ES2177156T3 - Sistema de guiado para un vehiculo guiado de forma automatica. - Google Patents
Sistema de guiado para un vehiculo guiado de forma automatica.Info
- Publication number
- ES2177156T3 ES2177156T3 ES99103514T ES99103514T ES2177156T3 ES 2177156 T3 ES2177156 T3 ES 2177156T3 ES 99103514 T ES99103514 T ES 99103514T ES 99103514 T ES99103514 T ES 99103514T ES 2177156 T3 ES2177156 T3 ES 2177156T3
- Authority
- ES
- Spain
- Prior art keywords
- rail
- guided vehicle
- guide system
- vehicle automatically
- guiding system
- 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.)
- Expired - Lifetime
Links
Classifications
-
- 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
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
-
- 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
- G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
- G05D1/0229—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area in combination with fixed guiding means
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Train Traffic Observation, Control, And Security (AREA)
- Platform Screen Doors And Railroad Systems (AREA)
Abstract
SE DESCRIBE UN SISTEMA DE GUIA PARA GUIAR UN VEHICULO GUIADO AUTOMATICAMENTE A LO LARGO DE UNA TRAYECTORIA, QUE INCLUYE RAILES PARA SUSTENTAR EL AGV A LAS PARTES GENERALMENTE RECTAS DEL RECORRIDO Y UN SISTEMA DE GUIA SIN RAILES PARA DIRIGIR EL AGV DESDE EL EXTREMO DE UN PRIMER SEGMENTO DE RAIL AL COMIENZO DE OTRO. LOS RAILES PROPORCIONAN EL NECESARIO NIVEL DE CONTROL PARA PERMITIR QUE UN VEHICULO AUTOMATICO SE DESPLACE A ALTAS VELOCIDADES, EN TANTO QUE EL SISTEMA DE GUIA SIN RAILES ELIMINA LA NECESIDAD DE UTILIZAR CAMBIOS DE RAIL QUE SERIAN NECESARIOS EN CASO CONTRARIO PARA DESPLAZAR UN VEHICULO GUIADO EN UN RAIL DE UNA PARTE DE RAIL A OTRA.
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US09/038,693 US6272406B2 (en) | 1998-03-09 | 1998-03-09 | Guidance system for an automated guided-vehicle |
Publications (1)
Publication Number | Publication Date |
---|---|
ES2177156T3 true ES2177156T3 (es) | 2002-12-01 |
Family
ID=21901370
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
ES99103514T Expired - Lifetime ES2177156T3 (es) | 1998-03-09 | 1999-02-24 | Sistema de guiado para un vehiculo guiado de forma automatica. |
Country Status (20)
Country | Link |
---|---|
US (1) | US6272406B2 (es) |
EP (1) | EP0942345B1 (es) |
JP (1) | JPH11296226A (es) |
KR (1) | KR19990077651A (es) |
CN (1) | CN1228379A (es) |
AR (1) | AR014692A1 (es) |
AU (1) | AU1644399A (es) |
BR (1) | BR9900990A (es) |
CA (1) | CA2261825C (es) |
CZ (1) | CZ80299A3 (es) |
DE (1) | DE69901363T2 (es) |
ES (1) | ES2177156T3 (es) |
HU (1) | HUP9900384A3 (es) |
ID (1) | ID22159A (es) |
NO (1) | NO991116L (es) |
NZ (1) | NZ334498A (es) |
PL (1) | PL331697A1 (es) |
SG (1) | SG85623A1 (es) |
TW (1) | TW474874B (es) |
ZA (1) | ZA991289B (es) |
Families Citing this family (75)
Publication number | Priority date | Publication date | Assignee | Title |
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US5863929A (en) | 1996-06-25 | 1999-01-26 | Eli Lilly And Company | Anticoagulant agents |
US8706328B1 (en) * | 2001-08-25 | 2014-04-22 | Cybertrain International, Inc. | Vehicle-based switch mechanisms in fixed guideway transportation systems and methods for controlling same |
AUPR733701A0 (en) * | 2001-08-29 | 2001-09-20 | Beeline Technologies | Apparatus and method for assisted navigation of a land vehicle |
CA2469652C (en) | 2001-12-12 | 2008-07-29 | Jervis B. Webb Company | Driverless vehicle guidance system and method |
US7174836B2 (en) * | 2002-04-05 | 2007-02-13 | Jervis B. Webb Company | Station control system for a driverless vehicle |
IL153758A (en) * | 2002-12-31 | 2007-09-20 | Israel Aerospace Ind Ltd | Unmanned tactical platform |
CN100507444C (zh) * | 2003-05-12 | 2009-07-01 | 诺基亚公司 | 用于在导航区域内导航的方法、设备和系统 |
JP4310733B2 (ja) * | 2003-09-08 | 2009-08-12 | 株式会社ダイフク | 摩擦駆動の台車式搬送装置 |
JP4310734B2 (ja) * | 2003-09-08 | 2009-08-12 | 株式会社ダイフク | 摩擦駆動の台車式搬送装置 |
US7350613B2 (en) * | 2004-03-31 | 2008-04-01 | Jervis B. Webb Company | Transport with rotatable load and safety bumper |
BE1016001A3 (nl) * | 2004-04-30 | 2006-01-10 | Egemin Nv | Automatisch geleid voertuig met verbeterde navigatie. |
CA2565553C (en) * | 2004-05-03 | 2010-01-12 | Jervis B. Webb Company | Automatic transport loading system and method |
US8075243B2 (en) | 2004-05-03 | 2011-12-13 | Jervis B. Webb Company | Automatic transport loading system and method |
US7980808B2 (en) * | 2004-05-03 | 2011-07-19 | Jervis B. Webb Company | Automatic transport loading system and method |
US8192137B2 (en) | 2004-05-03 | 2012-06-05 | Jervis B. Webb Company | Automatic transport loading system and method |
US8210791B2 (en) * | 2004-05-03 | 2012-07-03 | Jervis B. Webb Company | Automatic transport loading system and method |
WO2006039117A2 (en) * | 2004-09-21 | 2006-04-13 | Skyfence Inc. | Positioning system that uses signals from a point source |
US20060276958A1 (en) * | 2005-06-02 | 2006-12-07 | Jervis B. Webb Company | Inertial navigational guidance system for a driverless vehicle utilizing laser obstacle sensors |
DE102006044645A1 (de) * | 2006-09-21 | 2008-04-10 | Gottwald Port Technology Gmbh | Verfahren und System zur Bestimmung der Position und Ausrichtung eines unbemannten Fahrzeugs sowie entsprechendes Fahrzeug |
WO2008106082A1 (en) * | 2007-02-26 | 2008-09-04 | Thornycroft, Giles & Co., Inc. | System for rapid, secure transport of cargo by sea, and monohull fast ship and arrangement and method for loading and unloading cargo on a ship |
US20090128139A1 (en) * | 2007-11-20 | 2009-05-21 | Drenth Joseph B | Magnet position locator |
US8180513B2 (en) * | 2008-05-05 | 2012-05-15 | Southwest Research Institute | Autonomous ground vehicle control system for high-speed and safe operation |
BRPI0919904A2 (pt) * | 2008-10-23 | 2016-02-16 | Webb Int Co Jerwis B | conjunto de transporte de peça de trabalho, e, método para transformar uma peça de trabalho |
US9096375B2 (en) | 2009-04-10 | 2015-08-04 | Symbotic, LLC | Storage and retrieval system |
US9321591B2 (en) | 2009-04-10 | 2016-04-26 | Symbotic, LLC | Autonomous transports for storage and retrieval systems |
CA2806852C (en) * | 2010-08-03 | 2018-09-04 | Fori Automation, Inc. | Sensor system and method for use with an automated guided vehicle (agv) |
JP5420510B2 (ja) * | 2010-09-30 | 2014-02-19 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
US8761987B2 (en) * | 2010-10-05 | 2014-06-24 | Checkpoint Llc | Automatic guided vehicle sensor system and method of using same |
JP5580713B2 (ja) * | 2010-10-22 | 2014-08-27 | 株式会社シンテックホズミ | 自動搬送システム |
US9187244B2 (en) | 2010-12-15 | 2015-11-17 | Symbotic, LLC | BOT payload alignment and sensing |
US9561905B2 (en) | 2010-12-15 | 2017-02-07 | Symbotic, LLC | Autonomous transport vehicle |
US8696010B2 (en) | 2010-12-15 | 2014-04-15 | Symbotic, LLC | Suspension system for autonomous transports |
US11078017B2 (en) | 2010-12-15 | 2021-08-03 | Symbotic Llc | Automated bot with transfer arm |
US9499338B2 (en) | 2010-12-15 | 2016-11-22 | Symbotic, LLC | Automated bot transfer arm drive system |
US8965619B2 (en) | 2010-12-15 | 2015-02-24 | Symbotic, LLC | Bot having high speed stability |
US10822168B2 (en) | 2010-12-15 | 2020-11-03 | Symbotic Llc | Warehousing scalable storage structure |
KR20120096808A (ko) * | 2011-02-23 | 2012-08-31 | 한국전자통신연구원 | 보안 관제 장치, 궤도 보안 장치, 관제 로봇 장치, 보안 관제 서비스 시스템 및 그 방법 |
US20120294698A1 (en) * | 2011-05-18 | 2012-11-22 | Daniel Villamar | Delivery system |
TWI439404B (zh) * | 2011-12-15 | 2014-06-01 | Ind Tech Res Inst | 自動搬運車導引系統及自動搬運車導引方法 |
RU2017115314A (ru) | 2012-01-31 | 2019-01-28 | ДЖОЙ ГЛОБАЛ АНДЕРГРАУНД МАЙНИНГ ЭлЭлСи | Воздушная сеть питания для подвижных горных машин |
US9283866B2 (en) | 2012-01-31 | 2016-03-15 | Joy MM Deleware, Inc. | Overhead power grid for mobile mining machines |
JP6523296B2 (ja) | 2013-09-13 | 2019-05-29 | シムボティック エルエルシー | 自動保管および取出システム |
DE202013011145U1 (de) | 2013-12-12 | 2014-01-29 | Grenzebach Maschinenbau Gmbh | Fahrerloses Transportfahrzeug für den sicheren Transport schwerer Lasten |
DE102013020833A1 (de) | 2013-12-12 | 2015-06-18 | Grenzebach Maschinenbau Gmbh | Fahrerloses Transportfahrzeug für den sicheren Transport schwerer Lasten |
CN103885447B (zh) * | 2014-03-28 | 2017-09-12 | 东北石油大学 | 一种自动除冰柱机器人系统 |
DE102014105460A1 (de) * | 2014-04-16 | 2015-10-22 | Vorwerk & Co. Interholding Gmbh | Selbstfahrendes Bodenreinigungsgerät mit einem einem Führungsfahrzeug folgenden Folgewerkzeug |
CN104089623A (zh) * | 2014-07-14 | 2014-10-08 | 上海海事大学 | 一种用于运载车行驶状态及路径的生成系统及方法 |
US9884719B2 (en) | 2014-12-12 | 2018-02-06 | Symbotic, LLC | Storage and retrieval system |
US11893533B2 (en) | 2015-01-16 | 2024-02-06 | Symbotic Llc | Storage and retrieval system |
US11254502B2 (en) | 2015-01-16 | 2022-02-22 | Symbotic Llc | Storage and retrieval system |
US9856083B2 (en) | 2015-01-16 | 2018-01-02 | Symbotic, LLC | Storage and retrieval system |
US10521767B2 (en) | 2015-01-16 | 2019-12-31 | Symbotic, LLC | Storage and retrieval system |
US10214355B2 (en) | 2015-01-16 | 2019-02-26 | Symbotic, LLC | Storage and retrieval system |
US9850079B2 (en) | 2015-01-23 | 2017-12-26 | Symbotic, LLC | Storage and retrieval system transport vehicle |
TWI579168B (zh) * | 2015-04-01 | 2017-04-21 | 佳世達科技股份有限公司 | 自動導引車 |
JP6492024B2 (ja) * | 2016-03-30 | 2019-03-27 | 株式会社豊田中央研究所 | 移動体 |
CN108946101B (zh) | 2017-05-24 | 2020-08-28 | 台达电子工业股份有限公司 | 输送设备 |
TWI684563B (zh) * | 2017-05-24 | 2020-02-11 | 台達電子工業股份有限公司 | 輸送設備 |
US10427889B2 (en) | 2017-05-24 | 2019-10-01 | Delta Electronics, Inc. | Transmission equipment |
DE202017004170U1 (de) | 2017-08-09 | 2017-10-11 | Grenzebach Maschinenbau Gmbh | Vorrichtung zur Erhaltung der Präzision der Navigations-Fähigkeit eines fahrerlosen Transportfahrzeugs |
DE102017007511B3 (de) | 2017-08-09 | 2018-11-22 | Grenzebach Maschinenbau Gmbh | Vorrichtung und Verfahren zur Erhaltung der Präzision der Navigations-Fähigkeit eines fahrerlosen Transportfahrzeugs |
CN108791226B (zh) * | 2017-10-16 | 2023-03-10 | 蔚来(安徽)控股有限公司 | 运输器对接装置、换电运输器及对接方法 |
CN108001338B (zh) * | 2017-12-27 | 2023-10-27 | 中铁第四勘察设计院集团有限公司 | 一种动车电机定子、转子智能运输装置 |
CN108267139B (zh) * | 2018-03-07 | 2023-05-16 | 广州大学 | 一种agv小车的定位装置及定位方法 |
CN108646750B (zh) * | 2018-06-08 | 2021-05-07 | 杭州电子科技大学 | 基于uwb非基站便捷式工厂agv跟随方法 |
DE102018119962A1 (de) * | 2018-08-16 | 2020-02-20 | Wirtgen Gmbh | Selbstfahrende Baumaschine und Verfahren zum Steuern einer selbstfahrenden Baumaschine |
WO2020042163A1 (zh) * | 2018-08-31 | 2020-03-05 | 杭州联和工具制造有限公司 | 一种用于自动仓储系统的货架 |
CN109573501B (zh) * | 2018-12-17 | 2024-04-02 | 天奇自动化工程股份有限公司 | 一种装配用agv小车转运系统 |
CN109748055B (zh) * | 2019-03-14 | 2024-01-26 | 重庆大学 | 有向磁性轨道布置结构 |
TWI699636B (zh) * | 2019-05-21 | 2020-07-21 | 華邦電子股份有限公司 | 協同型機器人控制系統和方法 |
CN112060072B (zh) * | 2019-06-11 | 2023-06-20 | 华邦电子股份有限公司 | 一种协同型机器人控制系统和方法 |
FR3104119B1 (fr) | 2019-12-09 | 2023-10-13 | Trydea | Systeme de transport collectif |
CN115004060A (zh) | 2020-02-12 | 2022-09-02 | 克朗设备公司 | 工业车辆的自动控制 |
CN112319654B (zh) * | 2020-10-27 | 2021-10-22 | 北京特种机械研究所 | 用于agv导航的机械导引头及使用其的导引装置 |
CN114051206B (zh) * | 2021-11-11 | 2023-12-01 | 珠海格力智能装备有限公司 | 一种rgv小车系统的定位控制方法、装置、存储介质和设备 |
Family Cites Families (22)
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BE340169A (es) * | 1927-01-24 | |||
US3067697A (en) | 1956-03-08 | 1962-12-11 | All American Eng Co | Controlled high-speed highway |
JPS5121608A (en) * | 1974-08-16 | 1976-02-20 | Nissan Motor | Deyuarumoodobasushisutemuno bunkigoryukiko |
US4041876A (en) | 1974-09-13 | 1977-08-16 | Transports-Recherches-Etudes Et Groupement D'interet Economique (Tregie) | Vehicle guiding system |
DE2530938A1 (de) | 1975-07-11 | 1977-01-27 | Messerschmitt Boelkow Blohm | Bahnanlage, bei der die spurfuehrung der fahrzeuge auf der strecke abhaengig von laengs der spur sich erstreckenden leitmitteln erfolgt |
DE2627523C2 (de) | 1976-06-18 | 1985-04-04 | Daimler-Benz Ag, 7000 Stuttgart | Verkehrssystem mit Fahrrinne und darin mechanisch quergeführten straßengängigen Fahrzeugen |
DE2721071C2 (de) * | 1977-05-11 | 1986-04-24 | Daimler-Benz Ag, 7000 Stuttgart | Verkehrssystem für spurgeführte Fahrzeuge mit lenkbaren Rädern |
DE2733373A1 (de) | 1977-07-23 | 1979-02-01 | Demag Ag | Schienenfahrzeug mit vorderen und hinteren, als drehgestelle angeordneten fahrwerken |
DE2818754A1 (de) * | 1978-04-28 | 1979-11-08 | Daimler Benz Ag | Von aussen mechanisch spurfuehrbares fahrzeug insbesondere fuer den oeffentlichen personennahverkehr |
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DE3707732C1 (de) | 1987-03-11 | 1988-05-26 | Daimler Benz Ag | Sicherheitseinrichtung fuer wahlweise spurfuehrbare oder strassengaengige Fahrzeuge |
GB2208499B (en) | 1987-04-01 | 1991-07-10 | Litton Uk Ltd | Vehicle assembly line having an automated guided vehicle system |
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US5434781A (en) | 1993-08-13 | 1995-07-18 | Control Engineering Company | Method and apparatus for guiding a driverless vehicle using a sensor tracking a cable emitting an electromagnetic field |
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-
1998
- 1998-03-09 US US09/038,693 patent/US6272406B2/en not_active Expired - Fee Related
-
1999
- 1999-02-15 AU AU16443/99A patent/AU1644399A/en not_active Abandoned
- 1999-02-15 CA CA002261825A patent/CA2261825C/en not_active Expired - Fee Related
- 1999-02-16 HU HU9900384A patent/HUP9900384A3/hu unknown
- 1999-02-18 ZA ZA9901289A patent/ZA991289B/xx unknown
- 1999-02-24 DE DE69901363T patent/DE69901363T2/de not_active Expired - Fee Related
- 1999-02-24 TW TW088102760A patent/TW474874B/zh active
- 1999-02-24 EP EP99103514A patent/EP0942345B1/en not_active Expired - Lifetime
- 1999-02-24 ES ES99103514T patent/ES2177156T3/es not_active Expired - Lifetime
- 1999-03-02 PL PL99331697A patent/PL331697A1/xx unknown
- 1999-03-03 SG SG9901066A patent/SG85623A1/en unknown
- 1999-03-04 ID IDP990178A patent/ID22159A/id unknown
- 1999-03-05 CN CN99102804A patent/CN1228379A/zh active Pending
- 1999-03-05 NZ NZ334498A patent/NZ334498A/xx unknown
- 1999-03-06 KR KR1019990007405A patent/KR19990077651A/ko not_active Application Discontinuation
- 1999-03-08 JP JP11060738A patent/JPH11296226A/ja not_active Withdrawn
- 1999-03-08 NO NO991116A patent/NO991116L/no not_active Application Discontinuation
- 1999-03-08 BR BR9900990-0A patent/BR9900990A/pt not_active Application Discontinuation
- 1999-03-09 AR ARP990100997A patent/AR014692A1/es unknown
- 1999-03-09 CZ CZ99802A patent/CZ80299A3/cs unknown
Also Published As
Publication number | Publication date |
---|---|
US20010001843A1 (en) | 2001-05-24 |
HU9900384D0 (en) | 1999-04-28 |
TW474874B (en) | 2002-02-01 |
CA2261825A1 (en) | 1999-09-09 |
EP0942345B1 (en) | 2002-05-02 |
CA2261825C (en) | 2004-07-20 |
CN1228379A (zh) | 1999-09-15 |
BR9900990A (pt) | 1999-12-28 |
JPH11296226A (ja) | 1999-10-29 |
NO991116L (no) | 1999-09-10 |
DE69901363T2 (de) | 2003-01-02 |
US6272406B2 (en) | 2001-08-07 |
HUP9900384A2 (hu) | 2001-05-28 |
CZ80299A3 (cs) | 1999-10-13 |
DE69901363D1 (de) | 2002-06-06 |
KR19990077651A (ko) | 1999-10-25 |
NZ334498A (en) | 2000-04-28 |
NO991116D0 (no) | 1999-03-08 |
AR014692A1 (es) | 2001-03-28 |
ZA991289B (en) | 2001-05-02 |
AU1644399A (en) | 1999-09-23 |
EP0942345A1 (en) | 1999-09-15 |
ID22159A (id) | 1999-09-09 |
SG85623A1 (en) | 2002-01-15 |
PL331697A1 (en) | 1999-09-13 |
HUP9900384A3 (en) | 2002-07-29 |
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