IT1275664B1 - Sistema per il controlllo e guida automatica di un gruppo elevatore a forche - Google Patents

Sistema per il controlllo e guida automatica di un gruppo elevatore a forche

Info

Publication number
IT1275664B1
IT1275664B1 IT94MI002321A ITMI942321A IT1275664B1 IT 1275664 B1 IT1275664 B1 IT 1275664B1 IT 94MI002321 A IT94MI002321 A IT 94MI002321A IT MI942321 A ITMI942321 A IT MI942321A IT 1275664 B1 IT1275664 B1 IT 1275664B1
Authority
IT
Italy
Prior art keywords
control
automatic driving
lifting group
fork lifting
fork
Prior art date
Application number
IT94MI002321A
Other languages
English (en)
Inventor
Stefano Masciangelo
Marco Ilic
Original Assignee
Consorzio Telerobot
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Consorzio Telerobot filed Critical Consorzio Telerobot
Priority to IT94MI002321A priority Critical patent/IT1275664B1/it
Publication of ITMI942321A0 publication Critical patent/ITMI942321A0/it
Priority to EP95203076A priority patent/EP0712697A3/en
Priority to US08/556,023 priority patent/US5812395A/en
Publication of ITMI942321A1 publication Critical patent/ITMI942321A1/it
Application granted granted Critical
Publication of IT1275664B1 publication Critical patent/IT1275664B1/it

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • 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
    • G05B2219/37—Measurements
    • G05B2219/37563—Ccd, tv camera
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40082—Docking, align object on end effector with target
    • 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
    • G05B2219/45—Nc applications
    • G05B2219/45049—Forklift
IT94MI002321A 1994-11-16 1994-11-16 Sistema per il controlllo e guida automatica di un gruppo elevatore a forche IT1275664B1 (it)

Priority Applications (3)

Application Number Priority Date Filing Date Title
IT94MI002321A IT1275664B1 (it) 1994-11-16 1994-11-16 Sistema per il controlllo e guida automatica di un gruppo elevatore a forche
EP95203076A EP0712697A3 (en) 1994-11-16 1995-11-10 Control system with image processing for forklift trucks for loading a pallet independently
US08/556,023 US5812395A (en) 1994-11-16 1995-11-13 Vision based forklift control system for autonomous pallet loading

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT94MI002321A IT1275664B1 (it) 1994-11-16 1994-11-16 Sistema per il controlllo e guida automatica di un gruppo elevatore a forche

Publications (3)

Publication Number Publication Date
ITMI942321A0 ITMI942321A0 (it) 1994-11-16
ITMI942321A1 ITMI942321A1 (it) 1996-05-16
IT1275664B1 true IT1275664B1 (it) 1997-10-17

Family

ID=11369864

Family Applications (1)

Application Number Title Priority Date Filing Date
IT94MI002321A IT1275664B1 (it) 1994-11-16 1994-11-16 Sistema per il controlllo e guida automatica di un gruppo elevatore a forche

Country Status (3)

Country Link
US (1) US5812395A (it)
EP (1) EP0712697A3 (it)
IT (1) IT1275664B1 (it)

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DE29708980U1 (de) * 1997-05-22 1997-07-17 Graef Ferdinand Überwachungsvorrichtung für Flurförderfahrzeuge
JP2001206696A (ja) * 2000-01-21 2001-07-31 Nippon Yusoki Co Ltd フォークリフト
BE1013354A3 (nl) * 2000-03-17 2001-12-04 Egemin Nv Werkwijze en inrichting voor het aanleggen van een automatisch geleid voertuig.
US7010404B2 (en) * 2002-01-23 2006-03-07 Kabushiki Kaisha Toyota Jidoshokki Position control apparatus and position control method for cargo carrying apparatus in industrial vehicle
GB2395186B (en) * 2002-11-13 2006-06-28 Bamford Excavators Ltd Method of handling a load
DE102008027701B4 (de) 2008-04-20 2022-10-06 Still Gesellschaft Mit Beschränkter Haftung Steuerungsverfahren für Flurförderzeug
FR2965743B1 (fr) * 2010-10-07 2013-07-12 Peugeot Citroen Automobiles Sa Ensemble de manipulation
WO2012068353A2 (en) 2010-11-18 2012-05-24 Sky-Trax, Inc. Load tracking utilizing load identifying indicia and spatial discrimination
US8718372B2 (en) 2011-10-19 2014-05-06 Crown Equipment Corporation Identifying and evaluating possible horizontal and vertical lines intersecting potential pallet features
US9989967B2 (en) 2014-03-04 2018-06-05 Cybernet Systems Corporation All weather autonomously driven vehicles
JP2015225450A (ja) * 2014-05-27 2015-12-14 村田機械株式会社 自律走行車、及び自律走行車における物体認識方法
PT2982625T (pt) * 2014-08-08 2019-02-22 Sanovo Tech Italia S R L Despaletizador para bandejas de ovos
EP3960693A1 (en) 2014-09-15 2022-03-02 Crown Equipment Corporation Lift truck with optical load sensing structure
US10584021B2 (en) 2015-04-08 2020-03-10 The Raymond Corporation Load centering devices and methods for a material handling vehicle
CN105512607B (zh) * 2015-11-25 2019-01-15 浙江工业大学 一种集卡锁头位置识别方法
JP6721998B2 (ja) * 2016-02-23 2020-07-15 村田機械株式会社 物体状態特定方法、物体状態特定装置、および、搬送車
US9990535B2 (en) 2016-04-27 2018-06-05 Crown Equipment Corporation Pallet detection using units of physical length
CN106672859B (zh) * 2017-01-05 2018-11-09 深圳市有光图像科技有限公司 一种基于叉车视觉识别托盘的方法及叉车
US10328578B2 (en) 2017-04-21 2019-06-25 X Development Llc Methods and systems for detecting, recognizing, and localizing pallets
CN107218927B (zh) * 2017-05-16 2019-08-09 上海交通大学 一种基于tof相机的货物托盘检测系统和方法
DE102017116625A1 (de) * 2017-07-24 2019-01-24 Still Gmbh Flurförderzeug
US10909866B2 (en) 2018-07-20 2021-02-02 Cybernet Systems Corp. Autonomous transportation system and methods
JP2020029361A (ja) * 2018-08-24 2020-02-27 株式会社豊田自動織機 フォークリフト用荷役作業支援装置
DE112019000125B4 (de) 2018-10-30 2021-07-01 Mujin, Inc. Systeme, vorrichtungen und verfahren zur automatisierten verpackungsregistrierung
US10369701B1 (en) 2018-10-30 2019-08-06 Mujin, Inc. Automated package registration systems, devices, and methods
DE102019133752A1 (de) 2018-12-10 2020-06-10 Electronic Theatre Controls, Inc. Systeme und verfahren zum ermitteln von informationen überbeleuchtungskörperanordnungen
CN109573897B (zh) * 2018-12-21 2020-09-15 宁波如意股份有限公司 基于视觉的叉车agv货叉起升高度定位的系统及方法
WO2020189154A1 (ja) * 2019-03-19 2020-09-24 株式会社豊田自動織機 物品検出装置、物品検出方法、及び産業車両
CN111738253B (zh) * 2019-04-30 2023-08-08 北京京东乾石科技有限公司 叉车托盘定位方法、装置、设备和可读存储介质
JP7192706B2 (ja) * 2019-08-07 2022-12-20 株式会社豊田自動織機 位置姿勢推定装置
JP7351274B2 (ja) * 2020-08-28 2023-09-27 株式会社豊田自動織機 荷役物推定装置

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SE7804927L (sv) * 1978-04-28 1979-10-29 Volvo Ab Anordning for att orientera exempelvis ett lyftdon i forhallande till en last
DE3405909A1 (de) * 1984-02-18 1985-08-22 Licentia Patent-Verwaltungs-Gmbh, 6000 Frankfurt Vorrichtung zur erfassung, messtechnischen analyse und/oder regelung von technischen verfahrensablaeufen
US4684247A (en) * 1985-10-18 1987-08-04 Calspan Corporation Target member for use in a positioning system
US4678329A (en) * 1985-10-18 1987-07-07 Calspan Corporation Automatically guided vehicle control system
EP0243493A1 (en) * 1985-10-18 1987-11-04 Caterpillar Inc. Target and control system for positioning an automatically guided vehicle
US4707647A (en) * 1986-05-19 1987-11-17 Gmf Robotics Corporation Gray scale vision method and system utilizing same
US4887016A (en) * 1987-09-21 1989-12-12 Viking Systems International, Inc. Portable robot with automatic set-up
JP2710850B2 (ja) * 1989-03-27 1998-02-10 キヤノン株式会社 ワーク把持装置、ワーク及びその収納ケース
JP3134157B2 (ja) * 1989-10-06 2001-02-13 廣光 奥村 不釣合修正装置
US5208753A (en) * 1991-03-28 1993-05-04 Acuff Dallas W Forklift alignment system
JP2664578B2 (ja) * 1992-01-14 1997-10-15 三洋電機株式会社 映像信号の再生方法
US5459636A (en) * 1994-01-14 1995-10-17 Hughes Aircraft Company Position and orientation estimation neural network system and method

Also Published As

Publication number Publication date
US5812395A (en) 1998-09-22
ITMI942321A0 (it) 1994-11-16
EP0712697A2 (en) 1996-05-22
ITMI942321A1 (it) 1996-05-16
EP0712697A3 (en) 1996-08-14

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