GB1487360A - Method of automatically orienting and controlling a vehicle - Google Patents

Method of automatically orienting and controlling a vehicle

Info

Publication number
GB1487360A
GB1487360A GB55252/74A GB5525274A GB1487360A GB 1487360 A GB1487360 A GB 1487360A GB 55252/74 A GB55252/74 A GB 55252/74A GB 5525274 A GB5525274 A GB 5525274A GB 1487360 A GB1487360 A GB 1487360A
Authority
GB
United Kingdom
Prior art keywords
ordinates
measuring
unit
path
calculates
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
Application number
GB55252/74A
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.)
ITO PATENT AG
Original Assignee
ITO PATENT AG
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 ITO PATENT AG filed Critical ITO PATENT AG
Publication of GB1487360A publication Critical patent/GB1487360A/en
Expired legal-status Critical Current

Links

Classifications

    • 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
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/047—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators the criterion being a time optimal performance criterion
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0227—Control of position or course in two dimensions specially adapted to land vehicles using mechanical sensing means, e.g. for sensing treated area
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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

Abstract

A measuring unit (E1) with an electro-optic measuring device which has a plurality of inputs and outputs (11, 12) for beams is arranged in a housing which can be moved on drive wheels (29). The measuring device serves for measuring the distances between the machine and measurement points in the walls which bound the room. The measured values determined are fed to a co-ordinate arithmetic unit (E2) which calculates the co-ordinates of the measurement points and relays them to an orientation memory (E3). An arithmetic unit (E4) checks and correlates the said co-ordinates and reduces the data by preventing identical co-ordinates from being stored repeatedly in the orientation memory. On the basis of the stored co-ordinates, a travel path computer (E5) calculates the path co-ordinates to be travelled, taking account of the data on angle and travel path fed directly to it from the measuring unit (E1). The calculated path co-ordinates are converted in a control section (E6) into command signals which are amplified in a power section (E7) and are relayed thereafter to a drive device (E8). The machine carries, for example, a floor-cleaning unit and moves automatically and systematically over the entire floor surface of the room, so that said surface is thereby cleaned. <IMAGE>
GB55252/74A 1973-12-21 1974-12-20 Method of automatically orienting and controlling a vehicle Expired GB1487360A (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2364002A DE2364002C2 (en) 1973-12-21 1973-12-21 Orientation device for a device system that moves on a surface in order to process it

Publications (1)

Publication Number Publication Date
GB1487360A true GB1487360A (en) 1977-09-28

Family

ID=5901654

Family Applications (1)

Application Number Title Priority Date Filing Date
GB55252/74A Expired GB1487360A (en) 1973-12-21 1974-12-20 Method of automatically orienting and controlling a vehicle

Country Status (6)

Country Link
JP (1) JPS6052443B2 (en)
CH (1) CH619799A5 (en)
DE (1) DE2364002C2 (en)
FR (1) FR2255651B1 (en)
GB (1) GB1487360A (en)
NL (1) NL7416427A (en)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3113086A1 (en) * 1981-04-01 1983-01-20 Johann F. Dipl.-Phys. 2000 Hamburg Hipp Positioning sensor system for automatically controlled vehicles
US4515221A (en) * 1978-01-19 1985-05-07 Lely Cornelis V D Tractor having guidance system
GB2180958A (en) * 1984-09-28 1987-04-08 Kanayama Yutaka Automatically piloted vehicle
US4713798A (en) * 1983-12-09 1987-12-15 Leslie Kay Method of and apparatus for providing object data by machine vision
FR2861855A1 (en) * 2003-11-03 2005-05-06 Wany Sa METHOD AND DEVICE FOR SCANNING A SURFACE STATISTICALLY
US7934469B2 (en) 2005-12-07 2011-05-03 Maasland N.V. Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation
US9622452B2 (en) 2008-10-16 2017-04-18 Lely Patent N.V. Unmanned vehicle comprising a protection device
SE2150497A1 (en) * 2021-04-22 2022-10-23 Husqvarna Ab Improved obstacle handling for a robotic work tool

Families Citing this family (25)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
AU547146B2 (en) * 1982-07-13 1985-10-10 Kubota Ltd. Automatic running work vehicle
DE3226912A1 (en) * 1982-07-19 1984-01-19 Siemens AG, 1000 Berlin und 8000 München Correction device for compensating for production-related tolerances
JPS5927315A (en) * 1982-08-05 1984-02-13 Kubota Ltd Service car
FR2566935B1 (en) * 1984-06-27 1986-12-12 Commissariat Energie Atomique OPTIMIZED CONTROL SYSTEM FOR MOVEMENTS OF A SENSITIVE AND ACTIVE MOBILE WITH RESPECT TO A PASSIVE LOCAL ENVIRONMENT USING LOCAL PROXIMETRIC SENSORS
NL8500529A (en) * 1985-02-25 1986-09-16 Ind Contractors Holland Bv SYSTEM FOR DETERMINING THE POSITION OF A VEHICLE NOT BONDED TO A FIXED TRACK.
JPH0747007B2 (en) * 1985-05-24 1995-05-24 三洋電機株式会社 Automatic cleaning device
DE3686581D1 (en) * 1985-10-15 1992-10-01 Knepper Hans Reinhard METHOD AND ARRANGEMENT FOR AUTOMATICALLY CONTROLLING A WORK VEHICLE.
JPS63156203A (en) * 1986-12-19 1988-06-29 Sanyo Electric Co Ltd Autonomous working vehicle
DE3741259A1 (en) * 1987-12-05 1989-06-15 Hipp Johann F Method and device for the autonomous steering of a vehicle
DE4012395A1 (en) * 1990-04-19 1991-10-24 Amazonen Werke Dreyer H Controlling agricultural distribution machines - using image of distribution area formed on recording medium having tracks of defined width
KR930000081B1 (en) * 1990-12-07 1993-01-08 주식회사 금성사 Cleansing method of electric vacuum cleaner
DE4134790A1 (en) * 1991-10-22 1993-04-29 Dietrich Gerhard Ellsaesser Autonomous forestry system delivering small dia. tree trunks - combines micro-orientation system involving marked trees and macro-orientation system using GPS for navigation of small tracked vehicle
DE4314569A1 (en) * 1993-05-05 1994-11-10 Kloeckner Humboldt Deutz Ag Agriculture machine, especially self-propelled large-bale press
SE502834C2 (en) * 1994-03-29 1996-01-29 Electrolux Ab Method and apparatus for detecting obstacles in self-propelled apparatus
SE514791C2 (en) * 1994-06-06 2001-04-23 Electrolux Ab Improved method for locating lighthouses in self-propelled equipment
US5576947A (en) * 1994-06-30 1996-11-19 Siemens Corporate Research, Inc. Robot hallway traveler
DE19530356A1 (en) * 1995-08-18 1997-04-10 Hilker Andreas Multiple-headed tractor towed machine for mixed cultivation
JP4517509B2 (en) * 1998-11-30 2010-08-04 ソニー株式会社 Robot apparatus and control method thereof
NL1031506C2 (en) 2006-04-04 2007-10-05 Maasland Nv Device and method for cleaning the bottom of an animal's place of residence.
NL1034771C2 (en) 2007-11-29 2009-06-02 Lely Patent Nv Unmanned autonomous vehicle for moving feed.
NL1031605C2 (en) 2006-04-18 2007-10-19 Maasland Nv Unmanned autonomous vehicle for moving feed.
US8543276B2 (en) 2006-04-18 2013-09-24 Lely Patent N.V. Unmanned autonomous vehicle for displacing feed
NL1037957C2 (en) 2010-05-12 2011-11-15 Lely Patent Nv VEHICLE FOR MOVING FOOD.
NL2010499C2 (en) 2013-03-21 2014-09-24 Lely Patent Nv Vehicle for displacing feed lying on a floor in a sideward displacement direction.
CN105595924B (en) * 2014-06-04 2017-10-17 南通大学 Effectively realize stair clean robot method to stair transition from stair to halfpace

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3128840A (en) * 1962-04-23 1964-04-14 Barrett Electronics Corp Random control for power-driven unit
DE2020220A1 (en) * 1970-04-25 1971-11-11 Bosch Gmbh Robert vehicle

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4515221A (en) * 1978-01-19 1985-05-07 Lely Cornelis V D Tractor having guidance system
DE3113086A1 (en) * 1981-04-01 1983-01-20 Johann F. Dipl.-Phys. 2000 Hamburg Hipp Positioning sensor system for automatically controlled vehicles
US4713798A (en) * 1983-12-09 1987-12-15 Leslie Kay Method of and apparatus for providing object data by machine vision
GB2180958A (en) * 1984-09-28 1987-04-08 Kanayama Yutaka Automatically piloted vehicle
GB2180958B (en) * 1984-09-28 1989-05-10 Kanayama Yutaka Locomotion-command method for mobile robots
FR2861855A1 (en) * 2003-11-03 2005-05-06 Wany Sa METHOD AND DEVICE FOR SCANNING A SURFACE STATISTICALLY
WO2005045544A1 (en) * 2003-11-03 2005-05-19 Wany Sa Statistical surface-scanning method and system
US7934469B2 (en) 2005-12-07 2011-05-03 Maasland N.V. Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation
US8316799B2 (en) 2005-12-07 2012-11-27 Maasland N.V. Installation for supplying liquid feed to an animal and an autonomously displaceable vehicle for use in such an installation
US9622452B2 (en) 2008-10-16 2017-04-18 Lely Patent N.V. Unmanned vehicle comprising a protection device
SE2150497A1 (en) * 2021-04-22 2022-10-23 Husqvarna Ab Improved obstacle handling for a robotic work tool

Also Published As

Publication number Publication date
JPS5095684A (en) 1975-07-30
FR2255651A1 (en) 1975-07-18
DE2364002C2 (en) 1983-02-24
DE2364002A1 (en) 1975-07-03
FR2255651B1 (en) 1981-11-06
JPS6052443B2 (en) 1985-11-19
CH619799A5 (en) 1980-10-15
NL7416427A (en) 1975-06-24

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Legal Events

Date Code Title Description
PS Patent sealed [section 19, patents act 1949]
732 Registration of transactions, instruments or events in the register (sect. 32/1977)
732 Registration of transactions, instruments or events in the register (sect. 32/1977)
PCNP Patent ceased through non-payment of renewal fee