FI88655B - Saett foer navigering av en foerarloes farkost samt farkost foer utoevning av saettet - Google Patents
Saett foer navigering av en foerarloes farkost samt farkost foer utoevning av saettet Download PDFInfo
- Publication number
- FI88655B FI88655B FI872161A FI872161A FI88655B FI 88655 B FI88655 B FI 88655B FI 872161 A FI872161 A FI 872161A FI 872161 A FI872161 A FI 872161A FI 88655 B FI88655 B FI 88655B
- Authority
- FI
- Finland
- Prior art keywords
- vehicle
- truck
- fixed points
- light beam
- points
- Prior art date
Links
- 101100148710 Clarkia breweri SAMT gene Proteins 0.000 title 1
- 238000000034 method Methods 0.000 claims description 36
- 230000003287 optical effect Effects 0.000 claims description 11
- 239000007787 solid Substances 0.000 claims description 2
- 230000000007 visual effect Effects 0.000 claims 4
- 230000004888 barrier function Effects 0.000 claims 1
- 230000000873 masking effect Effects 0.000 claims 1
- 238000005259 measurement Methods 0.000 description 6
- XUIMIQQOPSSXEZ-UHFFFAOYSA-N Silicon Chemical compound [Si] XUIMIQQOPSSXEZ-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910052710 silicon Inorganic materials 0.000 description 4
- 239000010703 silicon Substances 0.000 description 4
- 241000270666 Testudines Species 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 230000002547 anomalous effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000010348 incorporation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000005236 sound signal Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
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
- 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
-
- 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
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location
-
- 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
- G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
-
- 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
- G05D1/0268—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
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Optics & Photonics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Navigation (AREA)
Claims (10)
1. Sätt för navigerlng av en i huvudsakligen ett plan rörlig farkost, exempelvis en truck (11), vid vilket 5 ästadkommes bestämning av farkostens aktuella position och riktning genom mätning av vinklarna i det nämnda planet frän en referenspunkt (20) pä farkosten till fasta punkter (13) relativt en referensrlktning pä farkosten, varvid ätminstone tre av vinklarna användes för trigonometrisk 10 bestämning av position och riktning i ett beräkningsorgan, kännetecknat därav, att ett flertal anonyma, godtyckligt utplacerade men lägesbestämda fasta punkter (13) anordnas för navigeringen, att positionen för samtli-ga fasta punkter jämte förekommande sikthinder mellan far-15 kostens (11) referenspunkt (20) och de fasta punkterna upplagras i ett elektroniskt minne, att farkostens rörelse i det nämnda planet päbörjas i en position och med en riktning, som är kända, för identifiering av de fasta punkter, som är synliga frän referenspunkten i den nämnda 20 positionen, och att i varje position och riktning för far-— kosten under dess rörelse utnyttjas den senast kända posi tionen och riktningen för att med ledning av de upplagrade positionerna för sikthindren bestämma de för tillfället . . synliga fasta punkternas identitet. 25
2. Sätt enligt patentkravet 1, känneteck nat därav, att de fasta punkterna pejlas (13) in genom utsändning av en i horisontalled svepande ljussträle frän farkosten (11) och reflektion av ljussträlen frän reflek-torer i de fasta punkterna samt mottagning av den reflek-30 terade ljussträlen pä farkosten.
3. Sätt enligt patentkravet 2, kännetecknat därav, att upplagringen av de fasta punkterna (13) ästadkommes genom reproducering av det nämnda planet med sikthinder och de fasta punkterna i det elektroniska min-35 net.
16 B 8 6 5 5
4. Sätt enligt patentkravet 3, känneteck-n a t därav, att reproduceringen ästadkommes i ett CAD-system för visuell representation av det nämnda planet med sikthinder och de fasta punkterna (13), varvid de bana, 5 längs vilken farkosten (11) skall röra sig, inlägges i den visuella representationen.
5. Sätt enligt patentkravet 2, känneteck-n a t därav, att bestämningen av de fasta punkternas (13) position ästadkommes genom att farkosten (11) köres längs 10 en känd bana under mätning av vinklarna tili de fasta punkterna med användning av det optiskä systemet (14) och programstyrd beräkning och upplagring av de fasta punkternas positioner i det elektroniska minnet.
6. Sätt enligt patentkravet 2, känneteck-15 n a t därav, att vinklarna bestämmes genom mätning av tiden för den i horisontalled med jämn hastighet svepande ljussträlens rörelse frän ett referensläge tili det läge, i vilket den träffar en reflektor (13).
7. Sätt enligt patentkravet 2, känneteck-20 n a t därav, att den reflekterade ljussträlen detekteras med användning av tvä vid sidan om varandra anordnade fo-todetektorer (39A, 39B), vilkas utsignaler summeras med motsatt polaritet och som efter varandra träffas av den reflekterade ljussträlen. 25
8. Sätt enligt patentkravet 2, känneteck- n a t därav, att ljussträlen utsändes närä golv- eller markplanet.
9. Sätt enligt patentkravet 1, känneteck-n a t därav, att farkosten (11) under sin rörelse bi- 30 bringas ett läge relativt en önskad rörelsebana, som är förskjutet mera eller mindre ät ena eller andra sidan om den nominella banan vid pä varandra följande turer längs denna bana.
10. Farkost, särskilt en truck för utövning av sät-35 tet enligt nägot av patentkraven 1-9, innefattande ett 17 88655 chassi (15) och en överbyggnad (18), känneteck-n a d därav, att överbyggnaden (18) uppbäres ρά chassit (15) ρά ett begränsat antal ställen under kvarlämnande av en spalt (19) mellan överbyggnad och chassi, att en anord-5 ning (14) för utsändning av en i horisontalled svepande ljussträle är anbragt i spalten, varvid förekommande organ (16, 17) för uppbärning av överbyggnaden ρά chassit ρά de nämnda ställena har begränsad utsträckning i banan för ljussträlens svepande rörelse, att ett vinkelmätningsorgan 10 (36) ρά trucken (11) är anslutet tili anordningen (14) för utsändningen av en ljussträle, och att ett tili vinkelmät-ningsorganet (36) och truckens drivsystem (37) anslutet minnes-, styr- och beräkningsorgan (35) är anordnat ρά trucken. 15
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| SE8504299A SE451770B (sv) | 1985-09-17 | 1985-09-17 | Sett for navigering av en i ett plan rorlig farkost, t ex en truck, samt truck for utovning av settet |
| SE8504299 | 1985-09-17 | ||
| SE8600413 | 1986-09-16 | ||
| PCT/SE1986/000413 WO1987001814A1 (en) | 1985-09-17 | 1986-09-16 | Method of navigating an automated guided vehicle |
Publications (4)
| Publication Number | Publication Date |
|---|---|
| FI872161A FI872161A (fi) | 1987-05-15 |
| FI872161A0 FI872161A0 (fi) | 1987-05-15 |
| FI88655B true FI88655B (fi) | 1993-02-26 |
| FI88655C FI88655C (sv) | 1993-06-10 |
Family
ID=20361419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| FI872161A FI88655C (sv) | 1985-09-17 | 1987-05-15 | Sätt för navigering av en förarlös farkost samt farkost för utövning a v sättet |
Country Status (8)
| Country | Link |
|---|---|
| US (1) | US4811228A (sv) |
| EP (1) | EP0238615B1 (sv) |
| JP (1) | JPH0795094B2 (sv) |
| DK (1) | DK169003B1 (sv) |
| FI (1) | FI88655C (sv) |
| SE (1) | SE451770B (sv) |
| SG (1) | SG70693G (sv) |
| WO (1) | WO1987001814A1 (sv) |
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| GB1181162A (en) * | 1966-06-07 | 1970-02-11 | Planet Mining Company Pty Ltd | A new and improved Navigational Position Fixing Apparatus |
| US4225226A (en) * | 1978-12-29 | 1980-09-30 | Spectra-Physics, Inc. | Laser guidance system for crop spraying aircraft |
| FR2451040A1 (fr) * | 1979-03-08 | 1980-10-03 | Virnot Alain | Procede et dispositif permettant de faire automatiquement le point a bord d'un vehicule pourvu d'un equipement radar |
| 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 |
| DE3305119A1 (de) * | 1983-02-15 | 1984-08-16 | Siegfried R.J. Dipl.-Phys. Dr.rer.nat. 2300 Kiel Fahrentholz | Ortungssystem in wasserstrassen |
| GB2143395B (en) * | 1983-05-14 | 1986-08-06 | Gen Electric Co Plc | Vehicle guidance and control system |
| 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 |
| US4729660A (en) * | 1985-03-22 | 1988-03-08 | Toshihiro Tsumura | Position measuring apparatus of moving vehicle |
| EP1146428B1 (en) * | 2000-04-13 | 2008-01-23 | A-DATA Technology Co., Ltd. | Multi-interface memory card and adapter module for the same |
-
1985
- 1985-09-17 SE SE8504299A patent/SE451770B/sv not_active IP Right Cessation
-
1986
- 1986-09-16 US US07/072,257 patent/US4811228A/en not_active Expired - Lifetime
- 1986-09-16 JP JP61505032A patent/JPH0795094B2/ja not_active Expired - Lifetime
- 1986-09-16 WO PCT/SE1986/000413 patent/WO1987001814A1/en active IP Right Grant
- 1986-09-16 EP EP86905976A patent/EP0238615B1/en not_active Expired - Lifetime
-
1987
- 1987-05-15 FI FI872161A patent/FI88655C/sv not_active IP Right Cessation
- 1987-05-18 DK DK250787A patent/DK169003B1/da not_active IP Right Cessation
-
1993
- 1993-05-28 SG SG706/93A patent/SG70693G/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| FI88655C (sv) | 1993-06-10 |
| JPH0795094B2 (ja) | 1995-10-11 |
| DK250787A (da) | 1987-06-16 |
| WO1987001814A1 (en) | 1987-03-26 |
| EP0238615A1 (en) | 1987-09-30 |
| SG70693G (en) | 1993-08-06 |
| JPS63501173A (ja) | 1988-04-28 |
| FI872161A (fi) | 1987-05-15 |
| DK250787D0 (da) | 1987-05-18 |
| SE451770B (sv) | 1987-10-26 |
| SE8504299L (sv) | 1987-03-18 |
| DK169003B1 (da) | 1994-07-25 |
| FI872161A0 (fi) | 1987-05-15 |
| EP0238615B1 (en) | 1991-07-24 |
| SE8504299D0 (sv) | 1985-09-17 |
| US4811228A (en) | 1989-03-07 |
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| FG | Patent granted |
Owner name: INIK INSTRUMENT OCH ELEKTRONIK |
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