FI80803B - Positionskaennande system foer ett roerligt foeremaol. - Google Patents

Positionskaennande system foer ett roerligt foeremaol. Download PDF

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Publication number
FI80803B
FI80803B FI872254A FI872254A FI80803B FI 80803 B FI80803 B FI 80803B FI 872254 A FI872254 A FI 872254A FI 872254 A FI872254 A FI 872254A FI 80803 B FI80803 B FI 80803B
Authority
FI
Finland
Prior art keywords
light
radiation
matrix
light sources
robot
Prior art date
Application number
FI872254A
Other languages
English (en)
Finnish (fi)
Other versions
FI80803C (sv
FI872254A0 (fi
FI872254A (fi
Inventor
Carl Gustav Oehman
Original Assignee
Electrolux Ab
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 Electrolux Ab filed Critical Electrolux Ab
Publication of FI872254A0 publication Critical patent/FI872254A0/fi
Publication of FI872254A publication Critical patent/FI872254A/fi
Application granted granted Critical
Publication of FI80803B publication Critical patent/FI80803B/fi
Publication of FI80803C publication Critical patent/FI80803C/sv

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Classifications

    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • G01S3/784—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems using a mosaic of detectors
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

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  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Claims (4)

1. Elektro-optiskt positionskärinande system för ett i ett pian rörligt föremäl (11), företrädesvis en mobil robot, varvid minst en ljuskälla (10) är inrättad att utsända ljus som mottages av en pä föremälet anordnad 1jusmottagare via en 1insanordning (12), i det att ljuskällan (10) är sä fast-anordnad att dees strälningsfält täcker hela det omräde, inom . . vilket föremälet (11) är avsett att röra sig, ooh ljus- mottagaren innefattar en matris (18) av strälningskänsliga element, mot vilken frän ljuskällan (10) infallande ljus av 1insanordningen (12) fokuseras tili en ljusfläck, och de av de strälningskänsliga siementen som belyses av ljusfläcken är inrättade att avge motsvarande elektriska signaler, varjämte organ (20, 21) är inrättade att avkänna matrisen (18) för att fastställa ljusfläckens position utifrän det element som en-tydigast reagerar pä den infallande strälningen, och organ (24) är inrättade att beräkna föremälets position i förhäl-lande tili ljuskällan, kännetecknat av att organen (24) för I: n 80803 beräkning av föremälets position är inrättade att utifrän p0_ eitionen för det nämnda, entydigast reagerande elementet i metrisen <18> beräkna ooh angiva föremälets positionskoordi-nater i polar form, och att organ är anordnade att under det att föremälet rör aig i en förutbestämd riktning upprepat jämföra varje värde pä den polära vinkelkoordinaten med när-maet föregäende värde i syfte att upptäcka och korrigera för eventuell vridning av föremälet relativt den förutbestämda riktningen.
2. System enligt patentkravet 1, kännetecknat av att rörelseplanet för föremälet är beläget i ett rum eller dylikt med ett tak (13) och att metrisen (18) av strälningskänsliga element är inrättad att mottaga strälning frän flera i rum-met anordnade ljuskällor (LI, L2, L3), varvid systemet inne-fattar lagringsorgan inrättade att lagra den bild (AI, A2, A3) som ljuekällorna ger pä metrisen när föremälet befinner sig i en referensposition och vidare organ inrättade att under fö-remälets förflyttning ,i rörelseplanet jämföra varje momentan bild <B1, B2, B3) av ljuekällorna pä metrisen (18) med den ursprungligen lagrade bilden (AI, A2, A3) och utifrän jämfö-relsen beatämma föremälets momentana position.
3. System enligt patentkravet 2, kännetecknat av att det innefattar organ inrättade att jämföra den momentana bilden (Bl, B2, B3) av ljuekällorna (LI, L2, L3) med den ursprungligen lagrade (AI, A2, A3) genom förskjutning och vridning av den momentana bilden tili överensstämmelse med den ursprungligen lagrade, varjämte organ är inrättade att utifrän den erforderliga förskjutningssträckan respektive vridningsvinkeln bestämmä föremälets momentana position.
4. System enligt patentkravet 2 eller 3, kännetecknat av att ljuekällorna utgöres av för rummete belysning avsedda ljuskällor.
FI872254A 1986-05-23 1987-05-21 Positionskännande system för ett rörligt föremål FI80803C (sv)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8602369A SE455539B (sv) 1986-05-23 1986-05-23 Elektrooptiskt positionskennande system for ett i plan rorligt foremal, foretredesvis en mobil robot
SE8602369 1986-05-23

Publications (4)

Publication Number Publication Date
FI872254A0 FI872254A0 (fi) 1987-05-21
FI872254A FI872254A (fi) 1987-11-24
FI80803B true FI80803B (fi) 1990-03-30
FI80803C FI80803C (sv) 1990-07-10

Family

ID=20364633

Family Applications (1)

Application Number Title Priority Date Filing Date
FI872254A FI80803C (sv) 1986-05-23 1987-05-21 Positionskännande system för ett rörligt föremål

Country Status (8)

Country Link
US (1) US4797557A (sv)
EP (1) EP0247014A3 (sv)
JP (1) JPS62297705A (sv)
CA (1) CA1268525A (sv)
DK (1) DK259087A (sv)
FI (1) FI80803C (sv)
NO (1) NO872021L (sv)
SE (1) SE455539B (sv)

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Also Published As

Publication number Publication date
FI80803C (sv) 1990-07-10
DK259087D0 (da) 1987-05-21
SE455539B (sv) 1988-07-18
NO872021D0 (no) 1987-05-14
SE8602369L (sv) 1987-11-24
CA1268525A (en) 1990-05-01
JPS62297705A (ja) 1987-12-24
FI872254A0 (fi) 1987-05-21
NO872021L (no) 1987-11-24
EP0247014A3 (en) 1988-06-01
EP0247014A2 (en) 1987-11-25
SE8602369D0 (sv) 1986-05-23
DK259087A (da) 1987-11-24
FI872254A (fi) 1987-11-24
US4797557A (en) 1989-01-10

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