公开(公告)号：US20090252577A1

公开(公告)日：2009-10-08

申请号：US12080725

申请日：2008-04-04

Applicant: Monte R. Tuffs ,  Garry A. Koff ,  Jerry L. Redmann, JR.

Inventor： Monte R. Tuffs ,  Garry A. Koff ,  Jerry L. Redmann, JR.

IPC: B60P1/00

CPC classification number: B66F9/063 ,  B60L15/38 ,  B60L2200/26 ,  B60L2200/44 ,  B60L2260/32 ,  B65G63/022 ,  G05D1/0225 ,  G05D1/0263 ,  G05D2201/0205 ,  G05D2201/0216 ,  Y02P90/60

Abstract: An automatic load transfer device is provided for automated material handling systems of the type having a tow AGV pulling a train of trailers along a predetermined path between stations. The device has a base positioned adjacent to the path with spaced apart rails that support a movable carriage which shifts between retracted and extended positions. A conveyor having a plurality of side-by-side fingers with moving conveyor elements is supported on the carriage by a lift which shifts the conveyor between lowered and raised positions. The carriage, conveyor elements, and lift have separate drives that are operably connected with a controller which sequentially activates the same to load and/or unload loads onto and/or from the trailers.

Abstract translation: 提供了一种自动装载传送装置，用于自动化材料处理系统，该系统具有沿车站之间的预定路径牵引拖车系列的牵引AGV。 该装置具有一个与路径相邻的基座，该基座具有间隔开的轨道，该轨道支撑在缩回位置和伸展位置之间移动的可移动托架。 具有多个具有移动的传送器元件的并排指状物的输送机通过升降机支撑在滑架上，该升降机使输送机在下降位置和升高位置之间移动。 托架，输送机元件和升降机具有与控制器可操作地连接的单独的驱动器，该控制器依次启动该驱动器以将负载加载和/或从拖车卸载和/或卸载负载。

公开(公告)号：US5610816A

公开(公告)日：1997-03-11

申请号：US422646

申请日：1995-04-14

Applicant: Young Bae Kim

Inventor： Young Bae Kim

IPC: B66C9/16 ,  G05D1/02 ,  G06F7/70

CPC classification number: B66C9/16 ,  G05D1/0246 ,  G05D2201/0205

Abstract: The present invention relates to an automatic system for controlling the steering of a non-railed transfer crane travelling along a lane indicant. The system comprises a vision sensor for continuously photographing the condition of a crane's actual travelling direction with respect to lanes represented by the lane indicant, and outputting predetermined deviations (distance as well as angle) showing off-centered degrees between the crane's actual travelling direction and the lanes based on the photographed image signal, and a deviation processor for outputting a control signal to a motor driver so that the crane can travel toward removing the deviation distance. By properly changing a rotative velocity of the crane's wheels, the present invention prevents the crane's travelling direction from being off-centered from the lanes.

Abstract translation: 本发明涉及一种用于控制沿着车道指示器行驶的非轨道式搬运起重机的转向的自动系统。 该系统包括视觉传感器，用于连续地拍摄起重机实际行驶方向的条件相对于由车道指示所示的车道，并且输出在起重机的实际行进方向与起重机的实际行驶方向之间显示偏心的预定偏差（距离以及角度） 基于拍摄图像信号的车道，以及用于向马达驱动器输出控制信号的偏差处理器，使得起重机能够移动以去除偏离距离。 通过适当地改变起重机轮的旋转速度，本发明防止起重机的行进方向从车道偏心。

公开(公告)号：US4108269A

公开(公告)日：1978-08-22

申请号：US796500

申请日：1977-05-12

Applicant: Kiyoharu Nakao

Inventor： Kiyoharu Nakao

IPC: G05D1/02 ,  B62D1/28

CPC classification number: G05D1/0265 ,  G05D1/0223 ,  G05D2201/0205

Abstract: The control system comprises an induction cable installed along a running course between a loading station and unloading station, a detecting coil mounted on a work vehicle for detecting current flowing through the induction cable, a steering control device responsive to the output of the detecting coil for steering the vehicle to run along the running course, a vehicle position detector for detecting the vehicle reaching a predetermined position, a vehicle speed commanding device responsive to the output of the vehicle position detector for commanding acceleration and deceleration of the vehicle, and a vehicle speed control device responsive to the difference between the commanded vehicle speed and the actual vehicle speed for controlling the vehicle speed. Thus, the vehicle is controlled to run along a predetermined running course between the loading station and the unloading station.

Abstract translation: 所述控制系统包括沿着加载站和卸载站之间的运行路径安装的感应电缆，安装在工作车辆上的检测线圈，用于检测流过感应电缆的电流;响应于检测线圈的输出的转向控制装置， 使车辆沿着行驶路线行驶，车辆位置检测器，用于检测到达预定位置的车辆;响应于车辆位置检测器的输出而指示车辆的加速和减速的车速指令装置，以及车速 控制装置响应于指令车速与实际车速之间的差异来控制车速。 因此，车辆被控制为沿着装载站和卸载站之间的预定行驶路线行驶。

公开(公告)号：US11960299B2

公开(公告)日：2024-04-16

申请号：US17336528

申请日：2021-06-02

Applicant: Oceaneering International, Inc.

Inventor： Alexander Hunter ,  Marc Brooks ,  David Pietrocola ,  Siddharth Srivatsa

IPC: G05D1/02 ,  B60L53/36 ,  G01S1/72 ,  G01W1/02 ,  G05D1/00 ,  B66F9/06

CPC classification number: G05D1/0278 ,  B60L53/36 ,  G01S1/72 ,  G01W1/02 ,  G05D1/0214 ,  G05D1/0225 ,  B66F9/063 ,  G01W2203/00 ,  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 is operable along a vehicle traversal path within a predetermined set of environmental conditions. A GPS base station is operatively in communication with the autonomous vehicle. A supervisor/orchestrator is operatively in communication with the autonomous vehicle and the GPS base station 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：US11687088B2

公开(公告)日：2023-06-27

申请号：US17261590

申请日：2019-07-18

Applicant: AICHI STEEL CORPORATION

Inventor： Michiharu Yamamoto ,  Tomohiko Nagao ,  Hitoshi Aoyama

IPC: G05D1/02 ,  G05D1/03 ,  G08G1/042

CPC classification number: G05D1/0259 ,  G05D1/0287 ,  G05D1/03 ,  G08G1/042 ,  G05D2201/0205

Abstract: A vehicular system where a vehicle moves in a traveling area in which magnetic markers are arranged so that magnetic polarities form a predetermined pattern and a wireless tag is annexed correspondingly to some of the magnetic markers, the wireless tag outputting, by wireless communication, tag information allowing a position of the magnetic marker to be identified, includes a first position identifying part which identifies a vehicle position where the vehicle is located based on the position of the magnetic marker identified by using the tag information and a second position identifying part which identifies, on a route after the vehicle passes over the magnetic marker serving as a reference when the first position identifying part identifies the vehicle position, a magnetic marker newly detected by the vehicle based on detection history of magnetic markers and identifies the vehicle position based on the position of the identified magnetic marker.

公开(公告)号：US20150120038A1

公开(公告)日：2015-04-30

申请号：US14589111

申请日：2015-01-05

Applicant: ABB AG ,  MITTELDEUTSCHE BRAUNKOHLENGESELLSCHAFT MBH

Inventor： Bernd GRALOW ,  Klaus Holzbecher ,  Dietmar Müller

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

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：US08596951B1

公开(公告)日：2013-12-03

申请号：US13452830

申请日：2012-04-21

Applicant: Thomas A. Ward ,  Kai Stuart Martin

Inventor： Thomas A. Ward ,  Kai Stuart Martin

IPC: B63B27/00

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: Systems, equipment and processes involving one or more aspects such as extending the scope of automation in port container facilities, 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/or reducing the overall cost of goods movement are disclosed. In some implementations, storage areas may be accessed by automated guided vehicles which receive and unload containerized loads.

Abstract translation: 包括一个或多个方面的系统，设备和过程，如扩大港口集装箱设施的自动化范围，增加固定土地资源内的港口能力，提高运营生产力，增加安全性，增加货物运输的速度和可靠性，增加货运安全， 披露了减少对环境的负面影响，和/或降低货物运输总成本。 在一些实施方案中，存储区域可以由接收和卸载集装箱货物的自动导向车辆来访问。

公开(公告)号：US08047756B2

公开(公告)日：2011-11-01

申请号：US12080725

申请日：2008-04-04

Applicant: Monte R. Tuffs ,  Garry A. Koff ,  Jerry L. Redmann, Jr.

Inventor： Monte R. Tuffs ,  Garry A. Koff ,  Jerry L. Redmann, Jr.

IPC: B65G47/00

CPC classification number: B66F9/063 ,  B60L15/38 ,  B60L2200/26 ,  B60L2200/44 ,  B60L2260/32 ,  B65G63/022 ,  G05D1/0225 ,  G05D1/0263 ,  G05D2201/0205 ,  G05D2201/0216 ,  Y02P90/60

Abstract: An automatic load transfer device is provided for automated material handling systems of the type having a tow AGV pulling a train of trailers along a predetermined path between stations. The device has a base positioned adjacent to the path with spaced apart rails that support a movable carriage which shifts between retracted and extended positions. A conveyor having a plurality of side-by-side fingers with moving conveyor elements is supported on the carriage by a lift which shifts the conveyor between lowered and raised positions. The carriage, conveyor elements, and lift have separate drives that are operably connected with a controller which sequentially activates the same to load and/or unload loads onto and/or from the trailers.

Abstract translation: 提供了一种自动装载传送装置，用于自动化材料处理系统，该系统具有沿车站之间的预定路径牵引拖车系列的牵引AGV。 该装置具有一个与路径相邻的基座，该基座具有间隔开的轨道，该轨道支撑在缩回位置和伸展位置之间移动的可移动托架。 具有多个具有移动的传送器元件的并排指状物的输送机通过升降机支撑在滑架上，该升降机使输送机在下降位置和升高位置之间移动。 托架，输送机元件和升降机具有与控制器可操作地连接的单独的驱动器，该控制器依次启动该驱动器以将负载加载和/或从拖车卸载和/或卸载负载。

公开(公告)号：US20090062974A1

公开(公告)日：2009-03-05

申请号：US12196310

申请日：2008-08-22

Applicant: Junichi Tamamoto ,  Yuji Hosoda

Inventor： Junichi Tamamoto ,  Yuji Hosoda

IPC: G05D1/00

CPC classification number: G05D1/0295 ,  G05D1/024 ,  G05D1/0274 ,  G05D2201/0205

Abstract: An autonomous mobile robot system having plural mobile robots and integrative planning means to plan the moving zone of the plural mobile robots, wherein: the integrative planning means is installed on the plural mobile robots including a main mobile robot to travel autonomously and a subordinate mobile robot to travel on the basis of the instructions of the main mobile robot; and each of the plural mobile robots is provided with, at least, measurement means to measure the situation of ambient environment, communication means to communicate between the integrative planning means and the other mobile robot, main device position recognition means to recognize the position of the mobile robot, subordinate device position recognition means to recognize the position of the other mobile robot, travel planning means to plan travel routes of the mobile robot and the other mobile robot, and travel control means to control a drive mechanism in accordance with the travel planning means. A guided vehicle and a truck or the like can travel autonomously and cooperatively while obtaining information on ambient environment without mechanical connection and can automatically be separated from and merged with each other.

Abstract translation: 一种具有多个移动机器人和综合规划手段的自主移动机器人系统，用于规划多个移动机器人的移动区域，其中：集成规划装置安装在多个移动机器人上，该多个移动机器人包括主移动机器人自主行进，下属的移动机器人 根据主要移动机器人的指示旅行; 并且多个移动机器人中的每一个至少设置有用于测量周围环境的情况的测量装置，用于在综合规划装置和其他移动机器人之间进行通信的通信装置，主装置位置识别装置，用于识别 移动机器人，从属设备位置识别装置，用于识别其他移动机器人的位置，行驶计划装置来规划移动机器人和其他移动机器人的行进路线，以及行驶控制装置，以根据旅行规划控制驱动机构 手段。 导向车辆和卡车等可以在没有机械连接的情况下获得关于环境环境的信息而自主地和协作地行进，并且可以自动地彼此分离和合并。

公开(公告)号：US07044247B2

公开(公告)日：2006-05-16

申请号：US10297417

申请日：2001-06-20

Applicant: Göran Johansson ,  Bengt Ramne

Inventor： Göran Johansson ,  Bengt Ramne

IPC: B60T7/16 ,  B60T7/12 ,  G01C22/00 ,  B63B27/00 ,  B60Q1/00

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Ro-Ro容器的装置，其展示了在容器内部设置有驱动表面的多个货物接收空间，以及在一个这样的空间和码头之间延伸的斜坡，沿着该斜坡无斜坡 称为AGV车辆的货物处理车辆（7）能够在指定的停车位之间驾驶，以便在码头和上述货物接收空间之间运输货物。 提供装置（9），用于使货物处理车辆（7）在上述空间和码头之间被引导到在线（II）的指定位置的目的列车中，并且不连接货物搬运车辆 7）彼此。