FR3103906B1 - METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES - Google Patents

METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES Download PDF

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Publication number
FR3103906B1
FR3103906B1 FR1913524A FR1913524A FR3103906B1 FR 3103906 B1 FR3103906 B1 FR 3103906B1 FR 1913524 A FR1913524 A FR 1913524A FR 1913524 A FR1913524 A FR 1913524A FR 3103906 B1 FR3103906 B1 FR 3103906B1
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FR
France
Prior art keywords
handling vehicles
fleet
mapping
self
equipment
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.)
Active
Application number
FR1913524A
Other languages
French (fr)
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FR3103906A1 (en
Inventor
Andres Yarce
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.)
Balyo SA
Original Assignee
Balyo SA
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 Balyo SA filed Critical Balyo SA
Priority to FR1913524A priority Critical patent/FR3103906B1/en
Publication of FR3103906A1 publication Critical patent/FR3103906A1/en
Application granted granted Critical
Publication of FR3103906B1 publication Critical patent/FR3103906B1/en
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Anticipated expiration legal-status Critical

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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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/86—Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • 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
    • G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
    • G01C21/3804—Creation or updating of map data
    • G01C21/3833—Creation or updating of map data characterised by the source of data
    • G01C21/3841—Data obtained from two or more sources, e.g. probe vehicles
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G01S17/931—Lidar systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • 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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
    • G01S7/481—Constructional features, e.g. arrangements of optical elements
    • G01S7/4811—Constructional features, e.g. arrangements of optical elements common to transmitter and receiver

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L’invention concerne un procédé de cartographie de l’environnement de déplacement d’une flotte de véhicules de manutention autoguidés. Ledit procédé comporte les étapes suivantes : fixation sur l’un desdits véhicules de manutention d’un équipement comportant une partie d’au moins trois des composants comprenant un moyen d’alimentation électrique, un récepteur de signaux radiofréquences, un capteur de mesure de distance par rapport aux parois, un inclinomètre à 2 axes, un accéléromètre 3 axes, un télémètre vertical, une caméra vidéo à vision sphérique, un calculateur, une interface de contrôle (écran tactile) et/ou un moyen de stockage des données commande du déplacement dudit véhicule de manutention équipé dudit équipement dans l’espace à cartographier et enregistrement des informations acquises par les composants métrologiques constitution d’une base de données cartographiques à l’issue de l’étape de déplacement. (Figure 1)The invention relates to a method of mapping the travel environment of a fleet of self-guided handling vehicles. Said method comprises the following steps: fixing on one of said handling vehicles an item of equipment comprising a part of at least three of the components comprising an electrical supply means, a receiver of radiofrequency signals, a distance measurement sensor in relation to the walls, a 2-axis inclinometer, a 3-axis accelerometer, a vertical range finder, a spherical vision video camera, a computer, a control interface (touch screen) and / or a means of storage of the displacement control data of said handling vehicle equipped with said equipment in the space to be mapped and recording of the information acquired by the metrological components constitution of a cartographic database at the end of the displacement step. (Figure 1)

FR1913524A 2019-11-29 2019-11-29 METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES Active FR3103906B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR1913524A FR3103906B1 (en) 2019-11-29 2019-11-29 METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1913524 2019-11-29
FR1913524A FR3103906B1 (en) 2019-11-29 2019-11-29 METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES

Publications (2)

Publication Number Publication Date
FR3103906A1 FR3103906A1 (en) 2021-06-04
FR3103906B1 true FR3103906B1 (en) 2021-11-05

Family

ID=71784088

Family Applications (1)

Application Number Title Priority Date Filing Date
FR1913524A Active FR3103906B1 (en) 2019-11-29 2019-11-29 METHOD OF MAPPING THE MOVING ENVIRONMENT OF A FLEET OF SELF-GUIDED HANDLING VEHICLES

Country Status (1)

Country Link
FR (1) FR3103906B1 (en)

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9746852B1 (en) * 2015-08-17 2017-08-29 X Development Llc Using laser sensors to augment stereo sensor readings for robotic devices
US9612123B1 (en) * 2015-11-04 2017-04-04 Zoox, Inc. Adaptive mapping to navigate autonomous vehicles responsive to physical environment changes
US9715232B1 (en) * 2016-09-19 2017-07-25 X Development Llc Using planar sensors for pallet detection

Also Published As

Publication number Publication date
FR3103906A1 (en) 2021-06-04

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