公开(公告)号：US06453223B1

公开(公告)日：2002-09-17

申请号：US09311683

申请日：1999-05-13

Applicant: Alonzo James Kelly ,  Robert Craig Coulter ,  Mark D. Ollis

Inventor： Alonzo James Kelly ,  Robert Craig Coulter ,  Mark D. Ollis

IPC: G06F1550

CPC classification number: G05D1/0274 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0205

Abstract: A computer-assisted method for determining a position and orientation a sensor relative to a scene. The sensor has a plurality of degrees of freedom in position and orientation relative to the scene. The method includes sensing an image of the scene, the sensed image having a plurality of regions such that a sum of degrees of independent constraint of the plurality of regions equals or exceeds the degrees of freedom in position and orientation of the sensor relative to the scene, comparing the plurality of regions of the sensed image to a plurality of regions of a first image of the scene stored in a map, the first stored image representative of a position and orientation of the sensor relative to the scene, and determining sensor position and orientation based on the comparing.

Abstract translation: 一种用于确定传感器相对于场景的位置和方向的计算机辅助方法。 传感器具有相对于场景的位置和取向的多个自由度。 该方法包括感测场景的图像，所感测的图像具有多个区域，使得多个区域中的独立约束程度之和等于或超过传感器相对于场景的位置和方向的自由度 将感测图像的多个区域与存储在地图中的场景的第一图像的多个区域进行比较，所述第一存储图像表示传感器相对于场景的位置和取向，以及确定传感器位置和 基于比较的方向。

公开(公告)号：US5999866A

公开(公告)日：1999-12-07

申请号：US744053

申请日：1996-11-05

Applicant: Alonzo James Kelly ,  Robert Craig Coulter

Inventor： Alonzo James Kelly ,  Robert Craig Coulter

IPC: G05D1/02 ,  G06F15/50

CPC classification number: G05D1/0274 ,  G05D1/0246 ,  G05D1/0272 ,  G05D2201/0205

Abstract: A method and apparatus for determining position is comprised of the steps of capturing an image related to the present position and comparing the captured image with one or more images from an iconic map. The iconic map is a map which stores images of a substantially flat surface over which a robot or vehicle is to operate. The stored images contain randomly occurring characteristics such as the fibers in a carpet, brush marks appearing in brushed concrete, and the like. Although such naturally occurring features are essentially random, when analyzed in small enough images, each image becomes unique. The position is determined based upon the image from the map which provides the highest correlation. Speed, wheel slippage, and other parameters can be calculated using the disclosed method.

Abstract translation: 用于确定位置的方法和装置包括以下步骤：捕获与当前位置相关的图像，并将捕获的图像与来自标识图的一个或多个图像进行比较。 标志性地图是存储机器人或车辆将在其上操作的基本上平坦的表面的图像的地图。 存储的图像包含随机发生的特征，例如地毯中的纤维，刷在水泥中的刷痕等。 虽然这些天然特征本质上是随机的，但是当以足够小的图像分析时，每个图像变得独特。 基于提供最高相关性的来自地图的图像来确定位置。 可以使用公开的方法计算速度，车轮滑移和其他参数。

公开(公告)号：US5769589A

公开(公告)日：1998-06-23

申请号：US640830

申请日：1996-06-28

Applicant: Robert Marie Lubbers

Inventor： Robert Marie Lubbers

IPC: B65G63/00 ,  B66C19/00 ,  G05D1/02 ,  B65G1/00

CPC classification number: G05D1/0261 ,  B65G63/004 ,  B66C19/002 ,  G05D1/0236 ,  G05B2219/31296 ,  G05B2219/31312 ,  G05B2219/36371 ,  G05D2201/0205 ,  Y02P90/10

Abstract: The invention relates to a method for transporting a container from a starting station to one of a plurality of final destinations, whether or not via one or more intermediate destinations, wherein the container is provided with data which defines a predetermined route, which data is read during transport. The data preferably defines a predetermined route and means of transport.

Abstract translation: PCT No.PCT / NL94 / 00284 Sec。 371日期：1996年6月28日 102（e）日期1996年6月28日PCT 1994年11月11日PCT PCT。 公开号WO95 / 13978 日期1995年5月26日本发明涉及一种用于将容器从起始站运送到多个最终目的地之一的方法，无论是否经由一个或多个中间目的地，其中容器设置有限定预定路线的数据， 在运输过程中读取哪些数据。 数据优选地限定了预定的路线和运输工具。

公开(公告)号：US5375058A

公开(公告)日：1994-12-20

申请号：US811817

申请日：1991-12-20

Applicant: Michael Bass

Inventor： Michael Bass

IPC: G05D1/00 ,  G05D1/02 ,  G08G5/06 ,  G06F15/48

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：US5154248A

公开(公告)日：1992-10-13

申请号：US503869

申请日：1990-04-03

Applicant: Jurgen Schwager ,  Gerhard Sommer ,  Michael Dongus

Inventor： Jurgen Schwager ,  Gerhard Sommer ,  Michael Dongus

IPC: G05D1/02

CPC classification number: G05D1/0261 ,  G05D1/0255 ,  G05D2201/0205

Abstract: A navigation system for guiding unmanned vehicles with any desired wheel configuration without guide wire for free movement on paths and along curves along a virtual reference path having at least one straight and/or curved section. Discrete elements are floor-installed which are in operative conneciton with a vehicle internal path control device via the vehicle's internal sensory analysis system for correcting the course of the industrial truck. The discrete elements are arranged at spaced locations exclusively along the area of the reference path forming a linear formation chain as navigation reference points P. The distance between the reference points P are either regular or irregular and may be relatively great distances equal to a multiple of the wheel base of the vehicle. The on-board sensory analysis system exclusively determines the distances and measures the distance between the longitudinal axis of the industrial truck and the navigation reference point P.

Abstract translation: 用于引导具有任何期望的轮构造的无人驾驶车辆的导航系统，而不需要导线，以沿着沿着具有至少一个直线和/或弯曲部分的虚拟参考路径沿着曲线自由移动。 离散元件通过车辆的内部感官分析系统与车辆内部路径控制装置在操作连接中进行地板安装，用于校正工业卡车的过程。 离散元件排列在沿着参考路径的区域的间隔位置处，形成线性形成链作为导航参考点P.参考点P之间的距离是规则的或不规则的，并且可以是相当大的距离， 车轮的底座。 车载感觉分析系统专门确定距离并测量工业车辆的纵向轴线与导航参考点P之间的距离。

公开(公告)号：US4424875A

公开(公告)日：1984-01-10

申请号：US247718

申请日：1981-03-26

Applicant: Yutaka Yoshida

Inventor： Yutaka Yoshida

IPC: B62D1/28 ,  G05D1/02

CPC classification number: G05D1/0265 ,  B62D1/28 ,  G05D2201/0205 ,  G05D2201/0216

Abstract: An apparatus for controlling the running of a trackless moving body. The apparatus includes a control device which comprises an adder receiving outputs from two position deviation sensors mounted on the moving body, a subtractor circuit receiving outputs from the two position deviation sensors, a first comparator receiving the output from the adder for comparing the same with a first reference value, a second comparator receiving the output from the subtractor for comparing the same with a second reference value, and a logic circuit receiving the comparison outputs from the first and second comparators for evaluating the direction of steering. Drive motors of the moving body are controlled by the control device to rotate substantially at the same speed at least when the logic circuit determines that the moving body is returning toward the correct direction.

Abstract translation: 一种用于控制无轨道运动体运行的装置。 该装置包括控制装置，该控制装置包括接收来自安装在移动体上的两个位置偏差传感器的输出的加法器，接收来自两个位置偏差传感器的输出的减法器电路，第一比较器，接收来自加法器的输出， 第一参考值，接收来自减法器的输出的第二比较器，用于将其与第二参考值进行比较;以及逻辑电路，接收来自第一和第二比较器的用于评估转向方向的比较输出。 至少当逻辑电路确定移动体朝着正确的方向返回时，移动体的驱动马达由控制装置控制，基本上以相同的速度旋转。

公开(公告)号：US4329632A

公开(公告)日：1982-05-11

申请号：US157157

申请日：1980-06-06

Applicant: Yutaka Yoshida ,  Ryohei Ishige ,  Hiroaki Yabu ,  Yasuo Nabeshima

Inventor： Yutaka Yoshida ,  Ryohei Ishige ,  Hiroaki Yabu ,  Yasuo Nabeshima

IPC: B62D7/14 ,  G05D1/02 ,  G05B19/36

CPC classification number: G05D1/0265 ,  G05D2201/0205 ,  G05D2201/0216

Abstract: An apparatus for controlling the running track of a trackless moving body comprising a guide wire, a position deviation sensor unit mounted on the trackless moving body for sensing a deviation of the position of the moving body relative to the guide wire, a steering control circuit connected to the position deviation sensor unit, and a steering drive unit connected to the steering control circuit for steering the moving body. The steering control circuit comprises a first-order lag circuit receiving the output signal from the position deviation sensor unit, a subtractor receiving the output signal from the position deviation sensor unit and the output signal from the first-order lag circuit, and a comparator receiving the output signal from the subtractor. In the steering control circuit, the output signal from the first-order lag circuit is subtracted in the subtractor from the output signal from the position deviation sensor unit so as to detect the rate of variation of position deviation during a predetermined period of time, and the subtractor output signal including the information of the rate of crane position deviation is compared in the comparator with a reference setting, so that the steering drive unit is actuated depending on the result of comparison for causing approaching movement of the moving body toward the guide wire.

Abstract translation: 一种用于控制无轨移动体的运行轨迹的装置，包括导丝，位置偏移传感器单元，安装在无轨道运动体上，用于感测移动体相对于导丝的位置的偏差;转向控制电路， 连接到转向控制电路的转向驱动单元，用于转向移动体。 转向控制电路包括接收来自位置偏差传感器单元的输出信号的一阶滞后电路，接收来自位置偏差传感器单元的输出信号的减法器和来自一阶滞后电路的输出信号，以及比较器接收 来自减法器的输出信号。 在转向控制电路中，来自位置偏差传感器单元的输出信号从减法器中减去来自一阶滞后电路的输出信号，以检测在预定时间段内位置偏差的变化率， 将包括起重机位置偏差率的信息的减法器输出信号在比较器中与参考设置进行比较，从而根据比较结果来驱动转向驱动单元，以使移动体朝向导丝的接近移动 。

公开(公告)号：US4015536A

公开(公告)日：1977-04-05

申请号：US617824

申请日：1975-09-29

Applicant: Toshiaki Sato

Inventor： Toshiaki Sato

IPC: G05D1/02 ,  B61J3/00

CPC classification number: G05D1/0265 ,  G05D2201/0205

Abstract: A system for transfer between work stations comprising a guided truck having guide wire sensors for detecting an electric current in a guide wire extending between the work stations. The truck is adapted to perform loading and unloading operations, and to depart, stop, travel, back and forth and return to its home base in response to signals from the sensors. A central control unit containing a sequence programmer is also provided.

Abstract translation: 一种用于在工作站之间传送的系统，包括具有用于检测在工作站之间延伸的导丝中的电流的导丝传感器的导向卡车。 该卡车适用于执行装卸作业，并根据传感器的信号离开，停止，行驶，返回并回到其基地。 还提供了包含序列编程器的中央控制单元。