BR102013015314B1 - Método para guiar um robô guiado automaticamente e aparelho - Google Patents

Método para guiar um robô guiado automaticamente e aparelho Download PDF

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Publication number
BR102013015314B1
BR102013015314B1 BR102013015314-1A BR102013015314A BR102013015314B1 BR 102013015314 B1 BR102013015314 B1 BR 102013015314B1 BR 102013015314 A BR102013015314 A BR 102013015314A BR 102013015314 B1 BR102013015314 B1 BR 102013015314B1
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BR
Brazil
Prior art keywords
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centroid
pixels
pattern
value
Prior art date
Application number
BR102013015314-1A
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English (en)
Portuguese (pt)
Other versions
BR102013015314A2 (pt
Inventor
Brad Jeremy Reeves
Original Assignee
The Boeing Company
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 The Boeing Company filed Critical The Boeing Company
Publication of BR102013015314A2 publication Critical patent/BR102013015314A2/pt
Publication of BR102013015314B1 publication Critical patent/BR102013015314B1/pt

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    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G05D1/0234—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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Theoretical Computer Science (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Navigation (AREA)
BR102013015314-1A 2012-06-18 2013-06-18 Método para guiar um robô guiado automaticamente e aparelho BR102013015314B1 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/526,238 US8861790B2 (en) 2012-06-18 2012-06-18 System and method for guiding a mobile device
US13/526,238 2012-06-18

Publications (2)

Publication Number Publication Date
BR102013015314A2 BR102013015314A2 (pt) 2015-06-23
BR102013015314B1 true BR102013015314B1 (pt) 2021-11-30

Family

ID=48699537

Family Applications (1)

Application Number Title Priority Date Filing Date
BR102013015314-1A BR102013015314B1 (pt) 2012-06-18 2013-06-18 Método para guiar um robô guiado automaticamente e aparelho

Country Status (5)

Country Link
US (1) US8861790B2 (https=)
EP (1) EP2677274B1 (https=)
JP (1) JP6347918B2 (https=)
CN (1) CN103513981B (https=)
BR (1) BR102013015314B1 (https=)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2947030B2 (ja) 1993-11-10 1999-09-13 松下電器産業株式会社 ベーンロータリ圧縮機
CN104199452B (zh) * 2014-09-26 2017-03-08 上海未来伙伴机器人有限公司 移动机器人、移动机器人系统、移动及通信方法
DE102014224082A1 (de) * 2014-11-26 2016-06-02 Robert Bosch Gmbh Verfahren zum Betreiben eines Fahrzeugs und zum Betreiben eines Fertigungssystems
CA2936369A1 (en) * 2015-07-16 2017-01-16 Iain Wilson Robotic apparatus for plowing of snow from a predefined area
CN106323289A (zh) * 2016-08-23 2017-01-11 北京小米移动软件有限公司 平衡车的控制方法及装置
US10394234B2 (en) 2017-12-18 2019-08-27 The Boeing Company Multi-sensor safe path system for autonomous vehicles
JP6707601B2 (ja) * 2018-09-26 2020-06-10 三菱ロジスネクスト株式会社 無人搬送システム
JP7243650B2 (ja) * 2020-02-12 2023-03-22 トヨタ自動車株式会社 移動量検出システム及び移動量検出方法
DE102021105263A1 (de) * 2021-03-04 2022-09-08 Schaeffler Technologies AG & Co. KG Verfahren zum Ermitteln einer Fahrtrichtung und/oder einer Positionsveränderung und/oder Geschwindigkeit eines fahrerlosen Transportfahrzeugs, fahrerloses Transportfahrzeug und fahrerloses Transportsystem
FR3127052B1 (fr) * 2021-09-15 2024-05-10 Raoul Parienti Système de transport collectif privatif automatique bi-mode
NL2036457B1 (nl) * 2023-12-08 2025-06-19 Lely Patent Nv Een systeem omvattende een autonoom rijdend voertuig, een ondergrond en een striplichaam dat op de ondergrond is aangebracht

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4970653A (en) * 1989-04-06 1990-11-13 General Motors Corporation Vision method of detecting lane boundaries and obstacles
JPH07228210A (ja) * 1994-02-21 1995-08-29 Mitsubishi Heavy Ind Ltd 車両の相対位置認識方法
JPH10247110A (ja) * 1997-03-05 1998-09-14 Japan Storage Battery Co Ltd 誘導センサ
US6285930B1 (en) * 2000-02-28 2001-09-04 Case Corporation Tracking improvement for a vision guidance system
US7599756B2 (en) 2007-10-04 2009-10-06 The Boeing Company Production moving line system and method
US8245807B2 (en) 2009-02-12 2012-08-21 Edison Nation, Llc Automated vehicle and system utilizing an optical sensing system
FI20105732A0 (fi) * 2010-06-24 2010-06-24 Zenrobotics Oy Menetelmä fyysisten kappaleiden valitsemiseksi robottijärjestelmässä

Also Published As

Publication number Publication date
CN103513981B (zh) 2018-04-27
EP2677274B1 (en) 2017-04-26
CN103513981A (zh) 2014-01-15
US20130336537A1 (en) 2013-12-19
JP2014002739A (ja) 2014-01-09
BR102013015314A2 (pt) 2015-06-23
JP6347918B2 (ja) 2018-06-27
EP2677274A2 (en) 2013-12-25
EP2677274A3 (en) 2014-11-19
US8861790B2 (en) 2014-10-14

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Legal Events

Date Code Title Description
B03A Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 18/06/2013, OBSERVADAS AS CONDICOES LEGAIS.