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1. 发明申请

WO2022272250A1 AGILE MOBILE SCISSOR LIFT APPARATUS 审中-公开
公开(公告)号：WO2022272250A1
公开(公告)日：2022-12-29
申请号：PCT/US2022/073064
申请日：2022-06-21
申请人： BENDPAK, INC.
发明人： KRITZER, Jeffrey, S.
IPC分类号： B62B3/06 , B66F9/00 , B62B3/00 , B66B9/16 , B66F7/16 , B66F7/18 , B66F7/0625 , B66F7/0666 , B66F7/08 , B66F7/28 , B66F9/065 , B66F9/07509 , B66F9/07559
摘要： A mobile lift apparatus includes a mobile base frame with sets of height adjustable, triple caster units, frame mounted floor brakes, a load deck, scissor linkage engaged between the base frame and the load deck, and a load table movable on the load deck. An actuator is engaged with the scissor linkage to extend and retract the scissor linkage. In an embodiment of the apparatus, the front wheel unit is connected to the frame front end to enable pivoting the front wheel about a substantially vertical steering axis relative to the base frame.

2. 发明申请

WO2022192171A1 SYSTEM AND METHOD FOR GUIDANCE OF CUSTOMERS IN A RETAIL STORE 审中-公开
公开(公告)号：WO2022192171A1
公开(公告)日：2022-09-15
申请号：PCT/US2022/019231
申请日：2022-03-08
申请人： WALMART APOLLO, LLC
发明人： DHURI, Komal Arvind , MUKHERJEE, Snehasish , BHARGAVA, Shankara
IPC分类号： G06Q30/06 , G06Q30/02 , G06Q20/00 , B66F9/00
摘要： A customer is provided with a customized and guided experience when shopping in- person in a retail store, distribution center, or other shopping area or location. Proactive actions that guide a customer through the store in a customized way are determined taking the customer's intent, customer's history with the store, customer's purchase history, and customer's location within the store (among other things} as inputs and rendering to the user guidance as to how to navigate or interact with or within the store.

3. 发明申请

WO2019174875A1 MEHRWEGETRANSPORTFAHRZEUG 审中-公开
公开(公告)号：WO2019174875A1
公开(公告)日：2019-09-19
申请号：PCT/EP2019/054170
申请日：2019-02-20
申请人： HUBTEX MASCHINENBAU GMBH & CO. KG
发明人： KELLER, Jürgen
IPC分类号： B62D7/15 , B66F9/00 , B66F9/07 , B62D1/02 , B66F9/075
摘要： Mehrwegetransportfahrzeug (100) mit einer eine Längsrichtung (LD) definierenden Längsachse (L) und einer eine Querrichtung (QD) definierenden Querachse (Q), mit einem Lenksystem, wobei das Lenksystem mindestens drei unabhängig lenkbare Räder (5) und einen die Räder (5) lenkenden Lenksollwertgeber (6) umfasst, wobei ein Lenkpol (O), auf weichen die Achsen (P) der Räder (5) bei einer Kurvenfahrt ausgerichtet sind, durch Betätigung des Lenksollwertgebers (6) entlang einer Lenkpolachse (A) verlagert wird, wobei ein Fahrtrichtungsschalter (7) mit einer begrenzten Anzahl an voneinander getrennten Schaltstellungen (1, 2, 3, 4) vorgesehen ist, wobei mit genau einer Schaltstellung (1, 2, 3, 4) des Fahrtrichtungsschalters (7) sowohl jeweils genau eine Rotationslage der Lenkpolachse (A) relativ zum Fahrzeug (100), als auch eine der beiden hierbei möglichen Fahrtrichtungen (LV, LR, QR, QL) vorwählbar ist und ein von dem Lenksollwertgeber (6) verschiedenes Fahrtrichtungsjustierelement (8) vorgesehen ist, mit welchem die vorgewählte Rotationslage der Lenkpolachse (A) - bevorzugt stufenlos - veränderbar ist.

4. 发明申请

WO2018154573A1 ROBOTIC DELIVERY AND RETRIEVAL OF CRATES TO AND FROM NON-UNIFORMLY SIZED STORAGE SPACES IN A VERSATILE SHELVING ARRAY 审中-公开
公开(公告)号：WO2018154573A1
公开(公告)日：2018-08-30
申请号：PCT/IL2018/050199
申请日：2018-02-21
申请人： COMMONSENSE ROBOTICS LTD.
发明人： COHEN, Shay , BLOTNIK, Guy
IPC分类号： B65G1/00 , B65G1/06 , B65G1/04 , B65G1/16 , B65G1/20 , B65G1/137 , B65G57/00 , G06Q10/08 , B66F9/00
CPC分类号： B65G1/04 , B66F9/063
摘要： A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non- uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift- robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.

5. 发明申请

WO2018067127A1 DOLLY WITH AUTOMATED HEIGHT ADJUSTMENT 审中-公开
标题翻译：自动高度调整的DOLLY
公开(公告)号：WO2018067127A1
公开(公告)日：2018-04-12
申请号：PCT/US2016/055335
申请日：2016-10-04
申请人： FORD GLOBAL TECHNOLOGIES, LLC
发明人： SEAGRAVES, Jamel , TANG, Chih-Wei , AICH, Sudipto
IPC分类号： B66F9/20 , B62B1/04 , B62B1/12 , B62B3/02 , B62B3/06 , B62B3/065 , B66F9/00
摘要： A dolly includes an actuated platform and obstruction sensor as well as a camera and a depth sensor. The eye height of a user is determined according to outputs of the camera and depth sensor. The platform is then moved to an elbow height determined based on the eye height and the depth sensor is moved to a position above the platform. In response to detecting obstruction of the obstruction sensor, the platform is lowered. Upon completion of loading, the platform is lowered to a lowest position. A stand may be retracted upon lowering of the platform to its lowest position.
摘要翻译：小推车包括致动平台和障碍物传感器以及照相机和深度传感器。根据相机和深度传感器的输出来确定用户的眼睛高度。然后将平台移动到基于眼高确定的肘部高度，并且将深度传感器移动到平台上方的位置。响应于检测到障碍物传感器的阻碍，平台被降低。装载完成后，平台降至最低位置。将平台降到最低位置后，支架可以收回。

6. 发明申请

WO2015031981A1 ELEVATION CONVEYANCE SYSTEM AND METHOD 审中-公开
标题翻译：高压输送系统及方法
公开(公告)号：WO2015031981A1
公开(公告)日：2015-03-12
申请号：PCT/CA2014/000675
申请日：2014-09-05
申请人： MATTAWA INDUSTRIAL SERVICES INC.
发明人： MCSWAIN, R. Kevin
IPC分类号： B65G49/00 , B66B9/00 , B66F9/00 , E04G3/28
CPC分类号： B65G65/42 , B01J8/002 , B01J8/003 , B01J2208/00752 , B65D90/16 , B65D90/66 , B65G65/32 , B66B9/16 , B66B11/02 , B66C17/06 , E04G3/28
摘要： An elevation conveyance system for transporting a payload substantially vertically and transversely to a preselected release location. The system includes a track assembly comprising a substantially vertical track, one or more bin assemblies in which the payload is receivable, and one or more car assemblies configured for movement along the track. The car assembly includes a housing subassembly having a means for engaging the track to permit movement of the car assembly along the track, and a conveyor subassembly for transporting the payload substantially transversely relative to the track. The bin assembly is receivable in the housing subassembly and configured to release the payload onto the conveyor subassembly for substantially transverse transportation of the payload to the preselected release location.
摘要翻译：一种用于将有效载荷基本上垂直和横向地运送到预选释放位置的标高传送系统。该系统包括轨道组件，该轨道组件包括基本上垂直的轨道，可接收有效载荷的一个或多个仓组合件，以及被配置为沿轨道移动的一个或多个轿厢组件。汽车组件包括壳体子组件，其具有用于接合轨道以允许汽车组件沿着轨道移动的装置，以及用于相对于轨道基本上横向地传送有效载荷的传送器子组件。箱组件可接收在壳体子组件中并且构造成将有效载荷释放到传送器子组件上，以将有效载荷基本上横向传输到预选的释放位置。

7. 发明申请

WO2013066613A1 IDENTIFYING AND EVALUATING POTENTIAL CENTER STRINGERS OF A PALLET IN AN IMAGE SCENE 审中-公开
标题翻译：在图像场景中识别和评估电子邮件的潜在中心
公开(公告)号：WO2013066613A1
公开(公告)日：2013-05-10
申请号：PCT/US2012/060336
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/00 , B66F9/00
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for evaluating a possible center stringer of a pallet. The method may comprise providing a first Ro image; providing a second Ro image comprising pixels that may generally correspond to an orthogonal distance from an origin point to one or more possible vertical right lines in the corresponding gray scale image; identifying, using a computer, a possible lower left corner location of a center stringer in the corresponding gray scale image; determining, using the computer, an upper left corner location based on the possible lower left corner location; identifying, using the computer, a possible lower right corner location of the center stringer in the corresponding gray scale image; and determining, using the computer, an upper right corner location based on the possible lower right corner location.
摘要翻译：提供了一种用于评估托盘的可能的中心纵梁的方法。该方法可以包括提供第一Ro图像; 提供包括像素的第二Ro图像，所述像素可以大致对应于从原点到相应灰度图像中的一个或多个可能的垂直右线的正交距离; 使用计算机识别相应灰度图像中的中心纵梁的可能的左下角位置; 基于可能的左下角位置确定使用计算机的左上角位置; 使用计算机识别相应灰度图像中的中心纵梁的可能的右下角位置; 以及基于可能的右下角位置来确定使用计算机的右上角位置。

8. 发明申请

WO2013059153A1 IDENTIFYING, MATCHING AND TRACKING MULTIPLE OBJECTS IN A SEQUENCE OF IMAGES 审中-公开
标题翻译：在图像序列中识别，匹配和跟踪多个对象
公开(公告)号：WO2013059153A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060352
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： B66F9/00 , G06T7/20
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method of tracking scored candidate objects in a sequence of image frames acquired by a camera is provided. The scored candidate objects may comprise a set of existing scored candidate objects associated with a prior image frame and a set of new scored candidate objects associated with a next image frame.
摘要翻译：提供了一种在由相机获取的图像帧序列中跟踪得分候选对象的方法。所记录的候选对象可以包括与先前图像帧相关联的一组现有记分的候选对象和与下一图像帧相关联的一组新的得分候选对象。

9. 发明申请

WO2013059150A1 IDENTIFYING AND SELECTING OBJECTS THAT MAY CORRESPOND TO PALLETS IN AN IMAGE SCENE 审中-公开
标题翻译：识别和选择在图像场景中可能对应于托盘的对象
公开(公告)号：WO2013059150A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060348
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/20 , B66F9/00
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for identifying one or more scored candidate objects that may correspond to one or more actual pallets in a gray scale image. The method may comprise: identifying, by a computer, a first plurality of scored candidate objects in the gray scale image; storing, by the computer, a list of the first plurality of scored candidate objects, wherein the list includes a respective record for each of the first plurality of scored candidate objects; determining, by the computer, a subset of the first plurality of scored candidate objects to eliminate from the list based on a comparison amongst the respective records of the first plurality of scored candidate objects; and removing, by the computer, the subset of the first plurality of scored candidate objects from the list to create an updated list for a second plurality of scored candidate objects, wherein the updated list includes a respective record for each of the second plurality of scored candidate objects.
摘要翻译：提供了一种用于识别可能对应于灰度图像中的一个或多个实际托盘的一个或多个记分候选对象的方法。该方法可以包括：通过计算机识别灰度图像中的第一多个记录的候选对象; 由计算机存储第一多个评分候选对象的列表，其中该列表包括用于第一多个记分候选对象中的每一个的相应记录; 由所述计算机确定所述第一多个计分候选对象的子集，以便基于所述第一多个记分候选对象的相应记录之间的比较从所述列表中消除; 以及由所述计算机从所述列表中移除所述第一多个刻划的候选对象的子集以创建用于第二多个记分候选对象的更新列表，其中所述更新列表包括用于所述第二多个记分候选对象中的每一个的相应记录候选对象。

10. 发明申请

WO2013059149A1 CONTROLLING TRUCK FORKS BASED ON IDENTIFYING AND TRACKING MULTIPLE OBJECTS IN AN IMAGE SCENE 审中-公开
标题翻译：基于识别和跟踪图像场景中的多个对象来控制卡车
公开(公告)号：WO2013059149A1
公开(公告)日：2013-04-25
申请号：PCT/US2012/060343
申请日：2012-10-16
申请人： CROWN EQUIPMENT CORPORATION , HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
发明人： HOLEVA, Lee, F. , ELSTON, Edwin, R. , JENSEN, Eric, L. , SEELINGER, Michael, J. , YODER, John-David, S.
IPC分类号： G06T7/20 , B66F9/00
CPC分类号： G06T7/0085 , B66F9/122 , B66F9/24 , G06T7/13 , G06T7/20 , G06T2207/10016
摘要： A method is provided for controlling forks of a vehicle. The method may comprise: while the forks of the vehicle are moving vertically, acquiring a series of images of a scene of a physical environment in which a plurality of pallets are visible; identifying in each image, by a computer system, one or more scored candidate objects, each potentially corresponding to a respective one of the plurality of pallets; for each of the one or more scored candidate objects, tracking, by the computer system, a respective location in each of at least two images of the series; determining for each of the one or more scored candidate objects a respective, associated height in the physical environment; and stopping, by the computer system, the forks of the vehicle at a height in the physical environment based on the height of a specific one of the scored candidate objects.
摘要翻译：提供一种用于控制车辆叉的方法。该方法可以包括：当车辆的叉车垂直移动时，获取其中多个托盘可见的物理环境场景的一系列图像; 在每个图像中，通过计算机系统识别一个或多个记录的候选对象，每个候选对象潜在地对应于所述多个托盘中的相应一个托盘; 对于所述一个或多个划分的候选对象中的每一个，由所述计算机系统跟踪所述系列的至少两个图像中的每一个中的相应位置; 为所述一个或多个划分的候选物体中的每一个确定物理环境中相应的相关联的高度; 并且通过计算机系统基于特定的一个评分候选对象的高度在物理环境中的高度处停止车辆的叉。

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