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    Automated guided vehicle (AGV) with bipolar magnet sensing
    3.
    发明授权
    Automated guided vehicle (AGV) with bipolar magnet sensing 失效
    具有双极磁感应的自动导向车（AGV）

    公开(公告)号：US06345217B1

    公开(公告)日：2002-02-05

    申请号：US09539687

    申请日：2000-03-31

    申请人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    发明人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    IPC分类号： G05D100

    CPC分类号： G05D1/0261 ,  G05D2201/0216

    摘要： An automated guided vehicle system and method includes providing at least one automated-guided vehicle (AGV) and a pathway for the AGV. A sensor assembly on the AGV senses magnet assemblies on the pathway as the AGV is transported over that magnet assembly. A navigation and guidance system determines the location of the maximum magnitude of the magnetic field by mathematically fitting a curve to the magnitude of portions of the magnetic field sensed by said magnetic sensors and determines a maximum value of the curve. At least some of the said magnet assemblies each produce a bipolar magnetic field extending generally transverse to the pathway and the sensor assembly produces an output indicative of magnitude and polarity of respective portions of the bipolar magnetic field. The navigation and guidance system determines a location of maximum magnitude of the opposite polarities of the bipolar magnetic field and a correction factor. The correction factor corrects for offset of the maximum magnitudes of the field from a predetermined location on that magnet assembly including correcting for any skew of the bipolar magnetic field with respect to said pathway.

    摘要翻译： 自动引导车辆系统和方法包括为AGV提供至少一个自动引导车辆（AGV）和路径。 当AGV在该磁体组件上运送时，AGV上的传感器组件感测路径上的磁体组件。 导航和引导系统通过将曲线数学拟合到由所述磁传感器感测的磁场的部分的大小并确定曲线的最大值来确定磁场的最大幅度的位置。 所述磁体组件中的至少一些各自产生大致横向于路径延伸的双极磁场，并且传感器组件产生指示双极磁场的相应部分的大小和极性的输出。 导航和引导系统确定双极性磁场的相反极性的最大幅度的位置和校正因子。 校正因子校正了磁场的最大幅度与该磁体组件上的预定位置的偏移，包括校正相对于所述路径的双极磁场的任何偏斜。

    Tiered control architecture for material handling
    5.
    发明授权
    Tiered control architecture for material handling 有权
    用于材料处理的分层控制架构

    公开(公告)号：US07284652B2

    公开(公告)日：2007-10-23

    申请号：US11162580

    申请日：2005-09-15

    申请人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    发明人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    IPC分类号： B65G47/10

    CPC分类号： B65G47/844 ,  B65G47/52 ,  B65G2207/36 ,  G05B19/4182 ,  G05B2219/33342 ,  G05B2219/36371 ,  G05B2219/37094 ,  G05B2219/37555 ,  G05B2219/37572 ,  G05B2219/39102 ,  G05B2219/45054 ,  Y02P90/083

    摘要： A control architecture for material handling includes multiple tiers of controllers, such as three. The lowest-level controllers interact directly with sensors and actuators used in the material handling system, such as photo-eyes and motors used with conveyors. The lowest-level controllers receive higher level commands from one or more mid-level controllers. The mid-level controllers, in turn, receive still higher level commands and information from at least one upper level controller. Each mid and low level controller is designed to include sufficient intelligence to deal with many of the signals and messages it receives without having to forward those signals or messages to the next higher level controller and await instructions from that higher level controller. The system thus distributes intelligence amongst the controllers. The system is well-adapted for application to conveyor control systems.

    摘要翻译： 用于材料处理的控制架构包括多层控制器，例如三个。 最低级别的控制器直接与材料处理系统中使用的传感器和执行器进行交互，例如与输送机一起使用的光眼和电机。 最低级别的控制器从一个或多个中级控制器接收更高级别的命令。 中层控制器又从至少一个上级控制器接收更高级的命令和信息。 每个中低级控制器被设计为包括足够的智能来处理其接收的许多信号和消息，而不必将这些信号或消息转发到下一个较高级别的控制器，并且等待来自该更高级控制器的指令。 因此，系统在控制器之间分配智能。 该系统适用于输送机控制系统。

    Tiered control architecture for material handling
    7.
    发明授权
    Tiered control architecture for material handling 有权
    用于材料处理的分层控制架构

    公开(公告)号：US06951274B2

    公开(公告)日：2005-10-04

    申请号：US10163788

    申请日：2002-06-06

    申请人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    发明人： David W. Zeitler ,  Andrew R. Black ,  Clyde Miin-Arng Ko

    IPC分类号： B65G47/52 ,  G05B19/418 ,  B65G47/10

    CPC分类号： B65G47/844 ,  B65G47/52 ,  B65G2207/36 ,  G05B19/4182 ,  G05B2219/33342 ,  G05B2219/36371 ,  G05B2219/37094 ,  G05B2219/37555 ,  G05B2219/37572 ,  G05B2219/39102 ,  G05B2219/45054 ,  Y02P90/083

    摘要： A control architecture for material handling includes multiple tiers of controllers, such as three. The lowest-level controllers interact directly with sensors and actuators used in the material handling system, such as photo-eyes and motors used with conveyors. The lowest-level controllers receive higher level commands from one or more mid-level controllers. The mid-level controllers, in turn, receive still higher level commands and information from at least one upper level controller. Each mid and low level controller is designed to include sufficient intelligence to deal with many of the signals and messages it receives without having to forward those signals or messages to the next higher level controller and await instructions from that higher level controller. The system thus distributes intelligence amongst the controllers. The system is well-adapted for application to conveyor control systems.

    摘要翻译： 用于材料处理的控制架构包括多层控制器，例如三个。 最低级别的控制器直接与材料处理系统中使用的传感器和执行器进行交互，例如与输送机一起使用的光眼和电机。 最低级别的控制器从一个或多个中级控制器接收更高级别的命令。 中层控制器又从至少一个上级控制器接收更高级的命令和信息。 每个中低级控制器被设计为包括足够的智能来处理其接收到的许多信号和消息，而不必将这些信号或消息转发到下一个较高级别的控制器，并等待来自该更高级控制器的指令。 因此，系统在控制器之间分配智能。 该系统适用于输送机控制系统。

    Integrated control card for conveying systems
    8.
    发明授权
    Integrated control card for conveying systems 有权
    输送系统集成控制卡

    公开(公告)号：US07360638B2

    公开(公告)日：2008-04-22

    申请号：US11196884

    申请日：2005-08-04

    申请人： Clyde Miin-Arng Ko ,  Randall J Carlson ,  Roger L Sinen ,  Thomas H Triesenberg ,  Donald E Lemke

    发明人： Clyde Miin-Arng Ko ,  Randall J Carlson ,  Roger L Sinen ,  Thomas H Triesenberg ,  Donald E Lemke

    IPC分类号： B65G43/10 ,  B65G13/06 ,  G06F17/00

    CPC分类号： G05B19/414 ,  H01R27/00

    摘要： A material handling system, and method of controlling the material handling system, includes a conveying surface with a plurality of individually controlled zones and a plurality of motors. At least one of the motors propelling the conveying surface at each zone. A plurality of motor controller circuits adapted to control the plurality of motors. An upper-level control circuit in communication with the plurality of motor controller circuits and adapted to send communications to the motor controller circuits for controlling at least one motor. An integrated control card defining the upper-level control circuit and the plurality of motor controller circuits, wherein the upper-level control circuit and the plurality of motor controller circuits are integrated onto the integrated control card.

    摘要翻译： 材料处理系统和材料处理系统的控制方法包括具有多个独立控制区域和多个电机的输送面。 至少一个电动机在每个区域推进输送表面。 多个电动机控制器电路，适于控制多个电动机。 一种与多个电动机控制器电路通信的上位控制电路，并且适用于向马达控制器电路发送用于控制至少一个电动机的通信。 一种集成控制卡，其限定上层控制电路和多个电动机控制器电路，其中上层控制电路和多个电动机控制器电路集成到集成控制卡上。

    Reference-based automatic address assignment system and method for a material handling system
    9.
    发明授权
    Reference-based automatic address assignment system and method for a material handling system 有权
    基于参考的自动地址分配系统和材料处理系统的方法

    公开(公告)号：US07613542B2

    公开(公告)日：2009-11-03

    申请号：US11308351

    申请日：2006-03-17

    申请人： Clyde Miin-Arng Ko ,  Randall J. Carlson ,  Roger L. Sinen

    发明人： Clyde Miin-Arng Ko ,  Randall J. Carlson ,  Roger L. Sinen

    IPC分类号： G06F7/00 ,  G06F19/00 ,  B65G43/08

    CPC分类号： B65G43/00 ,  B65G37/02

    摘要： A material handling system and method of automatic address assignment of components of the material handling system, includes a conveying surface divided into a plurality of zones, a plurality of motors propelling each zone, a plurality of lower level controllers and a plurality of sensors adapted to communicate the presence of an article on the conveying surface to the associated lower level controller. An upper-level controller in communication with the lower level controllers assigns a unique communications address to a specific lower level controller identified by a reference article being detected by the sensor with that lower level controller.

    摘要翻译： 一种材料处理系统和材料处理系统的部件的自动地址分配方法，包括分为多个区域的输送表面，推动每个区域的多个马达，多个下位控制器和多个适于 将输送表面上的物品的存在传达到相关联的下层控制器。 与较低级别控制器通信的上级控制器为由具有该较低级别控制器的传感器检测到的参考文献标识的特定下层控制器分配唯一的通信地址。