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    AUTONOMOUSLY ASSISTED AND GUIDED VEHICLE
    41.
    发明公开
    AUTONOMOUSLY ASSISTED AND GUIDED VEHICLE 审中-公开
    自动辅助和引导车辆

    公开(公告)号：EP3237982A1

    公开(公告)日：2017-11-01

    申请号：EP15801731.9

    申请日：2015-11-23

    Applicant: Université Sciences Technologies Lille ,  Centre National de la Recherche Scientifique (C.N.R.S.)

    Inventor： MERZOUKI, Rochdi ,  COELEN, Vincent ,  CONRARD, Blaise ,  POLLART, Michel

    IPC: G05D1/00

    CPC classification number: G05D1/0044 ,  G05D1/0278 ,  G05D2201/0205

    Abstract: The present invention concerns an intelligent system (100) for autonomously and securely assisting and guiding a motorized vehicle (10) along a predetermined path (Pa) from a starting point (Dep) to an ending point (Arr) within a determined area (Z), said system (100) including: a) said vehicle (10) comprising a plurality of motorized directional wheels (11) and a wheel control module (12) comprises a processor (12a) associated with a memory (12b) storing guiding instructions for controlling the traction and the direction of said wheels (11) so that the vehicle (10) follows said predetermined path (Pa),b) a remote cockpit (20) comprising electronics means (21) suitable for remotely guiding said vehicle (10), wherein said vehicle (10) comprises a sensing module (14) comprising a GPS suitable for receiving a first GPS signal (s1_GPS) containing coordinates (x1, y1) of the position (P1) of said vehicle (10) and for providing said coordinates (x1, y1) to said wheel control module (12), wherein the processor (12a) is also configured to continuously compare the received coordinates (x1, y1) with said predetermined path (Pa) and, if said coordinates (x1, y1) are not in compliance with the predetermined path (Pa), to transmit said coordinates (x1, y1) to the cockpit (20) via the communication modules (13, 23) so as to remotely guide said vehicle (10) using the electronic means (21) of the cockpit (20).

    Abstract translation: 本发明涉及一种智能系统（100），用于在确定的区域（Z）内从自始点（Dep）到终点（Arr）沿预定路径（Pa）自动且安全地辅助和引导机动车辆 ），所述系统（100）包括：a）包括多个机动定向轮（11）的车辆（10）和车轮控制模块（12）包括与存储器（12b）相关联的处理器（12a） （10）遵循所述预定路径（Pa），b）远程驾驶舱（20），其包括适于远程引导所述车辆（10）的电子装置（21） ），其中所述车辆（10）包括感测模块（14），所述感测模块包括适于接收包含所述车辆（10）的位置（P1）的坐标（x1，y1）的第一GPS信号（s1_GPS）的GPS， 向所述车轮控制模块（12）的所述坐标（x1，y1） 如果所述坐标（x1，y1）不符合预定路径（Pa），则处理器（12a）还被配置为连续地将接收到的坐标（x1，y1）与所述预定路径（Pa）进行比较， 通过通信模块（13,23）将所述坐标（x1，y1）传输到驾驶舱（20），以便利用驾驶舱（20）的电子装置（21）远程引导所述车辆（10）。

    DEVICE AT A RO-RO VESSEL
    46.
    发明授权
    DEVICE AT A RO-RO VESSEL 有权
    装置在RO-RO船上

    公开(公告)号：EP1292490B1

    公开(公告)日：2005-12-14

    申请号：EP01941418.4

    申请日：2001-06-20

    Applicant: TTS Ships Equipment AB

    Inventor： JOHANSSON, Göran ,  RAMNE, Bengt

    IPC: B63B27/00 ,  G05D1/02

    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滚装船的装置，该装置具有多个货物接收空间，该货物接收空间在船内部具有行驶表面，并且具有在这样的空间和码头之间延伸的斜坡，沿着该斜坡无人驾驶 称为AGV车辆的货物装卸车辆（7）能够在指定停车位之间行驶，以便在码头与上述货轮的货物接收空间之间运输货物。 装置（9）用于使货物装卸车辆（7）在上述空间和码头之间被引导并进入在线路（II）中的指定位置中的预期车辆列车，并且不连接货物装卸车辆 7）彼此。

    AUTOMATIC GANTRY STEERING SYSTEM FOR A CONTAINER HANDLING MACHINE
    47.
    发明公开
    AUTOMATIC GANTRY STEERING SYSTEM FOR A CONTAINER HANDLING MACHINE 无效
    集装箱搬运机械的自动门式转向系统

    公开(公告)号：EP0909394A1

    公开(公告)日：1999-04-21

    申请号：EP98900090.0

    申请日：1998-01-05

    Applicant: Sisu Terminal Systems Inc.

    Inventor： RINTANEN, Kari ,  HAUTAKANGAS, Marko ,  PARVIAINEN, Keijo ,  RAAMI, Tuomo

    IPC: B66C19 ,  G05D1 ,  G01S5 ,  G01S19

    CPC classification number: B66C19/007 ,  G01S19/41 ,  G01S19/43 ,  G05D1/0278 ,  G05D1/0297 ,  G05D2201/0205

    Abstract: The invention concerns an automatic steering system for a container handling machine, such as a mobile gantry crane (10), in order to make the container handling machine to move along straight lines determined by rows of containers of by a rail track or equivalent. The steering system comprises a navigation system installed in the field of containers, which system determines the desired running line by means of two arbitrarily placed points and keeps the container handling machine (10) on the desired line in order to permit a transfer of containers. The steering system is based on a GPS navigation system, which includes a stationary GPS apparatus mounted in a stationary ground station (21) and mobile GPS apparatuses (24) mounted on the container handling machines (10) moving in the nearby area, which GPS apparatus (24) are fitted to receive signals from the satellites of the GPS system so as to determine the locations of the GPS apparatuses. Further, radio apparatuses (23, 25) have been mounted in the stationary ground station (21) and on the mobile container handling machines (10), by means of which radio apparatuses a position-correcting signal is transmitted from the radio transmitter (23) of the stationary ground station to the mobile radio receivers (25) of the container handling machines (10).

    Abstract translation: 本发明涉及一种用于诸如移动门式起重机（10）的集装箱搬运机器的自动转向系统，以便使集装箱搬运机器能够沿着由铁路轨道或等同物的成排的集装箱确定的直线移动。 转向系统包括安装在集装箱领域的导航系统，该系统通过两个任意放置的点确定所需的运行线，并将集装箱处理机（10）保持在期望的线路上，以便允许集装箱的转移。 该转向系统基于GPS导航系统，其包括安装在固定地面站（21）中的固定式GPS装置和安装在附近区域中移动的集装箱处理机器（10）上的移动GPS装置（24），该GPS 装置（24）适合于接收来自GPS系统的卫星的信号以确定GPS装置的位置。 此外，无线电装置（23,25）已经安装在固定地面站（21）和移动式集装箱处理机（10）上，无线电装置通过无线电装置从无线电发射机（23）发送位置校正信号 ）到固定地面站的集装箱处理机（10）的移动无线电接收器（25）。

    컨테이너용 처리 시스템
    48.
    发明公开
    컨테이너용 처리 시스템 审中-实审
    集装箱处理系统

    公开(公告)号：KR1020130138742A

    公开(公告)日：2013-12-19

    申请号：KR1020137006464

    申请日：2011-11-09

    Applicant: 테렉스 엠하페에스 게엠베하

    Inventor： 프란젠헤르만 ,  비쉐만알민 ,  모우트소카파스야니스

    IPC: B65G63/00 ,  G05D1/00

    CPC classification number: B60P1/6418 ,  B65G63/004 ,  B65G67/02 ,  G05D1/0061 ,  G05D2201/0205

    Abstract: 본 발명은 컨테이너 브리지(2)와 컨테이너 저장 시설(3) 사이에서 컨테이너를 운반하는 지상에서 주행하는 고무 타이어를 구비하는 무인 컨테이너 운반 차량(10)이 사용되는 적어도 하나의 자동화된 영역(A)을 포함하는 컨테이너용 처리 시스템에 관한 것이다. 컨테이너 처리 시스템을 개선하기 위하여, 컨테이너 브리지(2)와 컨테이너 저장 시설(3) 사이에서 컨테이너를 운반하는 지상에서 주행하는 고무 타이어를 구비하는 유인 컨테이너 운반 차량(10)이 사용되는 적어도 하나의 비자동화된 영역(B)이 제공되며, 각 컨테이너 운반 차량(10)은 무인 또는 유인 모드에서 선택적으로 동작가능하고 이에 따라 자동화된 영역(A) 또는 비자동화된 영역(B)에서 선택적으로 운반가능하다. 유인 모드에서 제어하기 위해 보조 디바이스에 연결될 수 있는 대응하는 컨테이너 운반 차량(10)은 보조 디바이스가 유인 모드에서 조향, 움직임 제어 및 제동을 위한 제어 시스템(13)을 구비하는 운전자의 객실(12)을 구비하고, 상기 컨테이너 운반 차량(10)은 차량의 프런트 엔드에서 운전자의 객실(12)에 부착가능한 고정 가능성을 구비하는 것을 특징으로 한다.

    의사인공위성을 사용한 항만 물류 자동화를 위한 무인반송차량의 제어 시스템 및 방법
    49.
    发明公开
    의사인공위성을 사용한 항만 물류 자동화를 위한 무인반송차량의 제어 시스템 및 방법 有权
    自动引导车辆控制系统和自动运输方法使用PSEUDO SATELITE的港口

    公开(公告)号：KR1020110010304A

    公开(公告)日：2011-02-01

    申请号：KR1020090067797

    申请日：2009-07-24

    Applicant: 이만형 ,  김명국 ,  이길수 ,  안희태

    Inventor： 이만형 ,  김명국 ,  이길수 ,  안희태

    IPC: G05D3/00 ,  G05D1/02

    CPC classification number: G05D1/0011 ,  G05D1/0255 ,  G05D2201/0205

    Abstract: PURPOSE: An autonomous guided vehicle control system and a method for automatic transportation ser-vice in harbors using a pseudo satellite are provided to implement automation of a port logistics system by simply configuring the position control system of an autonomous guided vehicle. CONSTITUTION: An identification symbol is assigned to an ultrasonic wave signal transmitter(40). The ultrasonic wave signal transmitter is installed along a railway rail(12). The ultrasonic wave signal transmitter generates a determined ultrasonic signal. An ultrasound signal receiver(24) is installed in the automatic guided vehicle(20). The ultrasound signal receiver transmits the received information of the ultrasound signal receiver to a control server(30). The location of the automatic guided vehicle is collected through the ultrasonic signal. A driving control(22) controls the operation of the automatic guided vehicle.

    Abstract translation: 目的：提供一种使用伪卫星的港口自动驾驶车辆控制系统和自动运输服务方法，通过简单配置自主驾驶车辆的位置控制系统实现港口物流系统的自动化。 构成：将识别符号分配给超声波信号发送器（40）。 超声波信号发送器沿铁路轨道（12）安装。 超声波信号发生器产生确定的超声波信号。 超声信号接收器（24）安装在自动导引车辆（20）中。 超声波信号接收器将接收到的超声信号接收信息发送到控制服务器（30）。 自动引导车辆的位置通过超声信号收集。 驾驶控制（22）控制自动引导车辆的操作。

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