EP2338092A1 - Steuerung für ein autonomes förderfahrzeug und verfahren zum betrieb eines autonomen förderfahrzeugs - Google Patents
Steuerung für ein autonomes förderfahrzeug und verfahren zum betrieb eines autonomen förderfahrzeugsInfo
- Publication number
- EP2338092A1 EP2338092A1 EP09769115A EP09769115A EP2338092A1 EP 2338092 A1 EP2338092 A1 EP 2338092A1 EP 09769115 A EP09769115 A EP 09769115A EP 09769115 A EP09769115 A EP 09769115A EP 2338092 A1 EP2338092 A1 EP 2338092A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- autonomous
- cargo
- vehicle
- freight
- property
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
- 238000000034 method Methods 0.000 title claims description 16
- 230000001133 acceleration Effects 0.000 claims abstract description 15
- 230000007613 environmental effect Effects 0.000 claims abstract description 11
- 238000004891 communication Methods 0.000 claims description 2
- 238000004590 computer program Methods 0.000 claims 2
- 238000005259 measurement Methods 0.000 claims 2
- 238000005065 mining Methods 0.000 claims 1
- 230000001360 synchronised effect Effects 0.000 claims 1
- 238000012544 monitoring process Methods 0.000 abstract description 4
- 241001465754 Metazoa Species 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000002349 favourable effect Effects 0.000 description 2
- 230000001419 dependent effect Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 235000013611 frozen food Nutrition 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
- G05B19/4189—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system
- G05B19/41895—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the transport system using automatic guided vehicles [AGV]
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0293—Convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31002—Computer controlled agv conveys workpieces between buffer and cell
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31006—Monitoring of vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/31—From computer integrated manufacturing till monitoring
- G05B2219/31008—Cooperation mobile robots, carrying common pallet, object or pushing together
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
Definitions
- AGV Autonomous conveyor vehicles
- autonomous vehicles need a camera-based monitoring to ensure error-free operation. Furthermore, it is necessary to manually configure an autonomous conveyor vehicle in a particular case, if a certain behavior is desired.
- the autonomous conveyor vehicle In the control for an autonomous conveyor vehicle, the autonomous conveyor vehicle on a loading area, which is loaded with freight.
- the controller is further configured to control a driving behavior of the autonomous conveyor vehicle in dependence on a property of the cargo.
- the autonomous conveyor vehicle has such a controller.
- a controller controls a driving behavior of the autonomous conveyor vehicle depending on a property of the cargo.
- the control and the method increase the autonomy of the autonomous transport vehicle. This can now adapt its driving behavior to a property of the freight. Due to an increasing variety of products, the cargo will be transported in the future very different types of freight, to which different requirements.
- the control and method make it possible to adapt the driving behavior to a property of the freight. This ensures optimal handling of the cargo. The effort for a manual configuration of the autonomous transport vehicle or for a camera-based monitoring is reduced or eliminated.
- FIG. 1 shows an autonomous transport vehicle with a freight and a second transport vehicle with an unstable freight
- FIG. 2 shows a detailed view of an autonomous transport vehicle
- Figure 3 shows the common transport of a bulky cargo through two autonomous conveyor vehicles.
- FIG. 1 shows two scenarios for the operation of an autonomous transport vehicle.
- An autonomous conveying vehicle 1 is loaded with a freight 3.
- the cargo 3 has favorable dimensions for transport.
- FIG. 1 furthermore shows a second autonomous conveying vehicle 2, which is loaded with an unstable freight 4.
- the favorable dimensions of the cargo 3 allow the autonomous transport vehicle 1 to have a greater braking acceleration than the second autonomous transport vehicle 2. The latter must brake more carefully if loss or damage to the unstable freight 4 is to be avoided.
- the second autonomous conveying vehicle 2 controls its driving behavior depending on a property of the unstable cargo 4.
- the property of the unstable cargo 4 here is its instability. Accordingly, the second autonomous conveying vehicle 2 controls its drivability by reducing its deceleration by a required amount.
- FIG. 2 shows a detailed view of an autonomous conveying vehicle 1.
- a loading area 6 of the autonomous conveying vehicle 1 is loaded with a freight 3.
- FIG. 2 also shows a sensor 7, which measures the position or weight of the freight 3.
- the sensor 7 may for example be designed as a pressure sensor, which is arranged below a loading area of the autonomous conveying vehicle 1 and measures the weight of the entire load.
- the sensor 7 may also consist of one or more sensors or a sensor array (and optionally in addition to the previously mentioned embodiment) which measures not only the presence of the freight 3 but also its position on the loading area 6.
- the autonomous conveying vehicle 1 is stopped or a warning message is issued.
- An operator of the autonomous transport vehicle 1 is thereby signaled that the cargo 3 has slipped or fallen from the loading area 6, so that he can manually place this again correctly on the loading area 6.
- a control of the autonomous conveying vehicle 1 comprises a wireless
- the wireless interface 8 receives the property of the cargo 3.
- a computing unit 9 determined from the property of the cargo 3 limits for acceleration, cornering or deceleration of the autonomous transport vehicle 1, to which slipping or damaging the cargo 3 is excluded.
- the driving behavior of the autonomous transport vehicle 1 is controlled so that these limits do not be crossed, be exceeded, be passed.
- braking, acceleration and cornering can be controlled so that no cargo 3 falls from the loading area 6 or is damaged. For example, a transport journey with live animals as cargo 3 with very narrow limits for acceleration, cornering and deceleration can be carried out, so that the animals are transported as gently as possible.
- the autonomous conveying vehicle 1 is equipped with an acceleration sensor in a development. On the basis of measured values of the acceleration sensor, the driving behavior of the autonomous transport vehicle 1 is controlled such that the stated limit values are not exceeded.
- the wireless interface 8 is used to read out RFID tags applied to the freight 3, which indicate the property of the freight 3.
- a type of goods living animals, electrical appliances, etc.
- other property of the cargo such as instability, dimensions, bulkiness, etc.
- the control of the autonomous conveying vehicle 1 receives information about the property of the freight 3 via the wireless interface 8.
- the wireless interface 8 receives this information as part of a transport request, which is transmitted, for example, from a control center or a mobile terminal of a user.
- the freight 3 can consist of different freight items which have different properties and requirements with regard to maximum acceleration, cornering or deceleration, an analysis of the collected data by a computing unit 9 is required at this point. As part of the analysis, all loaded freight because the minimum of their maximum acceleration values is selected as the limit value for the driving behavior of the autonomous transport vehicle 1.
- FIG. 3 shows a further scenario for the use of the autonomous transport vehicle 1.
- a bulky cargo 5 is to be transported, for which the autonomous transport vehicle 1 is not dimensioned sufficiently large.
- a second autonomous conveying vehicle 2 is called in to transport the bulky cargo 5 together.
- the autonomous conveying vehicle 1 and the second autonomous conveying vehicle 2 each have a wireless communication interface to communicate with each other and to synchronize their driving behavior so that the bulky cargo 5 can be transported. In the course of this
- Synchronization measured values are continuously exchanged while driving, for example, the sensor 7 shown in Figure 2 or the aforementioned acceleration sensor.
- the property of the cargo 3 requires special environmental conditions.
- it can be chilled goods, such as frozen food, or a cargo 3, which must not be exposed to sunlight, excessive humidity or frost.
- the autonomous conveyor vehicle 1 plans in a first variant, a track on which the required environmental conditions are always given.
- a storage space is selected for the cargo 3, at which the required environmental conditions are met, and planned a route to this parking space.
- the autonomous conveyor vehicle 1 receives via its wireless interface 8 information from a sensor network comprising sensors that are installed in an environment of the autonomous conveyor vehicle 1 and environmental conditions (such as humidity, temperature, solar radiation, etc.). ) measure up. Based on the information from the sensor network, the route or the parking space for the autonomous conveyor vehicle 1 is now planned. In this way, requirements of the cargo 3 can be met even better.
- a sensor network comprising sensors that are installed in an environment of the autonomous conveyor vehicle 1 and environmental conditions (such as humidity, temperature, solar radiation, etc.). ) measure up.
- environmental conditions such as humidity, temperature, solar radiation, etc.
Landscapes
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Manufacturing & Machinery (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- Quality & Reliability (AREA)
- Human Computer Interaction (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102008030546A DE102008030546A1 (de) | 2008-06-27 | 2008-06-27 | Steuerung für ein autonomes Förderfahrzeug und Verfahren zum Betrieb eines autonomen Förderfahrzeugs |
PCT/EP2009/057071 WO2009156266A1 (de) | 2008-06-27 | 2009-06-09 | Steuerung für ein autonomes förderfahrzeug und verfahren zum betrieb eines autonomen förderfahrzeugs |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2338092A1 true EP2338092A1 (de) | 2011-06-29 |
Family
ID=40941985
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP09769115A Withdrawn EP2338092A1 (de) | 2008-06-27 | 2009-06-09 | Steuerung für ein autonomes förderfahrzeug und verfahren zum betrieb eines autonomen förderfahrzeugs |
Country Status (5)
Country | Link |
---|---|
US (1) | US20110106362A1 (de) |
EP (1) | EP2338092A1 (de) |
CN (1) | CN102077150A (de) |
DE (1) | DE102008030546A1 (de) |
WO (1) | WO2009156266A1 (de) |
Families Citing this family (55)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ES2812568T3 (es) | 2012-01-25 | 2021-03-17 | Omron Tateisi Electronics Co | Robot móvil autónomo para ejecutar asignaciones de trabajo en un entorno físico en el que hay obstáculos estacionarios y no estacionarios |
US20130218518A1 (en) * | 2012-02-21 | 2013-08-22 | International Business Machines Corporation | Automated, three dimensional mappable environmental sampling system and methods of use |
NL2008674C2 (nl) * | 2012-04-20 | 2013-10-23 | Lely Patent Nv | Samenstel van autonome voertuigen. |
CN104166380A (zh) * | 2013-05-17 | 2014-11-26 | 中国人民解放军第二炮兵工程大学 | 一种复杂环境实时监测车 |
CN103273880A (zh) * | 2013-05-23 | 2013-09-04 | 无锡伊佩克科技有限公司 | 一种货车货物防掉落*** |
US9681272B2 (en) | 2014-04-23 | 2017-06-13 | At&T Intellectual Property I, L.P. | Facilitating mesh networks of connected movable objects |
AU2015318258B2 (en) | 2014-09-15 | 2019-02-14 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
DE102014224092A1 (de) * | 2014-11-26 | 2016-06-02 | Robert Bosch Gmbh | Verfahren zum Verladen eines Fahrzeugs |
CN104742824B (zh) * | 2015-03-16 | 2017-03-08 | 杨杰 | 自动运输矿车 |
CN105128868A (zh) * | 2015-07-24 | 2015-12-09 | 中国人民解放军空军勤务学院 | 一种城市一体化载人传送*** |
WO2017059007A1 (en) | 2015-09-29 | 2017-04-06 | Saudi Arabian Oil Company | Automated pipeline pig handling system |
US9582001B1 (en) * | 2015-10-07 | 2017-02-28 | X Development Llc | Motor system for vehicle steering and locomotion |
US9682481B2 (en) * | 2015-10-26 | 2017-06-20 | X Development Llc | Communication of information regarding a robot using an optical identifier |
EP3187438B1 (de) | 2015-12-30 | 2022-10-12 | Siemens Aktiengesellschaft | Förderanlage für stückgüter und verfahren zum beheben einer störung einer förderanlage |
CN105538326B (zh) * | 2016-01-04 | 2018-02-13 | 杭州亚美利嘉科技有限公司 | 一种设置机器人运行的方法及服务器 |
CN109070956B (zh) | 2016-03-22 | 2022-01-11 | 福特全球技术公司 | 微型运输机 |
US10730626B2 (en) | 2016-04-29 | 2020-08-04 | United Parcel Service Of America, Inc. | Methods of photo matching and photo confirmation for parcel pickup and delivery |
WO2017204998A2 (en) | 2016-04-29 | 2017-11-30 | United Parcel Service Of America, Inc. | Unmanned aerial vehicle pick-up and delivery systems |
CN106020198B (zh) * | 2016-07-06 | 2020-03-31 | 深圳市汲众科技开发有限公司 | 一种体感车载物的方法和体感车 |
CN106200637A (zh) * | 2016-07-06 | 2016-12-07 | 尚艳燕 | 一种利用平衡车载物的方法和平衡车 |
CN106444747B (zh) * | 2016-09-05 | 2020-02-28 | 深圳市汲众科技开发有限公司 | 一种平衡车载物的方法和平衡车 |
CN106354142A (zh) * | 2016-10-27 | 2017-01-25 | 金建荣 | 一种基于物联网的智能搬运***及应用 |
CN108176620B (zh) * | 2017-01-16 | 2024-02-20 | 浙江国自机器人技术有限公司 | 一种非停靠式分拣机器人分拣装置及分拣方法 |
DE102017203514A1 (de) * | 2017-03-03 | 2018-09-20 | Robert Bosch Gmbh | Flurförderfahrzeug mit verbessertem Sensorkonzept sowie Flurfördersystem |
EP3373232B1 (de) * | 2017-03-09 | 2020-12-09 | Interroll Holding AG | Intralogistische anordnung |
US20180349833A1 (en) * | 2017-06-06 | 2018-12-06 | Blackberry Limited | Managing usage of cargo transportation units |
US10775792B2 (en) | 2017-06-13 | 2020-09-15 | United Parcel Service Of America, Inc. | Autonomously delivering items to corresponding delivery locations proximate a delivery route |
US10948910B2 (en) | 2017-09-07 | 2021-03-16 | Qualcomm Incorporated | Robotic vehicle separated payload detection and response |
US11086316B2 (en) | 2017-09-07 | 2021-08-10 | Qualcomm Incorporated | Robotic vehicle insecure pay load detection and response |
CN109657888A (zh) * | 2017-10-10 | 2019-04-19 | 杭州海康机器人技术有限公司 | 一种agv任务生成方法、装置、电子设备及存储介质 |
JP6950521B2 (ja) * | 2017-12-26 | 2021-10-13 | トヨタ自動車株式会社 | 集荷システム |
CN109987342A (zh) * | 2017-12-29 | 2019-07-09 | 长沙行深智能科技有限公司 | 一种具有连接组件的智能终端柜 |
CN110197348B (zh) * | 2018-02-24 | 2021-11-19 | 北京图森智途科技有限公司 | 自动驾驶车辆控制方法和自动驾驶控制装置 |
JP7110635B2 (ja) * | 2018-03-19 | 2022-08-02 | 株式会社デンソー | 制御装置 |
US10831213B2 (en) * | 2018-03-30 | 2020-11-10 | Deere & Company | Targeted loading assistance system |
CN108803608B (zh) * | 2018-06-08 | 2021-11-30 | 广州市远能物流自动化设备科技有限公司 | 停车agv与汽车的对接定位方法及停车agv |
GB2586217B (en) | 2019-08-01 | 2022-06-15 | Arrival Ltd | A system and method for operating an autonomous mobile robot based on payload sensing |
DE102019122052B4 (de) * | 2019-08-16 | 2021-03-04 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Fahrzeug zum Transportieren von Ladegut |
DE102019122055B4 (de) * | 2019-08-16 | 2021-08-26 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | Verfahren zur Übergabe von Ladegut von einer Ladegutaufnahme eines Fahrzeuges sowie Fahrzeug zur Durchführung des Verfahrens |
CN112440952B (zh) * | 2019-09-04 | 2022-04-19 | 亚杰科技(江苏)有限公司 | 一种防落地的汽车零部件运输小车 |
DE102019215169A1 (de) * | 2019-10-02 | 2021-04-08 | Robert Bosch Gmbh | Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden Betrieb |
DE102019216181A1 (de) * | 2019-10-21 | 2021-04-22 | Robert Bosch Gmbh | Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden Betrieb |
JP7188363B2 (ja) * | 2019-11-25 | 2022-12-13 | トヨタ自動車株式会社 | 搬送システム、搬送方法およびプログラム |
JP7192748B2 (ja) | 2019-11-25 | 2022-12-20 | トヨタ自動車株式会社 | 搬送システム、学習済みモデル生成方法、学習済みモデル、制御方法およびプログラム |
DE102020001255A1 (de) * | 2020-02-26 | 2021-08-26 | Grenzebach Maschinenbau Gmbh | Vorrichtung und Verfahren zur selbsttätigen Bestimmung des Bewegungsraums und selbstständige Optimierung des Fahrverhaltens eines in Aktion befindlichen fahrerlosen Transportfahrzeugs mit Beladung in dynamischen Produktions- und Logistikumgebungen. |
US11827503B2 (en) | 2020-03-18 | 2023-11-28 | Crown Equipment Corporation | Adaptive acceleration for materials handling vehicle |
WO2021197523A1 (de) * | 2020-03-30 | 2021-10-07 | Blumenbecker Technik Gmbh | Verfahren zur verfolgung und/oder lokalisierung von frachtgut |
DE102020003213A1 (de) | 2020-05-28 | 2020-07-23 | Daimler Ag | Vermeidung von Ladungsschäden bei automatischen Lastkraftwagen |
US11788934B2 (en) | 2020-07-01 | 2023-10-17 | Saudi Arabian Oil Company | In-line fluid and solid sampling within flowlines |
US11223928B1 (en) * | 2020-10-15 | 2022-01-11 | Toyota Motor Engineering & Manufacturing North America, Inc. | Unsecured object detection and alert |
JPWO2022185447A1 (de) * | 2021-03-03 | 2022-09-09 | ||
WO2022199856A1 (en) * | 2021-03-26 | 2022-09-29 | Abb Schweiz Ag | Industrial robot with a peer-to-peer communication interface to support collaboration among robots |
US11865928B2 (en) | 2021-11-24 | 2024-01-09 | Saudi Arabian Oil Company | Generating power with a conduit inspection tool |
DE102022002372B3 (de) * | 2022-06-30 | 2023-03-16 | Sew-Eurodrive Gmbh & Co Kg | Verfahren zum Transportieren eines Gegenstandes |
CN115129068B (zh) * | 2022-08-26 | 2022-12-16 | 济宁龙纳智能科技有限公司 | 一种基于agv叉车的智能定位导航*** |
Family Cites Families (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS59109915A (ja) * | 1982-12-15 | 1984-06-25 | Mitsubishi Electric Corp | 避難誘導無人車駆動装置 |
JPH09124298A (ja) * | 1995-10-30 | 1997-05-13 | Murata Mach Ltd | 無人搬送車 |
US6292725B1 (en) * | 1997-04-04 | 2001-09-18 | Komatsu Ltd. | Interference preventing device for vehicle |
DE10004622B4 (de) * | 1999-10-30 | 2005-05-12 | Jungheinrich Ag | Gegengewichtstapler |
UA77662C2 (en) * | 2000-10-10 | 2007-01-15 | Dbt America Inc | Automated continuous haulage apparatus |
AU2002333320A1 (en) * | 2001-08-02 | 2003-02-17 | Siemens Aktiengesellschaft | Material handling systems with high frequency radio location devices |
DE10323643B4 (de) * | 2003-05-26 | 2021-02-04 | Still Gesellschaft Mit Beschränkter Haftung | Sensorsystem für ein autonomes Flurförderfahrzeug |
US7099745B2 (en) * | 2003-10-24 | 2006-08-29 | Sap Aktiengesellschaft | Robot system using virtual world |
JP4232977B2 (ja) * | 2004-12-06 | 2009-03-04 | 日本輸送機株式会社 | 攪拌搬送方法、及び搬送装置 |
DE102005024881A1 (de) * | 2005-05-31 | 2006-12-07 | Still Gmbh | Flurförderzeug mit einer elektrischen Steuerungseinheit |
US7370730B2 (en) * | 2005-07-05 | 2008-05-13 | International Business Machines Corporation | Self-checkout system with plurality of capacity-detecting loading stations |
CA2864027C (en) * | 2005-10-14 | 2017-05-02 | Aldo Zini | Robotic ordering and delivery apparatuses, systems and methods |
US7673889B2 (en) * | 2005-10-18 | 2010-03-09 | The Boeing Company | Direct loading apparatus for pallet related systems |
US7479875B2 (en) * | 2006-05-12 | 2009-01-20 | Oracle International Corporation | Method of and system for managing data in a sensor network |
US7211980B1 (en) * | 2006-07-05 | 2007-05-01 | Battelle Energy Alliance, Llc | Robotic follow system and method |
US20080262669A1 (en) * | 2006-09-22 | 2008-10-23 | Jadi, Inc. | Autonomous vehicle controller |
US20120232942A1 (en) * | 2006-10-16 | 2012-09-13 | Lockheed Martin Corporation | Control and tracking system for material movement system and method of use |
-
2008
- 2008-06-27 DE DE102008030546A patent/DE102008030546A1/de not_active Withdrawn
-
2009
- 2009-06-09 CN CN2009801243968A patent/CN102077150A/zh active Pending
- 2009-06-09 EP EP09769115A patent/EP2338092A1/de not_active Withdrawn
- 2009-06-09 WO PCT/EP2009/057071 patent/WO2009156266A1/de active Application Filing
- 2009-06-09 US US13/001,530 patent/US20110106362A1/en not_active Abandoned
Non-Patent Citations (1)
Title |
---|
See references of WO2009156266A1 * |
Also Published As
Publication number | Publication date |
---|---|
WO2009156266A1 (de) | 2009-12-30 |
CN102077150A (zh) | 2011-05-25 |
US20110106362A1 (en) | 2011-05-05 |
DE102008030546A1 (de) | 2009-12-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
EP2338092A1 (de) | Steuerung für ein autonomes förderfahrzeug und verfahren zum betrieb eines autonomen förderfahrzeugs | |
EP2937279B1 (de) | Frachtladesystem für das be- und entladen eines frachtstücks, verfahren zur erstellung und/oder aktualisierung eines ladeplans | |
DE102005049688B4 (de) | Funkbasierende Zustandskontrolle in Transportbehältern | |
EP2848502B1 (de) | Routenzug sowie Steuerungsverfahren für Routenzug | |
DE102006040197A1 (de) | Steuersystem für Flurförderzeuge | |
DE102017106565A1 (de) | Fahrzeug-anhänger-kommunikation | |
DE60113192T2 (de) | Fahrzeugbremssystem mit abgespeicherten Fahrzeugsparametern zur elektronischen Bremssteuerung | |
EP1836465A1 (de) | Vorrichtung und verfahren zur kontrolle des be- und/oder entladeprozesses eines flugzeugs | |
DE102008057076A1 (de) | Beladungssystem und Verfahren zum Beladen eines Laderaums eines Flugzeugs | |
WO2017186707A1 (de) | Vorrichtung und verfahren zur optimierung der kraftschluss-ausnutzung zwischen rad und schiene | |
EP2549412B1 (de) | Betriebsmodusänderung eines einer Transporteinheit zugeordneten elektronischen Geräts | |
EP3617004A1 (de) | Verfahren zum bereitstellen von daten eines lastzuges | |
EP2080731B1 (de) | Flurförderzeug mit mindestens einem RFID-Transponder | |
EP3808655B1 (de) | System zur nutzlastüberwachung, flugzeug und verfahren | |
DE102018103664B4 (de) | Lagerlogistikdatenbestimmungssystem zur indirekten Bestimmung von Daten von Stückgut, Verfahren zum Betreiben eines Lagerlogistikdatenbestimmungssystems sowie Verwendung von energieautarken Sensoreinheiten am jeweiligen Stückgut | |
WO2013013732A1 (de) | Elektronische bremssteuereinrichtung für ein fahrzeug sowie diagnosegerät, empfangsstation und computerprogramm | |
DE102016006524A1 (de) | Verfahren und System zum Aufbauen einer zulässigen geeigneten Strecke für ein Fahrzeug | |
EP2390121A1 (de) | Nutzfahrzeuganhänger und Steuereinrichtung für Luftfederanordnung | |
DE102014112402B4 (de) | Bremsanlage eines Nutzfahrzeugs | |
DE102018215845A1 (de) | Sensor-basierte Überwachung von Waren | |
EP3476627B1 (de) | Zugfahrzeug und sattelanhänger | |
DE102016209402B4 (de) | Vorrichtung und Verfahren zur Überwachung eines mobilen Objekts | |
DE19820743A1 (de) | Industrieentsorgungsverfahren | |
DE102020003213A1 (de) | Vermeidung von Ladungsschäden bei automatischen Lastkraftwagen | |
DE102015202696A1 (de) | Verfahren und Vorrichtung zum Bestimmen eines Ladungsgewichts eines Fahrzeugs |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
17P | Request for examination filed |
Effective date: 20101118 |
|
AK | Designated contracting states |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO SE SI SK TR |
|
AX | Request for extension of the european patent |
Extension state: AL BA RS |
|
DAX | Request for extension of the european patent (deleted) | ||
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: SEITZ, CHRISTIAN |
|
RAP1 | Party data changed (applicant data changed or rights of an application transferred) |
Owner name: SIEMENS AKTIENGESELLSCHAFT |
|
GRAP | Despatch of communication of intention to grant a patent |
Free format text: ORIGINAL CODE: EPIDOSNIGR1 |
|
INTG | Intention to grant announced |
Effective date: 20150716 |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION IS DEEMED TO BE WITHDRAWN |
|
18D | Application deemed to be withdrawn |
Effective date: 20151127 |