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1. WO2020141288 - SELF-GUIDED HANDLING APPARATUS COMPRISING A DETECTION MEANS

Publication Number WO/2020/141288
Publication Date 09.07.2020
International Application No. PCT/FR2020/050008
International Filing Date 06.01.2020
IPC
B66F 9/06 2006.1
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
FHOISTING, 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
9Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
06movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05D 1/02 2020.1
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B66F 9/063
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
FHOISTING, 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
9Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
06movable, with their loads, on wheels or the like, e.g. fork-lift trucks
063Automatically guided
G05D 1/024
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0238using obstacle or wall sensors
024in combination with a laser
G05D 2201/0216
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0216Vehicle for transporting goods in a warehouse, factory or similar
Applicants
  • BALYO [FR]/[FR]
Inventors
  • VOISIN, Guillaume
  • DUVAL, Thomas
  • BARDINET, Fabien
Agents
  • BREESE, Pierre
Priority Data
190008204.01.2019FR
Publication Language French (FR)
Filing Language French (FR)
Designated States
Title
(EN) SELF-GUIDED HANDLING APPARATUS COMPRISING A DETECTION MEANS
(FR) ÉQUIPEMENT DE MANUTENTION AUTOGUIDÉ COMPORTANT UN MOYEN DE DÉTECTION
Abstract
(EN)
The invention relates to a self-guided handling apparatus comprising a means for detecting obstacles which comprises a telemetry means arranged at the top of a mast (2). The telemetry means comprises a first laser (4) performing a 360° horizontal scan with an opening of ±15° relative to the horizontal plane, and at least a second laser (3) having an opening of -15 to -80° and performing a scan of at least 270°, the detection means comprising a processor using the cluster of telemetric points to detect the obstacles and control the change in the displacement of the apparatus.
(FR)
L'invention concerne un équipement de manutention autoguidé comportant un moyen de détection d'obstacles comportant un moyen de télémétrie disposé au sommet d'un mat (2). Ledit moyen de télémétrie comporte un premier laser (4) assurant un balayage horizontal sur 360° avec une ouverture de ±15° par rapport au plan horizontal, et au moins un second laser (3) présentant une ouverture de -15 à -80° et assurant un balayage d'au moins 270°, ledit moyen de détection comprenant un calculateur exploitant le nuage de points télémétriques pour détecter les obstacles et commander la modification du déplacement dudit équipement.
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