公开(公告)号：US09679270B2

公开(公告)日：2017-06-13

申请号：US14695121

申请日：2015-04-24

申请人： Aethon, Inc.

发明人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

IPC分类号： B25J9/16 ,  B25J5/00 ,  G05D1/02 ,  G06Q10/08 ,  G05B19/418 ,  G06K7/00 ,  G06K19/07

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

公开(公告)号：US07996109B2

公开(公告)日：2011-08-09

申请号：US11549815

申请日：2006-10-16

申请人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

发明人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

IPC分类号： G06F19/00

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated retrieval/delivery of goods from one location to another using a robotic device such as a tug and accompanying cart. A computer within the tug/cart stores a map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or continuously adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

公开(公告)号：US20110137457A1

公开(公告)日：2011-06-09

申请号：US13027861

申请日：2011-02-15

申请人： Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

发明人： Aldo ZINI ,  Spencer Wayne ALLEN ,  Barry Mark SKIRBLE ,  Henry F. THORNE ,  Stuart FAIRLEY

IPC分类号： G06F19/00

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated retrieval/delivery of goods from one location to another using a robotic device such as a tug and accompanying cart. A computer within the tug/cart stores a map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or continuously adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

摘要翻译： 用于使用机器人装置例如拖船和伴随车从一个位置到另一个位置自动检索/传送货物的系统，方法和装置。 拖船/购物车内的电脑存储建筑物平面图的图表，以及从一个位置到下一个位置的拖船所需的路径。 在交货期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或连续调节拖船移动的数据，以便更紧密地遵循预期的路径。 该系统优选地包括允许一个或多个拖船与拖船基站，位于交付地点的主网络以及监视由拖船收集的状态和数据的远程主机中心进行通信的无线网络。

公开(公告)号：US5023790A

公开(公告)日：1991-06-11

申请号：US313654

申请日：1989-02-17

申请人： Walter Luke, Jr.

发明人： Walter Luke, Jr.

IPC分类号： G05B19/418 ,  G05D1/02

CPC分类号： G05B19/41865 ,  G05B19/41895 ,  G05D1/0242 ,  G05D1/0265 ,  G05B2219/31002 ,  G05B2219/31004 ,  G05B2219/31005 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0272 ,  G05D2201/0216 ,  Y02P90/04 ,  Y02P90/20 ,  Y02P90/285

摘要： An AGV and guidance system for transporting material between at least two pickup and delivery stands. The AGV has a chassis for carrying objects. A computer processor is supported by the chassis for controlling and monitoring AGV operation. An interactive display is connected to the computer processor and mounted on the chassis for displaying status, current assignment and diagnostic information relating to AGV operation.

摘要翻译： AGV和导向系统，用于在至少两个拾取和传送架之间运输材料。 AGV具有用于携带物体的底盘。 机箱支持计算机处理器，用于控制和监视AGV操作。 交互式显示器连接到计算机处理器并安装在机箱上，用于显示与AGV操作有关的状态，当前分配和诊断信息。

公开(公告)号：US20150234386A1

公开(公告)日：2015-08-20

申请号：US14699048

申请日：2015-04-29

申请人： Aethon, Inc.

发明人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

IPC分类号： G05D1/02

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

摘要翻译： 使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。 拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。 在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。 该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

公开(公告)号：US09026301B2

公开(公告)日：2015-05-05

申请号：US11581798

申请日：2006-10-16

申请人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

发明人： Aldo Zini ,  Spencer Wayne Allen ,  Barry Mark Skirble ,  Henry F. Thorne ,  Stuart Fairley

IPC分类号： G05B15/00 ,  G06F19/00 ,  G05D1/02 ,  A61G12/00 ,  G05B19/418

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

摘要翻译： 使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。 拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。 在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。 该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

公开(公告)号：US20100234995A1

公开(公告)日：2010-09-16

申请号：US12632319

申请日：2009-12-07

申请人： Aldo Zini ,  Barry Mark Skirble ,  Peter T. Seiff ,  Kevin F. Seip

发明人： Aldo Zini ,  Barry Mark Skirble ,  Peter T. Seiff ,  Kevin F. Seip

IPC分类号： G05B15/00

CPC分类号： G05B19/41895 ,  B25J11/009 ,  G05B2219/31006 ,  G05B2219/31086 ,  G05B2219/31286 ,  G05B2219/31432 ,  G05B2219/31446 ,  G05B2219/31454 ,  G06F19/00 ,  G06F19/3462 ,  Y02P90/285 ,  Y02P90/60

摘要： A system. The system includes an apparatus and a server. The apparatus is configured for securely transporting an item from a first location to a second location, and includes a mobile robot and a cart. The cart is coupled to the mobile robot and includes at least one secure storage area. The server is communicably connected to the apparatus and includes a module. The module is configured to maintain a chain of custody record for the item.

摘要翻译： 一个系统。 该系统包括装置和服务器。 该装置被配置为将物品从第一位置安全地运送到第二位置，并且包括移动机器人和手推车。 推车被联接到移动机器人并且包括至少一个安全存储区域。 服务器可通信地连接到设备并且包括模块。 该模块被配置为维护该项目的保管链记录。

公开(公告)号：US20070112461A1

公开(公告)日：2007-05-17

申请号：US11581798

申请日：2006-10-16

申请人： Aldo Zini ,  Spencer Allen ,  Barry Skirble ,  Henry Thorne ,  Stuart Fairley

发明人： Aldo Zini ,  Spencer Allen ,  Barry Skirble ,  Henry Thorne ,  Stuart Fairley

IPC分类号： G06F19/00

CPC分类号： G06Q10/087 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/31006 ,  G05B2219/31007 ,  G05D1/0225 ,  G05D1/0227 ,  G05D1/0238 ,  G05D1/024 ,  G05D1/0242 ,  G05D1/0246 ,  G05D1/0255 ,  G05D1/0274 ,  G05D1/028 ,  G05D2201/0206 ,  G06F19/00 ,  G06K7/0008 ,  G06K19/0723 ,  Y02P90/285 ,  Y02P90/60 ,  Y10S901/01 ,  Y10S901/46

摘要： Systems, methods and devices for the automated delivery of goods form one to another using a robotic tug and accompanying cart. A computer within the tug or cart stores an electronic map of the building floor plan and intended paths for the tug to take when traversing from one location to the next. During the delivery, a variety of different sensors and scanners gather data that is used to avoid obstacles and/or adjust the movement of the tug in order to more closely follow the intended path. The system preferably includes both wired and wireless networks that allow one or more tugs to communicate with a tug base station, a primary network located at the site of the delivery and a remote host center that monitors the status and data collected by the tugs.

摘要翻译： 使用机器人拖船和随车可以自动交货的系统，方法和设备形成一个。 拖船或推车内的计算机存储建筑物平面图的电子地图，以及当从一个位置到下一个位置的时候，拖船采取的预期路径。 在交付期间，各种不同的传感器和扫描仪收集用于避免障碍物和/或调整拖船移动的数据，以便更紧密地遵循预期路径。 该系统优选地包括有线和无线网络，其允许一个或多个拖船与拖船基站，位于交付地点的主网络和监视由拖船收集的状态和数据的远程主机中心进行通信。

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。

公开(公告)号：US06594560B2

公开(公告)日：2003-07-15

申请号：US09788404

申请日：2001-02-21

申请人： Tong-hun Lee

发明人： Tong-hun Lee

IPC分类号： G06F1700

CPC分类号： G05D1/0282 ,  G05B2219/31006 ,  G05D2201/0216 ,  Y02P90/285

摘要： Disclosed is an automated-guided vehicle (AGV) system comprising an AGV travelling on a facility line, having vehicle body, a driver for driving the vehicle body and a transfer device for transferring a wafer to and from a cassette; and a central control device controlling an operation of the AGV, the central control device comprising a central communicator, communicating with the AGV according to a predetermined communication protocol, the AGV comprising a radio communicator, communicating with the central communicator according to the predetermined communication protocol, and a controller activating the transfer device according to a command received by the radio communicator to transfer the wafer and controlling an operation of the driver. With this configuration, an AGV system enables communication between a central control device and an AGV according to the communication protocol, thereby loading and unloading the wafers 30 one by one.