公开(公告)号：US5469371A

公开(公告)日：1995-11-21

申请号：US358776

申请日：1994-12-19

Applicant: Michael Bass

Inventor： Michael Bass

IPC: G05D1/00 ,  G05D1/02 ,  G08G5/06 ,  G06F163/00

CPC classification number: G08G5/0026 ,  G05D1/0083 ,  G05D1/0242 ,  G05D1/0274 ,  G08G5/0082 ,  G08G5/065 ,  G05D1/024 ,  G05D2201/0205

Abstract: A surface detection system for airport facilities is described wherein a plurality of infrared (IR) scanners as well as presence/absence detectors are located with respect to taxiways and runways of an airport complex. These devices are arranged to perform in conjunction with local processors to generate data from aircraft and ground based vehicles available from a bar coding identification of both forms of vehicles. These data are utilized to compute alert conditions as well as to develop a real time map of the airport which may be provided at a tower installation for air traffic control utilization as well as at an aircraft flight deck during the course of ground maneuvering. Through the Utilization of aircraft tail numbers as an index, a master host memory may be developed which includes flight numbers, aircraft characteristics and the like which may be employed for evolving alert conditions and the like.

Abstract translation: 描述了一种用于机场设施的表面检测系统，其中相对于机场综合体的滑行道和跑道设置有多个红外（IR）扫描仪以及存在/不存在检测器。 这些设备被布置为与本地处理器一起执行以从两种形式的车辆的条形码识别中获得的来自飞机和地面的车辆的数据。 这些数据用于计算警报状况，以及开发可在塔式设备处提供的空中交通管制利用的机场实时地图，以及在地面机动过程中在飞机驾驶舱上。 通过利用飞机尾号作为指标，可以开发主机主机存储器，其包括可用于演进警报条件等的飞行号码，飞行器特性等。

公开(公告)号：US3933099A

公开(公告)日：1976-01-20

申请号：US430404

申请日：1974-01-03

Applicant: Sieb, Reinhard

Inventor： Sieb, Reinhard

IPC: B61L3/00 ,  B61L3/22 ,  B61L27/04 ,  B62D1/28 ,  G05D1/02 ,  B61J3/00

CPC classification number: G05D1/0265 ,  B61L27/04 ,  B61L3/002 ,  B61L3/225 ,  B62D1/28 ,  G05D1/0244 ,  G05D2201/0205

Abstract: Control apparatus for guiding one or more vehicles along a closed transport system having a plurality of routes and a plurality of junctions each allowing a choice of two directions. The system is illustrated as comprising a number of interconnected sub-systems or networks. Each junction has associated therewith a transmitter which sends out a coded signal comprising at least two words, one of which indicates the direction to be taken from the junction to reach the different networks and also indicates the networks which the paths from the junction lead to. The second word does likewise for the route segments of the network or networks to which the paths from the junction lead. A like destination code is stored in the vehicle, and the vehicle compares the stored code and the successive received codes and obeys the word instructions from each successive junction till it arrives at the destination network. It then obeys the word 2 instructions till it arrives at the destination route segment or zone within that network. It may then count pulses generated by route-associated equipment till it arrives at a desired position on the destination route segment, where it can be halted.

Abstract translation: 用于沿着具有多个路线的封闭运输系统引导一个或多个车辆的控制装置以及允许选择两个方向的多个路口。 该系统被示为包括多个互连的子系统或网络。 每个结点都具有发送器，该发送器发出包括至少两个字的编码信号，其中一个指示要从该结点到达不同网络的方向，并且还指示从该结点到达的路径的网络。 第二个字对于从连接点引导的路径的网络或网络的路由段也是如此。 类似的目的地代码被存储在车辆中，并且车辆将存储的代码和连续接收的代码进行比较，并且从每个连续的结点服从字指令，直到它到达目的地网络。 然后它遵守第2个指令，直到它到达该网络内的目的地路由段或区域。 然后它可以计数由路由相关设备产生的脉冲，直到其到达目的地路由段上的期望位置，在那里它可以被停止。

公开(公告)号：US11702323B2

公开(公告)日：2023-07-18

申请号：US16620147

申请日：2018-06-01

Applicant: Konecranes Global Corporation

Inventor： Stefan Klement ,  Daniel Baselt ,  Sascha Pollak von Emhofen

IPC: B66C13/46 ,  B66C19/00 ,  G05D1/02 ,  G01C21/36

CPC classification number: B66C13/46 ,  B66C19/007 ,  G01C21/3647 ,  G05D1/0246 ,  B60R2300/105 ,  G05D2201/0205

Abstract: A lifting gantry device for containers, in particular of the straddle carrier or sprinter carrier type, having four gantry supports spaced apart from one another and which by wheels of the lifting gantry device is floor-based and freely movable. A vehicle controller is provided such that the lifting gantry device can be controlled automatically. A sensor system is also provided and configured to determine sensor data on the surroundings of the lifting gantry device for automatically controlling the lifting gantry device. The sensor system comprises at least two, preferably four, sensor units for contactless object measurement and in particular object recognition, of which one sensor unit each is arranged on one of the four gantry supports and is configured to determine sensor data on the surroundings of the lifting gantry device for object measurement and in particular object recognition.

公开(公告)号：US20180005181A1

公开(公告)日：2018-01-04

申请号：US15543119

申请日：2016-01-15

Applicant: BATTERIE MOBILE

Inventor： Christophe GAUSSIN

IPC: G06Q10/08 ,  B65G63/04 ,  B65G67/60 ,  B65G67/02 ,  B63B27/12 ,  B66C19/00 ,  B65G63/00

CPC classification number: G06Q10/0832 ,  B63B27/10 ,  B63B27/12 ,  B65G63/004 ,  B65G63/045 ,  B65G67/02 ,  B65G67/60 ,  B66C19/007 ,  G05D2201/0205 ,  G06Q10/08 ,  G06Q10/083

Abstract: There is the method of loading and unloading containers in a port facility. The facility includes quayside cranes, automated gantries for stacking/unstacking containers, vehicles for transporting containers, communication lanes for vehicles including transit lanes under each quayside crane and parallel circulation lanes situated between the quayside cranes and access lanes to the automated gantries. The method includes managing journeys of the vehicles as a function of the container removal and placement requirements, in particular the allocating to each vehicle of a task and of a destination and the selecting of a provisional parking site for the vehicles in transit in buffer zones provided for this purpose. The vehicles are assigned to provisional parking sites under the cranes and/or in the proximal circulation lane of the cranes, which are used as a buffer zone.

公开(公告)号：US09546054B1

公开(公告)日：2017-01-17

申请号：US14500852

申请日：2014-09-29

Applicant: Marine Terminals Corporation

Inventor： Thomas A. Ward ,  Kai Stuart Martin

IPC: B63B27/00 ,  B65G63/00 ,  B66C19/00 ,  B65G57/20

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 system, equipment; and processes for extending the scope of automation in port container facilities, and thereby increasing port capacity within fixed land resources, increasing operational productivity, increasing safety, increasing the velocity and reliability of goods movement, increasing freight security, reducing negative environmental impacts, and reducing the overall cost of goods movement. 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. The vehicles also are adapted to receive one or more alternative platforms including a coning platform for workers to manage container coning, a reefer access and maintenance platform, and a worker transport platform. The use of a single vehicle type with interchangeable platforms allows for maximum flexibility and efficiency. The automation of the vehicle allows for complete contamination within the storage portion of the system.The system thus substantially extends the reach of automation to cover both landside and waterside intra-terminal transfer operations. By this extension, the interface of workers and machines is greatly reduced, increasing safety, productivity, security, and capacity. By this extension, the robotic control process can be fully optimized, increasing velocity and reliability while reducing the terminal's environmental footprint.

Abstract translation: 因此，该系统大大扩展了自动化的范围，以覆盖陆上和水域终端内转移操作。 通过这种扩展，工人和机器的接口大大减少，增加安全性，生产力，安全性和容量。 通过这种扩展，机器人控制过程可以完全优化，增加速度和可靠性，同时减少终端的环境足迹。

公开(公告)号：US09410804B2

公开(公告)日：2016-08-09

申请号：US14112872

申请日：2012-04-20

Applicant: Kari Rintanen

Inventor： Kari Rintanen

IPC: G01C3/08 ,  G01S7/48 ,  G01S17/42 ,  G01S19/48 ,  G05D1/02 ,  B66C19/00 ,  B66F9/06 ,  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：US09156634B2

公开(公告)日：2015-10-13

申请号：US14589111

申请日：2015-01-05

Applicant: ABB AG ,  Mitteldeutsche Braunkohlengesellschaft mbH

Inventor： Bernd Gralow ,  Klaus Holzbecher ,  Dietmar Müller

IPC: G06F7/00 ,  G06F19/00 ,  B65G65/00 ,  G01S13/87 ,  G05D1/02 ,  B65G43/02 ,  B65G65/06

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: A system and method are disclosed, which can detect and process a position of at least one storage space device moving a bulk material. A first storage space device can have a gantry having two gantry legs, each of the two gantry legs supported on a linearly displaceable foot element. The system can include at least one first non-contact distance sensor, which is fitted on one of the two foot elements to measure a first relative distance between the one foot element and a first fixed reference point. A second non-contact distance sensor is fitted to the other of the two foot elements in order to measure a second relative distance between the other foot element and a second fixed reference point, and an evaluation unit is configured to determine rotation of the first storage space device about a central vertical axis and control the movement of the foot elements.

Abstract translation: 公开了一种系统和方法，其可以检测和处理移动散装材料的至少一个存储空间装置的位置。 第一存储空间装置可以具有具有两个龙门架的龙门架，两个支架腿中的每一个支撑在线性可移动的脚元件上。 该系统可以包括至少一个第一非接触式距离传感器，该第一非接触式距离传感器安装在两个脚元件之一上，以测量一个脚元件与第一固定参考点之间的第一相对距离。 为了测量另一个脚元件和第二固定参考点之间的第二相对距离，第二非接触距离传感器被安装到两个脚元件中的另一个，并且评估单元被配置为确定第一存储器 关于中心垂直轴的空间装置并且控制脚元件的运动。

公开(公告)号：US08996159B2

公开(公告)日：2015-03-31

申请号：US13884855

申请日：2011-11-09

Applicant: Hermann Franzen ,  Armin Wieschemann ,  Jannis Moutsokapas

Inventor： Hermann Franzen ,  Armin Wieschemann ,  Jannis Moutsokapas

IPC: G06F7/00 ,  B60P1/64 ,  B65G63/00 ,  G05D1/00 ,  B65G67/02

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

Abstract: A handling system for containers includes an automated zone in which floor-bound, rubber-tired and driverless container transport vehicles are used which transport containers between container bridges and a container storage facility. A non-automated zone is provided in which floor-bound, rubber-tired and manned container transport vehicles are used, the container transport vehicles being optionally operable in a driverless or manned mode and thus being optionally transportable in the automated zone or the non-automated zone. A corresponding container transport vehicle which can be connected to an auxiliary device for control in the manned mode is characterized in that the auxiliary device comprises a driver's cab that is equipped with a control system for steering, motion control and braking in the manned mode, the container transport vehicle having a detachable fastening possibility for the driver's cab at the front face of the vehicle.

Abstract translation: 用于集装箱的处理系统包括自动化区域，在该区域中，使用地板绑定的，橡胶制的和无驾驶的集装箱运输车辆，其在集装箱桥和容器储存设施之间运输集装箱。 提供了一种非自动化区域，其中使用了地板，橡皮和载人的集装箱运输车辆，集装箱运输车辆可任选地以无人驾驶或有人驾驶的方式操作，并因此可选地在自动区域或非自动区域中运输， 自动化区域。 可以连接到辅助装置以用于在载人模式下进行控制的相应的集装箱运输车辆的特征在于，辅助装置包括驾驶室，驾驶室配备有用于驾驶模式的转向，运动控制和制动的控制系统， 集装箱运输车辆在车辆前面具有用于驾驶室的可拆卸的紧固可能性。

公开(公告)号：US20100161179A1

公开(公告)日：2010-06-24

申请号：US12341844

申请日：2008-12-22

Applicant: John A. McClure ,  Aaron C. Stichter

Inventor： John A. McClure ,  Aaron C. Stichter

IPC: G01C21/12 ,  B62D6/00

CPC classification number: G05D1/0278 ,  B63B27/02 ,  G01C21/165 ,  G01S19/49 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0272 ,  G05D2201/0205

Abstract: An integrated dead reckoning (DR) and GNSS/INS control system and method are provided for guiding, navigating and controlling vehicles and equipment. A controller generally prioritizes GNSS navigation when satellite signals are available. Upon signal interruption, DR guidance can be integrated with INS to continue autosteering and other automated functions. Exemplary applications include logistics operations where ships, cranes and stacked containers can block satellite signals.

Abstract translation: 提供综合航位推算（DR）和GNSS / INS控制系统和方法，用于指导，导航和控制车辆和设备。 当卫星信号可用时，控制器通常优先考虑GNSS导航。 信号中断后，DR引导可与INS集成，以继续自动转向和其他自动化功能。 示例性应用包括船舶，起重机和堆放式集装箱可以阻挡卫星信号的物流业务。

公开(公告)号：US20100021272A1

公开(公告)日：2010-01-28

申请号：US12220441

申请日：2008-07-24

Applicant: Thomas A. Ward ,  Kai Stuart Martin

Inventor： Thomas A. Ward ,  Kai Stuart Martin

IPC: B65G63/00 ,  B65G1/137 ,  G06F19/00

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 system, equipment, and processes for extending the scope of automation in port container facilities, and thereby increasing port capacity within fixed land resources, increasing operational productivity, increasing safety, increasing the velocity and reliability of goods movement, increasing freight security, reducing negative environmental impacts, and reducing the overall cost of goods movement. 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. The vehicles also are adapted to receive one or more alternative platforms including a coning platform for workers to manage container coning, a reefer access and maintenance platform, and a worker transport platform. The use of a single vehicle type with interchangeable platforms allows for maximum flexibility and efficiency. The automation of the vehicle allows for complete contamination within the storage portion of the system.The system thus substantially extends the reach of automation to cover both landside and waterside intra-terminal transfer operations. By this extension, the interface of workers and machines is greatly reduced, increasing safety, productivity, security, and capacity. By this extension, the robotic control process can be fully optimized, increasing velocity and reliability while reducing the terminal's environmental footprint.

Abstract translation: 扩大港口集装箱设施自动化范围的系统，设备和流程，从而提高固定土地资源的港口能力，提高运营生产力，增加安全性，提高货物运输的速度和可靠性，增加货运安全，减少负面 环境影响，降低货物运输总成本。 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。 车辆还适于接收一个或多个替代平台，包括用于工人管理容器锥形的锥形平台，冷藏室接入和维护平台以及工人运输平台。 使用具有可互换平台的单车型允许最大的灵活性和效率。 车辆的自动化允许在系统的存储部分内的完全污染。 因此，该系统大大扩展了自动化的范围，以覆盖陆上和水域终端内转移操作。 通过这种扩展，工人和机器的接口大大减少，增加安全性，生产力，安全性和容量。 通过这种扩展，机器人控制过程可以完全优化，增加速度和可靠性，同时减少终端的环境足迹。