公开(公告)号：US20250052604A1

公开(公告)日：2025-02-13

申请号：US18396614

申请日：2023-12-26

Applicant: Industrial Technology Research Institute

Inventor： Cheng-You Chiang ,  Yong-Ren Li ,  Ta-Cheng Ma

IPC: G01F17/00 ,  G01B11/02 ,  G01B11/04

Abstract: A volume measurement method includes: receiving multiple pulse signals when a device under test (DUT) starts passing through a sensing gate; recording multiple X-axis values corresponding to multiple positions of the DUT in response to each pulse signal, and reading the multiple sensing data to calculate a Y-axis value and a Z-axis value corresponding to each X-axis value, wherein the multiple sensing data is obtained by sensing the DUT through the sensing gate; recording a maximum X-axis value corresponding to a final position of the DUT in response to a final pulse signal when the DUT finishes passing through the sensing gate; setting the maximum of the multiple Y-axis values corresponding to the multiple X-axis values as a maximum Y-axis value, and setting the maximum of the multiple Z-axis values corresponding to the multiple X-axis values as a maximum Z-axis value; and calculating a volume of the DUT based on the maximum X-axis value, the maximum Y-axis value and the maximum Z-axis value. The disclosure further includes a volume measurement system.

公开(公告)号：US11086330B2

公开(公告)日：2021-08-10

申请号：US16256875

申请日：2019-01-24

Applicant: Industrial Technology Research Institute

Inventor： Chao-Hui Tu ,  Ching-Tsung Cheng ,  Yong-Ren Li ,  Ya-chi Chiu

IPC: G05D1/02 ,  G01S17/89

Abstract: A control system for an automatic guided vehicle includes a vehicle, a contour-detection module, a position-detection module, and a processing device. The contour-detection module is disposed on the vehicle. The contour-detection module is configured to detect a ceiling and a target object, which is disposed on the ceiling, and to generate a contour signal. The position-detection module is disposed on the vehicle. The position-detection module is configured to detect the position of the vehicle and generate a position signal. The processing device is configured to generate a target mark corresponding to the target object according to the contour signal and the position signal. The processing device is configured to automatically control the carrier to move along a movement path. When the contour-detection module detects the target object, the processing device corrects the movement direction of the vehicle according to the target mark.

公开(公告)号：US20240160211A1

公开(公告)日：2024-05-16

申请号：US18088625

申请日：2022-12-26

Applicant: Industrial Technology Research Institute

Inventor： Ruei-Jhih Hong ,  Yong-Ren Li ,  Ta-Cheng Ma

IPC: G05D1/02

CPC classification number: G05D1/0212 ,  G05D1/0246 ,  G05D2201/0216

Abstract: An automated guided vehicle (AGV) includes an image capturing device, a storage device, a fetching device, a driving device and a processor. The processor is configured to execute: controlling the AGV to move from a starting position to a target position according to a navigation coordinate system, the target position corresponding to the object to be fetched; capturing a depth image from the object to be fetched through the image capturing device; performing image recognition on the depth image to obtain reference pixel information; converting the reference pixel information to the navigation coordinate system according to a coordinate mapping algorithm to obtain a calibrated position; and determining an object-fetching route according to the target position and the calibrated position, and controlling the AGV to move according to the object-fetching route to fetch the object to be fetched.

公开(公告)号：US11636612B2

公开(公告)日：2023-04-25

申请号：US17114540

申请日：2020-12-08

Applicant: Industrial Technology Research Institute

Inventor： Yong-Ren Li ,  Chao-Hui Tu ,  Ching-Tsung Cheng ,  Ruei-Jhih Hong

IPC: G06T7/50 ,  G06T7/70 ,  G05D1/02 ,  G06N3/08

Abstract: An AGV navigation device is provided, which includes a RGB-D camera, a plurality of sensors and a processor. When an AGV moves along a target route having a plurality of paths, the RGB-D camera captures the depth and color image data of each path. The sensors (including an IMU and a rotary encoder) record the acceleration, the moving speed, the direction, the rotation angle and the moving distance of the AGV moving along each path. The processor generates training data according to the depth image data, the color image data, the accelerations, the moving speeds, the directions, the moving distances and the rotation angles, and inputs the training data into a machine learning model for deep learning in order to generate a training result. Therefore, the AGV navigation device can realize automatic navigation for AGVs without any positioning technology, so can reduce the cost of automatic navigation technologies.

公开(公告)号：US10755223B2

公开(公告)日：2020-08-25

申请号：US15392941

申请日：2016-12-28

Applicant: INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE

Inventor： Chao-Hui Tu ,  Ching-Tsung Cheng ,  Yung-Ping Tien ,  Yong-Ren Li ,  Wei-Syuan Syu ,  Yan-Ling Liao

IPC: G06Q10/08

Abstract: A logistic station includes a cabinet, a storage boxes in the cabinet, a volume measurement room, a volume measurement system, a user interface and a controller. The volume measurement room has a bottom plate and a ceiling. The volume measurement system in the volume measurement room measures the volume of a consignment. The volume measurement room includes a rangefinder and an image capturing device. The rangefinder on the ceiling measures the height of the consignment placed on the bottom plate. The image capturing device is disposed on the ceiling and captures an image toward the bottom plate. The user interface disposed in the cabinet displays information and receives shipping information and a shipping fee. The controller calculates the volume information according to the image and the height, calculates the shipping fee according to the volume information and the shipping information, and controls one of the storage boxes to open.