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31. 发明授权

US5961559A Automatic guided vehicle and automatic guided vehicle control method 失效
标题翻译：自动导向车和自动引导车控制方法
公开(公告)号：US5961559A
公开(公告)日：1999-10-05
申请号：US829689
申请日：1997-03-31
申请人： Yoshimi Shimbara , Koji Teramoto , Koichi Moriyama
发明人： Yoshimi Shimbara , Koji Teramoto , Koichi Moriyama
IPC分类号： B60L7/00 , B60L15/20 , G05D1/02 , G05D1/00
CPC分类号： B60L7/006 , B60L15/2036 , G05D1/0223 , B60L2240/421 , B60L2260/32 , G05D1/0244 , G05D1/0263 , Y02T10/645 , Y02T10/646 , Y02T10/648 , Y02T10/7275
摘要： A automatic guided vehicle which drives drive wheels differentially to change its traveling direction applies braking by imposing reverse torque to wheel drive motors when cornering or when rapid braking is demanded. This braking corrects the traveling direction of the automatic guided vehicle when the vehicle is apt to depart from its intended path, enabling a automatic guided vehicle even having a large inertia to make a smooth turn at a sharp corner.
摘要翻译：驱动驱动轮以改变其行进方向的自动引导车辆在转弯时或当需要快速制动时通过对车轮驱动马达施加反向扭矩来施加制动。当车辆偏离其预定路径时，该制动校正自动导引车辆的行驶方向，使得即使具有大惯性的自动导向车辆能够在尖角转弯。

32. 发明授权

US5109340A Path planning method for mobile robots 失效
标题翻译：移动机器人路径规划方法
公开(公告)号：US5109340A
公开(公告)日：1992-04-28
申请号：US540152
申请日：1990-06-19
申请人： Yutaka Kanayama
发明人： Yutaka Kanayama
IPC分类号： G05D1/02
CPC分类号： G05D1/0212 , G05D1/0263
摘要： A method of planning paths for autonomous carrier vehicles, such as a mobile robots, capable of planning curved paths consisting of cubic spirals smoother than those planned by conventional path planning methods. The path planned by the method of the invention is defined by one or two of cubic spirals with curvature expressed by a quadratic function of distance measured along the cubic spiral with zero curvatures at its opposite ends. The path is designed so that curvatures at the junctions are zero and the integral of the square of the derivative of curvature function between the opposite ends of the path is minimized. The mobile robot is able to travel very smoothly across the junctions when the integral of the square of the derivative of curvature is minimized.
摘要翻译：规划诸如移动机器人的自主运营商车辆的路径的方法，其能够规划由通过常规路径规划方法计划的平滑线的立方螺旋组成的弯道。通过本发明的方法规划的路径由一个或两个具有曲率的立方体螺旋线定义，其曲率由在相对端处具有零曲率的三次曲线测量的距离的二次函数表示。该路径被设计成使得接合处的曲率为零，并且在路径的相对端之间的曲率导数的平方的积分最小化。当曲率导数的平方的积分最小化时，移动机器人能够非常顺利地穿过交叉点行进。

33. 发明授权

US4613804A Floor position sensing apparatus and method 失效
标题翻译：地板位置检测装置及方法
公开(公告)号：US4613804A
公开(公告)日：1986-09-23
申请号：US752865
申请日：1985-07-08
申请人： Ronald R. Swenson
发明人： Ronald R. Swenson
IPC分类号： G05D1/02 , G05D1/00
CPC分类号： G05D1/0263
摘要： Apparatus and method by which an unmanned, trackless, work-producing vehicle is able to follow a path defined by a passive metallic marker or markers or by which the vehicle can receive information represented by passive metallic markers. Metallic markers can be secured or applied to appropriate surfaces, such as the floor surface of a vehicle work area, and do not need to be connected to any signal-generating device.An alternating magnetic field is generated by a master coil carried on the vehicle. The alternating magnetic field produces a secondary field around the metallic marker. Both magnetic fields produce voltages in a plurality of spaced secondary coils located on the vehicle. The existence of the metallic marker as a bench mark is identified by comparing the phases of voltages produced by the primary and secondary fields in each separate secondary coil. This excludes any stray fields, which may be extraneously produced in the secondary coils. The location of the marker with respect to the vehicle is determined by comparing the magnitude of the voltages produced in the plurality of secondary coils.
摘要翻译：无人无轨，无工作的工作生产车辆能够遵循由被动金属标记或标记定义的路径或车辆可以接收由被动金属标记表示的信息的装置和方法。金属标记可以被固定或施加到适当的表面，例如车辆工作区域的地板表面上，并且不需要连接到任何信号发生装置。交变磁场由承载在车辆上的主线圈产生。交变磁场在金属标记周围产生次级场。两个磁场都产生位于车辆上的多个间隔的次级线圈中的电压。通过比较在每个单独的次级线圈中由一次和二次场产生的电压的相位来识别金属标记作为台架标记的存在。这不包括可能在次级线圈中外部产生的任何杂散场。通过比较在多个次级线圈中产生的电压的大小来确定标记相对于车辆的位置。

34. 发明授权

US4310862A Magnetic control strip recording device for roadway control system 失效
标题翻译：用于道路控制系统的磁力控制条记录装置
公开(公告)号：US4310862A
公开(公告)日：1982-01-12
申请号：US88604
申请日：1979-10-26
申请人： Alfred V. Schwarz
发明人： Alfred V. Schwarz
IPC分类号： G05D1/02 , G08G1/0968 , G11B5/02 , G11B5/00
CPC分类号： G05D1/0263 , G05D2201/0202
摘要： A magnetic control strip recording device for vehicle control systems. A paving machine (12) lays a strip (10) containing magnetizable material. A wheel (30) rotates in response to the movement of machine (12). Magnets (34), (36) on the wheel and reed switches (38), (40) adjacent the wheel are activated in response to the movement of the wheel. An electromagnet (21) is energized when the reed switches (38), (40) are closed creating a magnetic pattern in the strip (10) of magnetized zones having alternating polarities for adjacent zones. An alternative magnetic pattern may also be produced by opening the optional disabling switch (44). The switches (38, 40) are preferably capacitively coupled to the electromagnet (21) to prevent undue drain on the power supply should the wheel (30) be stopped with one of the switches (38, 40) closed.
摘要翻译：一种用于车辆控制系统的磁力控制条记录装置。摊铺机（12）铺设含有可磁化材料的条带（10）。轮（30）响应于机器（12）的移动而旋转。轮子上的磁体（34），（36）和与车轮相邻的舌簧开关（38），（40）响应于车轮的运动被启动。当簧片开关（38），（40）关闭时，电磁体（21）被激励，在相邻区域具有交替极性的磁化区带（10）中形成磁图案。也可以通过打开可选的禁用开关（44）来产生替代的磁图案。优选地，开关（38,40）电容耦合到电磁体（21），以防止当所述开关（38,40）中的一个闭合时轮（30）停止时电源的不适当的泄漏。

35. 发明授权

US4015680A Automatic railless ground conveyor installation 失效
标题翻译：自动无尘输送机安装
公开(公告)号：US4015680A
公开(公告)日：1977-04-05
申请号：US670456
申请日：1976-03-25
申请人： Herbert Pircher , Johannes Hambuch
发明人： Herbert Pircher , Johannes Hambuch
IPC分类号： B62D1/28 , G05D1/02 , B62D1/24
CPC分类号： B62D1/28 , G05D1/0244 , G05D1/0263 , G05D2201/0216
摘要： An automatic railless ground conveyor installation comprising a passive guide track determining the route network and individual driverless or unmanned traveling conveyor cars, each of which possesses a steering mechanism scanning in a contactless manner the guide track. The steering mechanism comprises a central scanning element which during straight ahead travel of the conveyor car is located over the guide track and after turning of the conveyor car onto the guide track serves to reset the steering deflection of the conveyor car and at least two scanning elements arranged to each side of the central scanning element at a progressively increasing distance therefrom. The outermost scanning elements when activated by the guide track serve to trigger a greater steering deflection than the inner situated scanning elements.
摘要翻译：一种自动无碴地面输送机装置，其包括确定路线网络的无源导轨和各自无人驾驶或无人行驶的输送车，每个无人驾驶或无人驾驶的输送车都具有以非接触的方式扫描导轨的转向机构。转向机构包括中央扫描元件，其在输送机轿厢的直线前进行进位于导轨上方，并且在将输送车转动到导轨上之后，用于重置输送车的转向偏转和至少两个扫描元件以逐渐增加的距离布置在中央扫描元件的每一侧。当由导轨启动时，最外面的扫描元件用于触发比内部定位的扫描元件更大的转向偏转。

36. 发明授权

US3948342A Automatic railless ground conveyor installation 失效
标题翻译：自动无尘输送机安装
公开(公告)号：US3948342A
公开(公告)日：1976-04-06
申请号：US481897
申请日：1974-06-21
申请人： Herbert Pircher , Johannes Hambuch
发明人： Herbert Pircher , Johannes Hambuch
IPC分类号： B61B13/00 , B62D1/24 , B62D1/28 , B65G47/49 , E21F13/02 , G05D1/02 , B60K26/00
CPC分类号： B62D1/28 , G05D1/0244 , G05D1/0263 , G05D2201/0216
摘要： An automatic railless ground conveyor installation incorporating a passive guide track determining the route network and individual driverless or unmanned traveling conveyor cars, each of which possesses a steering mechanism which scans in a contactless manner the guide track and a work control mechanism. The work control mechanism, by means of a code reader, scans in a contactless manner individual code markings arranged at junctions or branches and directly influences the steering mechanism in the sense of reaching a target or destination determined by a target code set at the work control mechanism. In front of each branch or junction a partial section of the guide track or a corresponding interruption thereof serves as continuous branch code track, the length of which indicates the code of the branch. The work control mechanism possesses a length measuring device which measures the length of the branch code track as well as a comparator which is operatively coupled with the steering mechanism and compares the measured branch code track length with a target code of a target code mechanism and which target code has been introduced as a length.
摘要翻译：一种自动无碴地面输送机装置，其包括确定路线网络的无源导轨和单独的无人驾驶或无人驾驶的输送车，每个无人驾驶或无人驾驶的输送车具有以非接触的方式扫描导轨和工作控制机构的转向机构。通过代码阅读器的工作控制机构以非接触的方式扫描布置在交叉点或分支处的各个代码标记，并且在到达由在工作控制下设置的目标代码确定的目标或目的地的意义上直接影响转向机构机制。在每个分支或结点的前面，导轨的部分部分或其对应的中断用作连续分支代码轨道，其长度指示分支的代码。工作控制机构具有测量分支代码轨道的长度的长度测量装置以及与转向机构可操作地耦合的比较器，并将所测量的分支代码轨道长度与目标代码机制的目标代码进行比较，目标代码已经被引入了一个长度。

37. 发明授权

US3474877A Trackless conveyor installation 失效
标题翻译：无轨道输送机安装
公开(公告)号：US3474877A
公开(公告)日：1969-10-28
申请号：US3474877D
申请日：1967-04-26
申请人： BUERO PATENT AG
发明人： WESENER ERICH
IPC分类号： B62D1/28 , G05D1/02 , B60S9/22 , B61K1/00
CPC分类号： G05D1/0261 , A61G5/1051 , A61G7/08 , B62D1/28 , G05D1/0263 , G05D2201/0216

38. 发明公开

US20230322286A1 TRAVELING APPARATUS 审中-公开
公开(公告)号：US20230322286A1
公开(公告)日：2023-10-12
申请号：US18122626
申请日：2023-03-16
申请人： SHARP KABUSHIKI KAISHA
发明人： Yoichi FUJIWARA
IPC分类号： G05D1/02 , B62B5/00
CPC分类号： B62B5/0069 , B62B5/0093 , G05D1/0263 , G05D1/0274 , G05D2201/0216
摘要： In a traveling apparatus, multiple first detectors and multiple second detectors are arrayed in an intersectant direction intersecting a travel direction where a vehicle body travels. The second detectors are separated in the travel direction from the first detectors. The first detectors and the second detectors detect a guide extending on a road surface. A first interval between two first detectors adj acent to each other in the intersectant direction is smaller than a second interval between two second detectors adjacent to each other in the intersectant direction.

39. 发明申请

US20170182924A1 MODULAR CONFIGURABLE AUTOMATED GUIDED VEHICLE 审中-公开
公开(公告)号：US20170182924A1
公开(公告)日：2017-06-29
申请号：US14844364
申请日：2015-09-03
申请人： Joseph T. Lendo , Richard Standen , Parashar Patel
发明人： Joseph T. Lendo , Richard Standen , Parashar Patel
IPC分类号： B60P3/06 , B60K1/02 , B60K1/04 , H02J7/00 , G08G1/16 , B60L11/18 , H02J7/02 , B60R16/02 , G05D1/00
CPC分类号： B60P3/06 , B60K1/02 , B60K1/04 , B60K7/0007 , B60K17/043 , B60K2001/0411 , B60K2007/0046 , B60K2007/0061 , B60L53/16 , B60L2200/40 , B60Q9/00 , B60R16/0215 , B60Y2200/62 , G05D1/0016 , G05D1/0022 , G05D1/0261 , G05D1/0263 , G05D2201/0216 , G08G1/165 , G08G1/166 , H02J7/0027 , H02J7/025 , Y02T10/7005 , Y02T10/7072 , Y02T90/14
摘要： A modular configurable automated guided vehicle including a drive module, a battery module, a pin module, a cowl module, and a control module is described herein. The drive module includes a drive wheel and a motor. The battery module includes a battery. The pin module includes a pin and a pin actuator. The cowl module includes a bumper and a caster. The control module includes a subplate to which a plurality of electrical components are mounted. The drive module, the battery module, the pin module, the cowl module, and the control module are discrete pre-assembled units that mate with one another in a longitudinally abutting relationship to cooperatively form a support housing. Accordingly, the drive module, the battery module, the pin module, the cowl module, and the control module are easily replaced and are configured to be connected to one another in a variety of different customizable sequences.

40. 发明申请

US20160357255A1 GAZE DETECTION METHOD AND APPARATUS 审中-公开
标题翻译： GAZE检测方法和装置
公开(公告)号：US20160357255A1
公开(公告)日：2016-12-08
申请号：US15171548
申请日：2016-06-02
申请人： Tobii AB
发明人： Fredrik Lindh , Mattias Gustavsson , Anders Vennstrom , Andreas Edling
IPC分类号： G06F3/01 , G06T19/00
CPC分类号： G06F3/013 , A61B3/113 , G01C21/165 , G05D1/0242 , G05D1/0244 , G05D1/0263 , G05D1/027 , G06T19/006
摘要： A method for determining if a user's gaze is directed in the direction of a zone of interest in a 3D scene comprises: providing a 3D scene containing a zone of interest; associating a property with the zone of interest; creating a bitmap representing the location of the zone of interest in a projected view of the 3D scene, each pixel of the bitmap to which the zone of interest is projected storing the property of the zone of interest; detecting the direction of the user's gaze; using the bitmap to determine if the detected user's gaze is directed in the direction of the zone of interest.
摘要翻译：一种用于确定用户的注视是否被引导到3D场景中的感兴趣区域的方向的方法包括：提供包含感兴趣区域的3D场景; 将财产与利益区相关联; 在3D场景的投影视图中创建表示感兴趣区域的位置的位图，所投影的区域的位图的每个像素存储感兴趣区域的属性; 检测用户目光的方向; 使用位图来确定检测到的用户的注视是否指向感兴趣区域的方向。

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