公开(公告)号：US06799099B2

公开(公告)日：2004-09-28

申请号：US10209766

申请日：2002-07-31

申请人： David W. Zeitler ,  Garry Koff ,  Matt Werner

发明人： David W. Zeitler ,  Garry Koff ,  Matt Werner

IPC分类号： G01C2200

CPC分类号： G01S5/14 ,  G01S5/0247 ,  G05D1/0282 ,  G05D2201/0216

摘要： A material handling system uses high-frequency location devices for determining the location of mobile units, such as AGVs, overhead mono-rails, conveyor components, or individual articles being transported by such units. The high-frequency location devices may also be used to identify the contents and/or routing information for material being moved within a facility. AGVs may incorporate the high-frequency location devices into their navigation systems to utilize the position and/or heading updates provided by the location devices in guiding the vehicle. The location devices work in cooperation with a number of stationary location devices, such as beacons, that are positioned within the environment at known locations, such as in or adjacent the ceiling of the workplace environment. High-frequency radars may also be used to provide electronic bumpers to the AGVs, allowing them to sense obstacles and take appropriate action to avoid collisions with the obstacles.

摘要翻译： 材料处理系统使用高频定位装置来确定移动单元的位置，例如AGV，高架单轨，输送机部件或由这些单元运输的单个物品。 高频位置设备还可以用于识别在设施内被移动的材料的内容和/或路由信息。 AGV可以将高频位置设备合并到其导航系统中，以利用由位置设备提供的位置和/或航向更新来引导车辆。 定位装置与许多固定位置装置（例如信标）协同工作，其定位在已知位置处的环境中，例如在工作场所环境的天花板中或其附近。 高频雷达也可用于向AGV提供电子保险杠，允许它们感测障碍物并采取适当的行动以避免与障碍物的碰撞。

公开(公告)号：US06832139B2

公开(公告)日：2004-12-14

申请号：US10394546

申请日：2003-03-21

申请人： James Johnson ,  Garry Koff ,  Matt Werner

发明人： James Johnson ,  Garry Koff ,  Matt Werner

IPC分类号： G01C2200

CPC分类号： G05D1/0236 ,  G05D2201/0216

摘要： A graphical system configuration program allows material handling systems to easily be defined, configured, and implemented. The system may utilize a computer for configuring an automatic guided vehicle system. Information defining the path layouts for the AGVs, traffic control information, decisional logic for path branches, update marker information, and other information useful for controlling the operation of the automatic guided vehicles may be entered into the computer and displayed graphically. The computer is programmed to automatically verify the validity of the entered information, and to optionally simulate the movement of the automatic guided vehicles. After the information has been validated, it can be converted to a file format that is used by an automatic guided vehicle controller to control the vehicle's movement. Virtually the entire design process for the AGV system can therefore be carried out using a single computer program specifically adapted for that purpose.

摘要翻译： 图形系统配置程序可以轻松地定义，配置和实现物料搬运系统。 该系统可以利用计算机来配置自动引导车辆系统。 定义AGV的路径布局的信息，交通控制信息，路径分支的判定逻辑，更新标记信息以及用于控制自动引导车辆的操作的其他信息可以输入到计算机中并以图形方式显示。 计算机被编程为自动验证输入的信息的有效性，并且可选地模拟自动引导车辆的移动。 在信息被验证之后，它可以转换成由自动引导车辆控制器使用的文件格式来控制车辆的运动。 因此，实际上，AGV系统的整个设计过程可以使用专门用于该目的的单个计算机程序来执行。

公开(公告)号：US20050021195A1

公开(公告)日：2005-01-27

申请号：US10710565

申请日：2004-07-21

申请人： David Zeitler ,  Matthew Werner ,  Garry Koff

发明人： David Zeitler ,  Matthew Werner ,  Garry Koff

IPC分类号： G05D1/02 ,  G06G7/78

CPC分类号： G05D1/0272 ,  G05D1/024 ,  G05D1/0257 ,  G05D1/0261 ,  G05D1/027 ,  G05D1/0274

摘要： A method and apparatus for guiding an automated-guided vehicle includes providing a guide path defined with respect to a physical path and controlling a vehicle to generally follow the guide path. The presence of an obstacle at the guide path is detected, such as with a laser scanner, radar detector, or the like. The vehicle is controlled around the obstacle and back to the guide path. This may be accomplished by generating an offset to the guide path at the detected obstacle.

摘要翻译： 用于引导自动引导车辆的方法和装置包括提供相对于物理路径限定的引导路径并且控制车辆大致跟随引导路径。 检测引导路径处的障碍物的存在，例如用激光扫描仪，雷达检测器等。 车辆围绕障碍物控制并返回到引导路径。 这可以通过在检测到的障碍物处产生对引导路径的偏移来实现。