NO20161734A1 - Track sensors for detecting position of vehicle relative to tracks - Google Patents

Track sensors for detecting position of vehicle relative to tracks

Info

Publication number
NO20161734A1
NO20161734A1 NO20161734A NO20161734A NO20161734A1 NO 20161734 A1 NO20161734 A1 NO 20161734A1 NO 20161734 A NO20161734 A NO 20161734A NO 20161734 A NO20161734 A NO 20161734A NO 20161734 A1 NO20161734 A1 NO 20161734A1
Authority
NO
Norway
Prior art keywords
tracks
vehicle relative
detecting position
track sensors
track
Prior art date
Application number
NO20161734A
Other languages
English (en)
Norwegian (no)
Other versions
NO341707B1 (en
Inventor
Ingvar Hognaland
Ivar Fjeldheim
Jørgen Heggebø
Original Assignee
Autostore Tech As
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
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=60182570&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=NO20161734(A1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Autostore Tech As filed Critical Autostore Tech As
Priority to NO20161734A priority Critical patent/NO20161734A1/no
Priority to EP17790755.7A priority patent/EP3535634B1/en
Priority to CN202210994274.1A priority patent/CN115167472A/zh
Priority to PL17790755T priority patent/PL3535634T3/pl
Priority to CA3039836A priority patent/CA3039836A1/en
Priority to EEU202400035 priority patent/EE01671U1/et
Priority to ES17790755T priority patent/ES2810984T3/es
Priority to PCT/EP2017/077175 priority patent/WO2018082972A1/en
Priority to DK17790755.7T priority patent/DK3535634T3/da
Priority to CN201780067540.3A priority patent/CN109906415B/zh
Priority to JP2019522289A priority patent/JP7091324B2/ja
Priority to US16/347,138 priority patent/US11262765B2/en
Publication of NO341707B1 publication Critical patent/NO341707B1/en
Publication of NO20161734A1 publication Critical patent/NO20161734A1/no
Priority to US17/489,355 priority patent/US12189396B2/en
Priority to JP2022096396A priority patent/JP7486546B2/ja
Priority to US18/924,890 priority patent/US20250053173A1/en

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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • 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
    • 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
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/46—Indirect determination of position data
    • 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
    • G05B19/19—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 positioning or contouring control systems, e.g. to control position from one programmed point to another or to control movement along a programmed continuous path
    • 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
    • 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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G05D1/2435—Extracting 3D information
    • 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
    • G05D1/60—Intended control result
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • 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
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G05D2109/14—Land vehicles moving on a grid
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/60—Combination of two or more signals
    • G05D2111/63—Combination of two or more signals of the same type, e.g. stereovision or optical flow
    • G05D2111/65—Combination of two or more signals of the same type, e.g. stereovision or optical flow taken successively, e.g. visual odometry or optical flow

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
NO20161734A 2016-11-02 2016-11-02 Track sensors for detecting position of vehicle relative to tracks NO20161734A1 (en)

Priority Applications (15)

Application Number Priority Date Filing Date Title
NO20161734A NO20161734A1 (en) 2016-11-02 2016-11-02 Track sensors for detecting position of vehicle relative to tracks
US16/347,138 US11262765B2 (en) 2016-11-02 2017-10-24 Track sensors for detecting position of vehicle relative to tracks
ES17790755T ES2810984T3 (es) 2016-11-02 2017-10-24 Sensores de pista para detectar la posición del vehículo con respecto a las pistas
DK17790755.7T DK3535634T3 (da) 2016-11-02 2017-10-24 Sporsensorer til detektering af et køretøjs position i forhold til spor
PL17790755T PL3535634T3 (pl) 2016-11-02 2017-10-24 Czujniki toru do wykrywania położenia pojazdu względem torów
CA3039836A CA3039836A1 (en) 2016-11-02 2017-10-24 Track sensors for detecting position of vehicle relative to tracks
EEU202400035 EE01671U1 (et) 2016-11-02 2017-10-24 Meetod kaugkäitatava sõiduki asendi jälgimiseks
EP17790755.7A EP3535634B1 (en) 2016-11-02 2017-10-24 Track sensors for detecting position of vehicle relative to tracks
PCT/EP2017/077175 WO2018082972A1 (en) 2016-11-02 2017-10-24 Track sensors for detecting position of vehicle relative to tracks
CN202210994274.1A CN115167472A (zh) 2016-11-02 2017-10-24 遥控运载工具和用于追踪遥控运载工具的位置的方法
CN201780067540.3A CN109906415B (zh) 2016-11-02 2017-10-24 检测运载工具相对于其所行驶的轨道的位置的方法和系统
JP2019522289A JP7091324B2 (ja) 2016-11-02 2017-10-24 車両が走行するトラックに対して車両の位置を検出するための方法およびシステム
US17/489,355 US12189396B2 (en) 2016-11-02 2021-09-29 Method and system for detecting position of a vehicle relative to tracks the vehicle is running on
JP2022096396A JP7486546B2 (ja) 2016-11-02 2022-06-15 遠隔操作式車両および車両が走行しているトラックに対する車両の位置を検出するための方法
US18/924,890 US20250053173A1 (en) 2016-11-02 2024-10-23 Method and system for detecting position of a vehicle relative to tracks the vehicle is running on

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20161734A NO20161734A1 (en) 2016-11-02 2016-11-02 Track sensors for detecting position of vehicle relative to tracks

Publications (2)

Publication Number Publication Date
NO341707B1 NO341707B1 (en) 2018-01-02
NO20161734A1 true NO20161734A1 (en) 2018-01-02

Family

ID=60182570

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20161734A NO20161734A1 (en) 2016-11-02 2016-11-02 Track sensors for detecting position of vehicle relative to tracks

Country Status (11)

Country Link
US (3) US11262765B2 (enExample)
EP (1) EP3535634B1 (enExample)
JP (2) JP7091324B2 (enExample)
CN (2) CN115167472A (enExample)
CA (1) CA3039836A1 (enExample)
DK (1) DK3535634T3 (enExample)
EE (1) EE01671U1 (enExample)
ES (1) ES2810984T3 (enExample)
NO (1) NO20161734A1 (enExample)
PL (1) PL3535634T3 (enExample)
WO (1) WO2018082972A1 (enExample)

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NO20161734A1 (en) 2016-11-02 2018-01-02 Autostore Tech As Track sensors for detecting position of vehicle relative to tracks
CA3099878A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A delivery vehicle, an automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
EP4290329A3 (en) 2018-06-12 2024-02-28 Autostore Technology AS A method of operating an automated storage and retrieval system
NO20181563A1 (en) 2018-06-12 2019-12-13 Autostore Tech As Automated storage system and method of retrieving a storage container from storage system
WO2019238670A1 (en) 2018-06-12 2019-12-19 Autostore Technology AS A method of operating an automated storage and retrieval system
USD934324S1 (en) * 2019-06-17 2021-10-26 Autostore Technology AS Autonomous transport robot
NO345453B1 (en) * 2019-06-28 2021-02-08 Autostore Tech As System and method for light communication in a storage system
NO20190884A1 (en) * 2019-07-12 2021-01-13 Autostore Tech As A method and system for autonomous controlling of movements of container handling vehicles operating in an automated storage and retrieval system
NO346390B1 (en) 2019-12-20 2022-07-04 Autostore Tech As Track sensor arrangement for a remotely operated vehicle and a method thereof
DE102020203221A1 (de) 2020-03-12 2021-09-16 Gebhardt Fördertechnik GmbH Fahrzeug für ein Lagersystem sowie Ladestation für das Fahrzeug
NO346625B1 (en) * 2021-01-29 2022-11-07 Autostore Tech As System and method for using a camera to detect robot position on grid
US20250171240A1 (en) * 2022-03-08 2025-05-29 Autostore Technology AS Track sensor arrangement
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Also Published As

Publication number Publication date
EP3535634B1 (en) 2020-07-15
JP7091324B2 (ja) 2022-06-27
US20220019232A1 (en) 2022-01-20
US20200064854A1 (en) 2020-02-27
JP2022113831A (ja) 2022-08-04
WO2018082972A1 (en) 2018-05-11
ES2810984T3 (es) 2021-03-10
EE01671U1 (et) 2025-09-15
CA3039836A1 (en) 2018-05-11
JP2019533858A (ja) 2019-11-21
US20250053173A1 (en) 2025-02-13
EP3535634A1 (en) 2019-09-11
CN109906415A (zh) 2019-06-18
CN109906415B (zh) 2022-08-19
US12189396B2 (en) 2025-01-07
CN115167472A (zh) 2022-10-11
NO341707B1 (en) 2018-01-02
JP7486546B2 (ja) 2024-05-17
PL3535634T3 (pl) 2020-11-02
US11262765B2 (en) 2022-03-01
DK3535634T3 (da) 2020-08-17

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