CA2095442A1 - Downward Compatible AGV System and Methods - Google Patents

Downward Compatible AGV System and Methods

Info

Publication number
CA2095442A1
CA2095442A1 CA2095442A CA2095442A CA2095442A1 CA 2095442 A1 CA2095442 A1 CA 2095442A1 CA 2095442 A CA2095442 A CA 2095442A CA 2095442 A CA2095442 A CA 2095442A CA 2095442 A1 CA2095442 A1 CA 2095442A1
Authority
CA
Canada
Prior art keywords
navigation
vehicle
control system
angular rate
autonomous
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.)
Granted
Application number
CA2095442A
Other languages
French (fr)
Other versions
CA2095442C (en
Inventor
James V. Yardley
Gary Lavell Whatcott
John Arthur Mitsura Petersen
Bryan Alexander Bloomfield
Vaughn Williams Guest
Rick Samuel Mottes
Robert Kent Forman
L. Bruce Christensen
Joseph Charles Zuercher
Herman Peter Schutten
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
HK Systems Inc
Original Assignee
James V. Yardley
Gary Lavell Whatcott
John Arthur Mitsura Petersen
Bryan Alexander Bloomfield
Vaughn Williams Guest
Rick Samuel Mottes
Robert Kent Forman
L. Bruce Christensen
Joseph Charles Zuercher
Herman Peter Schutten
Eaton-Kenway, Inc.
Harnischfeger Engineers, Inc.
Hk Systems, Inc.
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 James V. Yardley, Gary Lavell Whatcott, John Arthur Mitsura Petersen, Bryan Alexander Bloomfield, Vaughn Williams Guest, Rick Samuel Mottes, Robert Kent Forman, L. Bruce Christensen, Joseph Charles Zuercher, Herman Peter Schutten, Eaton-Kenway, Inc., Harnischfeger Engineers, Inc., Hk Systems, Inc. filed Critical James V. Yardley
Publication of CA2095442A1 publication Critical patent/CA2095442A1/en
Application granted granted Critical
Publication of CA2095442C publication Critical patent/CA2095442C/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C19/00—Gyroscopes; Turn-sensitive devices using vibrating masses; Turn-sensitive devices without moving masses; Measuring angular rate using gyroscopic effects
    • G01C19/56—Turn-sensitive devices using vibrating masses, e.g. vibratory angular rate sensors based on Coriolis forces
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device

Abstract

An automated guided vehicle (AGV) control system which is downward compatible with existing guidewire systems pro-viding both guidewire navigation and communication and autonomous navigation and guidance and wireless communication bet-tween a central controller and each vehicle. Autonomous vehicle navigation comprises travel over paths marked by update mark-ers which may be spaced well apart, such as fifty feet. Redundant measurement capability comprising inputs from linear travel encoders from the vehicle's drive wheels, position measurements from the update markers, and bearing measurements from a novel angular rate sensing apparatus, in combination with the use of a Kalman filter, allows correction for navigation and guid-ance errors caused by such factors as angular rate sensor drift, wear, temperature changes, aging, and early miscalibration during vehicle operation. The control system comprises high frequency two-way data transmission and reception capability over the guidewires and via wireless communications. The same data rates and message formats are used in both communications sys-tems.
CA002095442A 1990-12-03 1991-11-25 Downward compatible agv system and methods Expired - Fee Related CA2095442C (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US621,486 1990-12-03
US07/621,486 US5281901A (en) 1990-12-03 1990-12-03 Downward compatible AGV system and methods

Publications (2)

Publication Number Publication Date
CA2095442A1 true CA2095442A1 (en) 1992-06-04
CA2095442C CA2095442C (en) 1997-06-10

Family

ID=24490359

Family Applications (1)

Application Number Title Priority Date Filing Date
CA002095442A Expired - Fee Related CA2095442C (en) 1990-12-03 1991-11-25 Downward compatible agv system and methods

Country Status (9)

Country Link
US (2) US5281901A (en)
EP (1) EP0560881B1 (en)
KR (1) KR100203011B1 (en)
AT (1) ATE133500T1 (en)
AU (1) AU657653B2 (en)
CA (1) CA2095442C (en)
DE (1) DE69116699T2 (en)
HU (1) HU9301642D0 (en)
WO (1) WO1992009941A1 (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
US10683171B2 (en) 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
US10803420B2 (en) 2016-09-30 2020-10-13 Staples, Inc. Hybrid modular storage fetching system
US11084410B1 (en) 2018-08-07 2021-08-10 Staples, Inc. Automated guided vehicle for transporting shelving units
US11119487B2 (en) 2018-12-31 2021-09-14 Staples, Inc. Automated preparation of deliveries in delivery vehicles using automated guided vehicles
US11124401B1 (en) 2019-03-31 2021-09-21 Staples, Inc. Automated loading of delivery vehicles
US11180069B2 (en) 2018-12-31 2021-11-23 Staples, Inc. Automated loading of delivery vehicles using automated guided vehicles
US11590997B1 (en) 2018-08-07 2023-02-28 Staples, Inc. Autonomous shopping cart
US11630447B1 (en) 2018-08-10 2023-04-18 Staples, Inc. Automated guided vehicle for transporting objects
CN116909240A (en) * 2023-09-13 2023-10-20 深圳市今天国际智能机器人有限公司 Loading and unloading vehicle dynamic path planning method and system of AGV trolley and related medium

Families Citing this family (121)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5471385A (en) * 1992-05-21 1995-11-28 Tsubakimoto Chain Co. Routeless guiding method for moving body
JP3437199B2 (en) * 1992-10-28 2003-08-18 アシスト シンコー株式会社 Automatic guided vehicle for clean room
US5386364A (en) * 1993-06-02 1995-01-31 Translogic Corporation Communication of control signals to a vehicle using its bumper switch
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
DE69407024T2 (en) * 1993-11-10 1998-03-19 Raymond Corp Control for steering with a guide wire for a transport vehicle steered by a user
IL108549A (en) * 1994-02-03 1998-08-16 Zelinkovsky Reuven Transport system
US5525031A (en) * 1994-02-18 1996-06-11 Xerox Corporation Automated print jobs distribution system for shared user centralized printer
US5510984A (en) * 1994-11-28 1996-04-23 Board Of Regents-Univ. Of Nebraska Automated guided vehicle enunciator system
EP0715150B1 (en) * 1994-11-29 1999-09-01 Xanavi Informatics Corporation Navigation system with changeover if a radio signal cannot be received
IL113913A (en) 1995-05-30 2000-02-29 Friendly Machines Ltd Navigation method and system
JPH0944243A (en) * 1995-08-01 1997-02-14 Komatsu Ltd Travel course preparing device for moving object
EP0774702B1 (en) * 1995-11-07 2001-10-10 Friendly Robotics Ltd. A boundary detection system for an automated robot
US5815085A (en) * 1995-11-16 1998-09-29 Hk Systems, Inc. Storage and retrieval machine having improved real-time responsiveness and improved noise immunity
US5798920A (en) * 1995-11-17 1998-08-25 Hk Systems, Inc. Storage and retrieval machine control system having an encoder and an optical distance meter
US5699281A (en) * 1995-11-17 1997-12-16 Hk Systems, Inc. Method and apparatus for mapping a warehouse rack structure for a storage and retrieval machine
US5740887A (en) * 1996-01-18 1998-04-21 Jlg Industries, Inc. Drive system for vertical mast personnel lift
US5764014A (en) * 1996-02-01 1998-06-09 Mannesmann Dematic Rapistan Corp. Automated guided vehicle having ground track sensor
US5991674A (en) 1996-05-02 1999-11-23 Chrysler Corporation Floor shifter linkage for robotic control of vehicle
US5821718A (en) * 1996-05-07 1998-10-13 Chrysler Corporation Robotic system for automated durability road (ADR) facility
US5906647A (en) * 1996-09-03 1999-05-25 Chrysler Corporation Vehicle mounted guidance antenna for automated durability road (ADR) facility
US6061613A (en) * 1996-09-03 2000-05-09 Chrysler Corporation Base station for automated durability road (ADR) facility
US5867089A (en) * 1996-09-03 1999-02-02 Chrysler Corporation Base-to-remotely controlled vehicle communications for automated durability road (ADR) facility
US5908454A (en) * 1996-09-03 1999-06-01 Chrysler Corporation Operator interface for automated durability road (ADR) facility
US5938705A (en) * 1996-09-03 1999-08-17 Chrysler Corporation Vehicle controller (VCON) for automated durability road (ADR) facility
US6141620A (en) * 1996-09-03 2000-10-31 Chrysler Corporation Vehicle control system for automated durability road (ADR) facility
DE59706336D1 (en) * 1996-12-02 2002-03-21 Trw Automotive Electron & Comp ABSOLUTELY ENCODER, IN PARTICULAR ENCODER, FOR DETECTING THE STEERING ANGLE OF A MOTOR VEHICLE
DE19734247A1 (en) * 1997-08-07 1999-02-11 Litef Gmbh Drift sensor for land vehicles
US6092010A (en) * 1997-09-03 2000-07-18 Jervis B. Webb Company Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles
US5995849A (en) * 1997-11-26 1999-11-30 Direct Wireless Communication Corp. Direct wireless communication system and method of operation
FI108715B (en) * 1998-03-09 2002-03-15 Pmj Automec Oyj Assembly line
US6272406B2 (en) * 1998-03-09 2001-08-07 Jervis B. Webb Company Guidance system for an automated guided-vehicle
DE19911698A1 (en) * 1999-03-16 2000-09-21 Sick Ag Safety switching arrangement
US6411867B1 (en) * 1999-10-27 2002-06-25 Fujitsu Ten Limited Vehicle driving support system, and steering angle detection device
JP3421768B2 (en) * 2000-03-30 2003-06-30 学校法人金沢工業大学 Autonomous vehicle route guidance method, autonomous vehicle route guidance device, and autonomous vehicle equipped with route guidance device
US6469638B1 (en) 2000-09-30 2002-10-22 Modular Mining Systems, Inc. Intra-vehicle communications system in a mining vehicle monitoring system
EP1231626A1 (en) * 2001-02-10 2002-08-14 Infineon Technologies SC300 GmbH & Co. KG Measurement arrangement
US6647316B2 (en) * 2001-02-22 2003-11-11 Pri Automation, Inc. Traffic management system and method for materials handling using traffic balancing and traffic density
US6721638B2 (en) 2001-05-07 2004-04-13 Rapistan Systems Advertising Corp. AGV position and heading controller
DE10134055C1 (en) * 2001-07-13 2003-04-24 Eads Deutschland Gmbh Vehicle guidance system and method for performing automatic vehicle guidance
GB2383983B (en) * 2002-01-11 2005-08-17 Roger Aylward Route navigation, guidance & control - automated vehicle steering & safety braking
US7174836B2 (en) 2002-04-05 2007-02-13 Jervis B. Webb Company Station control system for a driverless vehicle
US7194332B2 (en) * 2002-05-16 2007-03-20 Brooks Automation, Inc. Data based node penalties
US6876926B2 (en) * 2002-09-26 2005-04-05 Honeywell International Inc. Method and system for processing pulse signals within an inertial navigation system
EP1644235B1 (en) * 2003-07-11 2007-02-14 Bombardier Transportation PPC Germany GmbH Changing the mode of operation of a rail vehicle
US7174153B2 (en) * 2003-12-23 2007-02-06 Gregory A Ehlers System and method for providing information to an operator of an emergency response vehicle
US20070138347A1 (en) * 2004-12-16 2007-06-21 Ehlers Gregory A System and method for providing information to an operator of a vehicle
DE102004063916A1 (en) * 2004-01-21 2005-11-10 TÜV Automotive GmbH TÜV SÜD Gruppe Multi-lane vehicle for performing crash tests
DE102004003087B4 (en) * 2004-01-21 2006-02-09 TÜV Automotive GmbH System for performing crash tests
US8075243B2 (en) 2004-05-03 2011-12-13 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
WO2005108246A2 (en) * 2004-05-03 2005-11-17 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
US7980808B2 (en) * 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
US20100004798A1 (en) * 2005-01-25 2010-01-07 William Kress Bodin Navigating a UAV to a next waypoint
US7882424B2 (en) * 2005-07-29 2011-02-01 GM Global Technology Operations LLC Serial data communication—CAN memory error detection methods
US9436184B2 (en) 2006-06-09 2016-09-06 Amazon Technologies, Inc. Method and system for transporting inventory items
US20130302132A1 (en) 2012-05-14 2013-11-14 Kiva Systems, Inc. System and Method for Maneuvering a Mobile Drive Unit
US8220710B2 (en) * 2006-06-19 2012-07-17 Kiva Systems, Inc. System and method for positioning a mobile drive unit
US7912574B2 (en) * 2006-06-19 2011-03-22 Kiva Systems, Inc. System and method for transporting inventory items
US7920962B2 (en) * 2006-06-19 2011-04-05 Kiva Systems, Inc. System and method for coordinating movement of mobile drive units
US8649899B2 (en) * 2006-06-19 2014-02-11 Amazon Technologies, Inc. System and method for maneuvering a mobile drive unit
US7873469B2 (en) 2006-06-19 2011-01-18 Kiva Systems, Inc. System and method for managing mobile drive units
US8538692B2 (en) * 2006-06-19 2013-09-17 Amazon Technologies, Inc. System and method for generating a path for a mobile drive unit
US7813888B2 (en) * 2006-07-24 2010-10-12 The Boeing Company Autonomous vehicle rapid development testbed systems and methods
US20080039991A1 (en) * 2006-08-10 2008-02-14 May Reed R Methods and systems for providing accurate vehicle positioning
JP4783248B2 (en) * 2006-09-12 2011-09-28 東芝ストレージデバイス株式会社 POSITION CONTROL METHOD, POSITION CONTROL DEVICE, AND MEDIUM STORAGE DEVICE WITH DISTURBANCE SUPPRESSING FUNCTION
US7885732B2 (en) * 2006-10-25 2011-02-08 The Boeing Company Systems and methods for haptics-enabled teleoperation of vehicles and other devices
JP4306723B2 (en) 2006-12-15 2009-08-05 村田機械株式会社 Conveyor cart system
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
US7861613B2 (en) * 2007-04-17 2011-01-04 Eaton Corporation Selector mechanism for dual-clutch transmissions
US20090128139A1 (en) * 2007-11-20 2009-05-21 Drenth Joseph B Magnet position locator
EP2340975B1 (en) * 2008-10-28 2019-07-03 Advics Co., Ltd. Device for controlling traveling of vehicle
US8594835B2 (en) 2009-04-10 2013-11-26 Symbotic, LLC Control system for storage and retrieval systems
US9321591B2 (en) 2009-04-10 2016-04-26 Symbotic, LLC Autonomous transports for storage and retrieval systems
JP4910219B2 (en) * 2009-11-17 2012-04-04 国立大学法人宇都宮大学 Autonomous moving method and autonomous moving body
KR101145112B1 (en) * 2010-05-11 2012-05-14 국방과학연구소 Steering control device of autonomous vehicle, autonomous vehicle having the same and steering control method of autonomous vehicle
JP5503419B2 (en) * 2010-06-03 2014-05-28 株式会社日立製作所 Automated guided vehicle and travel control method
US8954260B2 (en) * 2010-06-15 2015-02-10 GM Global Technology Operations LLC Method and system for collision assessment for vehicles
EP2601536B8 (en) * 2010-08-03 2019-03-06 Fori Automation, Inc. Sensor system and method for use with an automated guided vehicle (agv)
JP5721980B2 (en) * 2010-09-03 2015-05-20 株式会社日立製作所 Automated guided vehicle and travel control method
US20120064851A1 (en) * 2010-09-10 2012-03-15 Gary Wang Wireless signal conversion system
US11078017B2 (en) 2010-12-15 2021-08-03 Symbotic Llc Automated bot with transfer arm
US9187244B2 (en) 2010-12-15 2015-11-17 Symbotic, LLC BOT payload alignment and sensing
US9499338B2 (en) 2010-12-15 2016-11-22 Symbotic, LLC Automated bot transfer arm drive system
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
US8965619B2 (en) 2010-12-15 2015-02-24 Symbotic, LLC Bot having high speed stability
CN102117072B (en) * 2011-03-10 2014-10-15 上海交通大学 Multi-rotor aircraft ground measurement and control system having function of detecting rotating speeds of rotors
US8892240B1 (en) 2011-06-29 2014-11-18 Amazon Technologies, Inc. Modular material handling system for order fulfillment
TWI439404B (en) 2011-12-15 2014-06-01 Ind Tech Res Inst System and method for guiding automated guided vehicle
JP5541299B2 (en) * 2012-01-31 2014-07-09 株式会社安川電機 Transport system
JP5869954B2 (en) * 2012-05-23 2016-02-24 本田技研工業株式会社 Unmanned traveling work system
US9205828B1 (en) 2012-06-29 2015-12-08 Google Inc. Method and apparatus for determining vehicle location based on motor feedback
US8676426B1 (en) * 2012-08-29 2014-03-18 Jervis B. Webb Company Automatic guided vehicle system and method
US9066463B2 (en) * 2012-10-02 2015-06-30 Trimble Navigation Limited Crop feeler system and method
CN105009014B (en) * 2013-02-21 2017-09-01 胡斯华纳有限公司 Improved robot manipulating task instrument
GB201403547D0 (en) * 2014-02-28 2014-04-16 Bombardier Transp Gmbh Inductive power transfer pad, system for inductive power transfer and method of operating an inductive power transfer pad
KR20220166370A (en) 2013-09-13 2022-12-16 심보틱 엘엘씨 Automated storage and retrieval system
JP6457778B2 (en) * 2014-10-24 2019-01-23 オークマ株式会社 Numerical controller
US10697766B1 (en) * 2014-11-25 2020-06-30 Hunter Engineering Company Method and apparatus for compensating vehicle inspection system measurements for effects of vehicle motion
KR101677079B1 (en) * 2015-02-10 2016-11-17 주식회사 하나메카텍 Apparatus and method for sensing precision enhancement of magnetic guide for automated guided vehicle
SE539613C2 (en) 2016-01-11 2017-10-17 Husqvarna Ab Self-propelled robotic tool navigation
JP6602683B2 (en) * 2016-02-05 2019-11-06 株式会社東芝 Charging device and positional deviation detection method
WO2018017053A1 (en) * 2016-07-19 2018-01-25 Ford Global Technologies, Llc Baggage transport
NO342037B1 (en) * 2016-11-02 2018-03-19 Autostore Tech As Controlling movements of a robot running on tracks
JP2018165618A (en) * 2017-03-28 2018-10-25 セイコーエプソン株式会社 Signal processing device, detection device, physical quantity measurement device, electronic apparatus and mobile body
IL255050B (en) * 2017-10-16 2022-03-01 Israel Aerospace Ind Ltd Control over an autonomic vehicle
CA3028297A1 (en) 2017-10-26 2017-12-28 Rovibec Inc. Autonomous vehicle for pushing feed, methods and systems thereof
US20190163201A1 (en) * 2017-11-30 2019-05-30 Uber Technologies, Inc. Autonomous Vehicle Sensor Compensation Using Displacement Sensor
CN108089587A (en) * 2018-02-02 2018-05-29 福建（泉州）哈工大工程技术研究院 A kind of Omni-mobile AGV of independent navigation
EP3528079B1 (en) * 2018-02-20 2021-03-31 The Raymond Corporation Wire guidance and remote operation for material handling vehicles
EP3659004B1 (en) * 2018-05-18 2021-07-07 Baidu.com Times Technology (Beijing) Co., Ltd. Drifting correction between planning stage and controlling stage of operating autonomous driving vehicles
JP7147275B2 (en) * 2018-06-04 2022-10-05 愛知製鋼株式会社 How to calibrate the gyro sensor
CN108860365A (en) * 2018-06-28 2018-11-23 山东蓬翔汽车有限公司 A kind of large-scale, inside and outside AGV of transhipment over long distances of heavy supplies room
CN109814548B (en) * 2018-12-29 2022-02-15 广州蓝海机器人系统有限公司 Navigation method based on indoor microwave base station and AGV
US11560153B2 (en) 2019-03-07 2023-01-24 6 River Systems, Llc Systems and methods for collision avoidance by autonomous vehicles
CN110196588A (en) * 2019-03-28 2019-09-03 陕西理工大学 Method for planning path for mobile robot based on networks decomposition
CN111024119B (en) * 2019-11-25 2023-08-11 天津津航技术物理研究所 Rapid calibration method for triaxial MEMS gyroscope
JP2022178404A (en) * 2021-05-20 2022-12-02 オムロン株式会社 Control system, control method and program
CN116339300A (en) * 2021-12-23 2023-06-27 深圳富联富桂精密工业有限公司 AGV operation control method, electronic equipment and computer readable storage medium
CN115127534B (en) * 2022-09-01 2022-11-18 中国船舶重工集团公司第七0七研究所 Quartz gyro sine wave phase detection compensation method based on carrier modulation

Family Cites Families (126)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US1799576A (en) * 1925-07-16 1931-04-07 Wildhaber Ernest Method of emitting radio signals
US2246385A (en) * 1940-02-19 1941-06-17 Johnson Lab Inc Signal collecting system for radio receivers
US3009525A (en) * 1955-12-08 1961-11-21 Liban Robert De Guidance systems
US3033305A (en) * 1958-05-19 1962-05-08 Gen Motors Corp Vehicle guidance system
DE1808442U (en) 1960-02-03 1960-03-24 August-Wilhelm Siekmann DRAWER FOR FURNITURE, IN PARTICULAR KITCHEN FURNITURE.
US3147817A (en) * 1961-01-09 1964-09-08 Barrett Electronics Corp Guidance systems
US3172496A (en) * 1962-01-15 1965-03-09 Rabinow Jacob Vehicle guidance by optical means
US3198279A (en) * 1962-07-09 1965-08-03 Gen Motors Corp Passive guidance system
US3187260A (en) * 1963-04-19 1965-06-01 Gen Electric Circuit employing capacitor charging and discharging through transmission line providing opposite-polarity pulses for triggering bistable means
GB1124783A (en) * 1964-09-23 1968-08-21 Nat Res Dev Vehicle guidance system
US3628624A (en) * 1967-04-26 1971-12-21 Buero Patent Ag Guidance system for self-propelled trackless carriages
US3556244A (en) * 1968-03-15 1971-01-19 Rca Corp Vehicle road guidance system
DE1798090C2 (en) * 1968-08-21 1981-10-08 Tax, Hans, 8000 München Device for controlling automatically steered road vehicles in a container loading system
US3544788A (en) * 1969-01-29 1970-12-01 Piasecki Aircraft Corp Position indication and control system for rail vehicle
US3617769A (en) * 1969-03-12 1971-11-02 Hewlett Packard Co Wave generator having frequency-dependent trigger level for correction of loop delay
US3734229A (en) * 1969-04-11 1973-05-22 Mobility Systems Inc Vehicle control system
US3638751A (en) * 1969-04-21 1972-02-01 Maschf Augsburg Nuernberg Ag Apparatus for automatically steering powered vehicles
US3683378A (en) * 1969-05-29 1972-08-08 Polhemus Navigation Sciences Heading error computer
US3702477A (en) * 1969-06-23 1972-11-07 Univ Iowa State Res Found Inc Inertial/doppler-satellite navigation system
US3693028A (en) * 1970-09-30 1972-09-19 Burroughs Corp System for the detection and validation of signal peaks
US3773136A (en) * 1971-01-29 1973-11-20 Fiat Spa Automatic motorway driving system for motor vehicles
US3757887A (en) * 1971-07-09 1973-09-11 Versadyne Inc Vehicle guidance system
IT988603B (en) * 1972-03-08 1975-04-30 Krupp Gmbh DEVICE FOR DETERMINING THE POSITION OF A VEHICLE
GB1435489A (en) * 1972-08-02 1976-05-12 Emi Ltd Automatic vehicle guidance systems
DE2428583A1 (en) 1974-06-14 1976-01-02 Kabel Metallwerke Ghh HF receive aerial on trains - receives from track-side aerial and has two elements located in maximum and minimum areas of field
US4023753A (en) * 1974-11-22 1977-05-17 International Standard Electric Corporation Vehicle control system
CA1008140A (en) * 1975-02-12 1977-04-05 John M. Warberg Bipolar signal processing circuit
DE2609532A1 (en) 1975-03-07 1976-12-30 Gilles Dieter Automatic course control system particularly suited to ships - with course define by cable laid on seaway bed to induce coil voltages on board ship
US4083008A (en) * 1975-04-10 1978-04-04 Blaupunkt-Werke Gmbh Method and circuit for generation of digitally frequency-shiftable electric signals
DE2521571C2 (en) * 1975-05-15 1983-09-22 Robert Bosch Gmbh, 7000 Stuttgart Device for tracking a vehicle
US4020487A (en) * 1975-10-31 1977-04-26 Fairchild Camera And Instrument Corporation Analog-to-digital converter employing common mode rejection circuit
US4043418A (en) * 1975-11-06 1977-08-23 Logisticon Inc. Reverse direction guidance system for lift truck
USRE30492E (en) * 1975-11-06 1981-01-27 Logisticon, Inc. Reverse direction guidance system for lift truck
US4215759A (en) * 1975-12-22 1980-08-05 Westinghouse Electric Corp. Guidance control system for a traction vehicle
FR2336726A1 (en) 1975-12-22 1977-07-22 Westinghouse Electric Corp Automatic processing of vehicle control signals - uses signal multiplexing and decoding on channels transmitted via antenna network
US4097808A (en) * 1976-04-02 1978-06-27 Marine Electric Corporation Entertainment system and method
SE7606169L (en) * 1976-06-01 1977-12-02 Volvo Ab TRANSPORT SYSTEM WITH AUTOMATICALLY CONTROLLED, MOTOR-DRIVEN TRANSPORT TROLLEYS, AND TRANSPORT TROLLEY INTENDED FOR THE TRANSPORT SYSTEM
US4108269A (en) 1976-08-31 1978-08-22 Kabushiki Kaisha Komatsu Seisakusho No-man control system for working vehicles
DE2659094B2 (en) 1976-12-27 1981-09-17 Bodenseewerk Gerätetechnik GmbH, 7770 Überlingen Navigation device for navigating land vehicles
US4144571A (en) 1977-03-15 1979-03-13 E-Systems, Inc. Vehicle guidance system
CA1097743A (en) 1977-08-22 1981-03-17 Daniel Gelbart Modem for the high speed transmission of binary data over an fm communications system
US4222008A (en) * 1977-09-14 1980-09-09 Rca Corporation Apparatus for dividing an arbitrary waveform into equal-amplitude steps
US4322670A (en) * 1977-10-07 1982-03-30 The Raymond Corporation Land vehicle guidance method and apparatus
US4307329A (en) * 1977-10-07 1981-12-22 The Raymond Corporation Wire guidance method and apparatus
JPS5453784A (en) * 1977-10-07 1979-04-27 Komatsu Ltd Steering control system for unattended vehicle
DE2752027A1 (en) * 1977-11-22 1979-05-23 Bosch Gmbh Robert ARRANGEMENT FOR GUIDING A TRACK-FREE VEHICLE
DE2752167A1 (en) 1977-11-23 1979-06-07 Bosch Gmbh Robert DEVICE FOR GUIDING A VEHICLE
DE2810664C2 (en) * 1978-03-11 1986-04-03 Robert Bosch Gmbh, 7000 Stuttgart Arrangement for tracking a track-free vehicle
FR2440118A1 (en) * 1978-10-25 1980-05-23 Cii Honeywell Bull PROCESS FOR PROCESSING AN ANALOG SIGNAL
AU529276B2 (en) 1978-11-23 1983-06-02 General Electric Company Limited, The A.c. generator
US4284160A (en) * 1979-03-19 1981-08-18 Barrett Electronics Corporation Vehicle guidance system employing radio blocking
DE2920181A1 (en) 1979-05-17 1980-11-27 Licentia Gmbh Trackless vehicle route signalling system - using guide cable with coded loops for each station producing unique identification codes
US4361202A (en) * 1979-06-15 1982-11-30 Michael Minovitch Automated road transportation system
US4284941A (en) * 1979-10-05 1981-08-18 General Motors Corporation Data communications between fixed and moving terminals
DE2941507A1 (en) * 1979-10-12 1980-10-23 Jungheinrich Kg ARRANGEMENT FOR GUIDING A FREE-MOVING VEHICLE ALONG A GUIDELINE DESIGNED AS A GUIDE WIRE
US4260990A (en) * 1979-11-08 1981-04-07 Lichtblau G J Asymmetrical antennas for use in electronic security systems
JPS56118602A (en) * 1980-02-25 1981-09-17 Omron Tateisi Electronics Co Moving object detector
JPS57500857A (en) 1980-06-18 1982-05-13
SE423840B (en) * 1980-10-02 1982-06-07 Volvo Ab VIEW THROUGH A WHEEL-DRIVED DRIVE VEHICLE TO PROVIDE AN UPDATE
SE423839B (en) 1980-10-02 1982-06-07 Volvo Ab SET AND DEVICE FOR STEERING A STEERABLE WHEEL VEHICLE
US4454583A (en) * 1981-06-30 1984-06-12 Signal Scanning Products, Inc. Navigation system
DE3136355C2 (en) 1981-09-14 1985-04-25 Siemens AG, 1000 Berlin und 8000 München Device for operating a microcomputer system
EP0077985B1 (en) * 1981-10-22 1988-07-27 TELDIX GmbH Navigation method using dead reckoning
US4472716A (en) * 1981-10-30 1984-09-18 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Phase sensitive guidance sensor for wire-following vehicles
JPS58164318A (en) 1982-03-25 1983-09-29 Sony Corp Analog/digital converter
FR2526181A1 (en) 1982-04-30 1983-11-04 Traitement Information Tech Nl Control system for autonomous transportation carriages - uses microprocessor to calculate position from beacons reflecting acoustic signals from on-board emitter
US4556864A (en) * 1982-08-26 1985-12-03 Roy Joseph J Apparatus and method for communicating digital information on AC power lines
JPS59135514A (en) * 1983-01-25 1984-08-03 Tsubakimoto Chain Co Method and device for traveling control of unmanned truck
US4535294A (en) * 1983-02-22 1985-08-13 United Technologies Corporation Differential receiver with self-adaptive hysteresis
US4524314A (en) * 1983-04-22 1985-06-18 Portec Rear travel guidance system
GB8311889D0 (en) * 1983-04-29 1983-06-02 Gen Electric Co Plc Power supply line carrier communication systems
GB8313338D0 (en) * 1983-05-14 1983-06-22 Gen Electric Co Plc Vehicle control
GB2143395B (en) 1983-05-14 1986-08-06 Gen Electric Co Plc Vehicle guidance and control system
JPS6063617A (en) * 1983-09-17 1985-04-12 Tsubakimoto Chain Co Run controlling method of unmanned running car
JPS6063618A (en) * 1983-09-17 1985-04-12 Tsubakimoto Chain Co Run controlling method of unmanned running car
JPS60112111A (en) * 1983-11-24 1985-06-18 Toyota Central Res & Dev Lab Inc Induction controller for unattended car
US4626995A (en) * 1984-03-26 1986-12-02 Ndc Technologies, Inc. Apparatus and method for optical guidance system for automatic guided vehicle
GB2158965B (en) 1984-05-16 1988-05-18 Gen Electric Co Plc Driverless vehicle
US4716530A (en) * 1984-05-21 1987-12-29 Kabushiki Kaisha Meidensha System for automatically controlling movement of unmanned vehicle and method therefor
US4630216A (en) * 1984-06-05 1986-12-16 Translogic Corporation Method and apparatus for controlling and monitoring movement of material-transporting carriages
KR860001956B1 (en) * 1984-08-22 1986-11-05 삼성물산 주식회사 Electronic controlling device for toy vehicle
JPS61112215A (en) * 1984-11-06 1986-05-30 Komatsu Ltd Turning control method of unmanned truck
US4800978A (en) * 1984-11-09 1989-01-31 Nec Corporation Magnetic object detecting system for automated guided vehicle system
US4751516A (en) * 1985-01-10 1988-06-14 Lichtblau G J Antenna system for magnetic and resonant circuit detection
GB8501012D0 (en) 1985-01-16 1985-02-20 Gen Electric Co Plc Automated vehicle drift correction
NL8500529A (en) * 1985-02-25 1986-09-16 Ind Contractors Holland Bv SYSTEM FOR DETERMINING THE POSITION OF A VEHICLE NOT BONDED TO A FIXED TRACK.
CH668655A5 (en) * 1985-03-15 1989-01-13 Jd Technologie Ag PASSIVE TRACK DEVICE FOR GUIDING AND CONTROLLING DRIVERLESS TRANSPORT AND ASSEMBLY UNITS.
US4902948A (en) * 1985-05-02 1990-02-20 Eaton-Kenway, Inc. Guide wire communication system and method
US4791570A (en) * 1985-05-02 1988-12-13 Eaton-Kenway, Inc. Guide wire communication system and method
US4613973A (en) * 1985-06-20 1986-09-23 Eaton-Kenway, Inc. Digital data decoder and method
US4613804A (en) * 1985-07-08 1986-09-23 Eaton-Kenway, Inc. Floor position sensing apparatus and method
JPS6270915A (en) * 1985-09-24 1987-04-01 Japan Tobacco Inc Unmanned carrier
US4731867A (en) * 1986-04-21 1988-03-15 Detector Systems, Inc. Vehicle communication system using existing roadway loops
US4829304A (en) * 1986-05-20 1989-05-09 Harris Corp. Map-aided navigation system employing TERCOM-SITAN signal processing
EP0273976B1 (en) * 1986-05-21 1993-08-11 Kabushiki Kaisha Komatsu Seisakusho Guiding apparatus for unmanned movable bodies
SE463527B (en) * 1986-09-12 1990-12-03 Tsubakimoto Chain Co DEVICE FOR THE DETECTION OF TRAFFIC POSITION AND DIRECTION OF AN UNMANDATED VEHICLE
US4780817A (en) * 1986-09-19 1988-10-25 Ndc Technologies, Inc. Method and apparatus for providing destination and vehicle function information to an automatic guided vehicle
US4890233A (en) * 1986-10-27 1989-12-26 Pioneer Electronic Corporation Vehicle bearing detection and data processing methods applicable to vehicle navigation system
WO1988003674A1 (en) * 1986-11-07 1988-05-19 Kabushiki Kaisha Komatsu Seisakusho Composite method and apparatus for guiding vehicles
JPS6384608U (en) * 1986-11-19 1988-06-03
US4742283A (en) * 1986-11-28 1988-05-03 Inductran Corporation Guidance system for inductively coupled electric vehicles
JPS63150711A (en) * 1986-12-16 1988-06-23 Shinko Electric Co Ltd Control method for unmanned vehicle
US4811229A (en) * 1987-01-05 1989-03-07 Hewlett-Packard Company Control system for automatic guided vehicles
US4792737A (en) * 1987-06-15 1988-12-20 Performance Controls, Inc. Circuit for controlling the motion of a moving object
US4790402A (en) * 1987-09-28 1988-12-13 Tennant Company Automated guided vehicle
US4996468A (en) * 1987-09-28 1991-02-26 Tennant Company Automated guided vehicle
US4846297A (en) * 1987-09-28 1989-07-11 Tennant Company Automated guided vehicle
JPH07120194B2 (en) * 1988-03-31 1995-12-20 株式会社椿本チエイン Driving control method and apparatus for automatic guided vehicle
GB2217878B (en) * 1988-04-23 1992-01-29 Ferranti Plc A system including an autopilot, with a simulator, for a fluid borne vehicle
US4993507A (en) * 1988-05-11 1991-02-19 Toyota Jidosha Kabushiki Kaisha Method of controlling operation of automated guided vehicle
GB2218590B (en) * 1988-05-13 1992-05-20 Gen Electric Co Plc Automated vehicle control
US4939650A (en) * 1988-06-14 1990-07-03 Shinko Electric Co., Ltd. Path correction method for a self-contained unmanned vehicle
US4933864A (en) * 1988-10-04 1990-06-12 Transitions Research Corporation Mobile robot navigation employing ceiling light fixtures
CA1321418C (en) * 1988-10-05 1993-08-17 Joseph C. Mcmillan Primary land arctic navigation system
JP2525046B2 (en) * 1988-10-19 1996-08-14 株式会社ロボテック研究所 Mobile remote control system
US5023790A (en) * 1989-02-17 1991-06-11 Whs Robotics Automatic guided vehicle system
US4935871A (en) * 1989-02-23 1990-06-19 Caterpillar Inc. Electronic road system generation method for an automatic guided vehicle
JP2636403B2 (en) * 1989-03-08 1997-07-30 株式会社豊田自動織機製作所 Operation control device for unmanned vehicles
US4950118A (en) * 1989-03-22 1990-08-21 Caterpillar Industrial Inc. System for loading and unloading trailers using automatic guided vehicles
US5091855A (en) * 1989-04-17 1992-02-25 Kabushiki Kaisha Toyoda Jidoshokki Seisakusho Operation control system for automated guide vehicles
US4987540A (en) * 1989-05-30 1991-01-22 Whs Robotics, Inc. Automatic guided vehicle system having communication and traffic controller with unguided paths
US5051906A (en) * 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
US4968209A (en) * 1989-07-03 1990-11-06 Chrysler Corporation Automated material handling system for a cargo trailer
US5058836A (en) * 1989-12-27 1991-10-22 General Electric Company Adaptive autopilot
CA2042133C (en) * 1990-07-10 1997-09-09 Hiroaki Kita Equipment for transporting a load
FR2668447B1 (en) * 1990-10-29 1993-01-22 Aerospatiale SYSTEM FOR ALIGNING THE INERTIAL CONTROL UNIT OF A VEHICLE CARRYING ON THAT OF A CARRIER VEHICLE.

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11697554B2 (en) 2016-09-30 2023-07-11 Staples, Inc. Hybrid modular storage fetching system
US10683171B2 (en) 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
US10803420B2 (en) 2016-09-30 2020-10-13 Staples, Inc. Hybrid modular storage fetching system
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
US11893535B2 (en) 2016-09-30 2024-02-06 Staples, Inc. Hybrid modular storage fetching system
US11702287B2 (en) 2016-09-30 2023-07-18 Staples, Inc. Hybrid modular storage fetching system
US11084410B1 (en) 2018-08-07 2021-08-10 Staples, Inc. Automated guided vehicle for transporting shelving units
US11590997B1 (en) 2018-08-07 2023-02-28 Staples, Inc. Autonomous shopping cart
US11630447B1 (en) 2018-08-10 2023-04-18 Staples, Inc. Automated guided vehicle for transporting objects
US11180069B2 (en) 2018-12-31 2021-11-23 Staples, Inc. Automated loading of delivery vehicles using automated guided vehicles
US11119487B2 (en) 2018-12-31 2021-09-14 Staples, Inc. Automated preparation of deliveries in delivery vehicles using automated guided vehicles
US11124401B1 (en) 2019-03-31 2021-09-21 Staples, Inc. Automated loading of delivery vehicles
CN116909240A (en) * 2023-09-13 2023-10-20 深圳市今天国际智能机器人有限公司 Loading and unloading vehicle dynamic path planning method and system of AGV trolley and related medium
CN116909240B (en) * 2023-09-13 2023-11-17 深圳市今天国际智能机器人有限公司 Loading and unloading vehicle dynamic path planning method and system of AGV trolley and related medium

Also Published As

Publication number Publication date
EP0560881A1 (en) 1993-09-22
DE69116699T2 (en) 1996-10-17
ATE133500T1 (en) 1996-02-15
AU9112791A (en) 1992-06-25
CA2095442C (en) 1997-06-10
WO1992009941A1 (en) 1992-06-11
AU657653B2 (en) 1995-03-16
HU9301642D0 (en) 1993-11-29
DE69116699D1 (en) 1996-03-07
US5281901A (en) 1994-01-25
EP0560881B1 (en) 1996-01-24
US5341130A (en) 1994-08-23
KR930703636A (en) 1993-11-30
KR100203011B1 (en) 1999-06-15

Similar Documents

Publication Publication Date Title
CA2095442A1 (en) Downward Compatible AGV System and Methods
US6272405B1 (en) Apparatus and method for guiding vehicle autonomously
SE8404600D0 (en) SETTING TO STEER THE DRIVES OF AN AUTOMATICALLY DRIVED VEHICLE
CN110542417B (en) Gyroscope linear measurement method and system based on static and dynamic inclinometer correction
EP1221586A3 (en) Position and heading error-correction method and apparatus for vehicle navigation systems
CA2199467C (en) Guide system for an automotive vehicle with separate, mobile transmitter unit and method of controlling the vehicle
MX9602434A (en) System and method for precisely dermining an operating point for an autonomous vehicle.
JPH05126580A (en) Method for measuring turning rate of vehicle and self-steering type vehicle
JP3378843B2 (en) Correction device for position and direction of automatic guided vehicle
TW250547B (en) Tri-mode guided vehicle system
JP2916625B1 (en) Vehicle attitude detection device
JP2001350520A (en) Travel controller for automated guided vehicle
JP3238307B2 (en) Guidance control device for mobile vehicles
JPS5762422A (en) Run control system for unmanned moving vehicle
JPH09305229A (en) Moving body automatic operation device
JP2000112524A (en) Method and device for controlling traveling of gantry crane
KR100404406B1 (en) Gis using road map data obtained from track data of vehicle having gps
JPS62288909A (en) Distance measuring instrument for unattended carriage
JPS61267104A (en) Railless self-travelling truck
JPH0650250B2 (en) Guidance controller for unmanned vehicles
SU1289946A1 (en) Apparatus for measuring longitudinal incline of railway track
JPH02193014A (en) Magnetization corrector for body
JPH01221687A (en) Guiding method for vehicle
JPH0194408A (en) Unmanned carrier traveling control method
SU1412474A1 (en) Complex meter of coordinate of flying vehicle

Legal Events

Date Code Title Description
EEER Examination request
MKLA Lapsed