DE68905290T2 - Verfahren zur messung der positionsentwicklung eines fahrzeugs im bezug auf eine oberflaeche. - Google Patents

Verfahren zur messung der positionsentwicklung eines fahrzeugs im bezug auf eine oberflaeche.

Info

Publication number
DE68905290T2
DE68905290T2 DE8989402789T DE68905290T DE68905290T2 DE 68905290 T2 DE68905290 T2 DE 68905290T2 DE 8989402789 T DE8989402789 T DE 8989402789T DE 68905290 T DE68905290 T DE 68905290T DE 68905290 T2 DE68905290 T2 DE 68905290T2
Authority
DE
Germany
Prior art keywords
regard
measuring
vehicle
position development
development
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
DE8989402789T
Other languages
English (en)
Other versions
DE68905290D1 (de
Inventor
Jean-Marie Detriche
Alain Micaelli
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.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
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 Commissariat a lEnergie Atomique CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of DE68905290D1 publication Critical patent/DE68905290D1/de
Application granted granted Critical
Publication of DE68905290T2 publication Critical patent/DE68905290T2/de
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Classifications

    • 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
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • 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
    • G05D1/027—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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)
DE8989402789T 1988-10-12 1989-10-10 Verfahren zur messung der positionsentwicklung eines fahrzeugs im bezug auf eine oberflaeche. Expired - Fee Related DE68905290T2 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8813438A FR2637681B1 (fr) 1988-10-12 1988-10-12 Procede de mesure de l'evolution de la position d'un vehicule par rapport a une surface

Publications (2)

Publication Number Publication Date
DE68905290D1 DE68905290D1 (de) 1993-04-15
DE68905290T2 true DE68905290T2 (de) 1993-09-02

Family

ID=9370956

Family Applications (1)

Application Number Title Priority Date Filing Date
DE8989402789T Expired - Fee Related DE68905290T2 (de) 1988-10-12 1989-10-10 Verfahren zur messung der positionsentwicklung eines fahrzeugs im bezug auf eine oberflaeche.

Country Status (3)

Country Link
EP (1) EP0364353B1 (de)
DE (1) DE68905290T2 (de)
FR (1) FR2637681B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10323225A1 (de) * 2003-02-07 2004-09-09 Samsung Gwangju Electronics Co. Ltd. Ortsmarkenerfassungsverfahren für eine Roboterreinigungsvorrichtung und das Verfahren verwendende Roboterreinigungsvorrichtung
EP3282336A1 (de) * 2016-08-12 2018-02-14 Universität Stuttgart Fahrerlose transportvorrichtung und verfahren zur navigation und positionierung einer fahrerlosen transportvorrichtung

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
IT1271241B (it) * 1994-10-04 1997-05-27 Consorzio Telerobot Sistema di navigazione per robot mobile autonomo
GB2353909B (en) * 1999-08-28 2004-03-17 John Alfred Cawkwell Robot positioning and motion mechanism
US6296317B1 (en) * 1999-10-29 2001-10-02 Carnegie Mellon University Vision-based motion sensor for mining machine control
SE519435C2 (sv) * 2000-03-21 2003-02-25 Anoto Ab Golv och fordon samt förfarande för att styra ett fordon med hjälp av ett positionskodningsmönster
RU2220643C2 (ru) * 2001-04-18 2004-01-10 Самсунг Гванджу Электроникс Ко., Лтд. Автоматическое чистящее устройство, автоматическая чистящая система и способ управления этой системой (варианты)
KR100483548B1 (ko) 2002-07-26 2005-04-15 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어 방법
KR100500842B1 (ko) * 2002-10-31 2005-07-12 삼성광주전자 주식회사 로봇청소기와, 그 시스템 및 제어방법
AU2003900861A0 (en) * 2003-02-26 2003-03-13 Silverbrook Research Pty Ltd Methods,systems and apparatus (NPS042)
KR20050108923A (ko) * 2004-05-14 2005-11-17 삼성광주전자 주식회사 모빌로봇, 모빌로봇 시스템, 및 그 경로보정방법
KR100560966B1 (ko) * 2004-10-12 2006-03-15 삼성광주전자 주식회사 로봇 청소기의 자이로 센서 보정방법
US8467612B2 (en) 2008-10-13 2013-06-18 Honeywell International Inc. System and methods for navigation using corresponding line features
DE102010029241A1 (de) 2010-05-21 2011-11-24 Alfred Kärcher Gmbh & Co. Kg Bodenbearbeitungsgerät sowie Verfahren zur Bearbeitung einer Bodenfläche
US9170581B2 (en) 2013-09-30 2015-10-27 Crown Equipment Limited Industrial vehicles with overhead light based localization
US9174830B1 (en) 2014-09-29 2015-11-03 Crown Equipment Limited Industrial vehicles with point fix based localization
FR3083607A1 (fr) * 2018-07-06 2020-01-10 Balyo Procede et dispositif de positionnement pour vehicule, et vehicule comportant un tel dispositif

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3332615A1 (de) * 1982-10-21 1984-05-03 DAC Engineering Co. Ltd., Kyoto Optisch gefuehrtes fahrzeug
EP0125350B1 (de) * 1983-04-26 1987-11-11 Gec Avionics Limited Leitsystem für sich bewegenden Körper der seine Umgebung beobachtet und korreliert
JPS6084610A (ja) * 1983-10-17 1985-05-14 Hitachi Ltd 誘導装置
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
JPS61251911A (ja) * 1985-04-30 1986-11-08 Komatsu Ltd 無人移動体の誘導方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10323225A1 (de) * 2003-02-07 2004-09-09 Samsung Gwangju Electronics Co. Ltd. Ortsmarkenerfassungsverfahren für eine Roboterreinigungsvorrichtung und das Verfahren verwendende Roboterreinigungsvorrichtung
US7184586B2 (en) 2003-02-07 2007-02-27 Samsung Gwangju Electronics Co., Ltd. Location mark detecting method for robot cleaner and robot cleaner using the method
DE10323225B4 (de) * 2003-02-07 2011-06-22 Samsung Gwangju Electronics Co. Ltd. Ortsmarkenerfassungsverfahren für eine Roboterreinigungsvorrichtung und das Verfahren verwendende Roboterreinigungsvorrichtung
EP3282336A1 (de) * 2016-08-12 2018-02-14 Universität Stuttgart Fahrerlose transportvorrichtung und verfahren zur navigation und positionierung einer fahrerlosen transportvorrichtung

Also Published As

Publication number Publication date
FR2637681B1 (fr) 1990-11-16
EP0364353B1 (de) 1993-03-10
DE68905290D1 (de) 1993-04-15
FR2637681A1 (fr) 1990-04-13
EP0364353A1 (de) 1990-04-18

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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