公开(公告)号：US06205380B1

公开(公告)日：2001-03-20

申请号：US09202531

申请日：1998-12-18

Applicant: Rudolf Bauer ,  Uwe Wienkop

Inventor： Rudolf Bauer ,  Uwe Wienkop

IPC: G05D103

CPC classification number: G05D1/0221 ,  G05D1/0255 ,  G05D1/0274 ,  G05D2201/0216

Abstract: The entry and the deletion of the degree of occupancy values in cellularly structured environment maps of autonomous mobile units is improved with the method. Dependent on the measuring directions of ultrasound sensors, different sectors in which the degrees of occupancy value are separately incremented are defined for each cell of the cellularly structured environment map. This has the advantage that an obstacle measured by different sensors only leads to an incrementation or a de-incrementation of the occupancy degree of a respective cell when this measurement ensued from the same measuring direction with respect to the cellularly structured environment map. Dynamic objects in the measurement area of the autonomous mobile unit can thus be more quickly deleted from the map and timeout measurements that have arisen due to reflections of echos do not lead to really existing objects being deleted from the map.

Abstract translation: 该方法改进了自主移动单元蜂窝结构环境图中占用率的入口和删除。 根据超声波传感器的测量方向，为蜂窝结构化环境图的每个单元定义占用值分别增加的不同扇区。 这具有以下优点：当从相同的测量方向相对于蜂窝结构的环境地图进行测量时，不同传感器测量的障碍物仅导致相应单元的占用度的递增或递减。 因此，可以从地图中更快地删除自主移动单元的测量区域中的动态对象，并且由于回波的反射而引起的超时测量不会导致从地图中删除真实存在的对象。

公开(公告)号：US5576947A

公开(公告)日：1996-11-19

申请号：US269298

申请日：1994-06-30

Applicant: Uwe Wienkop

Inventor： Uwe Wienkop

IPC: B25J5/00 ,  G05D1/02 ,  G05B19/18

CPC classification number: G05D1/0255 ,  G05D2201/0216

Abstract: A vehicle is guided along a hall by obtaining distances between it and the nearest objects along a plurality of directions, fitting straight lines through the distances to define the walls of the hall, determining its distance from the center of the hall and its angular orientation with respect thereto and directing it to a given point on the center or other line with an angular rotation so that it faces along the center line.

Abstract translation: 通过沿着多个方向获得与最近物体之间的距离，沿着大厅引导车辆，通过距离拟合直线以限定大厅的墙壁，确定其与大厅中心的距离及其角度定向与 并将其引导到具有角度旋转的中心或其他线上的给定点，使得其沿着中心线面对。

公开(公告)号：US5422888A

公开(公告)日：1995-06-06

申请号：US196171

申请日：1994-02-15

Applicant: Uwe Wienkop

Inventor： Uwe Wienkop

IPC: H04J3/16 ,  H04J3/24 ,  H04L12/70 ,  H04Q11/04

CPC classification number: H04J3/247 ,  H04Q11/0478 ,  H04L2012/5616 ,  H04L2012/5672

Abstract: In packet-switching systems, there is the problem of time-interlacing or multiplexing the cell streams intended for a plurality of receiver LANs onto a single transmission line. A method is used for this in which output times for cells of the receiver are arranged in a cyclical time table and the cells intended for the receivers are allocated to these output times in accordance with their data rate. The basic cycle of the time table depends on the receiver having the lowest data rate. In order to handle collisions where cells for a plurality of receivers are to be transmitted at the same output time, in each case a stack store in which the cells are temporarily stored is allocated to the output times. The stack stores thus form a queue with respect to the output of the cells intended for the receivers. If it is determined during multiplexing that an stack store contains a plurality of cells, then the latter are transmitted one after the other until the stack store is empty.

Abstract translation: PCT No.PCT / DE92 / 00641 Sec。 371日期1994年2月15日 102（e）日期1994年2月15日PCT提交1992年8月3日PCT公布。 公开号WO93 / 04542 日期：1993年3月4日。在分组交换系统中，存在将用于多个接收机LAN的小区流时间交织或复用到单个传输线上的问题。 使用这样的方法，其中接收机的小区的输出时间被布置在循环时间表中，并且针对接收机的小区根据其数据速率被分配到这些输出时间。 时间表的基本周期取决于具有最低数据速率的接收机。 为了处理在相同输出时间发送用于多个接收机的小区的冲突，在每种情况下，暂时存储单元的堆栈存储被分配给输出时间。 因此，堆栈存储器相对于用于接收器的单元的输出形成队列。 如果在多路复用期间确定堆栈存储器包含多个单元，则后者被一个接一个地发送直到堆栈存储器为空。