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21. 发明授权

US09645968B2 Multiple zone sensing for materials handling vehicles 有权
公开(公告)号：US09645968B2
公开(公告)日：2017-05-09
申请号：US12631007
申请日：2009-12-04
申请人： Edwin R. Elston , Vernon W. Siefring , Eric L. Jensen
发明人： Edwin R. Elston , Vernon W. Siefring , Eric L. Jensen
IPC分类号： G06F7/00 , B62D6/00 , G06F17/00 , B66F9/075 , G05D1/00 , G05D1/02 , G08C17/02
CPC分类号： B60W30/09 , B60W10/04 , B60W10/20 , B60W50/08 , B60W2300/121 , B60W2540/04 , B60W2550/10 , B60W2710/20 , B60W2720/10 , B66F9/07509 , B66F9/0755 , B66F9/07568 , B66F9/07572 , B66F9/07581 , G05D1/0011 , G05D1/0033 , G05D1/021 , G05D1/024 , G05D1/0255 , G05D2201/0216 , G06F17/00 , G08C17/02 , G08C2201/20
摘要： A supplemental control system for a materials handling vehicle comprises one or more sensors capable of defining multiple contactless detection zones at least towards the front of the forward travel direction of a remotely controlled vehicle. The vehicle responds to the detection of objects within the designated zones based upon predetermined actions, such as to slow down or stop the vehicle, and/or to take other action, such as to perform a steer angle correction.

22. 发明授权

US09087384B2 Identifying, matching and tracking multiple objects in a sequence of images 有权
标题翻译：识别，匹配和跟踪图像序列中的多个对象
公开(公告)号：US09087384B2
公开(公告)日：2015-07-21
申请号：US13652649
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger , John-David S. Yoder
IPC分类号： G06K9/00 , G06T7/00 , B66F9/12 , B66F9/24
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.
摘要翻译：提供了一种在由相机获取的图像帧序列中跟踪得分候选对象的方法。所记录的候选对象可以包括与先前图像帧相关联的一组现有记分的候选对象和与下一图像帧相关联的一组新的得分候选对象。

23. 发明授权

US08995743B2 Identifying and locating possible lines corresponding to pallet structure in an image 有权
标题翻译：识别和定位对应于图像中托盘结构的可能线
公开(公告)号：US08995743B2
公开(公告)日：2015-03-31
申请号：US13652516
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/00 , G06T7/00 , B66F9/12 , B66F9/24
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A computer-implemented method is provided for finding a Ro image providing data corresponding to possible orthogonal distances to possible lines on a pallet in an image. The method comprises: acquiring a grey scale image including one or more pallets; determining, using a computer, a horizontal gradient image by convolving the grey scale image and a first convolution kernel; determining, using the computer, a vertical gradient image by convolving the grey scale image and a second convolution kernel; and determining, using the computer, respective pixel values of a first Ro image providing data corresponding to a possible orthogonal distance from an origin point of the grey scale image to one or more possible lines on one or more possible pallets in the grey scale image.
摘要翻译：提供了一种计算机实现的方法，用于找到提供与图像中的托盘上的可能线可能的正交距离相对应的数据的Ro图像。该方法包括：获取包括一个或多个托盘的灰度图像; 通过卷积灰度图像和第一卷积核心来确定使用计算机的水平梯度图像; 通过卷积灰度图像和第二卷积核心来确定使用计算机的垂直梯度图像; 以及使用所述计算机，确定第一Ro图像的相应像素值，所述第一Ro图像提供对应于从所述灰度图像的原点到所述灰度图像中的一个或多个可能托盘上的一个或多个可能线的可能的正交距离的数据。

24. 发明授权

US08849007B2 Identifying, evaluating and selecting possible pallet board lines in an image scene 有权
标题翻译：在图像场景中识别，评估和选择可能的托盘板线
公开(公告)号：US08849007B2
公开(公告)日：2014-09-30
申请号：US13652534
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/00 , B66F9/24 , B66F9/12 , G06T7/00
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
摘要翻译：提供了一种用于确定多个可能线中的哪一条最可能是穿过托盘的可能拐角的实际线的方法。该方法可以包括：提供Ro图像，该图像包括值，其大致对应于从Ro图像中的原点到相应灰度图像中的一个或多个可能线的正交距离; 使用计算机提供与可能的托盘角对应的Ro图像中的位置; 使用计算机定义多条可能的线穿过可能的托盘拐角，每条可能的线分别在与Ro图像的轴线的角度范围内成一定角度; 并且使用所述计算机确定所述多个可能线中的哪一条最可能是通过所述可能的托盘拐角的实际线。

25. 发明授权

US08718890B2 Materials handling vehicle having a control apparatus for determining an acceleration value 有权
标题翻译：具有用于确定加速度值的控制装置的材料搬运车辆
公开(公告)号：US08718890B2
公开(公告)日：2014-05-06
申请号：US13788683
申请日：2013-03-07
申请人： George Robert Wetterer , James Francis Schloemer , Monty L. Crabill , Eric L. Jensen
发明人： George Robert Wetterer , James Francis Schloemer , Monty L. Crabill , Eric L. Jensen
IPC分类号： B66F9/00
CPC分类号： B60W10/04 , B60W10/20 , B66F9/075 , B66F9/07509 , B66F9/07568 , B66F9/24
摘要： A materials handling vehicle is provided comprising: a frame; wheels supported on the frame; a traction motor coupled to one of the wheels to effect rotation of the one wheel; a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of the traction motor; a system associated with a steerable wheel to effect angular movement of the steerable wheel; and control apparatus coupled to the speed control element to receive the speed control signal, and coupled to the traction motor to generate a drive signal to the traction motor in response to the speed control signal to control the operation of the traction motor. The control apparatus may determine an acceleration value for the traction motor based on at least one of an angular position of the steerable wheel, a speed of the traction motor and a current position of the speed control element as defined by the speed control signal.
摘要翻译：提供一种材料搬运车辆，包括：框架; 支撑在框架上的轮子; 牵引马达，其联接到所述车轮之一以实现所述一个车轮的旋转; 速度控制元件，其由操作者操作以限定对应于所述牵引马达的期望速度的速度控制信号; 与可转向轮相关联的系统以实现可转向轮的角运动; 以及控制装置，其耦合到速度控制元件以接收速度控制信号，并且耦合到牵引电动机，以响应于速度控制信号产生到牵引电动机的驱动信号，以控制牵引电动机的操作。控制装置可以基于转向控制信号所定义的转向轮的角度位置，牵引电动机的速度和速度控制元件的当前位置中的至少一个来确定牵引电动机的加速度值。

26. 发明申请

US20130184960A1 MATERIALS HANDLING VEHICLE HAVING A CONTROL APPARATUS FOR DETERMINING AN ACCELERATION VALUE 有权
公开(公告)号：US20130184960A1
公开(公告)日：2013-07-18
申请号：US13788683
申请日：2013-03-07
申请人： George Robert Wetterer , James Francis Schloemer , Monty L. Crabill , Eric L. Jensen
发明人： George Robert Wetterer , James Francis Schloemer , Monty L. Crabill , Eric L. Jensen
IPC分类号： B66F9/075
CPC分类号： B60W10/04 , B60W10/20 , B66F9/075 , B66F9/07509 , B66F9/07568 , B66F9/24
摘要： A materials handling vehicle is provided comprising: a frame; wheels supported on the frame; a traction motor coupled to one of the wheels to effect rotation of the one wheel; a speed control element operable by an operator to define a speed control signal corresponding to a desired speed of the traction motor; a system associated with a steerable wheel to effect angular movement of the steerable wheel; and control apparatus coupled to the speed control element to receive the speed control signal, and coupled to the traction motor to generate a drive signal to the traction motor in response to the speed control signal to control the operation of the traction motor. The control apparatus may determine an acceleration value for the traction motor based on at least one of an angular position of the steerable wheel, a speed of the traction motor and a current position of the speed control element as defined by the speed control signal.

27. 发明申请

US20130131895A1 MULTIPLE ZONE SENSING FOR MATERIALS HANDLING VEHICLES TRAVELING UNDER REMOTE CONTROL 有权
标题翻译：用于材料的多区域感测处理远程控制的车辆
公开(公告)号：US20130131895A1
公开(公告)日：2013-05-23
申请号：US13738016
申请日：2013-01-10
申请人： Edwin R. Elston , Vernon W. Siefring , Eric L. Jensen
发明人： Edwin R. Elston , Vernon W. Siefring , Eric L. Jensen
IPC分类号： G06F17/00 , G06F19/00
CPC分类号： B60W30/09 , B60W10/04 , B60W10/20 , B60W50/08 , B60W2300/121 , B60W2540/04 , B60W2550/10 , B60W2710/20 , B60W2720/10 , B66F9/07509 , B66F9/0755 , B66F9/07568 , B66F9/07572 , B66F9/07581 , G05D1/0011 , G05D1/0033 , G05D1/021 , G05D1/024 , G05D1/0255 , G05D2201/0216 , G06F17/00 , G08C17/02 , G08C2201/20
摘要： A supplemental control system for a materials handling vehicle comprises one or more sensors capable of defining multiple contactless detection zones at least towards the front of the forward travel direction of a remotely controlled vehicle. The vehicle responds to the detection of objects within the designated zones based upon predetermined actions, such as to slow down or stop the vehicle, and/or to take other action, such as to perform a steer angle correction.
摘要翻译：用于材料处理车辆的补充控制系统包括一个或多个能够至少朝向遥控车辆的前进行进方向的前方限定多个非接触检测区域的传感器。车辆基于预定的动作（例如减速或停止车辆）和/或采取其他动作（例如执行转向角度校正）来响应对指定区域内的物体的检测。

28. 发明申请

US20130101202A1 IDENTIFYING, EVALUATING AND SELECTING POSSIBLE PALLET BOARD LINES IN AN IMAGE SCENE 有权
标题翻译：在图像场景中识别，评估和选择可能的托盘板线
公开(公告)号：US20130101202A1
公开(公告)日：2013-04-25
申请号：US13652534
申请日：2012-10-16
申请人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
发明人： Lee F. Holeva , Edwin R. Elston , Eric L. Jensen , Michael J. Seelinger
IPC分类号： G06K9/46 , G06K9/64
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for determining which of a plurality of possible lines is most likely to be an actual line passing through a possible corner of a pallet. The method may comprise: providing a Ro image comprising pixels valued to generally correspond to an orthogonal distance from an origin point in the Ro image to one or more possible lines in a corresponding grey scale image; providing, using a computer, a location in the Ro image corresponding to a possible pallet corner; defining, using the computer, a plurality of possible lines passing through the possible pallet corner, each of the possible lines being respectively oriented at one angle within a range of angles to an axis of the Ro image; and determining, using the computer, which of the plurality of possible lines is most likely to be the actual line passing through the possible pallet corner.
摘要翻译：提供了一种用于确定多个可能线中的哪一条最可能是穿过托盘的可能拐角的实际线的方法。该方法可以包括：提供Ro图像，该图像包括值，其大致对应于从Ro图像中的原点到相应灰度图像中的一个或多个可能线的正交距离; 使用计算机提供与可能的托盘角对应的Ro图像中的位置; 使用计算机定义多条可能的线穿过可能的托盘拐角，每条可能的线分别在与Ro图像的轴线的角度范围内成一定角度; 并且使用所述计算机确定所述多个可能线中的哪一条最可能是通过所述可能的托盘拐角的实际线。

29. 发明授权

US07849955B2 Materials handling vehicle having a steer system including a tactile feedback device 有权
标题翻译：具有包括触觉反馈装置的转向系统的材料搬运车辆
公开(公告)号：US07849955B2
公开(公告)日：2010-12-14
申请号：US12360385
申请日：2009-01-27
申请人： Monty L. Crabill , Eric L. Jensen , Sultan Masoud Karimi , James F. Schloemer , George R. Wetterer
发明人： Monty L. Crabill , Eric L. Jensen , Sultan Masoud Karimi , James F. Schloemer , George R. Wetterer
IPC分类号： B62D5/00
CPC分类号： B60W10/04 , B60W10/20 , B66F9/075 , B66F9/07509 , B66F9/07568 , B66F9/24
摘要： A materials handling vehicle is provided comprising: a frame comprising an operator's compartment; wheels supported on the frame, at least one of the wheels being a steerable wheel; a steer-by-wire system and control apparatus. The steer-by-wire system is associated with the steerable wheel to effect angular movement of the steerable wheel about a first axis.
摘要翻译：提供了一种材料处理车辆，包括：框架，包括操作室; 支撑在框架上的轮子，至少一个轮子是可转向的轮子; 线控转向系统和控制装置。线控转向系统与可转向轮相关联，以实现可转向轮围绕第一轴的角运动。

30. 发明申请

US20080067019A1 Magnetorheological damper 审中-公开
标题翻译：磁流变阻尼器
公开(公告)号：US20080067019A1
公开(公告)日：2008-03-20
申请号：US11523401
申请日：2006-09-19
申请人： Eric L. Jensen , Michael W. Hurtt , David Andrew Shal , Michelle Goecke , Benoit Prevot , Lilian Cantuern , Jocelyn Marchand , Christophe Francisco
发明人： Eric L. Jensen , Michael W. Hurtt , David Andrew Shal , Michelle Goecke , Benoit Prevot , Lilian Cantuern , Jocelyn Marchand , Christophe Francisco
IPC分类号： F16F15/03
CPC分类号： F16F9/535
摘要： A magnetorheological (MR) damper includes a damper tube, a movable non-MR damper piston, and a non-movable MR damper piston. The damper tube has substantially hermetically separated first and second chambers, wherein the first chamber contains a non-MR fluid and the second chamber contains an MR fluid. The non-MR damper piston is located in the first chamber and is slidable with respect to the damper tube. The MR damper piston has a longitudinal axis and an electric coil, is located in the second chamber, and is fixedly attached to the damper tube. Sliding the non-MR damper piston with respect to the damper tube causes movement of at least some of the MR fluid longitudinally past the electric coil.
摘要翻译：磁流变（MR）阻尼器包括阻尼管，可移动非MR阻尼器活塞和不可动MR阻尼活塞。阻尼管具有基本上气密分离的第一和第二腔室，其中第一腔室包含非MR流体，第二腔室包含MR流体。非MR阻尼器活塞位于第一腔室中并且可相对于阻尼管滑动。 MR阻尼器活塞具有纵向轴线和电线圈，位于第二腔室中，并且固定地附接到阻尼管。相对于阻尼管滑动非MR阻尼器活塞导致MR流体中的至少一些纵向流过电线圈。

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