公开(公告)号：US11924719B2

公开(公告)日：2024-03-05

申请号：US18099778

申请日：2023-01-20

Applicant: Verity AG

Inventor： Luca Gherardi ,  Raffaello D'Andrea ,  Markus Hehn ,  Markus Waibel

IPC: H04W4/30 ,  G01S1/02 ,  G01S1/04 ,  G01S1/20 ,  G01S5/02 ,  G01S5/14 ,  G05D1/00 ,  G05D1/02 ,  G05D1/10 ,  H04B1/69 ,  H04W4/02 ,  H04W4/021 ,  H04W4/029 ,  H04W84/18

CPC classification number: H04W4/30 ,  G01S1/024 ,  G01S1/042 ,  G01S1/20 ,  G01S5/0284 ,  G01S5/0289 ,  G01S5/14 ,  G05D1/00 ,  G05D1/028 ,  G05D1/102 ,  H04B1/69 ,  H04W4/021 ,  H04W4/026 ,  H04W4/027 ,  H04W4/029 ,  H04W84/18 ,  G05D2201/0216

Abstract: Localization systems and methods for transmitting timestampable localization signals from anchors according to one or more transmission schedules. The transmission schedules may be generated and updated to achieve desired positioning performance. For example, one or more anchors may transmit localization signals at a different rate than other anchors, the anchor transmission order can be changed, and the signals can partially overlap. In addition, different transmission parameters may be used to transmit two localization signals at the same time without interference. A self-localizing apparatus is able to receive the localization signals and determine its position. The self-localizing apparatus may have a configurable receiver that can select to receive one of multiple available localization signals. The self-localizing apparatuses may have a pair of receivers able to receive two localization signals at the same time. A bridge anchor may be provided to enable a self-localizing apparatus to seamlessly transition between two localization systems.

公开(公告)号：US11919761B2

公开(公告)日：2024-03-05

申请号：US17249799

申请日：2021-03-15

Applicant: Crown Equipment Corporation

Inventor： Sebastian Theos ,  Johannes Nachtigal ,  Andreas Simon

IPC: B66F9/24 ,  B66F9/12 ,  B66F9/18 ,  G05D1/00

CPC classification number: B66F9/24 ,  B66F9/127 ,  B66F9/18 ,  G05D1/0066 ,  G05D1/0088 ,  G05D1/0223 ,  G05D1/0225 ,  G05D1/0221 ,  G05D2201/0216

Abstract: A method for operating a materials handling vehicle is provided and comprises: monitoring, by a controller, a first vehicle drive parameter during a manual operation of the vehicle by an operator; storing, by the controller, data related to the monitored first vehicle drive parameter. The controller is configured to use the stored data for implementing a semi-automated driving operation of the vehicle subsequent to the manual operation of the vehicle. The method further comprises: detecting, by the controller, operation of the vehicle indicative of a start of a pick operation occurring during the manual operation of the vehicle; and based on detecting the start of the pick operation, resetting, by the controller, the stored data related to the monitored first vehicle drive parameter.

公开(公告)号：US20240068818A1

公开(公告)日：2024-02-29

申请号：US18280310

申请日：2022-02-14

Applicant: Schaeffler Technologies AG & Co. KG

Inventor： Martin KRAM

IPC: G01C21/20 ,  G01C21/36 ,  G05D1/02 ,  G06V20/56

CPC classification number: G01C21/206 ,  G01C21/3602 ,  G05D1/0253 ,  G06V20/56 ,  G05D2201/0216

Abstract: A method for determining a direction of travel and/or a change in position and/or a speed of a driverless transport vehicle (1), which has an optical sensor (8) directed to a ground (10), on which the driverless transport vehicle (1) is traveling, wherein a) measurement data is acquired by means of the optical sensor (8), and b) the direction of travel of the driverless transport vehicle (1) and/or a change in position and/or a speed of the driverless transport vehicle (1) is/are determined by an evaluation unit (6) in the driverless transport vehicle (1) based on the acquired measurement data. A driverless transport vehicle and a method for operating a driverless transport vehicle are also provided along with a driverless transport system.

公开(公告)号：US11914385B2

公开(公告)日：2024-02-27

申请号：US17726669

申请日：2022-04-22

Applicant: Daifuku Co., Ltd.

Inventor： Makoto Kono ,  Keisuke Takeno ,  Kazuhiro Iwamitsu

IPC: G05D1/02 ,  G05D1/00

CPC classification number: G05D1/0217 ,  G05D1/0297 ,  G05D2201/0216

Abstract: A reference cost and a variable cost are included in a link cost for setting a set route for causing a setting vehicle to travel to a destination on a travelable route. A controller obtains an adjusted variable cost by adjusting a variable cost using a priority adjustment value set higher as a priority for arriving more quickly at a destination decreases, determines a link cost for each link in a candidate route, which is a candidate for a set route for a setting vehicle, based on the adjusted variable cost and the reference cost, obtains a route cost for each candidate route based on the link costs, and sets the set route based on the route costs of the candidate routes.

公开(公告)号：US20240061443A1

公开(公告)日：2024-02-22

申请号：US18498684

申请日：2023-10-31

Applicant: Ocado Innovation Limited

Inventor： Robert STADIE ,  Matthew WHELAN ,  Gareth SIRET

IPC: G05D1/02 ,  B65G1/04 ,  G05B19/4155 ,  G06N7/01 ,  G06Q10/047 ,  G06Q50/28

CPC classification number: G05D1/0291 ,  B65G1/0464 ,  G05B19/4155 ,  G05D1/0214 ,  G06N7/01 ,  G06Q10/047 ,  G06Q50/28 ,  G05B2219/32029 ,  G05D2201/0216

Abstract: A controller is provided to control movement of transporting devices. Embodiments limit the loads imparted on a grid of pathways structure of transporting devices to prevent non-safety-critical damage from excess loads and/or fatigue. A controller is arranged to control movement of transporting devices arranged to transport containers stored in a facility. The facility includes pathways arranged in cells to form a grid-like structure which extends in first and second directions. A route determination unit determines a route from one location to another, and a clearance unit to provide clearance for each transporting device to traverse a portion of the determined route. A constraint area determination unit determines constraint areas based on the grid-like structure and a calculation unit calculates a constraint limit in each constraint area.

公开(公告)号：US20240061427A1

公开(公告)日：2024-02-22

申请号：US18270578

申请日：2021-12-29

Applicant: UBIQUICOM S.R.L.

Inventor： Paolo CATTANEO ,  Davide Raffaele RENZI ,  Andrea BELISARIO ,  Marco GUALTIERI

IPC: G05D1/02 ,  G06Q10/047 ,  G01C21/20 ,  B65G1/04

CPC classification number: G05D1/021 ,  G06Q10/047 ,  G01C21/206 ,  B65G1/0492 ,  G05D2201/0216

Abstract: A computer-implementable method for controlling the handling of products in a warehouse is performed by acquiring a first item of data identifying a real-time position of a plurality of trolleys (A, B, C) inside the warehouse and a second item of data identifying a plurality of operations to be performed (1-9). A predictive model is applied to such data, generating a simulation of the handling of the trolleys (A, B, C) inside the warehouse during the performance of respective handling operations. As a function of such a simulation, a unique association is determined between each trolley and a respective group of operations to be performed (1-9) such as to minimise the overall time for the performance of the plurality of handling operations, which is then communicated to the individual trolleys (A, B, C). The present invention further relates to a system configured to carry out a method for controlling the handling of products in a warehouse.

公开(公告)号：US20240053755A1

公开(公告)日：2024-02-15

申请号：US18448404

申请日：2023-08-11

Applicant: TOYOTA JIDOSHA KABUSHIKI KAISHA

Inventor： Yoshikazu JIKUHARA ,  Shin SAKURADA ,  Tomokazu MAYA ,  Hiroyuki BANDAI ,  Hiromitsu FUJII

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0287 ,  G05D2201/0216

Abstract: A server apparatus includes a communication interface and a controller configured to communicate, using the communication interface, with a mobile object having a facility for executing one or more processes in a plurality of processes to be executed sequentially to manufacture a product. The controller is configured to transmit an instruction to a first mobile object to travel to a meeting point with a second mobile object for executing a second process that follows a first process to be executed in the first mobile object, the instruction being for delivering the product being manufactured to the second mobile object at the meeting point.

公开(公告)号：US11899102B2

公开(公告)日：2024-02-13

申请号：US17262283

申请日：2019-07-04

Applicant: Acconeer AB

Inventor： Bo Lincoln ,  Peter Almers ,  Rikard Nelander

IPC: G01S13/931 ,  G05D1/02 ,  G01S13/90 ,  G01S13/87

CPC classification number: G01S13/931 ,  G01S13/87 ,  G01S13/9043 ,  G05D1/0257 ,  G01S2013/93271 ,  G05D2201/0208 ,  G05D2201/0215 ,  G05D2201/0216

Abstract: The disclosure relates to an autonomous moving object comprising: a radar sensor configured to scan a volume in front of the object, and a radar signal processor configured to: acquire a sequence of radar responses, each radar response of the sequence being acquired at a different position of the autonomous moving object, and perform synthetic aperture radar processing of at least parts of the acquired sequence of radar responses to obtain a synthetic aperture radar image representing response amplitude as a function of at least distance and angle with respect to the radar sensor, the autonomous moving object further comprising: a controller configured to detect presence of a potential obstacle within a pre-defined sub-volume in front of the autonomous moving object by analyzing the synthetic aperture radar image and, in response to detecting presence of a potential obstacle, output a control command configured to cause a changed movement of the autonomous moving object.

公开(公告)号：US20240045436A1

公开(公告)日：2024-02-08

申请号：US18267135

申请日：2021-11-24

Applicant: HITACHI INDUSTRIAL PRODUCTS, LTD.

Inventor： Koichi NAKANO

IPC: G05D1/02 ,  B65G1/137

CPC classification number: G05D1/0223 ,  G05D1/0214 ,  B65G1/137 ,  G05D2201/0216

Abstract: A transport apparatus has a drive unit that loads and moves the article and a control unit that controls the drive unit, and has a movement mode in which the transport apparatus moves straight in one direction and a movement mode in which the transport apparatus rotates to face different directions. The control unit is configured to: accelerate under a first acceleration condition including a first acceleration or a first target speed when the transport apparatus loaded with the article moves in a same movement mode as a movement mode before stoppage among the plurality of movement modes with respect to an acceleration condition when the transport apparatus moves from a stopped state, and perform acceleration under a second acceleration condition including a second acceleration smaller than the first acceleration or a second target speed smaller than the first target speed when the transport apparatus moves in another movement mode.

公开(公告)号：US20240043213A1

公开(公告)日：2024-02-08

申请号：US18349872

申请日：2023-07-10

Applicant: Staples, Inc.

Inventor： Daniel Jarvis ,  Paolo Gerli Amador ,  Michael Bhaskaran ,  Amit Kalra ,  Rodney Gallaway ,  Vikranth Gopalakrishnan

IPC: B65G1/137 ,  G05D1/00 ,  G01C21/20 ,  G05D1/02 ,  G06Q10/087

CPC classification number: B65G1/1373 ,  G05D1/0088 ,  G01C21/206 ,  G05D1/0225 ,  B65G1/137 ,  G05D1/0285 ,  G06Q10/087 ,  G05D1/0297 ,  G05D1/0274 ,  B65G1/1378 ,  G05D2201/0216

Abstract: A hybrid modular storage fetching system with a robot execution system (REX) is described. In an example implementation, a REX may induct, into the hybrid modular storage fetching system, an order identifying items to be fulfilled by automated guided vehicles (AGVs) at an order fulfillment facility. The REX may generate at task list including tasks for a first and second AGV, instruct the first AGV to retrieve a first item in the order from a first storage area based on the task list and deliver the first item to a pick-cell station. The REX may also instruct the second AGV to retrieve a second item of the order from a second storage area and deliver the second item to the pick-cell station. The REX may communicate with other components of the hybrid modular storage fetching system to coordinate the paths of the AGVs to fulfill the order.