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    System and method for coordinating movement of mobile drive units
    3.
    发明授权
    System and method for coordinating movement of mobile drive units 有权
    协调移动驱动单元运动的系统和方法

    公开(公告)号：US08412400B2

    公开(公告)日：2013-04-02

    申请号：US13021860

    申请日：2011-02-07

    申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

    发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

    IPC分类号： B65G63/00 ,  G01C21/36 ,  G05D1/02 ,  G01C21/12 ,  G01C21/20

    CPC分类号： G05D1/0291 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/45056 ,  G05D1/0212 ,  G05D1/0297 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60

    摘要： A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.

    摘要翻译： 用于移动工作空间内的一个或多个移动驱动单元的方法包括从第一移动驱动单元接收请求使用第一路径段以在第一方向上移动的预留请求。 该方法还包括确定第二移动驱动单元当前位于第一路径段上并确定第二移动驱动单元是否在第一方向上移动。 另外，响应于确定第二移动驱动单元不在第一方向上移动，该方法包括发送指示预约请求被拒绝的预约响应。 响应于确定第二移动驱动单元在第一方向上移动，该方法还包括发送指示预约请求被许可的预约响应。

    GUIDED VEHICLE SYSTEM
    4.
    发明申请
    GUIDED VEHICLE SYSTEM 审中-公开
    指导车辆系统

    公开(公告)号：US20110178657A1

    公开(公告)日：2011-07-21

    申请号：US13120944

    申请日：2009-09-04

    申请人： Kazumi Harasaki

    发明人： Kazumi Harasaki

    IPC分类号： G06F7/00

    CPC分类号： G05D1/0272 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31012 ,  G05D1/0274 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60

    摘要： A guided vehicle system that achieves a higher conveyance efficiency by manipulating an exclusion control executed with respect to a junction section includes a traveling path, a plurality of guided vehicles, and a guided vehicle controller. The traveling path includes a linear section, an exit-side connecting path, and a second junction section where the linear section and the exit-side connecting path converge. The guided vehicles travel along the traveling path. The exit-side connecting path includes a standby section. The guided vehicle controller controls the movement of the guided vehicles. During a period until a prescribed number of guided vehicles has stopped in the standby section of the exit-side connecting path, the guided vehicle controller allows guided vehicles to pass from the linear section to the second junction section continuously while making guided vehicles wait at the standby section of the exit-side connecting path.

    摘要翻译： 通过操纵相对于接合部执行的排除控制来实现更高输送效率的导向系统包括行进路径，多个引导车辆和引导车辆控制器。 行进路径包括线性部分，出口侧连接路径和线性部分和出口侧连接路径会聚的第二接合部分。 引导车沿着行进路线行驶。 出口侧连接路径包括备用部分。 导向车辆控制器控制被引导车辆的移动。 在规定数量的引导车辆停在出口侧连接路径的待机部分的期间内，被引导车辆控制器允许被引导的车辆从线性部分连续地通过到第二接合部分，同时使得引导的车辆在 出口侧连接路径的待机部分。

    METHOD AND SYSTEM FOR SIMULTANEOUS BI-DIRECTIONAL CONVEYOR CONTROL FOR MOVING MATERIAL HOLDERS IN A FAB
    5.
    发明申请
    METHOD AND SYSTEM FOR SIMULTANEOUS BI-DIRECTIONAL CONVEYOR CONTROL FOR MOVING MATERIAL HOLDERS IN A FAB 审中-公开
    用于同步双向输送机控制的方法和系统，用于在FAB中移动材料容器

    公开(公告)号：US20100100235A1

    公开(公告)日：2010-04-22

    申请号：US12420780

    申请日：2009-04-08

    申请人： Joseph John Fatula, III

    发明人： Joseph John Fatula, III

    IPC分类号： B65G49/07 ,  B65G43/08

    CPC分类号： G05B19/4189 ,  G05B2219/31003 ,  G05B2219/45031 ,  H01L21/67276 ,  Y02P90/28 ,  Y02P90/285

    摘要： A method for managing flow of containers over asynchronous conveyors used in semiconductor automated material handling systems (AMHS) is defined. The method includes providing a conveyor and enabling travel of a first container in a first direction on the conveyor and enabling travel of a second container in a second direction on the conveyor. The second direction being toward the first direction. The method also includes determining a destination of the first and second containers along the conveyor (e.g., such as a load port). The method then directions one of the first or second containers to reverse its direction to enable one of the first or second containers to arrive to its destinations. The directing acts to minimize travel or wait time of the first or second containers on the conveyor belt. The directing enables higher throughput on the conveyor and enables more than one container to travel on the conveyor at the same time.

    摘要翻译： 定义了一种用于管理半导体自动化材料处理系统（AMHS）中使用的异步输送机上的容器流动的方法。 该方法包括提供输送机并且使第一容器能够在输送机上沿第一方向移动，并使第二容器能够在输送机上沿第二方向移动。 第二个方向朝向第一个方向。 该方法还包括沿输送机确定第一和第二容器的目的地（例如，诸如装载口）。 该方法然后指示第一或第二容器之一以反转其方向，以使第一或第二容器之一到达其目的地。 引导作用是最小化传送带上的第一或第二容器的行进或等待时间。 导向器能够在输送机上实现更高的生产量，并且使多个容器能够同时在输送机上行进。

    BI-DIRECTIONAL ABSOLUTE AUTOMATED TRACKING SYSTEM FOR MATERIAL HANDLING
    7.
    发明申请
    BI-DIRECTIONAL ABSOLUTE AUTOMATED TRACKING SYSTEM FOR MATERIAL HANDLING 审中-公开
    用于材料处理的双向绝对自动跟踪系统

    公开(公告)号：US20060069470A1

    公开(公告)日：2006-03-30

    申请号：US10711696

    申请日：2004-09-30

    申请人： Philip Campbell ,  Jeffrey Gifford ,  Uldis Ziemins

    发明人： Philip Campbell ,  Jeffrey Gifford ,  Uldis Ziemins

    IPC分类号： G06F19/00

    CPC分类号： G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05D1/0244 ,  G05D1/0278 ,  G05D1/0289 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60

    摘要： Communication between a controller and a set of automated vehicles in a manufacturing facility is improved by use of a closed-loop control system that operates on a real-time interrupt basis in which autonomous carriers report their location, sensed from reference markers along a track, the reference markers being referenced to an absolute grid in space, to a central controller or to one of a set of zone controllers that monitor the location of nearby vehicles that ordinarily use a token-passing system to avoid collisions, but which controllers can intervene to prevent one vehicle from blocking or interfering with another.

    摘要翻译： 通过使用在实时中断基础上操作的闭环控制系统来改善控制器与制造设施中的一组自动车辆之间的通信，其中自主载波报告其位置，沿着轨道从参考标记中感测到， 参考标记被引用到空间中的绝对网格，中央控制器或一组区域控制器中的一个，该区域控制器监视通常使用令牌传递系统以避免冲突的附近车辆的位置，但是哪些控制器可以介入 防止一辆车辆阻挡或干扰另一辆车。

    Travel control method, travel control device, and mobile robot for mobile robot systems
    8.
    发明授权
    Travel control method, travel control device, and mobile robot for mobile robot systems 失效
    移动机器人系统的行驶控制方法，旅行控制装置和移动机器人

    公开(公告)号：US5488277A

    公开(公告)日：1996-01-30

    申请号：US912977

    申请日：1992-07-08

    申请人： Yuji Nishikawa ,  Masanori Onishi

    发明人： Yuji Nishikawa ,  Masanori Onishi

    IPC分类号： B25J9/18 ,  G05D1/02 ,  H02J7/00 ,  G05B1/00 ,  G06F15/50

    CPC分类号： G05D1/0297 ,  G05D1/0255 ,  G05D1/0263 ,  G05D1/0272 ,  G05B2219/31003 ,  G05D1/0225 ,  G05D2201/0216 ,  Y02P90/285

    摘要： In the travel control method in the mobile robot system including a plurality of mobile robots and the control station for controlling these mobile robot, the control station directs one of a plurality of mobile robots to the destination robot, responding to the direction, searches the route to the destination directed by the control station and sends the result to the control station. The control station which receives this in formation checks if the travel path searched by the mobile robot is already reserved by other mobile robots or not by the reservation table. If not, the control station informs the reserve completion to said mobile robot. The mobile robot which received the information of the reservation completion travels automatically along the travel path which is already reserved. In addition, said control station, when there are other mobile robots which disturb the travel of each mobile robot, directs the robot to wait or to take an alternate route according to the situation, or directs other mobile robots that disturb the travel to halt.

    摘要翻译： 在包括多个移动机器人的移动机器人系统和用于控制这些移动机器人的控制站的移动机器人系统的行驶控制方法中，控制站将多个移动机器人中的一个引导到目的地机器人，响应于该方向，搜索路线 到控制站指示的目的地，并将结果发送到控制站。 在形成中接收到的控制站检查移动机器人搜索到的行进路径是否已被其他移动机器人预留，而不是由保留表。 如果不是，则控制站向所述移动机器人通知预约完成。 接收到预约完成信息的移动机器人自动沿已经保留的行进路径行进。 此外，当存在干扰每个移动机器人的行进的其他移动机器人时，所述控制站引导机器人根据情况等待或采取替代路线，或者指示其他可能停止行驶的移动机器人。

    Roadmap annotation for deadlock-free multi-agent navigation
    9.
    发明授权
    Roadmap annotation for deadlock-free multi-agent navigation 有权

    公开(公告)号：US11709502B2

    公开(公告)日：2023-07-25

    申请号：US16838707

    申请日：2020-04-02

    申请人： Boston Dynamics, Inc.

    发明人： Tatiana Kichkaylo

    IPC分类号： G05D1/02 ,  G05B19/418

    CPC分类号： G05D1/0289 ,  G05B19/418 ,  G05B19/41895 ,  G05D1/0274 ,  G05B2219/31003 ,  G05B2219/32328 ,  G05D2201/0216 ,  Y02P90/02 ,  Y02P90/60 ,  Y02P90/80

    摘要： Apparatus and methods related to routing robots are provided. A roadmap of an environment that includes first and second robots can be received. The roadmap can be annotated with unidirectional lanes connecting conflict regions, where each lane ends so to avoid blocking a conflict region. First and second routes for the respective uses of the first and second robots can be determined, where both the first and second routes include a first lane connected to a first conflict region. A first, higher priority and a second, lower priority can be assigned to the respective first and second robots. It can be determined that the second robot following the second route will block the first robot on the first lane. Based on the first priority being higher than the second priority, the computing device can alter the second route to prevent the second robot from blocking the first robot.