication system, wherein the second communication system is independent of the main communication system, wherein the secondary control system for communicating with the at least one service vehicle on the rail system such as to monitor and control the movement of the at least one service vehicle. The invention also relates to a method of operating an automated storage and retrieval system and a main control system.

公开(公告)号：WO2022272182A1

公开(公告)日：2022-12-29

申请号：PCT/US2022/036008

申请日：2022-07-01

Applicant: FETCH ROBOTICS, INC.

Inventor： KING, Derek ,  ELLIOTT, Sarah ,  FUCHS, Steffen ,  RAIMBERT, Charles ,  ROBSON, David ,  HUNT, Steve ,  CLUNE, Brendan ,  VILLERS, Paul ,  GUERGAH, Jenna ,  PRUITT, Annelise ,  WISE, Melonee

IPC: G06Q10/08 ,  G06Q50/28 ,  G06Q10/06 ,  B65G1/1373 ,  B65G2209/02 ,  G05D1/0217 ,  G05D1/0291 ,  G05D2201/0216 ,  G06Q10/087

Abstract: A method includes: obtaining a batch of item group definitions, each item group definition having one or more item identifiers and corresponding quantities; for each item identifier, retrieving (i) a location of a corresponding item in a facility, and (ii) a dimensional attribute of the corresponding item; based on the locations and dimensional attributes, assigning sets of the item group definitions to respective receptacle configurations, each receptacle configuration including, for each item group definition in the set, a receptacle type with a predefined capacity; monitoring availability of a plurality of transporters in the facility, each transporter having a chassis configured to support a selectable set of receptacles; and responsive to detecting that a transporter is available, selecting one of the receptacle configurations, and presenting the selected receptacle configuration via an output device, to initiate placement of receptacles onto the chassis of the transporter according to the selected receptacle configuration.

公开(公告)号：WO2021259550A1

公开(公告)日：2021-12-30

申请号：PCT/EP2021/062427

申请日：2021-05-11

Applicant: KEONN TECHNOLOGIES S.L. ,  UNIVERSITAT POMPEU FABRA

Inventor： DE PORRATA-DORIA I YAGÜE, Ramir ,  VIVES PRAT, Ausias ,  POUS ANDRÉS, Rafael ,  CASAMAYOR PUJOL, Víctor ,  GASTÓN BRASO, Bernat

IPC: G06Q10/08 ,  G05D1/02 ,  G05D1/0234 ,  G05D1/0255 ,  G05D1/0261 ,  G05D1/0274 ,  G05D2201/0216 ,  G06Q10/087

Abstract: A movable platform for taking inventory and/or performing other actions on objects, the movable platform comprising a traction system for allowing the movable platform to circulate through an area, a sensor system for identifying objects in an area based on a characteristic, like a QR-code or an RFID tag, and for creating information indicative of the identified objects and the position of the identified objects relative to the movable platform and in absolute space coordinates, and a control system, wherein the control system is adapted to receive the information created by the sensor system and to determine a direction of movement or a partial path or a movement target for the movable platform based on the received information and without using a previously created map of the area and wherein the control system is adapted to control the traction system depending on the determined direction of movement or partial path so that the movable platform moves in the determined direction or along the partial path or towards the movement target.

公开(公告)号：WO2021252683A1

公开(公告)日：2021-12-16

申请号：PCT/US2021/036684

申请日：2021-06-09

Applicant: INSURANCE SERVICES OFFICE, INC. ,  UNIVERSITY OF SOUTHERN CALIFORNIA

Inventor： HAGHANI, Naveed ,  LI, Jiaoyang ,  KOENIG, Sven ,  KUNAPULI, Gautam ,  CONTARDO, Claudio ,  YARKONY, Julian

IPC: G05B19/418 ,  G06F17/60 ,  G06Q10/00 ,  B25J9/16 ,  G01C21/3453 ,  G05B19/042 ,  G05B2219/2637 ,  G05D1/0088 ,  G05D1/0212 ,  G05D1/0217 ,  G05D2201/0216

Abstract: Systems and methods for controlling automated systems, such as robots and other devices/resources, using integer programming and column generation techniques, are provided. The system retrieves location and movement data corresponding to at least one automated system, and processes the location and movement data using an integer linear programming algorithm. The system also optimizes the integer linear programming algorithm using a column generation algorithm, and solves a pricing problem associated with generating routes for the at least one automated system. Then, the system generates a route based on outputs of the integer linear programming algorithm, the column generation algorithm, and solving of the pricing problem, and transmits the route to the at least one automated system, the at least one automated system executing the route to control a location or a movement of the at least one automated system.

公开(公告)号：WO2021247642A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/035353

申请日：2021-06-02

Applicant: OCEANEERING INTERNATIONAL, INC.

Inventor： HUNTER, Alexander ,  BROOKS, Marc ,  PIETROCOLA, David ,  SRIVASTA, Siddarth

IPC: B65G1/137 ,  B60L53/36 ,  B66F9/063 ,  G01S1/72 ,  G01W1/02 ,  G01W2203/00 ,  G05D1/0214 ,  G05D1/0225 ,  G05D1/024 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0201 ,  G05D2201/0202 ,  G05D2201/0205 ,  G05D2201/0216

Abstract: A flexible material handling system for can handle varied loads and placements including operation in varying weather conditions, and integrates safety systems to tolerate pedestrians and manual vehicles in an operating environment. An autonomous vehicle (10) is operable along a vehicle traversal path (20) within a predetermined set of environmental conditions. A GPS base station (30) is operatively in communication with the autonomous vehicle (10). A supervisor/orchestrator (40) is operatively in communication with the autonomous vehicle (10) and the GPS base station (30) and is operative to coordinate movement of the autonomous vehicle along the vehicle traversal path and assign one or more tasks for the autonomous vehicle to accomplish.

公开(公告)号：WO2021247227A1

公开(公告)日：2021-12-09

申请号：PCT/US2021/032680

申请日：2021-05-17

Applicant: PRIMETALS TECHNOLOGIES USA LLC

Inventor： GENTILE, Margaret ,  ZELLE, Jason

IPC: G05D1/02 ,  H02K15/00 ,  B66F9/0755 ,  B66F9/24 ,  G05D1/0297 ,  G05D2201/0216

Abstract: An autonomous vehicle is described for use as part of a fleet of such vehicles used in coil handling. The autonomous vehicle has an on-board processor communicating with an external processor (e.g., an Artificial Intelligence (AI) processor) to receive and execute one or more instructions for automated operation of the autonomous vehicle, a robotic drive to move the autonomous vehicle based on the instructions received from the external processor; and a set of gripping mechanisms receiving the instructions and operating in one of two coil storage modes: a vertical mode and a horizontal mode. The instructions instructing the autonomous vehicle to handle one or more of the following coil handling tasks to move a coil: moving the coil after a reform stage, moving the coil after a trimming/inspection stage, moving the coil after a compacting stage, and moving coil to a storage location.

公开(公告)号：WO2021148883A1

公开(公告)日：2021-07-29

申请号：PCT/IB2021/000029

申请日：2021-01-22

Applicant: GREYORANGE PTE. LTD.

Inventor： M, Venkadesh

IPC: G05D1/02 ,  G01C21/34 ,  B60W60/00256 ,  G01C21/20 ,  G05D1/0088 ,  G05D1/0221 ,  G05D1/0234 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216

Abstract: A method and a system for traversing a planned path in a marked facility are provided. A transport vehicle transits from a first location to a second location in the marked facility for traversing the planned path. The first and second locations are indicated by first and second location markers, respectively. The transport vehicle records a movement pattern of the transport vehicle, while transiting from the first location to the second location. The transport vehicle halts at an intermediate location when the transport vehicle fails to detect the second location marker at the second location. A first path traversed to reach the intermediate location from the first location is retraced by the transport vehicle based on the recorded movement pattern. On reaching the first location, the transport vehicle re-attempts to transit from the first location to the second location.

公开(公告)号：WO2021121537A1

公开(公告)日：2021-06-24

申请号：PCT/EP2019/085210

申请日：2019-12-15

Applicant: ROMB TECHNOLOGIES D.O.O.

Inventor： KOKOT, Mirko ,  MIKLIC, Damjan

IPC: G05D1/02 ,  B62D15/02 ,  G05D1/0223 ,  G05D2201/0216

Abstract: A control method for automated guided vehicles (AGV) is disclosed. It consists of the following steps: adaptive sampling of the path given as the parametric curve C(u); computing the velocity limits at critical velocity profile points; planning optimal steering angle and traction velocity profiles for the wheels; adaptation of sample time Ts and prediction horizon lengths N for model predictive control; projecting the current vehicle pose onto its closest point along the desired path; computation of the linearized models for prediction horizon, cast to quadratic program (QP); solving QP to obtain velocity and steering angle setpoint offsets; then velocity and steering angle setpoint offsets are superimposed on the nominal trajectory values, driving the tracking errors to zero; a new control cycle begins by updating the vehicle state measurements from onboard AGV set of sensors taking into account whether path is appended or not and safety changes if any.

公开(公告)号：WO2022237434A1

公开(公告)日：2022-11-17

申请号：PCT/CN2022/086415

申请日：2022-04-12

Applicant: 深圳市海柔创新科技有限公司 ,  深圳市库宝软件有限公司

Inventor： 何家伟 ,  周红霞 ,  李汇祥

IPC: G05D1/02 ,  G05D1/0214 ,  G05D1/0276 ,  G05D1/0291 ,  G05D2201/0216

Abstract: 一种故障救援方法、设备、机器人以及系统。故障救援方法包括：当机器人以队列工况进行工作，并且队列中的机器人发生了故障时，调度设备可以获取故障机器人的故障信息和紧邻故障机器人的搬运机器人的标识（S101），从而根据故障机器人的故障信息和紧邻故障机器人的搬运机器人的标识生成救援指令和队列变更指令（S102，S103），然后，向搬运机器人发送救援指令和队列变更指令（S104），以使得搬运机器人根据救援指令救援故障机器人，并根据队列变更指令重组队列（S105）。故障救援方法可以在保证队列继续工作的同时，还能够有效地提高对故障机器人的救援效率。

公开(公告)号：WO2022207826A2

公开(公告)日：2022-10-06

申请号：PCT/EP2022/058630

申请日：2022-03-31

Applicant: SCHELL, Robert

Inventor： SCHELL, Robert

IPC: G05D1/02 ,  G05D1/0265 ,  G05D2201/0216

Abstract: Die Erfindung betrifft ein Lastfahrzeug, insbesondere Auflieger, mit einem Laderaum zur Aufnahme von mit Waren beladenen Paletten (7), wobei der Ladeboden (5) des Laderaums mit wenigstens einer Leitlinie (2, 6) eines fahrerlosen Transportsystems (FTS) versehen ist. Die Erfindung betrifft weiterhin ein FTS- Plattenelement (1) zur Bestückung eines Lastfahrzeugs (4) sowie eine FTS- Palette zur selbstständigen Verladung in einem solchen Lastfahrzeug (4).