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1. 发明申请

US20140046587A1 TECHNIQUES FOR POSITIONING A VEHICLE 有权
标题翻译：用于定位车辆的技术
公开(公告)号：US20140046587A1
公开(公告)日：2014-02-13
申请号：US14112872
申请日：2012-04-20
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： G01C3/08 , G01C21/12 , G01S19/45
CPC分类号： G01S19/45 , B66C19/007 , B66F9/063 , G01C3/08 , G01C21/12 , G01S7/4808 , G01S17/42 , G01S19/48 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0205
摘要： A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.
摘要翻译：一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备地标并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。

2. 发明授权

US5923270A Automatic steering system for an unmanned vehicle 失效
标题翻译：无人驾驶车辆的自动转向系统
公开(公告)号：US5923270A
公开(公告)日：1999-07-13
申请号：US737554
申请日：1997-01-22
申请人： Mikko Sampo , Jarmo Puputti , Kari Rintanen , Hannu Makela , Markku Ojala
发明人： Mikko Sampo , Jarmo Puputti , Kari Rintanen , Hannu Makela , Markku Ojala
IPC分类号： A01B69/04 , A01B79/00 , G05D1/02 , G08G1/123
CPC分类号： A01B69/008 , A01B79/005 , G05D1/027 , G05D1/0278 , G05D1/0272 , G05D1/0274 , G05D2201/0201
摘要： The invention relates to an autonomous navigation system for an unmanned vehicle. The tracks or wheels are driven by hydraulic reversible motors, having the output thereof regulated by valves whose relative control can be used for controlling both heading and speed. The vehicle carries a navigation computer which receives positional information from an external positioning sytems. A ground station computer has been supplied with a digitized map over a predetermined path and the ground station computer is in a two-way radio communication with the vehicle navigation computer which is supplied with the information relating to the path. An established path, which is received from the external positioning system, is compared to the predetermined path and the vehicle navigation is modified for compensating the deviations.
摘要翻译： PCT No.PCT / FI95 / 00253 Sec。 371日期1997年1月22日 102（e）日期1997年1月22日PCT提交1995年5月12日PCT公布。公开号WO95 / 31759 日期：1995年11月23日本发明涉及一种无人驾驶车辆的自主导航系统。轨道或车轮由液压可逆电动机驱动，其输出由阀门调节，其相对控制可用于控制航向和速度。该车载有从外部定位系统接收位置信息的导航计算机。已经在预定路径上提供了地面站计算机的数字化地图，并且地面站计算机与被提供有与路径有关的信息的车载导航计算机进行双向无线电通信。将从外部定位系统接收的建立路径与预定路径进行比较，并修改车辆导航以补偿偏差。

3. 发明授权

US08253623B2 System and method for positioning a GPS device 有权
标题翻译：用于定位GPS设备的系统和方法
公开(公告)号：US08253623B2
公开(公告)日：2012-08-28
申请号：US12304260
申请日：2007-05-08
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： G01S19/42
CPC分类号： B66F9/0755 , B66C13/46 , G01S19/41 , G01S19/50
摘要： A system and a method for determining the correct position for a GPS device from a predefined set of alternatives are provided. Based on the known positions of the visible GPS satellites and of the predefined alternative locations, the system determines theoretical distances between each satellite and each location and/or differences thereof. These distances are related to the distance measured between the GPS device antenna and each GPS satellite in order to choose the location from among the predefined location alternatives. Also disclosed are a system and a method for identification of predefined container slots on a freight yard.
摘要翻译：提供了一种用于从预定义的替代方案中确定GPS设备的正确位置的系统和方法。基于可见的GPS卫星和预定义的替代位置的已知位置，系统确定每个卫星与每个位置之间的理论距离和/或其差异。这些距离与在GPS设备天线和每个GPS卫星之间测量的距离有关，以便从预定义的位置选择中选择位置。还公开了用于识别货场上的预定义的容器槽的系统和方法。

4. 发明授权

US09764931B2 System and method for determining location and skew of crane grappling member 有权
公开(公告)号：US09764931B2
公开(公告)日：2017-09-19
申请号：US14233351
申请日：2012-07-17
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： B66C13/46 , B66C13/18 , G01C3/02
CPC分类号： B66C13/46 , B66C13/18 , G01C3/02
摘要： A system for determining the horizontal location and skew of a grappling member of a crane includes at least two types of reflectors arranged on the grappling member, the relative locations and shapes of which are known; at least one scanning distance sensor mounted on the crane to measure the distance and direction from the crane to the reflectors; and a data processing device arranged to store in its memory the relative locations and shapes of the reflectors; and to determine the horizontal location and skew of the grappling member on the basis of at least the relative locations and shapes of the reflectors and measured distances and directions from the crane to the reflectors.

5. 发明授权

US09150389B2 System for the identification and/or location determination of a container handling machine 有权
标题翻译：用于容器处理机的识别和/或位置确定的系统
公开(公告)号：US09150389B2
公开(公告)日：2015-10-06
申请号：US13263190
申请日：2010-04-14
申请人： Kari Rintanen , Mikko Sampo
发明人： Kari Rintanen , Mikko Sampo
IPC分类号： G01S17/88 , B66C13/46
CPC分类号： B66C13/46
摘要： The invention relates to a system capable of determining in which lane a container handling machine is present below a quay crane or the like crane and/or capable of determining the correct location of a container handling machine in its driving direction (y) with respect to a quay crane or the like crane as containers are delivered to the crane or containers are retrieved from the crane by the container handling machine. The crane is fitted with at least one scanning laser distance sensor or the like range finder, and the container handling machines are fitted with one or more reflectors whose height profile is used for the determination of a correct location and/or for the identification of a container handling machine and for the distinction thereof from other container handling machines.
摘要翻译：本发明涉及一种系统，其能够确定在码头起重机或类似起重机之下存在集装箱处理机的哪个车道，和/或能够确定容器处理机器在其驱动方向（y）上的正确位置相对于作为集装箱运送到起重机或集装箱的码头起重机或类似起重机通过集装箱处理机从起重机中取出。起重机配备有至少一个扫描激光距离传感器或类似的测距仪，并且容器处理机装配有一个或多个反射器，其高度分布用于确定正确的位置和/或用于识别集装箱处理机和与其他集装箱处理机的区别。

6. 发明申请

US20140144862A1 SYSTEM AND METHOD FOR DETERMINING LOCATION AND SKEW OF CRANE GRAPPLING MEMBER 有权
标题翻译：用于确定起重机构件位置和位置的系统和方法
公开(公告)号：US20140144862A1
公开(公告)日：2014-05-29
申请号：US14233351
申请日：2012-07-17
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： B66C13/46 , G01C3/02 , B66C13/18
CPC分类号： B66C13/46 , B66C13/18 , G01C3/02
摘要： A system for determining the horizontal location and skew of a grappling member of a crane includes at least two types of reflectors arranged on the grappling member, the relative locations and shapes of which are known; at least one scanning distance sensor mounted on the crane to measure the distance and direction from the crane to the reflectors; and a data processing device arranged to store in its memory the relative locations and shapes of the reflectors; and to determine the horizontal location and skew of the grappling member on the basis of at least the relative locations and shapes of the reflectors and measured distances and directions from the crane to the reflectors.
摘要翻译：用于确定起重机的抓钩构件的水平位置和偏斜的系统包括布置在抓钩构件上的至少两种类型的反射器，其相对位置和形状是已知的; 安装在起重机上的至少一个扫描距离传感器，以测量从起重机到反射器的距离和方向; 以及数据处理装置，其布置成在其存储器中存储反射器的相对位置和形状; 并且基于至少反射器的相对位置和形状以及从起重机到反射器的测量的距离和方向来确定抓钩构件的水平位置和倾斜。

7. 发明申请

US20120092643A1 SYSTEM FOR THE IDENTIFICATION AND/OR LOCATION DETERMINATION OF A CONTAINER HANDLING MACHINE 有权
标题翻译：集装箱处理机的识别和/或位置确定系统
公开(公告)号：US20120092643A1
公开(公告)日：2012-04-19
申请号：US13263190
申请日：2010-04-14
申请人： Kari Rintanen , Mikko Sampo
发明人： Kari Rintanen , Mikko Sampo
IPC分类号： G01S17/88
CPC分类号： B66C13/46
摘要： The invention relates to a system capable of determining in which lane a container handling machine is present below a quay crane or the like crane and/or capable of determining the correct location of a container handling machine in its driving direction (y) with respect to a quay crane or the like crane as containers are delivered to the crane or containers are retrieved from the crane by the container handling machine. The crane is fitted with at least one scanning laser distance sensor or the like range finder, and the container handling machines are fitted with one or more reflectors whose height profile is used for the determination of a correct location and/or for the identification of a container handling machine and for the distinction thereof from other container handling machines.
摘要翻译：本发明涉及一种系统，其能够确定在码头起重机或类似起重机之下存在集装箱处理机的哪个车道，和/或能够确定容器处理机器在其驱动方向（y）上的正确位置相对于作为集装箱运送到起重机或集装箱的码头起重机或类似起重机通过集装箱处理机从起重机中取出。起重机配备有至少一个扫描激光距离传感器或类似的测距仪，并且容器处理机装配有一个或多个反射器，其高度分布用于确定正确的位置和/或用于识别集装箱处理机和与其他集装箱处理机的区别。

8. 发明授权

US09410804B2 Techniques for positioning a vehicle 有权
标题翻译：车辆定位技术
公开(公告)号：US09410804B2
公开(公告)日：2016-08-09
申请号：US14112872
申请日：2012-04-20
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： G01C3/08 , G01S7/48 , G01S17/42 , G01S19/48 , G05D1/02 , B66C19/00 , B66F9/06 , G01C21/12 , G01S19/45
CPC分类号： G01S19/45 , B66C19/007 , B66F9/063 , G01C3/08 , G01C21/12 , G01S7/4808 , G01S17/42 , G01S19/48 , G05D1/024 , G05D1/027 , G05D1/0272 , G05D1/0278 , G05D2201/0205
摘要： A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.
摘要翻译：一种用于在环境中确定车辆的位置的系统，该环境具有至少两个位置已知的地标。所述系统包括安装在车辆中并被配置成测量从车辆到至少两个地标的距离和方向的至少一个扫描距离传感器，以及配置成在其存储器中存储至少两个地标的位置的数据处理设备地标并且至少基于至少两个地标的位置以及从车辆到至少两个地标的距离和方向来确定车辆的位置。

9. 发明申请

US20100109947A1 SYSTEM AND METHOD FOR POSITIONING A GPS DEVICE 有权
标题翻译：用于定位GPS设备的系统和方法
公开(公告)号：US20100109947A1
公开(公告)日：2010-05-06
申请号：US12304260
申请日：2007-05-08
申请人： Kari Rintanen
发明人： Kari Rintanen
IPC分类号： G01S19/14
CPC分类号： B66F9/0755 , B66C13/46 , G01S19/41 , G01S19/50
摘要： A system and a method for determining the correct position for a GPS device from a predefined set of alternatives are provided. Based on the known positions of the visible GPS satellites and of the predefined alternative locations, the system determines theoretical distances between each satellite and each location and/or differences thereof These distances are related to the distance measured between the GPS device antenna and each GPS satellite in order to choose the location from among the predefined location alternatives. Also disclosed are a system and a method for identification of predefined container slots on a freight yard.
摘要翻译：提供了一种用于从预定义的替代方案中确定GPS设备的正确位置的系统和方法。基于可见GPS卫星和预定义的替代位置的已知位置，系统确定每个卫星与每个位置之间的理论距离和/或其差异这些距离与在GPS设备天线和每个GPS卫星之间测量的距离有关以便从预定义的位置替换中选择位置。还公开了用于识别货场上的预定义的容器槽的系统和方法。

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