DK2038716T3 - Fremgangsmåde og system til at transportere lageremner - Google Patents
Fremgangsmåde og system til at transportere lageremner Download PDFInfo
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- DK2038716T3 DK2038716T3 DK07776955.2T DK07776955T DK2038716T3 DK 2038716 T3 DK2038716 T3 DK 2038716T3 DK 07776955 T DK07776955 T DK 07776955T DK 2038716 T3 DK2038716 T3 DK 2038716T3
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Classifications
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- 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
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- 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
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- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
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- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- Warehouses Or Storage Devices (AREA)
- General Factory Administration (AREA)
Claims (16)
1. Fremgangsmåde til at transportere lageremner (40), som omfatter: at bevæge en mobil drivenhed (20) til et første punkt, mens den mobile drivenhed (20) er dokket med en lagerholder (30); at uddokke den mobile drivenhed (20) fra lagerholderen (30); idet fremgangsmåden er kendetegnet ved: at bestemme en placering af lagerholderen (30) ; at beregne en forskel imellem placeringen af lagerholderen (30) og det første punkt; at bestemme om forskellen er større end en forudbestemt tolerance; og som svar på at bestemme, at forskellen er større end den forudbestemte tolerance: at bevæge den mobile drivenhed (20) til et andet punkt baseret på placeringen af lagerholderen (30); at dokke den mobile drivenhed (20) med lagerholderen (30); og at bevæge den mobile drivenhed (20) og lagerholderen (30) til det første punkt.
2. Fremgangsmåde ifølge krav 1, hvorved det at uddokke den mobile drivenhed (20) fra lagerholderen (30) omfatter at uddokke den mobile drivenhed (20) fra lagerholderen (30) efter eller før at bestemme placeringen af lagerholderen (30), at beregne forskellen og at bestemme, om forskellen er større end den forudbestemte tolerance; og/eller hvorved det at uddokke den mobile drivenhed (20) fra lagerholderen (30) omfatter at sænke et dokningshoved (110) fra den mobile drivenhed (20), hvorved lagerholderen (30) ikke er koblet til og ikke bliver understøttet af den mobile drivenhed (20), når dokningshovedet (110) er sænket; og/eller hvorved det at bevæge den mobile drivenhed (20) til det første punkt omfatter: at bevæge den mobile drivenhed (20) hen imod det første punkt; at detektere et fast objekt (50), der er forbundet med det første punkt; og at standse den mobile drivenhed (20) som svar på at detektere det faste objekt (50), der er forbundet med det første punkt.
3. Fremgangsmåde ifølge krav 1 eller 2, hvorved: det at bestemme placeringen af lagerholderen (30) omfatter: at bestemme en placering af den mobile drivenhed (20); og at bestemme en placering af lagerholderen (30) i forhold til den mobile drivenhed (20); og det at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt omfatter at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt baseret i det mindste delvis på placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20); fortrinsvis det at bestemme placeringen af den mobile drivenhed (20) omfatter: at detektere et fast objekt (50); og at bestemme placeringen af den mobile drivenhed (20) baseret på det faste objekt (50); fortrinsvis det at detektere placeringen af det faste objekt (50) omfatter at detektere et fast objekt (50) under den mobile drivenhed (20), og hvorved det at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) omfatter: at detektere i det mindste en del af lagerholderen (30), der er placeret over den mobile drivenhed (20); og at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) baseret på den detekterede del af lagerholderen (30).
4. Fremgangsmåde ifølge et hvilket som helst af de foregående krav, som yderligere omfatter: at bestemme en anden placering af lagerholderen (30); at beregne en anden forskel imellem den anden placering af lagerholderen (30) og det første punkt; at bestemme om den anden forskel er større end en forudbestemt tolerance; og som svar på at bestemme, at den anden forskel er større end den forudbestemte tolerance: at bevæge den mobile drivenhed (20) til et tredje punkt; at dokke med lagerholderen (30); og at bevæge den mobile drivenhed (20) og lagerholderen (30) til det første punkt.
5. Mobil drivenhed (20), som omfatter: et drivmodul (120), der kan opereres til at fremdrive den mobile drivenhed (20) til et første punkt; et dokningshoved (110), der kan opereres til i det mindste det ene af at koble til eller at understøtte en lagerholder (30), når den mobile drivenhed (20) er dokket med lagerholderen (30) ; kendetegnet ved et styremodul (160), der kan opereres til: at bevirke, at den mobile drivenhed (20) uddokker fra lagerholderen (30); at bestemme en placering af lagerholderen (30); at beregne en forskel imellem placeringen af lagerholderen (30) og det første punkt; at bestemme om forskellen er større end en forudbestemt tolerance; og som svar på at bestemme, at forskellen er større end den forudbestemte tolerance: at bevirke, at drivmodulet (120) bevæger den mobile drivenhed (20) til et andet punkt baseret på placeringen af lagerholderen (30); at bevirke, at den mobile drivenhed (20) dokker med lagerholderen (30); og at bevirke, at drivmodulet (120) bevæger den mobile drivenhed (20) og lagerholderen (30) til det første punkt.
6. Mobil drivenhed (20) ifølge krav 5, hvori styremodulet (160) kan opereres til at bevirke, at den mobile drivenhed (20) uddokker fra lagerholderen (30) ved at bevirke, at den mobile drivenhed (20) uddokker fra lagerholderen (30) efter eller før at bestemme placeringen af lagerholderen (30), at beregne forskellen og at bestemme, om forskellen er større end den forudbestemte tolerance; og/eller hvori styremodulet (160) yderligere kan opereres til at bevirke, at den mobile drivenhed (20) uddokker fra lagerholderen (30) ved at sænke dokningshovedet (110), når den mobile drivenhed (20) ankommer til det første punkt, og hvori dokningshovedet (110) ikke understøtter eller er koblet til lagerholderen (30), når den mobile drivenhed (20) er uddokket fra lagerholderen (30); og/eller hvori den mobile drivenhed (20) yderligere omfatter en placeringsføler (140), der kan opereres til at detektere et fast objekt (50), som er forbundet med det første punkt, og hvori drivmodulet (120) kan opereres til at bevæge den mobile drivenhed (20) til det første punkt og omfatter: at fremføre den mobile drivenhed (20) hen imod det første punkt; at standse den mobile drivenhed (20) som svar på, at placeringsføleren (140) detekterer det faste objekt (50), der er forbundet med det første punkt.
7. Mobil drivenhed (20) ifølge krav 5 eller 6, hvori styremodulet (160) kan opereres til: at bestemme placeringen af lagerholderen (30) ved: at bestemme en placering af den mobile drivenhed (20); og at bestemme en placering af lagerholderen (30) i forhold til den mobile drivenhed (20); og at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt ved at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt baseret i det mindste delvis på placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20); fortrinsvis hvori styremodulet (160) kan opereres til at bestemme placeringen af den mobile drivenhed (20) ved: at detektere et fast objekt (50); og at bestemme placeringen af den mobile drivenhed (20) baseret på det faste objekt (50); fortrinsvis hvori styremodulet (160) kan opereres til at detektere det faste objekt (50) ved at detekteret faste objekt (50) under den mobile drivenhed (20), og hvori styremodulet (160) kan opereres til at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) ved: at detektere i det mindste en del af lagerholderen (30) , der er placeret over den mobile drivenhed (20); og at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) baseret på den detekterede del af lagerholderen (30) .
8. Mobil drivenhed (20) ifølge et hvilket som helst af de foregående krav 5-7, hvori styremodulet (160) yderligere kan opereres til: at bestemme en anden placering af lagerholderen (30); at beregne en anden forskel imellem den anden placering af lagerholderen (30) og det første punkt; at bestemme om den anden forskel er større end en forudbestemt tolerance; og som svar på at bestemme, at den anden forskel er større end den forudbestemte tolerance: at bevirke, at drivmodulet (120) bevæger den mobile drivenhed (20) til et tredje punkt; at bevirke, at dokningsaktuatoren (130) dokker med lagerholderen (30); og at bevirke, at drivmodulet (120) bevæger den mobile drivenhed (20) og lagerholderen (30) hen imod det første punkt.
9. System til at oplagre lageremner (40), som omfatter en lagerholder (30), der kan opereres til at oplagre lageremner (40); og en mobil drivenhed (20) ifølge et hvilket som helst af kravene 5-8, der kan opereres til: at bevæge sig til et første punkt, mens den udfører i det mindste det ene af at kobles til og at understøtte den mobile drivenhed (20) ; at uddokke fra lagerholderen (30); at bestemme en placering af lagerholderen (30) ; at beregne en forskel imellem placeringen af lagerholderen (30) og det første punkt; at bestemme om forskellen er større end en forudbestemt tolerance; og som svar på at bestemme, at forskellen er større end den forudbestemte tolerance: at bevæge sig til et andet punkt baseret på placeringen af lagerholderen (30); at dokke med lagerholderen (30); og at bevæge lagerholderen (30) til det første punkt.
10. System ifølge krav 9, hvori den mobile drivenhed (20) kan opereres til at bestemme placeringen af lagerholderen (30) ved at bestemme placeringen af lagerholderen (30) før eller efter at uddokke fra lagerholderen (30).
11. System ifølge krav 10, hvori den mobile drivenhed (20) kan opereres til: at bestemme placeringen af lagerholderen (30) ved: at bestemme en placering af den mobile drivenhed (20); og at bestemme en placering af lagerholderen (30) i forhold til den mobile drivenhed (20); og at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt ved at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt baseret i det mindste delvis på placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20); fortrinsvis at den mobile drivenhed (20) kan opereres til at bestemme placeringen af den mobile drivenhed (20) ved: at detektere et fast objekt (50); og at bestemme placeringen af den mobile drivenhed (20) baseret på det faste objekt (50).
12. System ifølge et hvilket som helst af de foregående krav 9 - 11, hvori den mobile drivenhed (20) kan opereres til: at detektere det faste objekt (50) ved at detektere det faste objekt (50) under den mobile drivenhed (20), og at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) yderligere ved: at detektere i det mindste en del af lagerholderen (30), der er placeret over den mobile drivenhed (20); og at bestemme placeringen af lagerholderen (30) i forhold til den mobile drivenhed (20) baseret på den detekterede del af lagerholderen (30) ; og/eller hvori den mobile drivenhed (20) kan opereres til at uddokke fra lagerholderen (30) ved at sænke et dokningshoved (110) fra den mobile drivenhed (20), hvori lagerholderen (30) ikke er koblet til og ikke er understøttet af den mobile drivenhed (20), når dokningshovedet (110) er sænket; og/eller hvori den mobile drivenhed (20) kan opereres til at bevæge sig til det første punkt ved: at bevæge sig hen imod det første punkt; at detektere et fast objekt (50), der er forbundet med det første punkt; og at standse som svar på at detektere det faste objekt (50), der er forbundet med det første punkt; og/eller hvori den mobile drivenhed (20) kan opereres til: at bestemme en anden placering af lagerholderen (30); at beregne en anden forskel imellem den anden placering af lagerholderen (30) og det første punkt; at bestemme, om den anden forskel er større end en forudbestemt tolerance; og som svar på at bestemme, at den anden forskel er større end den forudbestemte tolerance: at bevæge den mobile drivenhed (20) til et tredje punkt; at dokke med lagerholderen (30); og at bevæge den mobile drivenhed (20) og lagerholderen (30) til det første punkt.
13. System ifølge et hvilket som helst af kravene 9-12 til at transportere lageremner (40), som omfatter: organer til at bevæge den mobile drivenhed (20) til det første punkt, mens den mobile drivenhed (20) udfører i det mindste det ene af at understøtte eller at koble til lagerholderen (30) ; organer til at uddokke den mobile drivenhed (20) fra lagerholderen (30); organer til at bestemme placeringen af lagerholderen (30); organer til at beregne forskellen imellem placeringen af lagerholderen (30) og det første punkt; organer til at bestemme, om forskellen er større end den forudbestemte tolerance; og organer, der kan svare på organerne til at bestemme, om forskellen er større end den forudbestemte tolerance, til: at bevæge den mobile drivenhed (20) til det andet punkt baseret på placeringen af lagerholderen (30); at dokke den mobile drivenhed (20) med lagerholderen (30); og at bevæge den mobile drivenhed (20) og lagerholderen (30) til det første punkt.
14. Fremgangsmåde til at transportere lageremner (40), som omfatter: at modtage en kommando, der identificerer en startplacering og en målplacering; at bevæge sig til startplaceringen; at bestemme en placering af en lagerholder (30); at beregne en forskel imellem placeringen af lagerholderen (30) og startplaceringen; at bestemme en justeret placering baseret på forskellen imellem placeringen af lagerholderen (30) og startplaceringen; at bevæge sig til den justerede placering; og at dokke med lagerholderen (30) ved den justerede placering.
15. Fremgangsmåde til at transportere lageremner (40), som omfatter: at bevæge en mobil drivenhed (20) til et første punkt, mens den mobile drivenhed (20) er dokket med en lagerholder (30); at bestemme en placering af lagerholderen (30), mens den mobile drivenhed (20) er dokket med lagerholderen (30); at beregne en forskel imellem placeringen af lagerholderen (30) og det første punkt; at bestemme, om forskellen er større end en forudbestemt tolerance; som svar på at bestemme, at forskellen er mindre end den forudbestemte tolerance, at uddokke fra lagerholderen (30); og som svar på at bestemme, at forskellen er større end den forudbestemte tolerance: at bevæge den mobile drivenhed (20) til et andet punkt baseret på placeringen af lagerholderen (30); og at uddokke den mobile drivenhed (20) fra lagerholderen (30); fortrinsvis at bevæge den mobile drivenhed (20) til et andet punkt omfatter: at bestemme en justeret placering baseret i det mindste delvis på placeringen af lagerholderen (30); og at bevæge lagerholderen (30) til den justerede placering.
16: Fremgangsmåde til at transportere lageremner (40), som omfatter: at bevæge sig til en startplacering, der er forbundet med en lagerholder (30); at dokke med lagerholderen (30); at bevæge sig hen imod en målplacering; mens der bevæges hen imod målplaceringen, at bestemme en placering af lagerholderen (30); at beregne en forskel imellem den bestemte placering af lagerholderen (30) og en forudset placering af lagerholderen (30) ; at bestemme, om forskellen er større end en forudbestemt tolerance; og som svar på at bestemme, at forskellen er større end den forudbestemte tolerance: at uddokke fra lagerholderen (30) ; at bestemme en korrektionsværdi baseret på forskellen, hvorved korrektionsværdien angiver i det mindste det ene af en retning og en afstand: at bevæge sig baseret på korrektionsværdien; at dokke med lagerholderen (30); og at bevæge sig hen imod målplaceringen.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US11/423,294 US7826919B2 (en) | 2006-06-09 | 2006-06-09 | Method and system for transporting inventory items |
| PCT/US2007/011302 WO2007145749A2 (en) | 2006-06-09 | 2007-05-09 | Method and system for transporting inventory items |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| DK2038716T3 true DK2038716T3 (da) | 2017-10-30 |
Family
ID=38822919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| DK07776955.2T DK2038716T3 (da) | 2006-06-09 | 2007-05-09 | Fremgangsmåde og system til at transportere lageremner |
Country Status (7)
| Country | Link |
|---|---|
| US (6) | US7826919B2 (da) |
| EP (2) | EP3236332B1 (da) |
| JP (5) | JP5199251B2 (da) |
| CA (6) | CA2748407C (da) |
| DK (1) | DK2038716T3 (da) |
| ES (1) | ES2642200T3 (da) |
| WO (1) | WO2007145749A2 (da) |
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