BR112013020667A2 - método para localização autônoma de veículo motorizado, sem motorista - Google Patents

método para localização autônoma de veículo motorizado, sem motorista

Info

Publication number
BR112013020667A2
BR112013020667A2 BR112013020667A BR112013020667A BR112013020667A2 BR 112013020667 A2 BR112013020667 A2 BR 112013020667A2 BR 112013020667 A BR112013020667 A BR 112013020667A BR 112013020667 A BR112013020667 A BR 112013020667A BR 112013020667 A2 BR112013020667 A2 BR 112013020667A2
Authority
BR
Brazil
Prior art keywords
vehicle
sensor
environment
landmarks
reference points
Prior art date
Application number
BR112013020667A
Other languages
English (en)
Other versions
BR112013020667B1 (pt
Inventor
Merten Lipkowski
Thomas Wösch
Original Assignee
Siemens Ag
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 Siemens Ag filed Critical Siemens Ag
Publication of BR112013020667A2 publication Critical patent/BR112013020667A2/pt
Publication of BR112013020667B1 publication Critical patent/BR112013020667B1/pt

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
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • 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
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Optics & Photonics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

resumo patente de invenção: "método para localização autônoma de veículo motorizado, sem motorista". a presente invenção refere-se a um método para a localização autônoma de um veículo motorizado sem motorista dentro de um ambiente conhecido pelo uso de um sensor de mensuração de alcance, que é disposto no veículo e em que a direção de mensuração ou plano de medição pode ser alterado pelo acionamento de pelo menos um motor sensor, em que o método tem as seguintes etapas: um mapa do ambiente é produzido pelo uso de pontos de referência naturais; uma rota predeterminada ao longo da qual o veículo que se pretende mover é especificado; aqueles pontos de referência que podem servir como um auxílio na localização ao longo da rota predeterminada são determinados; o ambiente é digitalizado em diferentes momentos pelo uso do sensor a fim de detectar os pontos de referência determinados previamente enquanto o veículo está se movendo ao longo da rota predeterminada; e o veículo é localizado pela comparação dos pontos de referência detectados com os pontos de referência registrados no mapa; em que a velocidade e/ou a direção de rotação do motor sensor é/são ativamente controlada(s) pelo menos em áreas do ambiente com apenas poucos pontos de referência previamente determinados, de modo que o sensor é orientado para esses pontos de referência a fim de assegurar que eles são detectados.
BR112013020667-5A 2011-02-16 2012-02-06 método para localização autônoma de veículo motorizado sem motorista BR112013020667B1 (pt)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP11154607.3A EP2490092B1 (de) 2011-02-16 2011-02-16 Verfahren zur autarken Lokalisierung eines fahrerlosen, motorisierten Fahrzeugs
EP11154607.3 2011-02-16
PCT/EP2012/051925 WO2012110343A1 (de) 2011-02-16 2012-02-06 Verfahren zur autarken lokalisierung eines fahrerlosen, motorisierten fahrzeugs

Publications (2)

Publication Number Publication Date
BR112013020667A2 true BR112013020667A2 (pt) 2016-10-18
BR112013020667B1 BR112013020667B1 (pt) 2021-03-16

Family

ID=44027706

Family Applications (1)

Application Number Title Priority Date Filing Date
BR112013020667-5A BR112013020667B1 (pt) 2011-02-16 2012-02-06 método para localização autônoma de veículo motorizado sem motorista

Country Status (10)

Country Link
US (1) US9134734B2 (pt)
EP (1) EP2490092B1 (pt)
CN (1) CN103370669B (pt)
AU (1) AU2012217286B2 (pt)
BR (1) BR112013020667B1 (pt)
CA (1) CA2827281C (pt)
CL (1) CL2013002201A1 (pt)
PL (1) PL2490092T3 (pt)
RU (1) RU2579978C2 (pt)
WO (1) WO2012110343A1 (pt)

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Also Published As

Publication number Publication date
CN103370669A (zh) 2013-10-23
PL2490092T3 (pl) 2014-02-28
RU2013141921A (ru) 2015-03-27
US9134734B2 (en) 2015-09-15
CA2827281A1 (en) 2012-08-23
EP2490092B1 (de) 2013-09-18
CN103370669B (zh) 2016-10-26
RU2579978C2 (ru) 2016-04-10
AU2012217286B2 (en) 2015-01-22
WO2012110343A1 (de) 2012-08-23
EP2490092A1 (de) 2012-08-22
BR112013020667B1 (pt) 2021-03-16
AU2012217286A1 (en) 2013-08-15
CL2013002201A1 (es) 2013-12-20
US20130325243A1 (en) 2013-12-05
CA2827281C (en) 2015-11-17

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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 06/02/2012, OBSERVADAS AS CONDICOES LEGAIS.