DE3853616D1 - Verfahren und Gerät zur Wegplanung. - Google Patents

Verfahren und Gerät zur Wegplanung.

Info

Publication number
DE3853616D1
DE3853616D1 DE3853616T DE3853616T DE3853616D1 DE 3853616 D1 DE3853616 D1 DE 3853616D1 DE 3853616 T DE3853616 T DE 3853616T DE 3853616 T DE3853616 T DE 3853616T DE 3853616 D1 DE3853616 D1 DE 3853616D1
Authority
DE
Germany
Prior art keywords
route planning
planning
route
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
DE3853616T
Other languages
English (en)
Other versions
DE3853616T2 (de
Inventor
Leendert Dorst
Karen Irene Trovato
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.)
Koninklijke Philips NV
Original Assignee
Philips Electronics NV
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 Philips Electronics NV filed Critical Philips Electronics NV
Publication of DE3853616D1 publication Critical patent/DE3853616D1/de
Application granted granted Critical
Publication of DE3853616T2 publication Critical patent/DE3853616T2/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
    • G05D1/0268—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • B25J9/1666—Avoiding collision or forbidden zones
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
    • G05B19/4061—Avoiding collision or forbidden zones
    • 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
    • G05D1/0274—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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F30/00—Computer-aided design [CAD]
    • G06F30/10—Geometric CAD
    • G06F30/18—Network design, e.g. design based on topological or interconnect aspects of utility systems, piping, heating ventilation air conditioning [HVAC] or cabling
    • 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
    • G05B2219/35—Nc in input of data, input till input file format
    • G05B2219/35415—3-D three dimension, space input, spaceball
    • 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
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39217—Keep constant orientation of handled object while moving manipulator
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40443—Conditional and iterative planning
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40448—Preprocess nodes with arm configurations, c-space and planning by connecting nodes
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40465—Criteria is lowest cost function, minimum work path
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40471—Using gradient method
    • 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
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40476—Collision, planning for collision free path
    • 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
    • G05B2219/45131—Turret punch press
    • 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
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49143—Obstacle, collision avoiding control, move so that no collision occurs
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S706/00—Data processing: artificial intelligence
    • Y10S706/902—Application using ai with detail of the ai system
    • Y10S706/903—Control
    • Y10S706/905—Vehicle or aerospace
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S706/00—Data processing: artificial intelligence
    • Y10S706/902—Application using ai with detail of the ai system
    • Y10S706/919—Designing, planning, programming, CAD, CASE

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Geometry (AREA)
  • Theoretical Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Manufacturing & Machinery (AREA)
  • Mathematical Optimization (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Evolutionary Computation (AREA)
  • Computer Hardware Design (AREA)
  • Pure & Applied Mathematics (AREA)
  • Mathematical Analysis (AREA)
  • Computational Mathematics (AREA)
  • General Engineering & Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)
DE3853616T 1987-11-20 1988-11-15 Verfahren und Gerät zur Wegplanung. Expired - Fee Related DE3853616T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US12350287A 1987-11-20 1987-11-20

Publications (2)

Publication Number Publication Date
DE3853616D1 true DE3853616D1 (de) 1995-05-24
DE3853616T2 DE3853616T2 (de) 1995-11-30

Family

ID=22409048

Family Applications (1)

Application Number Title Priority Date Filing Date
DE3853616T Expired - Fee Related DE3853616T2 (de) 1987-11-20 1988-11-15 Verfahren und Gerät zur Wegplanung.

Country Status (5)

Country Link
US (1) US6604005B1 (de)
EP (1) EP0317020B1 (de)
JP (1) JP2840608B2 (de)
KR (1) KR0133294B1 (de)
DE (1) DE3853616T2 (de)

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DE69425595T2 (de) * 1993-01-22 2001-05-23 Koninkl Philips Electronics Nv Verfahren und Gerät zur Identifikation und Steuerung eines Laufes nach einem Rendezvous
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US6226622B1 (en) * 1995-11-27 2001-05-01 Alan James Dabbiere Methods and devices utilizing a GPS tracking system
US6909746B2 (en) * 2001-03-30 2005-06-21 Koninklijke Philips Electronics N.V. Fast robust data compression method and system
JP2006515233A (ja) * 2003-01-31 2006-05-25 サーモ シーアールエス リミテッド ロボットシステムのための構文推論式の運動計画方法
US7216033B2 (en) * 2003-03-31 2007-05-08 Deere & Company Path planner and method for planning a contour path of a vehicle
US7079943B2 (en) * 2003-10-07 2006-07-18 Deere & Company Point-to-point path planning
US7110881B2 (en) * 2003-10-07 2006-09-19 Deere & Company Modular path planner
US8352174B2 (en) * 2004-01-15 2013-01-08 Algotec Systems Ltd. Targeted marching
US20100235608A1 (en) * 2004-03-25 2010-09-16 Aiseek Ltd. Method and apparatus for game physics concurrent computations
US7440447B2 (en) * 2004-03-25 2008-10-21 Aiseek Ltd. Techniques for path finding and terrain analysis
US7512485B2 (en) * 2005-03-29 2009-03-31 International Business Machines Corporation Method for routing multiple paths through polygonal obstacles
WO2007042986A2 (en) 2005-10-11 2007-04-19 Koninklijke Philips Electronics, N.V. 3d tool path planning, simulation and control system
DE102006007623B4 (de) * 2006-02-18 2015-06-25 Kuka Laboratories Gmbh Roboter mit einer Steuereinheit zum Steuern einer Bewegung zwischen einer Anfangspose und einer Endpose
FR2900360B1 (fr) * 2006-04-28 2008-06-20 Staubli Faverges Sca Procede et dispositif de reglage de parametres de fonctionnement d'un robot, programme et support d'enregistrement pour ce procede
US7912574B2 (en) 2006-06-19 2011-03-22 Kiva Systems, Inc. System and method for transporting inventory items
US8538692B2 (en) 2006-06-19 2013-09-17 Amazon Technologies, Inc. System and method for generating a path for a mobile drive unit
US20130302132A1 (en) 2012-05-14 2013-11-14 Kiva Systems, Inc. System and Method for Maneuvering a Mobile Drive Unit
US7920962B2 (en) 2006-06-19 2011-04-05 Kiva Systems, Inc. System and method for coordinating movement of mobile drive units
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ATE524108T1 (de) * 2007-06-19 2011-09-15 Biocompatibles Uk Ltd Verfahren und vorrichtung zum messen der hauttextur
KR100956663B1 (ko) * 2007-09-20 2010-05-10 한국과학기술연구원 로봇의 경로 설계 방법 및 그 로봇
KR20090077547A (ko) * 2008-01-11 2009-07-15 삼성전자주식회사 이동 로봇의 경로 계획 방법 및 장치
JP4978494B2 (ja) * 2008-02-07 2012-07-18 トヨタ自動車株式会社 自律移動体、及びその制御方法
EP2297547A2 (de) * 2008-06-26 2011-03-23 Koninklijke Philips Electronics N.V. Verfahren und system zur schnellen präzisen pfadplanung
BR112012010612A2 (pt) 2009-11-06 2017-08-15 Evolution Robotics Inc Dispositivo móvel configurado para navegar em superfície e método para navegar em superfície com dispositivo móvel
JP5062364B2 (ja) 2009-11-27 2012-10-31 トヨタ自動車株式会社 自律移動体及びその制御方法
EP2546712A1 (de) * 2011-07-12 2013-01-16 Siemens Aktiengesellschaft Verfahren zum Betrieb einer Produktionsmaschine
US9046888B2 (en) * 2012-06-27 2015-06-02 Mitsubishi Electric Research Laboratories, Inc. Method and system for detouring around features cut from sheet materials with a laser cutter according to a pattern
US11370128B2 (en) 2015-09-01 2022-06-28 Berkshire Grey Operating Company, Inc. Systems and methods for providing dynamic robotic control systems
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CN108348300A (zh) * 2015-09-29 2018-07-31 皇家飞利浦有限公司 用于机器人辅助微创手术的仪器控制器
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JP6154509B2 (ja) * 2016-04-04 2017-06-28 富士機械製造株式会社 ワーク搬送装置
JP6931457B2 (ja) * 2017-07-14 2021-09-08 オムロン株式会社 モーション生成方法、モーション生成装置、システム及びコンピュータプログラム
CN110045731B (zh) * 2019-03-26 2022-04-12 深圳市中科晟达互联智能科技有限公司 一种路径规划方法、电子装置及计算机可读存储介质
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EP0546633A2 (de) * 1991-12-11 1993-06-16 Koninklijke Philips Electronics N.V. Bahnführung in unbestimmter Umgebung

Also Published As

Publication number Publication date
EP0317020B1 (de) 1995-04-19
US6604005B1 (en) 2003-08-05
KR0133294B1 (ko) 1998-04-24
JPH01205205A (ja) 1989-08-17
JP2840608B2 (ja) 1998-12-24
EP0317020A3 (en) 1989-10-25
EP0317020A2 (de) 1989-05-24
KR890007854A (ko) 1989-07-06
DE3853616T2 (de) 1995-11-30

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Legal Events

Date Code Title Description
8364 No opposition during term of opposition
8327 Change in the person/name/address of the patent owner

Owner name: KONINKLIJKE PHILIPS ELECTRONICS N.V., EINDHOVEN, N

8328 Change in the person/name/address of the agent

Representative=s name: VOLMER, G., DIPL.-ING., PAT.-ANW., 52066 AACHEN

8339 Ceased/non-payment of the annual fee