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公开(公告)号：US09933785B2
公开(公告)日：2018-04-03
申请号：US15183646
申请日：2016-06-15
CPC分类号： G05D1/0225 , B60W30/06 , B62D13/00 , B62D15/021 , B62D15/0285 , G05D2201/0205
摘要： A method comprises: a preliminary phase wherein a vehicle is aligned to be engaged toward a target position; a first phase wherein a reference trajectory is generated as a function of the status and target position of the vehicle, the status defined by the current position and orientation of the vehicle; a second phase wherein the reference trajectory being divided into sections, at the start of each section and before the vehicle begins a movement whether the reference trajectory can be followed is predicted as a function of imposed overall size constraints and estimated lateral and/or longitudinal slippages; a third phase, if the trajectory can be followed, wherein the turn angle of the wheels and the linear traction speed of the vehicle are controlled as a function of the status of the vehicle and the lateral and/or longitudinal slippages, to bring the centers of the wheels onto the reference trajectory.
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公开(公告)号：US20130236279A1
公开(公告)日：2013-09-12
申请号：US13884855
申请日：2011-11-09
CPC分类号： B60P1/6418 , B65G63/004 , B65G67/02 , G05D1/0061 , G05D2201/0205
摘要： A handling system for containers includes an automated zone in which floor-bound, rubber-tired and driverless container transport vehicles are used which transport containers between container bridges and a container storage facility. A non-automated zone is provided in which floor-bound, rubber-tired and manned container transport vehicles are used, the container transport vehicles being optionally operable in a driverless or manned mode and thus being optionally transportable in the automated zone or the non-automated zone. A corresponding container transport vehicle which can be connected to an auxiliary device for control in the manned mode is characterized in that the auxiliary device comprises a driver's cab that is equipped with a control system for steering, motion control and braking in the manned mode, the container transport vehicle having a detachable fastening possibility for the driver's cab at the front face of the vehicle.
摘要翻译： 用于集装箱的处理系统包括自动化区域，在该区域中，使用地板绑定的，橡胶制的和无驾驶的集装箱运输车辆，其在集装箱桥和容器储存设施之间运输集装箱。 提供了一种非自动化区域，其中使用了地板，橡皮和载人的集装箱运输车辆，集装箱运输车辆可任选地以无人驾驶或有人驾驶的方式操作，并因此可选地在自动区域或非自动区域中运输， 自动化区域。 可以连接到辅助装置以用于在载人模式下进行控制的相应的集装箱运输车辆的特征在于，辅助装置包括驾驶室，驾驶室配备有用于驾驶模式的转向，运动控制和制动的控制系统， 集装箱运输车辆在车辆前面具有用于驾驶室的可拆卸的紧固可能性。
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公开(公告)号：US08529187B1
公开(公告)日：2013-09-10
申请号：US13165693
申请日：2011-06-21
申请人： Thomas A. Ward , Kai Stuart Martin
发明人： Thomas A. Ward , Kai Stuart Martin
IPC分类号： B63B27/00
CPC分类号： B65G63/004 , B65G57/20 , B66C17/20 , B66C19/002 , B66C19/007 , G05D1/0244 , G05D1/0261 , G05D1/0274 , G05D1/0278 , G05D1/0297 , G05D2201/0205
摘要： A storage area is accessed by automated guided vehicles which receive and unload containerized loads. On the waterside, loads are exchanged between the vehicles and ships using quay cranes. On the ground transportation side, loads are exchanged between the vehicles and truck or rail carriers using semi automated or automated remote-controlled bridge cranes. Within the storage area, loads are exchanged between the vehicles and the storage facilities using automated stacking cranes. The vehicles are adapted to receive a cassette storage platform which in turn receives standard ISO containers.
摘要翻译： 通过接收和卸载集装箱货物的自动导向车辆可以进入存储区域。 在水边，使用码头起重机在车辆和船舶之间交换负载。 在地面运输方面，使用半自动或自动化遥控桥式起重机，在车辆和卡车或铁路运输车辆之间交换负载。 在存储区域内，使用自动堆垛起重机在车辆和存储设施之间交换负载。 车辆适于接纳盒式存储平台，该平台又接收标准的ISO容器。
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公开(公告)号：US20040112660A1
公开(公告)日：2004-06-17
申请号：US10297417
申请日：2002-12-05
发明人： Goran Johansson , Bengt Ramne
IPC分类号： B62D001/24
CPC分类号： B63B35/54 , B63B27/02 , G05D1/0236 , G05D1/0265 , G05D1/0278 , G05D2201/0205
摘要： The present invention relates to an arrangement for a Ro-Ro vessel, which exhibits a number of cargo-receiving spaces provided with a driving surface internally in the vessel, and with a ramp extending between one such space and a quay, along which ramp driverless cargo handling vehicles (7), known as AGV vehicles, are capable of being driven between designated parking places for the purpose of transporting cargo between the quay and the aforementioned cargo-receiving space of the vessel. Means (9) are provided for causing the cargo handling vehicles (7) to be guided between the aforementioned spaces and the quay and into the intended train of vehicles in the designated location in a line (II) and without connecting the cargo handling vehicles (7) to one another.
摘要翻译： 本发明涉及一种用于Ro-Ro容器的装置，其展示了在容器内部设置有驱动表面的多个货物接收空间，以及在一个这样的空间和码头之间延伸的斜坡，沿着该斜坡无斜坡 称为AGV车辆的货物处理车辆（7）能够在指定的停车位之间驾驶，以便在码头和上述货物接收空间之间运输货物。 提供装置（9），用于使货物处理车辆（7）在上述空间和码头之间被引导到在线（II）的指定位置的目的列车中，并且不连接货物搬运车辆 7）彼此。
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5.发明授权Navigation system and process for guiding unmanned industrial trucks without guide wire 失效引导无引导线的无人工业车辆的导航系统和过程
公开(公告)号：US5219036A
公开(公告)日：1993-06-15
申请号：US918666
申请日：1992-07-22
申请人： Jurgen Schwager , Gerhard Sommer , Michael Dongus
发明人： Jurgen Schwager , Gerhard Sommer , Michael Dongus
IPC分类号： G05D1/02
CPC分类号： G05D1/0261 , G05D1/0255 , G05D2201/0205
摘要： A navigation system for guiding unmanned vehicles with any desired wheel configuration without guide wire for free movement on paths and along curves along a virtual reference path having at least one straight and/or curved section. Discrete elements are floor-installed which are in operative connection with a vehicle internal path control device via the vehicle's internal sensory analysis system for correcting the course of the industrial truck. The discrete elements are arranged at spaced locations exclusively along the area of the reference path forming a linear formation chain as navigation reference points P. The distance between the reference points P are either regular or irregular and may be relatively great distances equal to a multiple of the wheel base of the vehicle. The on-board sensory analysis system exclusively determines the distances and measures the distance between the longitudinal axis of the industrial truck and the navigation reference point P.
摘要翻译： 用于引导具有任何期望的轮构造的无人驾驶车辆的导航系统，而不需要导线，以沿着沿着具有至少一个直线和/或弯曲部分的虚拟参考路径沿着曲线自由移动。 离散元件是地面安装的，其经由车辆的内部感官分析系统与车辆内部路径控制装置操作连接，用于校正工业卡车的路线。 离散元件排列在沿着参考路径的区域的间隔位置处，形成线性形成链作为导航参考点P.参考点P之间的距离是规则的或不规则的，并且可以是相当大的距离， 车轮的底座。 车载感觉分析系统专门确定距离并测量工业车辆的纵向轴线与导航参考点P之间的距离。
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6.发明申请公开(公告)号：US20190193959A1
公开(公告)日：2019-06-27
申请号：US16312824
申请日：2017-06-21
发明人： Armin Wieschemann , Stefan Aldejohann , Heiko Schulz , Jan-Phillipp Schmidt-Ewig , Heinz Eichner
CPC分类号： B65G63/004 , G05D1/0289 , G05D2201/0205
摘要： A system for transporting containers using heavy goods vehicles which comprises a separate operating region in which the heavy goods vehicles can be operated, with at least one automated heavy goods vehicle and at least one manually driven heavy goods vehicle being operated together in a mixed traffic situation in the separate operating region.
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公开(公告)号：US20160313451A1
公开(公告)日：2016-10-27
申请号：US15201110
申请日：2016-07-01
发明人： Kari RINTANEN
CPC分类号： G01S19/45 , B66C19/007 , B66F9/063 , G01C3/08 , G01C21/12 , G01S7/4808 , G01S17/42 , G01S19/48 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0205
摘要： A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.
摘要翻译： 一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。 所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备 地标 并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。
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公开(公告)号：US20140046587A1
公开(公告)日：2014-02-13
申请号：US14112872
申请日：2012-04-20
申请人： Kari Rintanen
发明人： Kari Rintanen
CPC分类号： G01S19/45 , B66C19/007 , B66F9/063 , G01C3/08 , G01C21/12 , G01S7/4808 , G01S17/42 , G01S19/48 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0205
摘要： A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.
摘要翻译： 一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。 所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备 地标 并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。
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9.发明授权公开(公告)号：US08126596B1
公开(公告)日：2012-02-28
申请号：US12348926
申请日：2009-01-06
IPC分类号： G05D1/00
CPC分类号： G05D1/0255 , G05D1/0274 , G05D1/028 , G05D2201/0205 , G05D2201/0216
摘要： An apparatus and method for inspecting a plurality of containers are provided. Each container has an outer surface for housing at least one material therein. The techniques provided involve at least one inspection vehicle and at least one detector. Each inspection vehicle has a plurality of wheels for movably positioning about the plurality of containers. The wheels may have at least one magnet for selectively adhering to the outer surface of at least one of the containers whereby the inspection vehicle traverses the container(s). The detector is positionable proximate at least one of the containers. The detector may be deployable from the inspection vehicle to a position adjacent the container(s). The detector has at least one sensor for measuring at least one characteristic of the plurality of containers. At least one base station may be provided for communicating with the inspection vehicle(s) and/or detector(s).
摘要翻译： 提供了一种用于检查多个容器的装置和方法。 每个容器具有用于在其中容纳至少一种材料的外表面。 提供的技术涉及至少一个检查车辆和至少一个检测器。 每个检查车辆具有多个轮，用于围绕多个容器可移动地定位。 车轮可以具有至少一个磁体，用于选择性地粘附到至少一个容器的外表面，由此检查车辆穿过容器。 检测器可靠近至少一个容器定位。 检测器可以从检查车辆展开到与容器相邻的位置。 检测器具有用于测量多个容器的至少一个特性的至少一个传感器。 可以提供至少一个基站用于与检查车辆和/或检测器通信。
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公开(公告)号：US07972102B2
公开(公告)日：2011-07-05
申请号：US12220441
申请日：2008-07-24
申请人： Thomas A. Ward , Kai Stuart Martin
发明人： Thomas A. Ward , Kai Stuart Martin
IPC分类号： B63B27/00
CPC分类号： B65G63/004 , B65G57/20 , B66C17/20 , B66C19/002 , B66C19/007 , G05D1/0244 , G05D1/0261 , G05D1/0274 , G05D1/0278 , G05D1/0297 , G05D2201/0205
摘要： A storage area is accessed by automated guided vehicles which receive and unload containerized loads. On the waterside, loads are exchanged between the vehicles and ships using quay cranes. On the ground transportation side, loads are exchanged between the vehicles and truck or rail carriers using semi automated or automated remote-controlled bridge cranes. Within the storage area, loads are exchanged between the vehicles and the storage facilities using automated stacking cranes. The vehicles are adapted to receive a cassette storage platform which in turn receives standard ISO containers. The vehicles also are adapted to receive one or more alternative platforms including a coning platform for workers to manage container coning, a reefer access and maintenance platform, and a worker transport platform.
摘要翻译： 通过接收和卸载集装箱货物的自动导向车辆可以进入存储区域。 在水边，使用码头起重机在车辆和船舶之间交换负载。 在地面运输方面，使用半自动或自动化遥控桥式起重机，在车辆和卡车或铁路运输车辆之间交换负载。 在存储区域内，使用自动堆垛起重机在车辆和存储设施之间交换负载。 车辆适于接纳盒式存储平台，该平台又接收标准的ISO容器。 车辆还适于接收一个或多个替代平台，包括用于工人管理容器锥形的锥形平台，冷藏室接入和维护平台以及工人运输平台。
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