DE3789919D1 - Verfahren zur Steuerung eines führerlosen Fahrzeuges. - Google Patents

Verfahren zur Steuerung eines führerlosen Fahrzeuges.

Info

Publication number
DE3789919D1
DE3789919D1 DE3789919T DE3789919T DE3789919D1 DE 3789919 D1 DE3789919 D1 DE 3789919D1 DE 3789919 T DE3789919 T DE 3789919T DE 3789919 T DE3789919 T DE 3789919T DE 3789919 D1 DE3789919 D1 DE 3789919D1
Authority
DE
Germany
Prior art keywords
controlling
driverless vehicle
driverless
vehicle
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
Application number
DE3789919T
Other languages
English (en)
Other versions
DE3789919T2 (de
Inventor
Tomoo Matsuda
Mitsuo Hosoi
Yohkichi Nishi
Eiji Yoshikawa
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.)
Komatsu Ltd
Original Assignee
Komatsu Ltd
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 Komatsu Ltd filed Critical Komatsu Ltd
Publication of DE3789919D1 publication Critical patent/DE3789919D1/de
Application granted granted Critical
Publication of DE3789919T2 publication Critical patent/DE3789919T2/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 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
    • G05D1/0276—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
    • G05D1/0282—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 generated in a local control room
    • 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
    • G05D1/0246—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 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
    • 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
    • G05D1/0272—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 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0263—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic strips
    • 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
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
DE3789919T 1986-07-11 1987-03-26 Verfahren zur Steuerung eines führerlosen Fahrzeuges. Expired - Fee Related DE3789919T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61164319A JP2665738B2 (ja) 1986-07-11 1986-07-11 地点追従方式による無人移動機械の誘導方法

Publications (2)

Publication Number Publication Date
DE3789919D1 true DE3789919D1 (de) 1994-07-07
DE3789919T2 DE3789919T2 (de) 1994-09-08

Family

ID=15790892

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3789919T Expired - Fee Related DE3789919T2 (de) 1986-07-11 1987-03-26 Verfahren zur Steuerung eines führerlosen Fahrzeuges.

Country Status (4)

Country Link
US (1) US4866617A (de)
EP (1) EP0252219B1 (de)
JP (1) JP2665738B2 (de)
DE (1) DE3789919T2 (de)

Families Citing this family (31)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0725307B2 (ja) * 1987-09-25 1995-03-22 本田技研工業株式会社 前輪転舵角の制御方法
JPH01276213A (ja) * 1988-04-27 1989-11-06 Mitsui Eng & Shipbuild Co Ltd 無軌道式クレーンの走行軌道修正装置
US5008804A (en) * 1988-06-23 1991-04-16 Total Spectrum Manufacturing Inc. Robotic television-camera dolly system
DE3911054C3 (de) * 1989-04-05 1997-01-02 Wagner Foerdertechnik Navigationssystem und -Verfahren zur leitdrahtlosen Führung von fahrerlosen Flurförderzeugen
FR2656435B1 (fr) * 1989-12-22 1996-07-05 Commissariat Energie Atomique Procede de recalage sur une trajectoire theorique pour un vehicule en modifiant la courbure de la trajectoire reelle.
IT1240189B (it) * 1990-04-12 1993-11-27 Fiat Auto Spa Procedimento e sistema per il controllo della traiettoria di veicoli, particolarmente autovetture
KR960005672B1 (ko) * 1990-08-23 1996-04-30 가부시끼가이샤 다이후꾸 이동차의 분기주행 제어설비
FR2669750B1 (fr) * 1990-11-28 1996-09-20 Commissariat Energie Atomique Systeme et procede de guidage d'un robot a l'aide d'un repere definissant sa trajectoire.
US5227973A (en) * 1991-02-26 1993-07-13 Siemens Corporate Research, Inc. Control arbitration system for a mobile robot vehicle
US5258911A (en) * 1991-04-09 1993-11-02 Crown Equipment Corporation End of aisle control system
KR950009344B1 (ko) * 1992-09-15 1995-08-21 주식회사삼성중공업 무궤도식 크레인 자동주향방법 및 그 장치
US5434781A (en) * 1993-08-13 1995-07-18 Control Engineering Company Method and apparatus for guiding a driverless vehicle using a sensor tracking a cable emitting an electromagnetic field
US6092010A (en) * 1997-09-03 2000-07-18 Jervis B. Webb Company Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles
US6272406B2 (en) 1998-03-09 2001-08-07 Jervis B. Webb Company Guidance system for an automated guided-vehicle
JP3508665B2 (ja) * 1999-12-24 2004-03-22 株式会社豊田自動織機 操舵支援装置
DE10019779A1 (de) * 2000-04-20 2001-10-25 Volkswagen Ag Meßfühler
US6581000B2 (en) * 2001-01-04 2003-06-17 Carnegie Mellon University Position location system and method
GB2386969A (en) * 2002-03-26 2003-10-01 Mcmurtry Ltd Autonomous vehicle for ground maintenance with a ground marking means
US6829558B2 (en) * 2002-06-27 2004-12-07 Motorola, Inc. Method for reducing position uncertainty of a portable inertial navigation device
JP3837533B2 (ja) * 2003-01-15 2006-10-25 独立行政法人産業技術総合研究所 姿勢角処理装置および姿勢角処理方法
DE102004045585A1 (de) * 2004-09-17 2006-04-06 Vehico Gmbh Einrichtung und Verfahren zur Gewinnung von Meßwerten zur Ermittlung von fahrdynamischen Größen von Fahrzeugen
JP4448759B2 (ja) * 2004-11-09 2010-04-14 本田技研工業株式会社 自走台車の走行制御方法
US7681796B2 (en) 2006-01-05 2010-03-23 International Business Machines Corporation Mobile device tracking
JP4656456B2 (ja) * 2008-10-22 2011-03-23 日本電気株式会社 車線区画線検出装置、車線区画線検出方法、及び車線区画線検出プログラム
EP2601536B8 (de) * 2010-08-03 2019-03-06 Fori Automation, Inc. Sensorsystem und verfahren zur verwendung mit einem fahrerlosen transportsystem (fts)
GB2541674B (en) * 2015-08-25 2017-10-25 Oxford Technical Solutions Ltd Positioning system and method
US9645581B1 (en) * 2016-02-04 2017-05-09 Zerotech (Shenzhen) Intelligence Robot Co., Ltd Method and apparatus for navigating unmanned aerial vehicle
JP6771999B2 (ja) * 2016-08-26 2020-10-21 シャープ株式会社 自動走行装置及び自動走行システム
CN110419067B (zh) * 2017-03-28 2022-03-15 爱知制钢株式会社 标识器系统
CN113260544A (zh) * 2018-12-28 2021-08-13 爱知制钢株式会社 陀螺仪传感器的修正方法
DE102020207474A1 (de) 2020-06-17 2021-12-23 Zf Friedrichshafen Ag Plausibilisierung markerbasierter Navigation

Family Cites Families (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3609374A (en) * 1967-02-24 1971-09-28 Singer General Precision Weighted scan star scanner
US3614239A (en) * 1970-04-21 1971-10-19 Us Air Force Photoelectric space-object position measuring device
US3642087A (en) * 1970-10-09 1972-02-15 Pentron Electronics Corp Automatic guidance system
US4278142A (en) * 1978-05-08 1981-07-14 Agency Of Industrial Science And Technology Automatic guidance system for vehicles
SE423839B (sv) * 1980-10-02 1982-06-07 Volvo Ab Sett och anordning for styrning av ett styrbart hjulfordon
SE423840B (sv) * 1980-10-02 1982-06-07 Volvo Ab Sett att vid ett med dod rekning styrt hjulfordon anordna en uppdatering
JPS59112312A (ja) * 1982-12-20 1984-06-28 Nippon Yusoki Co Ltd 無人搬送車の誘導帯
US4530056A (en) * 1982-10-28 1985-07-16 Modular Automation Corp. Automated guided vehicle system
GB8313338D0 (en) * 1983-05-14 1983-06-22 Gen Electric Co Plc Vehicle control
DE3325413A1 (de) 1983-07-14 1985-01-31 Mannesmann AG, 4000 Düsseldorf Leitsystem fuer auf raedern fahrende fahrzeuge
FR2554612B1 (fr) * 1983-11-04 1988-07-08 Onera (Off Nat Aerospatiale) Procede et dispositif de guidage automatique de mobiles en particulier de chariots automoteurs sans conducteur
US4716530A (en) * 1984-05-21 1987-12-29 Kabushiki Kaisha Meidensha System for automatically controlling movement of unmanned vehicle and method therefor
SE449988B (sv) * 1985-10-15 1987-06-01 Mecanum Ab Forfarande for finpositionering av fordon i exakta forhallanden till geografiska referensmarkeringar

Also Published As

Publication number Publication date
EP0252219A3 (en) 1989-08-16
EP0252219A2 (de) 1988-01-13
EP0252219B1 (de) 1994-06-01
DE3789919T2 (de) 1994-09-08
JPS6319011A (ja) 1988-01-26
US4866617A (en) 1989-09-12
JP2665738B2 (ja) 1997-10-22

Similar Documents

Publication Publication Date Title
DE3789919T2 (de) Verfahren zur Steuerung eines führerlosen Fahrzeuges.
DE3485644D1 (de) Verfahren zur automatischen steuerung eines fahrzeuges.
DE3481116D1 (de) Verfahren zur steuerung des startvorganges eines fahrzeuges.
DE3585163D1 (de) Verfahren zur steuerung eines anzeigesystems.
DE58905568D1 (de) Verfahren zur erhöhung der beherrschbarkeit eines fahrzeugs.
DE3587288T2 (de) Verfahren zur steuerung eines roboters mit mehrfachem gelenk.
DE3577067D1 (de) Verfahren zum steuern eines kraftfahrzeuggetriebes.
DE3574614D1 (de) Verfahren zur kontrolle eines parameterwertes.
DE3750515T2 (de) Verfahren zur Zugriffssteuerung einer Datenbasis.
DE59001151D1 (de) Verfahren zur regelung einer querdynamischen zustandsgroesse eines kraftfahrzeuges.
DE69008315D1 (de) Verfahren zur Steuerung eines Wechselrichters.
DE3751630D1 (de) Verfahren zur Steuerung eines fluidgetriebenen Stellkolbens.
DE59201036D1 (de) Verfahren zur steuerung eines stufenlosen kraftfahrzeuggetriebes.
DE3688014T2 (de) Verfahren zur Steuerung von Frankiermaschinen.
ATE65850T1 (de) Verfahren und vorrichtung zur steuerung einer fahrzeughilfsvorrichtung.
DE59201680D1 (de) Verfahren zur steuerung eines stufenlosen getriebes eines kraftfahrzeugs.
DE3789722T2 (de) Verfahren zur Steuerung eines stufenlosen Fahrzeuggetriebes.
DE59201621D1 (de) Verfahren zur steuerung eines stufenlosen getriebes eines kraftfahrzeugs.
DE3863030D1 (de) Verfahren zur stroemungsregelung.
DE68919821D1 (de) Verfahren zur steuerung der werkzeuglage eines roboters.
DE3874443T2 (de) Verfahren zur steuerung eines schwingungsdaempfers.
DE69014565D1 (de) Verfahren zur steuerung des betriebsstandes eines systems.
DE3854390D1 (de) Verfahren zur eingabe einer werkstückkontur.
DE3787093T2 (de) Verfahren zur steuerung eines sich schnell drehenden körpers in einer umlaufbahn.
DE3886394T2 (de) Verfahren zur steuerung eines servomotors.

Legal Events

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