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1. 发明授权

US08452527B2 Method of automatic positioning for loading and unloading of container ships in container terminals 有权
标题翻译：集装箱码头集装箱船舶装卸自动定位方法
公开(公告)号：US08452527B2
公开(公告)日：2013-05-28
申请号：US12902023
申请日：2010-10-11
申请人： Han-Shue Tan , Jihua Huang , Fanping Bu , Hongjun Song , Gregory Keith Warf
发明人： Han-Shue Tan , Jihua Huang , Fanping Bu , Hongjun Song , Gregory Keith Warf
IPC分类号： B65G63/00
CPC分类号： G01S19/14 , B63B25/004 , B63B27/02 , G01S19/41 , G01S19/42 , G01S19/43
摘要： A method is provided for automatically locating a container in a stowage location of a container ship for loading and unloading of the container ship in container terminals. The method includes the following steps: obtaining the position information of the container ship from container ship positioning units, obtaining the position information of the container from container positioning units when the container is in its stowage location, and determining the stowage location of the container in the container ship by first computing a relative position of the container in the container ship based on both the position information of the container ship and the position information of the container and then correlating the relative position with a stowage plan of the container ship.
摘要翻译：提供了一种用于将容器自动定位在集装箱船的装载位置中以便将集装箱船装载到集装箱码头中的方法。该方法包括以下步骤：从集装箱船定位单元获取集装箱船的位置信息，当集装箱在其存放位置时从集装箱定位单元获取容器的位置信息，以及确定集装箱的收起位置容器船首先基于集装箱船的位置信息和容器的位置信息，首先计算容器在集装箱船中的相对位置，然后将相对位置与集装箱船的装载计划相关联。

2. 发明申请

US20110055172A1 AUTOMATIC ERROR CORRECTION FOR INVENTORY TRACKING AND MANAGEMENT SYSTEMS USED AT A SHIPPING CONTAINER YARD 审中-公开
标题翻译：用于运输集装箱仓库的库存跟踪和管理系统的自动错误校正
公开(公告)号：US20110055172A1
公开(公告)日：2011-03-03
申请号：US12649149
申请日：2009-12-29
申请人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
发明人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
IPC分类号： G06F17/30
CPC分类号： G06Q10/08 , G06F16/24568 , G06F16/29
摘要： A method automatically detects and corrects errors in a container inventory database associated with a container inventory tracking system of a container storage facility. A processor in the inventory tracking system performs a method to detect errors; this method of error detection obtains a first data record, identifies an event (e.g., pickup or drop-off of a container, or movement of handing equipment) associated with the first record, provides a list of error types based on the identified event, and determines whether a data error has occurred through a checking process. To correct the errors, this method further sets search criteria based on the error detection results, queries the inventory tracking database using the set criteria, determines error candidates based on the query results, evaluates the error candidates to identify a match or matches among the error candidates, and corrects the error(s) by modifying the error detection results together with the identified match or matches.
摘要翻译：一种方法会自动检测和纠正与容器存储设施的容器库存跟踪系统相关联的容器库存数据库中的错误。库存跟踪系统中的处理器执行检测错误的方法; 这种错误检测方法获得第一数据记录，识别与第一记录相关联的事件（例如，容器的拾取或丢弃或移动设备的移动），基于所识别的事件提供错误类型的列表，并通过检查处理确定是否发生了数据错误。为了纠正错误，该方法进一步根据错误检测结果设置搜索条件，使用设置标准查询库存跟踪数据库，根据查询结果确定错误候选，评估错误候选以识别匹配或匹配错误候选人，并通过修改错误检测结果以及识别的匹配或匹配来更正错误。

3. 发明申请

US20110010005A1 SYSTEM FOR ASSOCIATING INVENTORY WITH HANDLING EQUIPMENT IN SHIPPING CONTAINER YARD INVENTORY TRANSACTIONS 有权
标题翻译：运输集装箱仓库交易中与处理设备相关的库存系统
公开(公告)号：US20110010005A1
公开(公告)日：2011-01-13
申请号：US12500478
申请日：2009-07-09
申请人： Han-Shue Tan , Jihua Huang , Ke-Ren Chuang , Fanping Bu , Gregory Keith Warf
发明人： Han-Shue Tan , Jihua Huang , Ke-Ren Chuang , Fanping Bu , Gregory Keith Warf
IPC分类号： G05B19/00 , G06F7/00 , G06F19/00 , G06F15/00
CPC分类号： G06Q10/087 , B66C13/46 , G06Q10/08 , G06Q50/28
摘要： A system is provided to associate containers with handling equipment (HE) in a container storage facility. In the system an operation detector, such as a twistlock sensor that indicates when a container is picked up or dropped off, is installed on a first HE which is a piece of container handling equipment (CHE) that can lift the container. An event detector, such as a vibration sensor or distance measuring radar, is further installed on a second HE that is a tractor with an attached chassis for receiving and transporting a container. The event detector indicates when a container-operation-related event, such as a container pick up or drop off, occurred on the tractor chassis. The two detectors (operation and event) are used by a processor to associate the container with either the CHE or the tractor. The operation and event detectors can further be used in conjunction with position sensors such as a GPS sensor to accurately determine the position of the tractor and the CHE in a container yard. When the position sensors degrade in performance, an additional motion detector such as a speed sensor can be used to determine the tractor's distance from the CHE to locate an appropriate tractor involved in the operation.
摘要翻译：提供一种将容器与容器储存设备中的处理设备（HE）相关联的系统。在系统中，操作检测器（例如指示容器被拾取或脱落的扭锁传感器）被安装在第一HE上，第一HE是可提起容器的一个容器处理设备（CHE）。诸如振动传感器或距离测量雷达的事件检测器还被安装在第二HE上，第二HE是具有用于接收和运输容器的附接底盘的拖拉机。事件检测器指示在牵引车底盘上发生容器操作相关事件（例如容器拾起或掉落）的时间。处理器使用两个检测器（操作和事件）将容器与CHE或拖拉机相关联。操作和事件检测器可以进一步与诸如GPS传感器的位置传感器一起使用，以准确地确定拖拉机和CHE在集装箱堆场中的位置。当位置传感器性能下降时，可以使用诸如速度传感器的附加运动检测器来确定拖拉机与CHE的距离，以定位涉及操作的适当的牵引车。

4. 发明授权

US08949046B2 System for associating inventory with handling equipment in shipping container yard inventory transactions 有权
标题翻译：将库存与货物装卸货物库存交易中的处理设备联系起来的系统
公开(公告)号：US08949046B2
公开(公告)日：2015-02-03
申请号：US12500478
申请日：2009-07-09
申请人： Han-Shue Tan , Jihua Huang , Ke-Ren Chuang , Fanping Bu , Gregory Keith Warf
发明人： Han-Shue Tan , Jihua Huang , Ke-Ren Chuang , Fanping Bu , Gregory Keith Warf
IPC分类号： G01F17/00 , G06Q10/08 , G06Q50/28 , G06F11/30
CPC分类号： G06Q10/087 , B66C13/46 , G06Q10/08 , G06Q50/28
摘要： A system is provided to associate containers with handling equipment (HE) in a container storage facility. In the system an operation detector, such as a twistlock sensor that indicates when a container is picked up or dropped off, is installed on a first HE which is a piece of container handling equipment (CHE) that can lift the container. An event detector, such as a vibration sensor or distance measuring radar, is further installed on a second HE that is a tractor with an attached chassis for receiving and transporting a container. The event detector indicates when a container-operation-related event, such as a container pick up or drop off, occurred on the tractor chassis. The two detectors (operation and event) are used by a processor to associate the container with either the CHE or the tractor. The operation and event detectors can further be used in conjunction with position sensors such as a GPS sensor to accurately determine the position of the tractor and the CHE in a container yard. When the position sensors degrade in performance, an additional motion detector such as a speed sensor can be used to determine the tractor's distance from the CHE to locate an appropriate tractor involved in the operation.
摘要翻译：提供一种将容器与容器储存设备中的处理设备（HE）相关联的系统。在系统中，操作检测器（例如指示容器被拾取或脱落的扭锁传感器）被安装在第一HE上，第一HE是可提起容器的一个容器处理设备（CHE）。诸如振动传感器或距离测量雷达的事件检测器还被安装在第二HE上，第二HE是具有用于接收和运输容器的附接底盘的拖拉机。事件检测器指示在牵引车底盘上发生容器操作相关事件（例如容器拾起或掉落）的时间。处理器使用两个检测器（操作和事件）将容器与CHE或拖拉机相关联。操作和事件检测器可以进一步与诸如GPS传感器的位置传感器一起使用，以准确地确定拖拉机和CHE在集装箱堆场中的位置。当位置传感器性能下降时，可以使用诸如速度传感器的附加运动检测器来确定拖拉机与CHE的距离，以定位涉及操作的适当的牵引车。

5. 发明授权

US08630443B2 Automatic error detection for inventory tracking and management systems used at a shipping container yard 有权
标题翻译：用于货运集装箱堆场的库存跟踪和管理系统的自动检错
公开(公告)号：US08630443B2
公开(公告)日：2014-01-14
申请号：US12552109
申请日：2009-09-01
申请人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
发明人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
IPC分类号： G06K9/00
CPC分类号： G06Q10/08 , G06Q50/28
摘要： A method automatically detects errors in a container inventory database associated with a container inventory tracking system of a container storage facility. A processor in the inventory tracking system performs a method that: obtains a first data record, identifies an event (e.g., pickup, drop-off, or movement) associated with the first record, provides a list of error types based on the identified event, and determines whether a data error has occurred through a checking process. In each of the checking steps, the processor selects an error type from the list of error types, determines a search criterion based on the selected error type and the first data record, queries the database using the search criterion, compares query results with the first data record to detect data conflicts between them, and upon the detection of the data conflicts, reports that a data error of the selected error type has been detected.
摘要翻译：一种方法自动检测与容器存储设施的容器库存跟踪系统相关联的容器库存数据库中的错误。库存跟踪系统中的处理器执行以下方法：获得第一数据记录，识别与第一记录相关联的事件（例如，拾取，丢弃或移动），基于所识别的事件提供错误类型的列表，并通过检查处理确定是否发生了数据错误。在每个检查步骤中，处理器从错误类型列表中选择错误类型，基于所选择的错误类型和第一数据记录确定搜索条件，使用搜索条件查询数据库，将查询结果与第一个数据记录以检测它们之间的数据冲突，并且在检测到数据冲突时，报告已经检测到所选错误类型的数据错误。

6. 发明申请

US20110052001A1 AUTOMATIC ERROR DETECTION FOR INVENTORY TRACKING AND MANAGEMENT SYSTEMS USED AT A SHIPPING CONTAINER YARD 有权
标题翻译：在运输集装箱堆场使用的库存跟踪和管理系统的自动检错
公开(公告)号：US20110052001A1
公开(公告)日：2011-03-03
申请号：US12552109
申请日：2009-09-01
申请人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
发明人： Han-Shue Tan , Ke-Ren Chuang , Jihua Huang , Gregory Keith Warf
IPC分类号： G06K9/00 , G06F11/00 , G06F19/00 , G06F17/30 , G06F3/048 , G06F17/00 , G06F7/00
CPC分类号： G06Q10/08 , G06Q50/28
摘要： A method automatically detects errors in a container inventory database associated with a container inventory tracking system of a container storage facility. A processor in the inventory tracking system performs a method that: obtains a first data record, identifies an event (e.g., pickup, drop-off, or movement) associated with the first record, provides a list of error types based on the identified event, and determines whether a data error has occurred through a checking process. In each of the checking steps, the processor selects an error type from the list of error types, determines a search criterion based on the selected error type and the first data record, queries the database using the search criterion, compares query results with the first data record to detect data conflicts between them, and upon the detection of the data conflicts, reports that a data error of the selected error type has been detected.
摘要翻译：一种方法自动检测与容器存储设施的容器库存跟踪系统相关联的容器库存数据库中的错误。库存跟踪系统中的处理器执行以下方法：获得第一数据记录，识别与第一记录相关联的事件（例如，拾取，丢弃或移动），基于所识别的事件提供错误类型的列表，并通过检查处理确定是否发生了数据错误。在每个检查步骤中，处理器从错误类型列表中选择错误类型，基于所选择的错误类型和第一数据记录确定搜索条件，使用搜索条件查询数据库，将查询结果与第一个数据记录以检测它们之间的数据冲突，并且在检测到数据冲突时，报告已经检测到所选错误类型的数据错误。

7. 发明授权

US09499197B2 System and method for vehicle steering control 有权
标题翻译：车辆转向控制系统及方法
公开(公告)号：US09499197B2
公开(公告)日：2016-11-22
申请号：US14515006
申请日：2014-10-15
申请人： Hua-chuang Automobile Information Technical Center Co., Ltd. , Han-Shue Tan , Jihua Huang
发明人： Han-Shue Tan , Jihua Huang
IPC分类号： B62D6/00 , B62D15/02 , B60W30/18 , B60W30/00 , G05D1/02 , B60W30/095
CPC分类号： B62D6/00 , B60T2201/022 , B60T2201/08 , B60W30/00 , B60W30/095 , B60W30/18163 , B60W2550/10 , B62D15/025 , B62D15/0255 , B62D15/0265 , G05D1/0212 , G05D2201/0213
摘要： A method for steering control of a vehicle having an actuator which turns steered wheels of the vehicle. The steering control method includes obtaining a location of a target point at a look-ahead distance away from the vehicle based on a maneuver the vehicle is performing, predicting a forward location of the vehicle at the look-ahead distance away from the vehicle, determining a distance between the location of the target point and the forward location, computing a normalized error by dividing the distance with the look-ahead distance, and determining a steering control command based on an integration of the normalized error. The actuator then turns the steered wheels of the vehicle according to the steering control command so as to steer the vehicle to perform various maneuvers.
摘要翻译：一种用于转向控制车辆的方法，所述车辆具有使所述车辆的转向轮转动的致动器。所述转向控制方法包括：基于所述车辆正在进行的操纵，在远离所述车辆的前方距离处获得所述目标点的位置，预测所述车辆在远离所述车辆的前方距离处的前方位置，确定目标点的位置与前进位置之间的距离，通过将距离与前瞻距离分开来计算归一化误差，以及基于归一化误差的积分来确定转向控制命令。然后，致动器根据转向控制命令转动车辆的转向轮，以引导车辆执行各种操作。

8. 发明申请

US20100332125A1 AUTOMATIC CORRECTION OF PAST POSITION ERRORS FOR LOCATION AND INVENTORY TRACKING 有权
标题翻译：对位置和库存跟踪的过度位置错误进行自动校正
公开(公告)号：US20100332125A1
公开(公告)日：2010-12-30
申请号：US12876918
申请日：2010-09-07
申请人： Han-Shue Tan , Jihua Huang
发明人： Han-Shue Tan , Jihua Huang
IPC分类号： G01C21/00
CPC分类号： G01C21/165 , G01S5/0257 , G01S19/39 , G01S19/48 , G01S19/49
摘要： A method is provided for calibrating past position estimates from a positioning system that provides real-time position estimates of a mobile object. The method first stores the real-time position estimates, which as time goes by become past position estimates and naturally form a first past trajectory depicting the past movement of the mobile object. Subsequently, a calibrated past trajectory is determined, which includes calibrated past position estimates that correspond to the same time instances as the past positions in the first past trajectory. When real-time positions have low qualities, this method calibrates them at a later time by using (higher-quality) real-time positions both before and after them. Errors in the past positions are then corrected based on the calibrated past trajectory. When used with event detectors that indicate inventory transactions, this method can correct position errors associated with inventory events so as to improve the performance of inventory tracking.
摘要翻译：提供了一种用于校准来自提供移动对象的实时位置估计的定位系统的过去位置估计的方法。该方法首先存储实时位置估计，其随时间变为过去位置估计，并且自然地形成描绘移动对象的过去运动的第一过去轨迹。随后，确定校准的过去轨迹，其包括对应于与第一过去轨迹中的过去位置相同的时间实例的校准过去位置估计。当实时职位具有低质量时，该方法可以在以后使用（较高质量）的实时位置在以后进行校准。然后根据校准的过去轨迹更正过去位置的错误。当与指示库存交易的事件检测器一起使用时，该方法可以纠正与库存事件相关联的位置错误，以提高库存跟踪的性能。

9. 发明授权

US08838374B2 Automatic correction of past position errors for location and inventory tracking 有权
标题翻译：对位置和库存跟踪的过往位置错误进行自动更正
公开(公告)号：US08838374B2
公开(公告)日：2014-09-16
申请号：US12876918
申请日：2010-09-07
申请人： Han-Shue Tan , Jihua Huang
发明人： Han-Shue Tan , Jihua Huang
IPC分类号： G01C21/00 , G08G1/123
CPC分类号： G01C21/165 , G01S5/0257 , G01S19/39 , G01S19/48 , G01S19/49
摘要： A method is provided for calibrating past position estimates from a positioning system that provides real-time position estimates of a mobile object. The method first stores the real-time position estimates, which as time goes by become past position estimates and naturally form a first past trajectory depicting the past movement of the mobile object. Subsequently, a calibrated past trajectory is determined, which includes calibrated past position estimates that correspond to the same time instances as the past positions in the first past trajectory. When real-time positions have low qualities, this method calibrates them at a later time by using (higher-quality) real-time positions both before and after them. Errors in the past positions are then corrected based on the calibrated past trajectory. When used with event detectors that indicate inventory transactions, this method can correct position errors associated with inventory events so as to improve the performance of inventory tracking.
摘要翻译：提供了一种用于校准来自提供移动对象的实时位置估计的定位系统的过去位置估计的方法。该方法首先存储实时位置估计，其随时间变为过去位置估计，并且自然地形成描绘移动对象的过去运动的第一过去轨迹。随后，确定校准的过去轨迹，其包括对应于与第一过去轨迹中的过去位置相同的时间实例的校准过去位置估计。当实时职位具有低质量时，该方法可以在以后使用（较高质量）的实时位置在以后进行校准。然后根据校准的过去轨迹更正过去位置的错误。当与指示库存交易的事件检测器一起使用时，该方法可以纠正与库存事件相关联的位置错误，以提高库存跟踪的性能。

10. 发明申请

US20120089320A1 METHOD OF AUTOMATIC POSITIONING FOR LOADING AND UNLOADING OF CONTAINER SHIPS IN CONTAINER TERMINALS 有权
标题翻译：用于装载和卸载集装箱终端中的集装箱船的自动定位方法
公开(公告)号：US20120089320A1
公开(公告)日：2012-04-12
申请号：US12902023
申请日：2010-10-11
申请人： Han-Shue Tan , Jihua Huang , Fanping Bu , Hongjun Song , Gregory Keith Warf
发明人： Han-Shue Tan , Jihua Huang , Fanping Bu , Hongjun Song , Gregory Keith Warf
IPC分类号： G06F17/00 , G01S19/43 , G01S13/42 , G01S19/41
CPC分类号： G01S19/14 , B63B25/004 , B63B27/02 , G01S19/41 , G01S19/42 , G01S19/43
摘要： A method is provided for automatically locating a container in a stowage location of a container ship for loading and unloading of the container ship in container terminals. The method includes the following steps: obtaining the position information of the container ship from container ship positioning units, obtaining the position information of the container from container positioning units when the container is in its stowage location, and determining the stowage location of the container in the container ship by first computing a relative position of the container in the container ship based on both the position information of the container ship and the position information of the container and then correlating the relative position with a stowage plan of the container ship.
摘要翻译：提供了一种用于将容器自动定位在集装箱船的装载位置中以便将集装箱船装载到集装箱码头中的方法。该方法包括以下步骤：从集装箱船定位单元获取集装箱船的位置信息，当集装箱在其存放位置时从集装箱定位单元获取容器的位置信息，以及确定集装箱的收起位置容器船首先基于集装箱船的位置信息和容器的位置信息，首先计算容器在集装箱船中的相对位置，然后将相对位置与集装箱船的装载计划相关联。

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