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    Localization within an environment using sensor fusion
    183.
    发明授权
    Localization within an environment using sensor fusion 有权
    使用传感器融合的环境中的本地化

    公开(公告)号：US09427867B2

    公开(公告)日：2016-08-30

    申请号：US14243419

    申请日：2014-04-02

    Applicant: The Boeing Company

    Inventor： Peter F. Trautman ,  Hui Li ,  Robert P. Higgins

    IPC: G06F19/00 ,  B25J9/16 ,  G05D1/02

    CPC classification number: B25J9/16 ,  G01C21/165 ,  G01C21/28 ,  G05D1/0236 ,  G05D1/0248 ,  G05D1/0253 ,  G05D1/0272 ,  G05D1/0274 ,  G05D2201/0216 ,  Y10S901/01

    Abstract: A method and apparatus for guiding a mobile platform within an environment may be provided. A number of first type of data streams and a number of second type of data streams may be generated using a plurality of data systems. A probability distribution may be applied to each of the number of second type of data streams to form a number of modified data streams. The number of first type of data streams and the number of modified data streams may be fused to generate a pose estimate with a desired level of accuracy for the mobile platform with respect to an environment around the mobile platform.

    Abstract translation: 可以提供用于在环境中引导移动平台的方法和装置。 可以使用多个数据系统来生成多个第一类型的数据流和多个第二类型的数据流。 概率分布可以应用于第二类型的数据流中的每一个，以形成多个经修改的数据流。 可以融合第一类型的数据流的数量和修改的数据流的数量，以相对于移动平台周围的环境产生具有针对移动平台的期望的精度水平的姿态估计。

    Transport Vehicle Control Device and Transport Vehicle Control Method
    184.
    发明申请
    Transport Vehicle Control Device and Transport Vehicle Control Method 审中-公开
    运输车辆控制装置和运输车辆控制方法

    公开(公告)号：US20160246301A1

    公开(公告)日：2016-08-25

    申请号：US15028291

    申请日：2013-10-11

    Applicant: Hitachi, Ltd.

    Inventor： Yoriko KAZAMA ,  Junichi KIMURA ,  Takashi WATANABE ,  Tetsuya HIRAYASU

    IPC: G05D1/02

    CPC classification number: G05D1/0212 ,  G05D1/0274 ,  G05D1/0282 ,  G05D2201/0216

    Abstract: A transport vehicle control device of the present invention includes: a storage portion that stores map information in which a state of a cell where a rack is arranged is saved for each cell; a data transceiver that receives the latest state of a cell from a transport vehicle which transports the rack; a map manager that updates the map information, each time the data transceiver receives the latest state of the cell, using the latest state of the cell received; and a route searcher that searches for a route for the transport vehicle transporting the rack based on the map information updated. The transport vehicle control device of the present invention further includes a cell-for-rearranged-rack determiner that determines a cell into which the rack is rearranged on the basis of a usage frequency of articles to be stored on the rack.

    Abstract translation: 本发明的运输车辆控制装置包括：存储部，存储针对每个单元保存布置有机架的单元的状态的地图信息; 从传送机架的运输车辆接收电池的最新状态的数据收发器; 每当数据收发器使用所接收的小区的最新状态接收到该小区的最新状态时，更新地图信息的地图管理器; 以及路线搜索器，其基于更新的地图信息，搜索运送车辆的运输车辆的路线。 本发明的运输车辆控制装置还包括一个单元重排架确定器，其根据要存储在机架上的物品的使用频率来确定重新排列机架的单元。

    Transfer Robot System
    185.
    发明申请
    Transfer Robot System 审中-公开
    传送机器人系统

    公开(公告)号：US20160236869A1

    公开(公告)日：2016-08-18

    申请号：US15027892

    申请日：2013-10-11

    Applicant: HITACHI, LTD.

    Inventor： Nobutaka KIMURA ,  Takashi WATANABE

    IPC: B65G1/137 ,  G06Q10/08 ,  G05D1/02 ,  B65G1/04 ,  B65G1/10

    CPC classification number: B65G1/1378 ,  B65G1/0492 ,  B65G1/10 ,  G05D1/0291 ,  G05D1/0297 ,  G05D2201/0216 ,  G06Q10/087

    Abstract: Disclosed is a transfer robot system wherein: a robot has a connecting unit, which removably holds a rack, and which can be electrically connected to the rack, a driving unit, and a control unit; and the control unit moves the robot to the vicinity of a first rack by means of the drive unit, moves the robot and the first rack to the vicinity of a second rack by connecting the robot and the first rack to each other by means of the connecting unit, supplies power to a transfer unit of the first and/or second rack via the connecting unit, operates the transfer unit corresponding to positions where articles to be moved are placed, and moves the articles to predetermined areas on the other rack from the rack having the articles placed thereon.

    Abstract translation: 公开了一种传送机器人系统，其中：机器人具有可拆卸地保持架的连接单元，并且其可以电连接到机架，驱动单元和控制单元; 并且所述控制单元通过所述驱动单元将所述机器人移动到第一机架附近，通过将所述机器人和所述第一机架彼此连接，将所述机器人和所述第一机架移动到第二机架附近 连接单元，经由连接单元向第一和/或第二机架的传送单元供电，对应于待移动物品的位置操作传送单元，并将物品从另一个机架上的预定区域移动到 将物品放置在其上。

    Picking System
    186.
    发明申请
    Picking System 审中-公开
    采摘系统

    公开(公告)号：US20160229631A1

    公开(公告)日：2016-08-11

    申请号：US15023144

    申请日：2013-12-24

    Applicant: HITACHI, LTD.

    Inventor： Junichi KIMURA ,  Yoriko KAZAMA

    IPC: B65G1/10 ,  B65G1/137 ,  B65G1/04

    CPC classification number: B65G1/10 ,  B65G1/0492 ,  B65G1/1373 ,  B65G1/1378 ,  G05D1/0291 ,  G05D2201/0216 ,  G06Q10/08

    Abstract: This picking system comprises a mobile rack that can be moved, an automated guided vehicle (AGV) that transports the mobile rack, an AGV area in which the AGV transports the mobile rack, a picking area that abuts the AGV area and in which workers perform picking, and two or more picking locations that are locations that abut the picking area in the AGV area and in which the mobile rack is placed temporarily. The picking system has a function to detect that the mobile rack from which to pick is placed at the picking location and notify the picking terminal to perform the picking from the mobile rack that picking is possible.

    Abstract translation: 该拣选系统包括可移动的移动机架，运送移动机架的自动导向车辆（AGV），AGV运输移动机架的AGV区域，与AGV区域相邻的拣选区域，以及工作人员执行的拣选区域 采摘和两个或多个采摘位置，这些位置邻接AGV区域中的拣选区域，并且其中暂时放置移动机架。 拾取系统具有检测从拾取位置移动的移动架被放置在拾取位置的功能，并且通知采摘终端从移动机架执行可能进行挑选。

    Method and apparatus to plan motion path of robot
    187.
    发明授权
    Method and apparatus to plan motion path of robot 有权
    计算机器人运动路径的方法和装置

    公开(公告)号：US09411335B2

    公开(公告)日：2016-08-09

    申请号：US12805270

    申请日：2010-07-21

    Applicant: Myung Hee Kim ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Guo Chunxu

    Inventor： Myung Hee Kim ,  Kyung Shik Roh ,  San Lim ,  Bok Man Lim ,  Guo Chunxu

    IPC: G05B19/04 ,  G05D1/02 ,  B25J9/16 ,  G05B19/18 ,  G06F19/00 ,  G06F17/10

    CPC classification number: G05D1/0217 ,  B25J9/1666 ,  G05D1/0274 ,  G05D2201/0216 ,  G05D2201/0217

    Abstract: A suitable waypoint is selected using a goal score, a section from a start point to a goal point through the waypoint is divided into a plurality of sections based on the waypoint with a solution of inverse kinematics, and trees are simultaneously expanded in the sections using a Best First Search & Rapidly Random Tree (BF-RRT) algorithm so as to generate a path. By this configuration, a probability of local minima occurring is decreased compared with the case where the waypoint is randomly selected. In addition, since the trees are simultaneously expanded in the sections each having the waypoint with a solution of inverse kinematics, the solution may be rapidly obtained. A time consumed to search for an optimal motion path may be shortened and path plan performance may be improved.

    Abstract translation: 使用目标分数选择合适的航点，通过航路点从起始点到目标点的部分根据航点与基于反向运动学的解方法分为多个部分，并且在各部分中同时扩展树 最佳搜索和快速随机树（BF-RRT）算法，以生成路径。 通过该配置，与随机选择航点的情况相比，发生局部最小值的概率降低。 另外，由于在具有反运动学解的路点的部分中同时扩展树，所以可以快速获得解。 可以缩短搜索最佳运动路径消耗的时间，并且可以提高路径规划性能。

    BOT POSITION SENSING
    188.
    发明申请
    BOT POSITION SENSING 审中-公开

    公开(公告)号：US20160221755A1

    公开(公告)日：2016-08-04

    申请号：US15094214

    申请日：2016-04-08

    Applicant: Symbotic, LLC

    Inventor： Robert SULLIVAN ,  Michael CYRULIK ,  Stephen C. TOEBES

    IPC: B65G1/04 ,  G05D1/02

    CPC classification number: B65G1/0492 ,  G05D1/0272 ,  G05D2201/0216

    Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.

    Systems, methods, and industrial vehicles for determining the visibility of features
    189.
    发明授权
    Systems, methods, and industrial vehicles for determining the visibility of features 有权
    用于确定特征可视性的系统，方法和工业车辆

    公开(公告)号：US09354070B2

    公开(公告)日：2016-05-31

    申请号：US14525724

    申请日：2014-10-28

    Applicant: Crown Equipment Limited

    Inventor： Jacob Jay Thomson ,  Lisa Wong ,  Timothy William Fanselow

    IPC: G05D1/02 ,  G01C21/34 ,  B66F9/06 ,  B66F9/075

    CPC classification number: G01C21/3407 ,  B66F9/063 ,  B66F9/0755 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0216

    Abstract: According to the embodiments described herein, an industrial vehicle can include an Environmental Based Localization (EBL) sensor communicatively coupled to one or more processors. The EBL sensor can detect objects within a field of view. The one or more processors execute machine readable instructions to access a feature set and an occlusion set that are associated with an industrial facility. An occlusion path that intersects a detectable occlusion of the occlusion set and the sensor origin of the EBL sensor can be determined. A feature intersection of the occlusion path can be determined. A detectable feature can be classified as an occluded detectable feature based at least in part upon location of the feature intersection. The industrial vehicle can be navigated through the industrial facility utilizing the feature set exclusive of the occluded detectable feature.

    Abstract translation: 根据这里描述的实施例，工业车辆可以包括通信地耦合到一个或多个处理器的基于环境的定位（EBL）传感器。 EBL传感器可以检测视野内的物体。 一个或多个处理器执行机器可读指令以访问与工业设施相关联的特征集和闭塞集合。 可以确定与遮挡组的可检测遮挡和EBL传感器的传感器原点相交的遮挡路径。 可以确定遮挡路径的特征交点。 可检测特征可以至少部分地基于特征交集的位置被分类为闭塞的可检测特征。 工业车辆可以通过工业设施进行导航，利用不包含遮挡的可检测特征的特征。

    AUTOMATIC GUIDED VEHICLE AND METHOD FOR CONTROLLING THE SAME
    190.
    发明申请
    AUTOMATIC GUIDED VEHICLE AND METHOD FOR CONTROLLING THE SAME 有权
    自动引导车辆及其控制方法

    公开(公告)号：US20160147231A1

    公开(公告)日：2016-05-26

    申请号：US14583462

    申请日：2014-12-26

    Applicant: Industrial Technology Research Institute

    Inventor： KUAN-CHUN SUN ,  Meng-Ju Han ,  JWU-SHENG Hu ,  Cheng-Hua Wu

    IPC: G05D1/02

    CPC classification number: G05D1/0261 ,  G05D2201/0216

    Abstract: An automatic guided vehicle includes a vehicle body and a positioning identification module which being furnished in the vehicle body further includes a three-axis magnetic signal sensing unit and a logic operation processing unit. The logic operation processing unit is connected to the three-axis magnetic signal sensing unit by signal transmitted therefrom. A magnetic pointer unit is furnished adjacent to the marching route of the automatic guided vehicle. The three-axis magnetic signal sensing unit senses the magnetic field of magnetic pointer unit and generates a magnetic field information that transmits to the logic operation processing unit.

    Abstract translation: 一种自动引导车辆，包括车身和位于车体内的定位识别模块，还包括三轴磁信号检测单元和逻辑运算处理单元。 逻辑运算处理部通过从其发送的信号与三轴磁信号检测部连接。 磁性指针单元配备在自动引导车辆的行进路线附近。 三轴磁信号检测单元感测磁指针单元的磁场，并产生向逻辑运算处理单元发送的磁场信息。

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