DE3686379D1 - Regler fuer ein ferngesteuertes fahrzeug unter verwendung der verzoegerten absoluten positionsdaten fuer lenkung und navigation. - Google Patents

Regler fuer ein ferngesteuertes fahrzeug unter verwendung der verzoegerten absoluten positionsdaten fuer lenkung und navigation.

Info

Publication number
DE3686379D1
DE3686379D1 DE8686306677T DE3686379T DE3686379D1 DE 3686379 D1 DE3686379 D1 DE 3686379D1 DE 8686306677 T DE8686306677 T DE 8686306677T DE 3686379 T DE3686379 T DE 3686379T DE 3686379 D1 DE3686379 D1 DE 3686379D1
Authority
DE
Germany
Prior art keywords
navigation
steering
controller
position data
absolute position
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 - Lifetime
Application number
DE8686306677T
Other languages
English (en)
Other versions
DE3686379T2 (de
Inventor
Martin A Wand
Donald J Christian
Joe D Woodall
John P Williston
Jay H Rice
David F Summerville
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Texas Instruments Inc
Original Assignee
Texas Instruments Inc
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
Priority claimed from US06/771,432 external-priority patent/US4754402A/en
Priority claimed from US06/771,443 external-priority patent/US4745551A/en
Application filed by Texas Instruments Inc filed Critical Texas Instruments Inc
Application granted granted Critical
Publication of DE3686379D1 publication Critical patent/DE3686379D1/de
Publication of DE3686379T2 publication Critical patent/DE3686379T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • 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
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • 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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • 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
    • G05D1/0212—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Navigation (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
DE8686306677T 1985-08-30 1986-08-29 Regler fuer ein ferngesteuertes fahrzeug unter verwendung der verzoegerten absoluten positionsdaten fuer lenkung und navigation. Expired - Fee Related DE3686379T2 (de)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US77228085A 1985-08-30 1985-08-30
US77143185A 1985-08-30 1985-08-30
US77132985A 1985-08-30 1985-08-30
US06/771,432 US4754402A (en) 1985-08-30 1985-08-30 Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation
US06/771,443 US4745551A (en) 1985-08-30 1985-08-30 Software servo velocity filter with bounded output

Publications (2)

Publication Number Publication Date
DE3686379D1 true DE3686379D1 (de) 1992-09-17
DE3686379T2 DE3686379T2 (de) 1993-03-11

Family

ID=27542188

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8686306677T Expired - Fee Related DE3686379T2 (de) 1985-08-30 1986-08-29 Regler fuer ein ferngesteuertes fahrzeug unter verwendung der verzoegerten absoluten positionsdaten fuer lenkung und navigation.

Country Status (3)

Country Link
EP (1) EP0213939B1 (de)
JP (1) JP2661661B2 (de)
DE (1) DE3686379T2 (de)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5280431A (en) * 1985-08-30 1994-01-18 Texas Instruments Incorporated Method for controlling the movements of a mobile robot in a multiple node factory
US5367456A (en) * 1985-08-30 1994-11-22 Texas Instruments Incorporated Hierarchical control system for automatically guided vehicles
US4940925A (en) * 1985-08-30 1990-07-10 Texas Instruments Incorporated Closed-loop navigation system for mobile robots
SE464837B (sv) * 1987-06-22 1991-06-17 Arnex Hb Foerfarande och anordning foer laseroptisk navigering
JP3752582B2 (ja) * 1988-04-09 2006-03-08 株式会社セガ 競争ゲーム装置
GB2218590B (en) * 1988-05-13 1992-05-20 Gen Electric Co Plc Automated vehicle control
GB2218538B (en) * 1988-05-13 1992-09-16 Gen Electric Co Plc Automated vehicle control
EP0367528B1 (de) * 1988-10-31 1996-01-31 Texas Instruments Incorporated Hierarchisches Leitsystem für automatisch gesteuerte Fahrzeuge
JPH02183812A (ja) * 1989-01-11 1990-07-18 Japan Radio Co Ltd 移動体の位置ずれ制御方式
JPH02183813A (ja) * 1989-01-11 1990-07-18 Japan Radio Co Ltd 低速移動体の方位制御方式
EP0618523B1 (de) * 1993-04-02 1998-12-09 Shinko Electric Co. Ltd. Methode und Steuervorrichtung für ein Transportverwaltungssystem mit fahrerlosen Fahrzeugen
JP2673112B2 (ja) * 1994-06-22 1997-11-05 コナミ株式会社 移動体の遠隔制御装置
JP3721940B2 (ja) * 2000-05-16 2005-11-30 松下電器産業株式会社 移動作業ロボット
JP3721939B2 (ja) * 2000-05-16 2005-11-30 松下電器産業株式会社 移動作業ロボット
AU2001284519A1 (en) * 2000-09-11 2002-03-26 Kunikatsu Takase Mobile body position detecting system
AU2003302450A1 (en) * 2002-11-25 2004-06-18 Nippon Telegraph And Telephone Corporation Real world object recognition method and device, and attached device
US20100217437A1 (en) * 2009-02-24 2010-08-26 Branko Sarh Autonomous robotic assembly system
JP5493097B2 (ja) * 2010-04-06 2014-05-14 株式会社国際電気通信基礎技術研究所 ロボット自己位置同定システム
JP5900403B2 (ja) * 2012-04-11 2016-04-06 株式会社ダイフク 搬送台車制御システム
WO2018021457A1 (ja) * 2016-07-29 2018-02-01 日本電産株式会社 移動体誘導システム、移動体、誘導装置およびコンピュータプログラム
EP3607408B1 (de) * 2017-04-03 2021-12-29 Sew-Eurodrive GmbH & Co. KG Verfahren zum bestimmen der position eines spurgeführten mobilteils und system
WO2019054205A1 (ja) * 2017-09-13 2019-03-21 日本電産株式会社 移動ロボットシステム
CN108415434B (zh) * 2018-03-29 2021-05-25 五邑大学 一种机器人调度方法
DE102019101569A1 (de) * 2019-01-23 2020-07-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum fahrerlosen Umsetzen eines Fahrzeugs über eine Strecke innerhalb eines abgeschlossenen Geländes
SE543841C2 (en) * 2019-12-19 2021-08-10 Husqvarna Ab A calibration device for a floor surfacing system
WO2024111547A1 (ja) * 2022-11-21 2024-05-30 興和株式会社 自律走行搬送ロボット制御システム

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3653769A (en) * 1970-03-06 1972-04-04 Us Navy Stadiametric ranging system
US4107689A (en) * 1976-06-07 1978-08-15 Rca Corporation System for automatic vehicle location
CA1103803A (en) * 1978-03-01 1981-06-23 National Research Council Of Canada Method and apparatus of determining the center of area or centroid of a geometrical area of unspecified shape lying in a larger x-y scan field
GB2042217B (en) * 1979-02-05 1983-08-17 Volvo Ab Self-piloting vehicle
US4396945A (en) * 1981-08-19 1983-08-02 Solid Photography Inc. Method of sensing the position and orientation of elements in space
FR2526181A1 (fr) 1982-04-30 1983-11-04 Traitement Information Tech Nl Installation de transport automatique par chariots autonomes, et chariots autonomes pour une telle installation
GB2129161B (en) 1982-10-14 1986-02-26 Industry The Secretary Of Stat Automatic control of vehicles
JPS59135514A (ja) * 1983-01-25 1984-08-03 Tsubakimoto Chain Co 無人搬送車の走行制御方法及びその装置
JPS59205615A (ja) * 1983-05-09 1984-11-21 Komatsu Ltd 無人移動体の誘導方法
JPS60189512A (ja) * 1984-03-09 1985-09-27 Jgc Corp 無人搬送制御システム
US4626995A (en) * 1984-03-26 1986-12-02 Ndc Technologies, Inc. Apparatus and method for optical guidance system for automatic guided vehicle

Also Published As

Publication number Publication date
EP0213939A3 (en) 1988-10-05
JP2661661B2 (ja) 1997-10-08
EP0213939B1 (de) 1992-08-12
EP0213939A2 (de) 1987-03-11
DE3686379T2 (de) 1993-03-11
JPS6345610A (ja) 1988-02-26

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8339 Ceased/non-payment of the annual fee