专利快速检索-快速检索全球专利，免费商用专利数据库-IPRDB

1. 发明公开

EP0367527A3 A method for controlling movements of a mobile robot in a multiple node factory 失效
标题翻译：一种控制多机器人移动机器人运动的方法
公开(公告)号：EP0367527A3
公开(公告)日：1990-06-13
申请号：EP89311168.2
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Rice, Haradon J. , Williston, John P. , Doty, Thomas J.
IPC分类号： G05D1/02
CPC分类号： G05D1/0282 , G05D1/0246 , G05D1/0272 , G05D1/0289 , G05D2201/0216
摘要： The invention provides a method for communicating the need to move a mobile robot, such as an AGV¹, from one location (node) (2,4,6-10) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV¹. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.

2. 发明公开

EP0367528A2 Hierarchical control system for automatically guided vehicles 失效
标题翻译：分层计算机系统Fahrzeuge。
公开(公告)号：EP0367528A2
公开(公告)日：1990-05-09
申请号：EP89311169.0
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Williston, John P. , Doty, Thomas J.
IPC分类号： G06F165/00 , G05D1/02
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216
摘要： The invention is a modular and hierarchically organized set of computer programs which comprise methods for controlling a system of semi-autonomous automatically guided vehicles, such as mobile robots. The methods include control programs which: execute in stationary control computers; communicate between the stationary control computer programs and corresponding programs which execute in mobile control computers aboard the vehicles; operate independently in mobile control computers aboard the vehicles. The invention allows the system executive program to command the mobile vehicles to start, to stop, to transfer material to or from the vehicles, to change batteries in the vehicles, to park the vehicles at specific points in a factory, to move the vehicles from point to point in a factory, and to remove the vehicles from the factory. The invention proves the performance of conventional automatically guided vehicle systems by maximizing the autonomy of individual vehicles while retaining sufficient supervisory control at the system executive level to provide the maximum flexibility in routing and scheduling the activity of the vehicles. The invention "closes the loop" in an automatically guided vehicle system by providing the highest level of control between mobile vehicles and stationary control computers.
摘要翻译：本发明是一种模块化和分层组织的计算机程序集，其包括用于控制诸如移动机器人的半自动自动导向车辆系统的方法。这些方法包括：在固定控制计算机中执行的控制程序; 在固定控制计算机程序和在车辆上的移动控制计算机中执行的相应程序之间进行通信; 在车上的移动控制计算机上独立运行。本发明允许系统执行程序命令移动车辆开始停止向车辆转移材料，以改变车辆中的电池，将车辆停放在工厂的特定点处，以将车辆从在工厂点对点，并从工厂拆除车辆。本发明通过最大限度地提高个体车辆的自主性，同时在系统执行层面保留足够的监督控制来证明传统的自动引导车辆系统的性能，以提供路线和调度车辆活动的最大灵活性。本发明通过在移动车辆和固定控制计算机之间提供最高水平的控制，在自动导向的车辆系统中“关闭回路”。

3. 发明公开

EP0367526A2 Closed-loop navigation system for mobile robots 失效
标题翻译： RückgekoppeltesNavigationssystemfür移动机器人。
公开(公告)号：EP0367526A2
公开(公告)日：1990-05-09
申请号：EP89311167.4
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Wand, Martin A. , Lin, Chuan-Fu , Ho, Anh V. , Huang, Phen-Lan , Williston, John P. , Doty, Thomas J. , Rice, Haradon J.
IPC分类号： G05D1/03 , G05D1/02
CPC分类号： G05D1/0297 , G05D1/0246 , G05D1/0282 , G05D2201/0216
摘要： A visual navigation system provides absolute position information to multiple automatically guided vehicles (AGVs) (36,37) such as mobile robots. The beacon-equipped AGVs (36,37) emit light visible to overhead television cameras. The beacons are arranged and controlled so that the vision system can acquire, measure, and report the locations of multiple AGVs (36,37). The system controller incorporates a programmable "factory map," or knowledge base, of allowable paths of travel for the AGVs (36,37), which navigate by dead reckoning with periodic position updates from the visual navigation system. The visual navigation system notifies the autonomous AGVs (36,37) and the system controller when an AGV strays from its commanded path. The combination of computer controls in the elements of the system provides the means to stop and to recover straying AGVs (36,37). The navigation system visually monitors normal AGV travel, off-course corrections, "lost" AGV searches, and recovery. Thus, it provides closed-loop, servo-like operation.
摘要翻译：视觉导航系统为诸如移动机器人的多个自动导向车辆（AG）（36,37）提供绝对位置信息。装有信标的AGV（36,37）发射对架空电视摄像机可见的光。信标的布置和控制使得视觉系统可以获取，测量和报告多个AGV的位置（36,37）。系统控制器包含用于AGV（36,37）的允许行驶路径的可编程“工厂地图”或知识库，其通过来自视觉导航系统的定期位置更新的航位推算导航。视觉导航系统当AGV从其指令的路径流出时通知自主AGV（36,37）和系统控制器。系统元素中的计算机控制的组合提供了停止和恢复偏离AGV的手段（36,37）。导航系统可视地监视正常的AGV行驶，离线纠正，“丢失”AGV搜索和恢复。因此，它提供闭环，伺服状操作。

4. 发明公开

EP0367528A3 Hierarchical control system for automatically guided vehicles 失效
标题翻译：用于自动引导车辆的分层控制系统
公开(公告)号：EP0367528A3
公开(公告)日：1990-06-13
申请号：EP89311169.0
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Williston, John P. , Doty, Thomas J.
IPC分类号： G06F165/00 , G05D1/02
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216
摘要： The invention is a modular and hierarchically organized set of computer programs which comprise methods for controlling a system of semi-autonomous automatically guided vehicles, such as mobile robots. The methods include control programs which: execute in stationary control computers; communicate between the stationary control computer programs and corresponding programs which execute in mobile control computers aboard the vehicles; operate independently in mobile control computers aboard the vehicles. The invention allows the system executive program to command the mobile vehicles to start, to stop, to transfer material to or from the vehicles, to change batteries in the vehicles, to park the vehicles at specific points in a factory, to move the vehicles from point to point in a factory, and to remove the vehicles from the factory. The invention proves the performance of conventional automatically guided vehicle systems by maximizing the autonomy of individual vehicles while retaining sufficient supervisory control at the system executive level to provide the maximum flexibility in routing and scheduling the activity of the vehicles. The invention "closes the loop" in an automatically guided vehicle system by providing the highest level of control between mobile vehicles and stationary control computers.

5. 发明公开

EP0367527A2 A method for controlling movements of a mobile robot in a multiple node factory 失效
标题翻译：用于控制在具有多个价格节点工厂的移动机器人的运动方法。
公开(公告)号：EP0367527A2
公开(公告)日：1990-05-09
申请号：EP89311168.2
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Rice, Haradon J. , Williston, John P. , Doty, Thomas J.
IPC分类号： G05D1/02
CPC分类号： G05D1/0282 , G05D1/0246 , G05D1/0272 , G05D1/0289 , G05D2201/0216
摘要： The invention provides a method for communicating the need to move a mobile robot, such as an AGV¹, from one location (node) (2,4,6-10) to another, on a node-by-node basis, incrementally, among the nodes established in a physical environment such as a factory. The invention also provides the means to generate the commands necessary to accomplish this motion, by providing specific steering and drive information such as angle and speed to the mobile robot or AGV¹. The invention accomplishes these tasks in response to direct commands from a stationary controller as well as in response to continuous node-by-node position updates provided by an external navigation system, such as a visual navigation system, or an internal dead-reckoning navigation system, or both.
摘要翻译：本发明提供了一种用于通信的需要移动移动式机器人，AGV：如<1>，从一个位置（节点）（2,4,6-10）到另一个时，在节点到节点的基础上，逐步建立在物理环境中的节点之间：如工厂。因此本发明提供的装置，以产生必要的来完成此动作的命令，通过提供特定的转向和驱动器信息：诸如角度和速度移动机器人或AGV <1>。本发明实现了合成任务响应于直接命令从静止控制器以及响应于由在外部导航系统提供连续的节点到节点的位置更新，试验作为可视导航系统，或内部航位推算导航系统，或两者兼而有之。

6. 发明公开

EP0213939A2 Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation 失效
标题翻译：控制器，用于使用用于转向和导航延迟绝对位置数据远程操作车辆。
公开(公告)号：EP0213939A2
公开(公告)日：1987-03-11
申请号：EP86306677.5
申请日：1986-08-29
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Wand, Martin A. , Christian, Donald J. , Woodall, Joe D. , Williston, John P. , Rice, Jay H. , Summerville, David F.
IPC分类号： G05D1/03
CPC分类号： G05D1/028 , G05D1/0225 , G05D1/0234 , G05D1/0242 , G05D1/0246 , G05D1/0272
摘要： A controllable mobile apparatus travels to a commanded destination under the control of a dead reckoning navigation procedure 329 for navigating the controllable mobile apparatus along the commanded path in response to position data. The mobile apparatus determines its position and provides the position data. Additionally, there is a software filter system which filters the speed and direction commands. A vision system provides the absolute position to the mobile apparatus. The dead reckoning position data is periodically modified 331, 328 with the absolute position. The dead reckoning procedure is synchronized with the vision system.
摘要翻译：可控移动装置行进到航位推算导航程序329用于导航沿着响应于位置命令的数据路径中的可控移动装置的控制命令的下一个目的地。移动装置bestimmt其位置并提供位置数据。此外，还有一个软件过滤系统，其过滤的速度和方向命令。视觉系统提供的绝对位置给移动装置。航位推算位置数据被周期性地修改331，328与绝对位置。航位推测程序与视觉系统同步。

7. 发明授权

EP0367528B1 Hierarchical control system for automatically guided vehicles 失效
标题翻译：用于自动控制车辆的分层控制系统
公开(公告)号：EP0367528B1
公开(公告)日：1996-01-31
申请号：EP89311169.0
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Williston, John P. , Doty, Thomas J.
IPC分类号： G06F165/00 , G05D1/02
CPC分类号： G05D1/0246 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216

8. 发明授权

EP0367526B1 Closed-loop navigation system for mobile robots 失效
标题翻译：反馈导航系统的移动机器人
公开(公告)号：EP0367526B1
公开(公告)日：1996-01-31
申请号：EP89311167.4
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Wand, Martin A. , Lin, Chuan-Fu , Ho, Anh V. , Huang, Phen-Lan , Williston, John P. , Doty, Thomas J. , Rice, Haradon J.
IPC分类号： G05D1/03 , G05D1/02
CPC分类号： G05D1/0297 , G05D1/0246 , G05D1/0282 , G05D2201/0216

9. 发明公开

EP0213939A3 Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation 失效
标题翻译：移动车辆控制器用于指导和导航的延迟绝对位置数据的使用
公开(公告)号：EP0213939A3
公开(公告)日：1988-10-05
申请号：EP86306677
申请日：1986-08-29
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Wand, Martin A. , Christian, Donald J. , Woodall, Joe D. , Williston, John P. , Rice, Jay H. , Summerville, David F.
IPC分类号： G05D01/03
CPC分类号： G05D1/028 , G05D1/0225 , G05D1/0234 , G05D1/0242 , G05D1/0246 , G05D1/0272
摘要： A controllable mobile apparatus travels to a commanded destination under the control of a dead reckoning navigation procedure 329 for navigating the controllable mobile apparatus along the commanded path in response to position data. The mobile apparatus determines its position and provides the position data. Additionally, there is a software filter system which filters the speed and direction commands. A vision system provides the absolute position to the mobile apparatus. The dead reckoning position data is periodically modified 331, 328 with the absolute position. The dead reckoning procedure is synchronized with the vision system.

10. 发明授权

EP0367527B1 A method for controlling movements of a mobile robot in a multiple node factory 失效
标题翻译：用于控制在具有多个价格节点工厂的移动机器人的运动方法
公开(公告)号：EP0367527B1
公开(公告)日：1998-01-28
申请号：EP89311168.2
申请日：1989-10-30
申请人： TEXAS INSTRUMENTS INCORPORATED
发明人： Summerville, David F. , Wand, Martin A. , Rice, Haradon J. , Williston, John P. , Doty, Thomas J.
IPC分类号： G05D1/02
CPC分类号： G05D1/0282 , G05D1/0246 , G05D1/0272 , G05D1/0289 , G05D2201/0216

你已经成功收藏专利！

检索式保存成功!

IPRDB

热门服务

关于我们

友情链接

联系方式