CA1277392C - Systeme a reperes et de commande pour le positionnement de vehicules a guidageautomatique - Google Patents
Systeme a reperes et de commande pour le positionnement de vehicules a guidageautomatiqueInfo
- Publication number
- CA1277392C CA1277392C CA000520829A CA520829A CA1277392C CA 1277392 C CA1277392 C CA 1277392C CA 000520829 A CA000520829 A CA 000520829A CA 520829 A CA520829 A CA 520829A CA 1277392 C CA1277392 C CA 1277392C
- Authority
- CA
- Canada
- Prior art keywords
- images
- light source
- reflector elements
- target member
- camera
- 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.)
- Expired - Fee Related
Links
- 238000003384 imaging method Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 22
- 238000003032 molecular docking Methods 0.000 claims description 2
- FGUUSXIOTUKUDN-IBGZPJMESA-N C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 Chemical compound C1(=CC=CC=C1)N1C2=C(NC([C@H](C1)NC=1OC(=NN=1)C1=CC=CC=C1)=O)C=CC=C2 FGUUSXIOTUKUDN-IBGZPJMESA-N 0.000 claims 3
- 230000005855 radiation Effects 0.000 claims 1
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- 239000013598 vector Substances 0.000 description 53
- 239000011159 matrix material Substances 0.000 description 26
- 238000013459 approach Methods 0.000 description 12
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- 230000008859 change Effects 0.000 description 7
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- 230000000670 limiting effect Effects 0.000 description 3
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- 230000000694 effects Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000000704 physical effect Effects 0.000 description 2
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- 229910052724 xenon Inorganic materials 0.000 description 2
- FHNFHKCVQCLJFQ-UHFFFAOYSA-N xenon atom Chemical compound [Xe] FHNFHKCVQCLJFQ-UHFFFAOYSA-N 0.000 description 2
- 241000237518 Arion Species 0.000 description 1
- 238000006424 Flood reaction Methods 0.000 description 1
- 229940000425 combination drug Drugs 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- MCWXGJITAZMZEV-UHFFFAOYSA-N dimethoate Chemical compound CNC(=O)CSP(=S)(OC)OC MCWXGJITAZMZEV-UHFFFAOYSA-N 0.000 description 1
- 230000001083 documented effect Effects 0.000 description 1
- 238000009472 formulation Methods 0.000 description 1
- 229940050561 matrix product Drugs 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000036961 partial effect Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000013139 quantization Methods 0.000 description 1
- 238000001454 recorded image Methods 0.000 description 1
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- SYOKIDBDQMKNDQ-XWTIBIIYSA-N vildagliptin Chemical compound C1C(O)(C2)CC(C3)CC1CC32NCC(=O)N1CCC[C@H]1C#N SYOKIDBDQMKNDQ-XWTIBIIYSA-N 0.000 description 1
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
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
-
- 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
- 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
-
- 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
- G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
-
- 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
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
-
- 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
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
-
- 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
- G05B2219/45—Nc applications
- G05B2219/45049—Forklift
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US06/789,280 US4678329A (en) | 1985-10-18 | 1985-10-18 | Automatically guided vehicle control system |
| US789,280 | 1985-10-18 | ||
| US06/788,989 US4684247A (en) | 1985-10-18 | 1985-10-18 | Target member for use in a positioning system |
| US788,989 | 1991-11-07 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CA1277392C true CA1277392C (fr) | 1990-12-04 |
Family
ID=27120859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA000520829A Expired - Fee Related CA1277392C (fr) | 1985-10-18 | 1986-10-17 | Systeme a reperes et de commande pour le positionnement de vehicules a guidageautomatique |
Country Status (4)
| Country | Link |
|---|---|
| EP (1) | EP0243493A1 (fr) |
| KR (1) | KR880700512A (fr) |
| CA (1) | CA1277392C (fr) |
| WO (1) | WO1987002484A1 (fr) |
Families Citing this family (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4869635A (en) * | 1988-03-31 | 1989-09-26 | Caterpillar Industrial Inc. | Apparatus for controllably positioning a lift mast assembly of a work vehicle |
| GB8822795D0 (en) * | 1988-09-28 | 1988-11-02 | Gen Electric Co Plc | Automated vehicle control |
| FI85260C (fi) * | 1990-07-11 | 1992-03-25 | Vesa Kaehoenen | Foerfarande och system foer att instaella hydraultrycket som verkar pao ett hydrauliskt griporgan. |
| GB2259823A (en) * | 1991-09-17 | 1993-03-24 | Radamec Epo Limited | Navigation system |
| IT1275664B1 (it) * | 1994-11-16 | 1997-10-17 | Consorzio Telerobot | Sistema per il controlllo e guida automatica di un gruppo elevatore a forche |
| DE19541379C2 (de) * | 1995-11-07 | 2001-01-18 | Fraunhofer Ges Forschung | Verfahren zur Bestimmung der Position eines Fahrzeuges in einer Fahrebene |
| DE19738163A1 (de) | 1997-09-01 | 1999-03-11 | Siemens Ag | Verfahren zur Andockpositionierung einer autonomen mobilen Einheit unter Verwendung eines Leitstrahles |
| FR2799002B1 (fr) * | 1999-09-28 | 2006-07-21 | Thomson Csf | Procede d'imagerie laser active |
| JP2001206696A (ja) * | 2000-01-21 | 2001-07-31 | Nippon Yusoki Co Ltd | フォークリフト |
| US7473884B2 (en) | 2005-04-21 | 2009-01-06 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | Orientation determination utilizing a cordless device |
| US7609249B2 (en) | 2005-04-21 | 2009-10-27 | Avago Technologies Ecbu Ip (Singapore) Pte. Ltd. | Position determination utilizing a cordless device |
| FI117835B (fi) | 2005-06-22 | 2007-03-15 | Sime Oy | Paikoitusmenetelmä |
| US7796119B2 (en) | 2006-04-03 | 2010-09-14 | Avago Technologies General Ip (Singapore) Pte. Ltd. | Position determination with reference |
| BE1018160A3 (nl) * | 2008-05-26 | 2010-06-01 | Egemin Nv | Automatisch gestuurd voertuig en werkwijze voor het sturen daarbij toegepast. |
| SE534240C2 (sv) * | 2008-12-05 | 2011-06-14 | Datachassi Dc Ab | Förfarande och system för tillhandahållande av dockningshjälp |
| EP2769361B1 (fr) | 2011-10-19 | 2018-09-05 | Crown Equipment Corporation | Commande de fourches de camion basée sur l'identification et le suivi d'objets multiples dans une scène d'une image |
| GB2513912B (en) * | 2013-05-10 | 2018-01-24 | Dyson Technology Ltd | Apparatus for guiding an autonomous vehicle towards a docking station |
| US9378554B2 (en) | 2014-10-09 | 2016-06-28 | Caterpillar Inc. | Real-time range map generation |
| US9449397B2 (en) | 2014-10-15 | 2016-09-20 | Caterpillar Inc. | Real-time visual odometry system for determining motion of a machine with a range detection unit |
| US9990535B2 (en) | 2016-04-27 | 2018-06-05 | Crown Equipment Corporation | Pallet detection using units of physical length |
| EP3269678B1 (fr) | 2016-07-14 | 2019-03-06 | Toyota Material Handling Manufacturing Sweden AB | Convoyeur au sol |
| EP3269679B1 (fr) | 2016-07-14 | 2019-09-11 | Toyota Material Handling Manufacturing Sweden AB | Convoyeur au sol |
| EP3269680B1 (fr) | 2016-07-14 | 2020-09-30 | Toyota Material Handling Manufacturing Sweden AB | Convoyeur au sol |
| US11459221B2 (en) | 2020-04-24 | 2022-10-04 | Autoguide, LLC | Robot for stacking elements |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| HU170235B (fr) * | 1974-05-29 | 1977-04-28 | ||
| SE7804927L (sv) * | 1978-04-28 | 1979-10-29 | Volvo Ab | Anordning for att orientera exempelvis ett lyftdon i forhallande till en last |
| US4331417A (en) * | 1980-03-07 | 1982-05-25 | Rapitsan Division, Lear Siegler, Inc. | Vehicle alignment and method |
| FR2495797A1 (fr) * | 1980-12-09 | 1982-06-11 | Onera (Off Nat Aerospatiale) | Systeme de pilotage automatique d'un vehicule terrestre autonome |
| DE3305277A1 (de) * | 1983-02-16 | 1984-08-16 | Ing. Günter Knapp GmbH & Co. KG, Graz | Verfahren und vorrichtung zum selbsttaetigen ein- und auslagern von stueckgut |
-
1986
- 1986-10-10 WO PCT/US1986/002151 patent/WO1987002484A1/fr not_active Application Discontinuation
- 1986-10-10 EP EP87900361A patent/EP0243493A1/fr not_active Withdrawn
- 1986-10-10 KR KR870700519A patent/KR880700512A/ko not_active Application Discontinuation
- 1986-10-17 CA CA000520829A patent/CA1277392C/fr not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| EP0243493A1 (fr) | 1987-11-04 |
| KR880700512A (ko) | 1988-03-15 |
| WO1987002484A1 (fr) | 1987-04-23 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MKLA | Lapsed |