公开(公告)号：US20180045536A1

公开(公告)日：2018-02-15

申请号：US15559569

申请日：2016-03-18

Applicant: KUKA Roboter GmbH

Inventor： Rainer Kümmerle ,  Daniel Meyer-Delius ,  Patrick Pfaff

IPC: G01C25/00 ,  G01S17/08 ,  G05D1/02

CPC classification number: G01C25/00 ,  G01C3/00 ,  G01C22/00 ,  G01S17/08 ,  G05D1/024 ,  G05D1/0272 ,  G05D2201/0212

Abstract: A vehicle and a method for determining a calibration parameter of a vehicle, in particular, of a driverless transport vehicle. The vehicle includes a controller and first and second sensors. Structures proximate the vehicle are detected by the first and second sensors, and the controller determines whether the structures detected by the respective sensors at least partly match. A relative position of the first sensor with respect to the second sensor is calculated based on detected matching structures, and a calibration parameter is determined using the calculated relative position.

公开(公告)号：US20170248961A1

公开(公告)日：2017-08-31

申请号：US15329825

申请日：2015-07-23

Applicant: KUKA Roboter GmbH

Inventor： Patrick Pfaff ,  Bjoern Klein

IPC: G05D1/02

Abstract: A method of moving an automated guided vehicle (AGV) to a target position relative to an object having two characteristic features, wherein the target position lies on a connecting line between the two characteristic features or is located at a distance from the connecting line. The method includes moving the AGV to a position where distances to the characteristic features can be determined; determining a first distance between the current position and the first characteristic feature, and a second distance between the current position and the second characteristic feature; automatically moving the AGV in translation with a superposed first rotation, wherein the direction of the first rotation depends on the first and second distances; and automatically moving the AGV in translation with a superposed second rotation, wherein the second rotation is opposite in direction to the first rotation. The steps are repeated until a termination condition is satisfied.