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1.发明申请Method and apparatus for managing and controlling manned and automated utility vehicles 有权用于管理和控制载人和自动化多用途车辆的方法和装置公开(公告)号：US20110010023A1
公开(公告)日：2011-01-13
申请号：US12807325
申请日：2010-09-02
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.
摘要翻译： 用于管理载人和自动化多用途车辆的方法和装置，以及用于通过自动车辆拾取和传送物体。 机器视觉图像获取装置通过获取一个或多个位置标记的图像并且处理所获取的图像以基于处理的图像数据来计算车辆的位置和旋转方向，来确定车辆在预定坐标空间中的位置和旋转方位。 车辆的位置由二维确定。 在运动平面中确定旋转方向（航向）。 提出了一种改进的位置和旋转取向方法。 基于存储在坐标空间的地图中的车辆的确定的位置和旋转方位，作为计算机的一部分实现的车辆控制器通过运动和转向命令来控制自动车辆，并且通过发送 控制消息给每个操作员。
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2.发明授权Method and apparatus for managing and controlling manned and automated utility vehicles 有权用于管理和控制载人和自动化多用途车辆的方法和装置公开(公告)号：US08381982B2
公开(公告)日：2013-02-26
申请号：US12807325
申请日：2010-09-02
IPC分类号： G06K7/10
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.
摘要翻译： 用于管理载人和自动化多用途车辆的方法和装置，以及用于通过自动车辆拾取和传送物体。 机器视觉图像获取装置通过获取一个或多个位置标记的图像并且处理所获取的图像以基于处理的图像数据来计算车辆的位置和旋转方向，来确定车辆在预定坐标空间中的位置和旋转方位。 车辆的位置由二维确定。 在运动平面中确定旋转方向（航向）。 提出了一种改进的位置和旋转取向方法。 基于存储在坐标空间的地图中的车辆的确定的位置和旋转方位，作为计算机的一部分实现的车辆控制器通过运动和转向命令来控制自动车辆，并且通过发送 控制消息给每个操作员。
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公开(公告)号：US08346468B2
公开(公告)日：2013-01-01
申请号：US12459728
申请日：2009-07-07
CPC分类号： G05D1/0289 , B66F9/063 , B66F17/003 , G05D1/0297 , G05D2201/0216
摘要： A method and apparatus for avoiding collisions of moving vehicles in an environment that utilizes a position and rotational orientation system to track vehicle locations within a preconfigured operational zone, the method comprising using position tracking data to calculate a predicted trajectory and safety zone of each vehicle for a predetermined prediction time period and determining potential areas of intersection with vehicles to predict collisions.
摘要翻译： 一种用于避免在利用位置和旋转定向系统跟踪预配置的操作区域内的车辆位置的环境中的移动车辆的碰撞的方法和装置，所述方法包括使用位置跟踪数据来计算每个车辆的预测轨迹和安全区域， 预定预测时间段，并且确定与车辆的交叉点的潜在区域以预测碰撞。
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公开(公告)号：US20110093134A1
公开(公告)日：2011-04-21
申请号：US12459728
申请日：2009-07-07
IPC分类号： G06F7/00
CPC分类号： G05D1/0289 , B66F9/063 , B66F17/003 , G05D1/0297 , G05D2201/0216
摘要： A method and apparatus for avoiding collisions of moving vehicles in an environment that utilizes a position and rotational orientation system to track vehicle locations within a preconfigured operational zone, the method comprising using position tracking data to calculate a predicted trajectory and safety zone of each vehicle for a predetermined prediction time period and determining potential areas of intersection with vehicles to predict collisions.
摘要翻译： 一种用于避免在利用位置和旋转定向系统跟踪预配置的操作区域内的车辆位置的环境中的移动车辆的碰撞的方法和装置，所述方法包括使用位置跟踪数据来计算每个车辆的预测轨迹和安全区域， 预定预测时间段，并且确定与车辆的交叉点的潜在区域以预测碰撞。
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公开(公告)号：US20120191272A1
公开(公告)日：2012-07-26
申请号：US13356110
申请日：2012-01-23
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.
摘要翻译： 用于跟踪设备坐标空间中的一个或多个单元负载的位置的方法和装置，包括通过与主计算机通信来识别负载的集成系统，确定负载在坐标空间中的位置，并且存储 位置和载入身份在加载地图。 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，确认负载的获取，并且当负载沉积在自动输送装置上时将信息传送到固定基座子系统。 输送机控制器在自动输送装置上传送负载时跟踪负载，并基于其在输送装置上的位置识别出后续输送车辆的负载。 最初未识别的负载被分配一个用于跟踪的伪标识，直到它们被正确识别为止。
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6.发明授权公开(公告)号：US08561897B2
公开(公告)日：2013-10-22
申请号：US13298713
申请日：2011-11-17
IPC分类号： G06F19/00
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： 用于确定设施中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 标签位置和加载标识。 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，建立目标立方体以便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。 负载身份和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已识别载荷的身份，位置和方位。
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