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公开(公告)号：EP2668623A2
公开(公告)日：2013-12-04
申请号：EP12739849.3
申请日：2012-01-23
申请人： Sky-Trax, Inc.
CPC分类号： G05D1/0234 , B66F9/0755 , B66F9/24 , G05D1/0274 , G05D2201/0216 , G06Q10/087
摘要： Methods and apparatus for tracking the location of one or more unit loads in a coordinate space in a facility, comprising an integrated system that identifies a load by communicating with a host computer, determines the position of the load in the coordinate space, and stores the position and load identity in a Load Map. A mobile subsystem on each conveying vehicle identifies the location and orientation of that vehicle using a position/orientation sensor, confirms acquisition of the load, and communicates the information to a fixed-base subsystem when the load is deposited on an automated conveying device. A conveyor controller tracks the load as it is conveyed on the automated conveying device and identifies the load to a subsequent conveying vehicle based upon its position on the conveying device. Loads that are not initially identified are assigned a pseudo-identification for tracking until they can be positively identified.
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2.发明公开LOAD TRACKING UTILIZING LOAD IDENTIFYING INDICIA AND SPATIAL DISCRIMINATION 审中-公开LASTVERFOLGUNG MIT LASTIDENTIFIZIERUNGSMARKIERUNGEN UNDRÄUMLICHERUNTERSCHEIDUNG
公开(公告)号：EP2643792A2
公开(公告)日：2013-10-02
申请号：EP11841682.5
申请日：2011-11-17
申请人： Sky-Trax, Inc.
IPC分类号： G06K9/00
CPC分类号： G06Q10/087 , B66F9/0755 , B66F9/24 , G06Q10/0875 , G06Q50/00 , G06Q50/28 , G06T7/73 , G06T2207/30204
摘要： Methods and apparatus for determining the location of one or more unit loads in a coordinate space in a facility, comprising an integrated system that identifies a load by reading indicia on the load, determines the position of the indicia in the coordinate space, and stores the indicia position and load identity in a Label Map. A mobile subsystem on each conveying vehicle identifies the location and orientation of that vehicle using a position/orientation sensor, determines the identity of the load, establishes a Target Cube to discriminate the desired load from nearby loads, confirms acquisition of the load, and communicates the information to a fixed-base subsystem. Load identity and the location and orientation of the vehicle when a load is deposited are used to create a Load Map that contains the identity, position and orientation of all identified loads in the coordinate space.
摘要翻译： 用于确定设施的坐标空间中的一个或多个单元负载的位置的方法和装置，包括通过读取负载上的标记来识别负载的集成系统，确定标记在坐标空间中的位置，并存储 标签位置和负载标识。 每个运输车辆上的移动子系统使用位置/方向传感器识别该车辆的位置和方向，确定负载的身份，建立目标立方体以从附近的负载区分所需的负载，确认负载的获取并且通信 信息到固定基础子系统。 负载身份以及载入时的车辆的位置和方向用于创建一个载荷图，其中包含坐标空间中所有识别的载荷的身份，位置和方向。
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4.发明公开METHOD AND APPARATUS FOR MANAGING AND CONTROLLING MANNED AND AUTOMATED UTILITY VEHICLES 审中-公开方法和设备的管理和控制载人和自动商用车
公开(公告)号：EP2583147A1
公开(公告)日：2013-04-24
申请号：EP11796500.4
申请日：2011-06-17
申请人： Sky-Trax, Inc.
CPC分类号： G01S5/16 , G01S5/163 , G05D1/0234 , G05D1/0274 , G05D1/0291 , G05D2201/0216
摘要： A method and apparatus for managing manned and automated utility vehicles, and for picking up and delivering objects by automated vehicles. A machine vision image acquisition apparatus determines the position and the rotational orientation of vehicles in a predefined coordinate space by acquiring an image of one or more position markers and processing the acquired image to calculate the vehicle's position and rotational orientation based on processed image data. The position of the vehicle is determined in two dimensions. Rotational orientation (heading) is determined in the plane of motion. An improved method of position and rotational orientation is presented. Based upon the determined position and rotational orientation of the vehicles stored in a map of the coordinate space, a vehicle controller, implemented as part of a computer, controls the automated vehicles through motion and steering commands, and communicates with the manned vehicle operators by transmitting control messages to each operator.
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