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1. 发明申请

US20120316722A1 ADVANCED NAVIGATION AND GUIDANCE SYSTEM AND METHOD FOR AN AUTOMATIC GUIDED VEHICLE (AGV) 审中-公开
标题翻译：自动引导车辆（AGV）的高级导航和指导系统及方法
公开(公告)号：US20120316722A1
公开(公告)日：2012-12-13
申请号：US13315676
申请日：2011-12-09
申请人： David W. Zeitler , Michael D. Olinger , Andrew R. Black , Matthew L. Werner
发明人： David W. Zeitler , Michael D. Olinger , Andrew R. Black , Matthew L. Werner
IPC分类号： G05D1/02
CPC分类号： G05D1/0261 , G05D2201/0216
摘要： An automatic guided vehicle (AGV) system for automatically transporting loads along a predetermined path is provided. The improvement includes a plurality of embedded magnets distant from one another, wherein at least a portion of the plurality of embedded magnets represent a positioning point and a plurality of AGVs, wherein at least one of the plurality of AGVs includes a drive assembly and a sensor system having a plurality of sensors, the sensor system configured for guidance of the AGV based upon simultaneous reading of the embedded magnets under the plurality of sensors, such that a position of the AGV with respect to the sensors can be repeatedly determined with respect to magnetic field peaks of the embedded magnets, and fine positioning markers.
摘要翻译：提供了一种用于沿预定路径自动传送载荷的自动导向车辆（AGV）系统。所述改进包括彼此远离的多个嵌入式磁体，其中所述多个嵌入式磁体的至少一部分表示定位点和多个AGV，其中所述多个AGV中的至少一个包括驱动组件和传感器系统具有多个传感器，所述传感器系统被配置为基于同时读取多个传感器下的嵌入式磁体来引导AGV，使得AGV相对于传感器的位置可以相对于磁性重复地确定嵌入式磁体的场峰，以及精细定位标记。

2. 发明授权

US07191895B2 Conveyor induct system with probability estimator 有权
标题翻译：具有概率估计器的输送机感应系统
公开(公告)号：US07191895B2
公开(公告)日：2007-03-20
申请号：US10958955
申请日：2004-10-05
申请人： David W Zeitler , Martin R Doane , Douglas L Milliman
发明人： David W Zeitler , Martin R Doane , Douglas L Milliman
IPC分类号： B65G43/00
CPC分类号： B65G47/31 , B65G43/08 , B65G43/10 , B65G2203/044
摘要： A conveyor system, such as an induction subsystem for supplying articles to a sortation subsystem, and method of conveying articles includes providing a conveying surface for conveying a series of articles and at least one sensor for sensing the articles on the conveying surface. A control is provided which establishes at least one parameter for each of the articles and controls the conveying surface as a function of the at least one parameter of each of the articles. The control includes a computer and a program for the computer. The program includes at least one probability estimator. The control determines the at least one parameter of each of the articles at least in part by the at least one probability estimator. The control controls gaps between articles or synchronizes arrival of articles at the sortation system.
摘要翻译：输送系统，例如用于将物品供应到分拣子系统的感应子系统和输送物品的方法包括提供用于传送一系列物品的传送表面和用于感测输送表面上的物品的至少一个传感器。提供了一种控制器，其为每个物品建立至少一个参数，并根据每个物品的至少一个参数控制输送表面。控制器包括计算机和用于计算机的程序。该程序包括至少一个概率估计器。该控制至少部分地由至少一个概率估计器确定每个商品的至少一个参数。控制控制物品之间的差距或同步分类系统中物品的到达。

3. 发明授权

US06866136B2 Positive displacement shoe and slat sorter apparatus and method 有权
公开(公告)号：US06866136B2
公开(公告)日：2005-03-15
申请号：US10780408
申请日：2004-02-17
申请人： Frank W. Veit , David W. Zeitler , Rhonda J. Verploegen , Andrew R. Black , Charles W. Bozarth , Clyde Miin-Arng Ko
发明人： Frank W. Veit , David W. Zeitler , Rhonda J. Verploegen , Andrew R. Black , Charles W. Bozarth , Clyde Miin-Arng Ko
IPC分类号： B65G47/68 , B07C5/36 , B65G23/23 , B65G47/84 , B65G47/10 , B65G15/60
CPC分类号： B65G47/844 , B07C5/362 , B65G23/23 , B65G2207/36
摘要： A positive displacement sorter apparatus and method includes providing a plurality of slats being interconnected in an endless web, an upper run of the web defining a conveying surface, and a plurality of pusher shoes gliding along at least some of the slats to laterally displace articles on the conveying surface. A linear motor system is provided to propel the web and includes a plurality of linear motor secondaries at the slats and at least one primary for propelling the secondaries. A control system controls the primaries.

4. 发明授权

US06345217B1 Automated guided vehicle (AGV) with bipolar magnet sensing 失效
标题翻译：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。

5. 发明授权

US06814216B2 Positive displacement shoe and slat sorter apparatus and method 有权
标题翻译：正位移鞋和板条分拣机设备及方法
公开(公告)号：US06814216B2
公开(公告)日：2004-11-09
申请号：US09968742
申请日：2001-09-28
申请人： Frank W. Veit , David W. Zeitler , Rhonda J. Verploegen , Andrew R. Black , Charles W. Bozarth , Clyde Miin-Arng Ko
发明人： Frank W. Veit , David W. Zeitler , Rhonda J. Verploegen , Andrew R. Black , Charles W. Bozarth , Clyde Miin-Arng Ko
IPC分类号： B65G4710
CPC分类号： B65G47/844 , B07C5/362 , B65G23/23 , B65G2207/36
摘要： A positive displacement sorter apparatus and method includes providing a plurality of slats being interconnected in an endless web, an upper run of the web defining a conveying surface, and a plurality of pusher shoes gliding along at least some of the slats to laterally displace articles on the conveying surface. A linear motor system is provided to propel the web and includes a plurality of linear motor secondaries at the slats and at least one primary for propelling the secondaries. A control system controls the primaries.
摘要翻译：正排量分选机设备和方法包括提供在环形腹板中相互连接的多个板条，所述腹板的上游面限定输送表面，以及沿着至少一些板条滑动的多个推进器鞋，输送面。提供线性马达系统以推动幅材并且在板条处包括多个线性马达次级元件，并且至少一个主推动器用于推动次级元件。控制系统控制原色。

6. 发明授权

US06721638B2 AGV position and heading controller 失效
标题翻译： AGV位置和航向控制器
公开(公告)号：US06721638B2
公开(公告)日：2004-04-13
申请号：US10140484
申请日：2002-05-07
申请人： David W. Zeitler
发明人： David W. Zeitler
IPC分类号： G05D102
CPC分类号： G05D1/027 , G05D1/0236 , G05D1/0261 , G05D1/0265 , G05D1/0272 , G05D2201/0216
摘要： A method and apparatus for controlling the steering of an automatic guided vehicle (AGV) includes simultaneously correcting the vehicle's heading and position errors. The vehicle may include first and second steering control loops that determine the vehicle's position and heading errors, respectively. Separate commands are generated from these control loops to steer the vehicle in a manner that tends to reduce these errors. The vehicle may include a forward and a rearward pair of wheels. For correcting position errors, the first control loop issues the same steering command to both the forward and rearward pair of wheels. For correcting heading errors, the second control loop issues a steering command to the rearward pair of wheels that is summed together with the first control loop's steering command prior to being applied to the rearward pair of wheels.
摘要翻译：用于控制自动导引车辆（AGV）的转向的方法和装置包括同时校正车辆的航向和位置误差。车辆可以包括分别确定车辆的位置和方向误差的第一和第二转向控制回路。从这些控制回路产生单独的命令，以便倾向于减少这些错误的方式转向车辆。车辆可以包括前方和后方的车轮。为了校正位置误差，第一控制回路向前和后两对车轮发出相同的转向指令。为了校正航向误差，第二控制回路在向后一对车轮施加之前向后一对车轮发出转向指令，该转向指令与第一控制回路的转向指令一起求和。

7. 发明授权

US06629593B2 Conveyor induction system 失效
标题翻译：输送机感应系统
公开(公告)号：US06629593B2
公开(公告)日：2003-10-07
申请号：US09851021
申请日：2001-05-08
申请人： David W. Zeitler
发明人： David W. Zeitler
IPC分类号： B65G4726
CPC分类号： B65G43/08 , B65G43/10 , B65G47/31
摘要： A conveyor induct system includes a control point subsystem for measuring the point at which control of an article transitions from one conveyor to another. The induct system also includes a subsystem for accurately creating or controlling the gaps between articles on the conveyor system. The control point subsystem monitors the location, and changes in the speed, of an article as it passes between two conveyors operating at different speeds. The gap control subsystem provides real time monitoring and measuring of the package gaps. The measured package gaps are fed into a feedback control system which alters the speed of a conveyor in order to change the gapping as desired.
摘要翻译：输送机感应系统包括用于测量物品的控制从一个输送机转移到另一个输送机的点的控制点子系统。感应系统还包括用于精确地创建或控制输送机系统上的物品之间的间隙的子系统。控制点子系统监控物品在两个以不同速度运行的输送机之间通过时的位置和速度的变化。间隙控制子系统提供对包装间隙的实时监测和测量。所测量的包装间隙被馈送到反馈控制系统中，其改变输送机的速度以便根据需要改变间隙。

8. 发明授权

US07284652B2 Tiered control architecture for material handling 有权
标题翻译：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。

9. 发明授权

US07086519B2 Positive displacement shoe and slat sorter apparatus and method 有权
公开(公告)号：US07086519B2
公开(公告)日：2006-08-08
申请号：US11081040
申请日：2005-03-15
申请人： Frank W Veit , David W Zeitler , Rhonda J Verploegen , Andrew R Black , Charles W Bozarth , Clyde Miin-Arng Ko
发明人： Frank W Veit , David W Zeitler , Rhonda J Verploegen , Andrew R Black , Charles W Bozarth , Clyde Miin-Arng Ko
IPC分类号： B65G47/10 , B65G47/46
CPC分类号： B65G47/844 , B07C5/362 , B65G23/23 , B65G2207/36
摘要： A positive displacement sorter apparatus and method includes providing a plurality of slats being interconnected in an endless web, an upper run of the web defining a conveying surface, and a plurality of pusher shoes gliding along at least some of the slats to laterally displace articles on the conveying surface. A linear motor system is provided to propel the web and includes a plurality of linear motor secondaries at the slats and at least one primary for propelling the secondaries. A control system controls the primaries.

10. 发明授权

US5764014A Automated guided vehicle having ground track sensor 失效
标题翻译：具有地面轨道传感器的自动导向车
公开(公告)号：US5764014A
公开(公告)日：1998-06-09
申请号：US595353
申请日：1996-02-01
申请人： Jerome J. Jakeway , Joseph G. Mickley , David W. Zeitler , James A. Medley
发明人： Jerome J. Jakeway , Joseph G. Mickley , David W. Zeitler , James A. Medley
IPC分类号： G05D1/02
CPC分类号： G05D1/0272 , G05D1/027 , G05D1/024 , G05D1/0242 , G05D1/0255 , G05D1/0261 , G05D1/0265 , G05D2201/0216
摘要： An automated guided vehicle includes a body, at least one driver wheel for propelling the body along a surface, at least one steered wheel for directing the body with respect to the surface and a body-based inertial navigation system. The inertial navigation system senses actual movement of the body in at least three degrees of freedom. Such sensing is accomplished notwithstanding the presence of side slippage of the vehicle. This can be embodied in an automated guided vehicle having a ground track sensor which continuously senses relative movement of the vehicle with respect to the surface being traversed in order to determine an actual velocity vector of the vehicle. The ground track sensor may physically contact the surface in order to sense the relative movement or may be a non-contact sensor. The disclosed navigation system is especially useful with tugger automated guided vehicles.
摘要翻译：一种自动引导车辆包括主体，至少一个用于沿着表面推动身体的驱动轮，至少一个用于相对于表面引导身体的转向轮和基于身体的惯性导航系统。惯性导航系统以至少三个自由度感测身体的实际运动。尽管存在车辆的侧滑，但是这种感测是可以实现的。这可以体现在具有地面轨道传感器的自动导引车辆中，该地面轨道传感器连续地感测车辆相对于所穿过的表面的相对运动，以便确定车辆的实际速度矢量。地面轨道传感器可以物理地接触表面以感测相对运动，或者可以是非接触传感器。所公开的导航系统对拖拉机自动引导车辆尤其有用。

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