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81. 发明授权

EP1023610B1 METHOD AND DEVICE FOR ASSOCIATION OF ANONYMOUS REFLECTORS TO DETECTED ANGLE POSITIONS 有权
标题翻译：方法和设备匿名反光板RECOGNIZED转角位置分配
公开(公告)号：EP1023610B1
公开(公告)日：2003-03-26
申请号：EP98950566.4
申请日：1998-10-13
申请人： NDC Automation AB
发明人： HOLMQUIST, Fredrik
IPC分类号： G01S5/08 , G05D1/03
CPC分类号： B66F9/063 , G01S5/16 , G01S17/74 , G01S17/89 , G05D1/0236 , G05D1/0272 , G05D2201/0216
摘要： A method for association of anonymous reflectors (R1-R11) to detected angle positions, whereby a) the anonymous reflectors are arranged in positions in a transport area; b) positions of the reflectors (R1-R11) are stored in first memory means (20); c) a beam (B) is emitted from an emission source (13) of a vehicle (10) over a search sector; d) reflected signals from reflecting objects are received on board the vehicle (10); e) an angle position towards reflecting objects in relation to a reference direction (D) of the vehicle (10) is continuously detected by detector means (18) during the sweep of the beam over the search sector, and corresponding angle values are determined; f) at least one angle value determined over the search sector is stored in a second memory means (21). The distances between reflectors (R1-R11) and a reference point on the vehicle (10) is determined continuously by a control means (19). A relation between the distance values and the corresponding distances between stored reflector positions and a position assumed for the vehicle is determined by control means (19), the association being allowed if the relation is within an expected interval.

82. 发明公开

EP1292490A1 DEVICE AT A RO-RO VESSEL 有权
标题翻译： DEVICE FOR A滚装船
公开(公告)号：EP1292490A1
公开(公告)日：2003-03-19
申请号：EP01941418.4
申请日：2001-06-20
申请人： TTS Ships Equipment AB
发明人： JOHANSSON, Göran , RAMNE, Bengt
IPC分类号： B63B27/00 , G05D1/02
CPC分类号： B63B35/54 , B63B27/02 , G05D1/0236 , G05D1/0265 , G05D1/0278 , G05D2201/0205
摘要： The present invention relates to an arrangement for a Ro-Ro vessel, which exhibits a number of cargo-receiving spaces provided with a driving surface internally in the vessel, and with a ramp extending between one such space and a quay, along which ramp driverless cargo handling vehicles (7), known as AGV vehicles, are capable of being driven between designated parking places for the purpose of transporting cargo between the quay and the aforementioned cargo-receiving space of the vessel. Means (9) are provided for causing the cargo handling vehicles (7) to be guided between the aforementioned spaces and the quay and into the intended train of vehicles in the designated location in a line (II) and without connecting the cargo handling vehicles (7) to one another.

83. 发明授权

EP1023611B1 METHOD FOR DETERMINING THE POSITION OF AN AUTOMATED GUIDED VEHICLE 有权
标题翻译：在于用于判定自动导向车辆的位置
公开(公告)号：EP1023611B1
公开(公告)日：2002-02-13
申请号：EP98950567.2
申请日：1998-10-13
申请人： APOGEUM AB
发明人： HOLMQUIST, Fredrik
IPC分类号： G01S5/08 , G05D1/03
CPC分类号： B66F9/063 , G01S5/16 , G01S17/74 , G01S17/89 , G05D1/0236 , G05D1/0272 , G05D2201/0216
摘要： A method for position finding of an automated guided vehicle using detection of angle positions for anonymous reflectors (R1-R11). The anonymous reflectors are arranged in positions in a limited transport area, and the positions are stored. A concentrated beam (B) is emitted from a vehicle (10) and is made to pass over a search sector. The angle position in relation to a reference direction (D) of the vehicle (10) in reflective objects is continually detected during the sweep of the beam over the search sector, and corresponding angle values are determined. Initially the following measures are taken for association of the angle positions to physical reflectors, and for determination of the position of the vehicle (10): i) at least three angle values with a suitable distribution over the search sector is selected, ii) the angle values are associated to reflectors and a position is determined for the vehicle on the basis of the known position of the assumed reflectors, iii) if the vehicle position determined in this way is within a certain part of the transport area the other angle values are associated to reflectors, iv) for each angle value, existing deviation is determined between detected angle values and angle values expected between the vehicle position and known reflectors, v) the measures taken are repeated for each possible combination of selected angle values. A combination of associations with the best possible agreement on the vehicle position is selected, whereby the position and direction of the vehicle is determined.

84. 发明授权

EP1010047B1 VERFAHREN ZUR ANDOCKPOSITIONIERUNG EINER AUTONOMEN MOBILEN EINHEIT UNTER VERWENDUNG EINES LEITSTRAHLES 有权
标题翻译：方法ANDOCKPOSITIONIERUNG可移动的独立单元，其使用的一导向光束
公开(公告)号：EP1010047B1
公开(公告)日：2001-06-13
申请号：EP98951249.6
申请日：1998-09-01
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： BAUER, Rudolf , ZILLICH, Michael
IPC分类号： G05D1/03
CPC分类号： G05D1/0225 , G05D1/0236 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D2201/0203

85. 发明公开

EP1010047A1 VERFAHREN ZUR ANDOCKPOSITIONIERUNG EINER AUTONOMEN MOBILEN EINHEIT UNTER VERWENDUNG EINES LEITSTRAHLES 有权
标题翻译：方法ANDOCKPOSITIONIERUNG可移动的独立单元，其使用的一导向光束
公开(公告)号：EP1010047A1
公开(公告)日：2000-06-21
申请号：EP98951249.6
申请日：1998-09-01
申请人： SIEMENS AKTIENGESELLSCHAFT
发明人： BAUER, Rudolf , ZILLICH, Michael
IPC分类号： G05D1/03
CPC分类号： G05D1/0225 , G05D1/0236 , G05D1/0242 , G05D1/0255 , G05D1/0272 , G05D2201/0203
摘要： The invention relates to a method for docking an autonomous mobile unit (AE). Driving maneuvers are indicated in which confined spatial relationships can be taken into account. In addition, varying paths of movement which are carried out in succession are indicated in order to find a guide beam (BEA) and to allow safe and reliable docking on a docking arrangement (AV). Preferably, a slot-shaped light beam is provided which is vertical to the driving surface (FF) of the unit. Position sensitive detectors (PSD) which detect said light beam (BEA) are arranged on top of the unit in a parallel manner relative to the driving surface (FF) of the unit. The exact distortion of the unit's course (beta) opposite the docking arrangement (AV) can be determined with the use of the light beam (BEA) and the detectors (PSD), whereby the unit (AE) knows its approximate configuration in the room by means of measurements carried out by ultrasound and odometry. The invention can be preferably installed in housekeeping or industry cleaning robots.

86. 发明公开

EP0857325A1 AN UNMANNED VEHICLE 失效
标题翻译：无人驾驶汽车
公开(公告)号：EP0857325A1
公开(公告)日：1998-08-12
申请号：EP97936882.0
申请日：1997-08-21
申请人： MAASLAND N.V.
发明人： VAN DER LELY, Cornelis
IPC分类号： A01B69 , G01S5 , G05D1
CPC分类号： G05D1/0231 , G05D1/0011 , G05D1/0236 , G05D1/0278 , G05D1/028 , G05D2201/0201
摘要： The invention relates to an unmanned agricultural vehicle, such as a tractor, provided with a transceiver installation (5) which is arranged to cooperate with a stationary transceiver installation (4) and/or a satellite-navigation system, such as GPS. The vehicle (1) is provided with a monitoring system with sensors, with the aid of which a check can be made or intervention can be resorted to in the event of unsatisfactory operation of the unmanned vehicle (1) and/or agricultural implement supported or towed thereby during operation.

87. 发明公开

EP0728115A1 METHOD FOR TRANSPORTING A CONTAINER AND TRANSPORTING MEANS FOR PERFORMING THE METHOD 失效
标题翻译：容器和辅助装置的降程序将其运送
公开(公告)号：EP0728115A1
公开(公告)日：1996-08-28
申请号：EP95903009.0
申请日：1994-11-11
申请人： Lubbers, Robert Marie
发明人： Lubbers, Robert Marie
IPC分类号： B65G63 , B66C19 , G05D1
CPC分类号： G05D1/0261 , B65G63/004 , B66C19/002 , G05B2219/31296 , G05B2219/31312 , G05B2219/36371 , G05D1/0236 , G05D2201/0205 , Y02P90/10
摘要： The invention relates to a method for transporting a container from a starting station to one of a plurality of final destinations, whether or not via one or more intermediate destinations, wherein the container is provided with data which defines a predetermined route, which data is read during transport. The data preferably defines a predetermined route and means of transport.

88. 发明公开

EP0479273A3 Laser radar for a vehicle lateral guidance system 失效
标题翻译：用于车辆横向导向系统的激光雷达
公开(公告)号：EP0479273A3
公开(公告)日：1993-05-26
申请号：EP91116838.3
申请日：1991-10-02
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Andrew, Frank A. , Nakamura, Masahiko
IPC分类号： G01S17/88 , G01S17/06 , G01S7/48
CPC分类号： G01S17/936 , G01S7/4811 , G01S7/4817 , G01S17/06 , G05D1/0236 , G05D1/0238 , G05D1/024 , G05D1/0242 , G05D1/0244 , G05D1/0255 , G05D1/0282 , G05D2201/0211 , G05D2201/0213
摘要： A laser radar apparatus for producing a pulse modulated transmitted light beam and receiving reflected light beams from road mounted retroreflectors. In the preferred embodiment, a floodlight beam illuminates a portion of a roadway from 20 to 150 in front of a vehicle. Reflected beams from retroreflectors mounted in the roadway are received by the radar unit which calculates distance D and angle ϑ between the laser radar apparatus and each retroreflector. Distance D is calculated by measuring the propagation delay of the pulse modulated light beam. Angle ϑ data is indicated by measuring where on a receiver photodiode array the light beam is incident.

89. 发明公开

EP0541417A1 Dispositif de guidage asservi sur faisceau laser pour une machine de travaux publics 失效
标题翻译：激光打印机LeiteinrichtungfürBaumachine。
公开(公告)号：EP0541417A1
公开(公告)日：1993-05-12
申请号：EP92402882.2
申请日：1992-10-22
申请人： LASERDOT
发明人： Gaffard, Jean-Paul , Chabassier, Geneviève
IPC分类号： E02F3/84
CPC分类号： E02F9/2045 , E01C19/006 , E02F3/842 , G05D1/0236 , G05D2201/0202
摘要： Le dispositif comporte : un émetteur laser (50₁,₂) et deux récepteurs laser (30₁, 30₂) montés chacun sur un bloc de déplacement mobile selon deux degrés de liberté ; deux capteurs de position de récepteur associés à chaque bloc aptes à mesurer sa position selon deux degrés de liberté (y i , z i ) et à générer des signaux représentatifs de celle-ci ; un capteur de position de machine (30₃, 50₃,₄) apte à mesurer sa position selon un cinquième degré de liberté, et à générer un signal représentatif de celle-ci ; un calculateur (70) sensible auxdits signaux, apte à mémoriser les caractéristiques géométriques de la surface sur laquelle la machine est guidée, et adapté à réaliser l'asservissement bidimensionnel de chaque récepteur (30₁, 30₂) pour maintenir ce dernier centré sur le faisceau de l'émetteur laser (50₁,₂), et à générer en temps réel les ordres de commande appliqués aux actionneurs contrôlant la machine (10), en fonction des caractéristiques géométriques.
摘要翻译：该装置包括：激光发射器（501,2）和两个激光接收器（301,302），每个激光发射器安装在可以两个自由度移动的位移块上; 两个接收器位置传感器与每个块相关联并且能够以两个自由度（yi，zi）测量其位置并产生表示该位置的信号; 能够以第五自由度测量其位置并产生表示该位置的信号的机器位置传感器（303,503,44）; 对所述信号敏感的计算设备（70），能够记忆机器被引导的表面的几何特性，并被设计为执行每个接收器（301,302）的二维控制以便保持后者以来自激光发射器（501,2）的光束为中心，并且实时地产生发送到控制机器（10）的致动器的命令，作为几何特性的函数。 ... ...

90. 发明公开

EP0479271A3 Automatic lateral guidance control system 失效
标题翻译：自动横向指导控制系统
公开(公告)号：EP0479271A3
公开(公告)日：1992-07-22
申请号：EP91116832.6
申请日：1991-10-02
申请人： AISIN SEIKI KABUSHIKI KAISHA
发明人： Donald, Margolis L. , Yasui, Yoshiyuki
IPC分类号： G05D1/02 , G05D1/03
CPC分类号： G05D1/0265 , G05D1/0221 , G05D1/0236 , G05D1/0255 , G05D1/0272 , G05D1/0278 , G05D1/028 , G05D2201/021 , G05D2201/0213
摘要： An improved automatic lateral guidance control system for guiding moving vehicles is provided which includes a sensing sub-system for viewing an area in front of a vehicle, a plurality of energy radiating or energy reflective devices disposed adjacent a predetermined length of road, an apparatus for translating the radiated or reflected information from the viewed area into coordinate data representing an approximation of the predetermined path along the road, and a vehicle controller for determining the vehicle's heading with respect to the approximated path and providing an output control signal to correct the vehicle's heading with respect to the approximated path.

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