JP2000508766A - 移動水陸路輸送のための複数の無名の固定参照物体の位置を決定する方法およびその位置を決定する装置 - Google Patents
移動水陸路輸送のための複数の無名の固定参照物体の位置を決定する方法およびその位置を決定する装置Info
- Publication number
- JP2000508766A JP2000508766A JP9537028A JP53702897A JP2000508766A JP 2000508766 A JP2000508766 A JP 2000508766A JP 9537028 A JP9537028 A JP 9537028A JP 53702897 A JP53702897 A JP 53702897A JP 2000508766 A JP2000508766 A JP 2000508766A
- Authority
- JP
- Japan
- Prior art keywords
- uncertainty
- reference object
- detecting
- azimuth
- transport
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000005259 measurement Methods 0.000 claims description 22
- 238000004364 calculation method Methods 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 4
- 230000003287 optical effect Effects 0.000 claims 1
- 239000011159 matrix material Substances 0.000 description 3
- 238000000354 decomposition reaction Methods 0.000 description 2
- 238000002940 Newton-Raphson method Methods 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000036962 time dependent Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Electromagnetism (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Control Of Conveyors (AREA)
- Optical Radar Systems And Details Thereof (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Sorting Of Articles (AREA)
- Discharge Of Articles From Conveyors (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.移動水陸路輸送ユニットについての無名の固定参照物体の位置を決定し、該 物体に関してナビゲートし、該輸送水陸路の上を移動する方法であって、 移動装置に固定された方向を基準にして、該装置の測定点から1つ以上の該参 照物体までの方位を検出するステップと、 該方位を、方位が有効な時間とともに格納し、該参照物体の位置を計算し、各 参照物体の計算された位置の不確実性を計算するステップとを包含し、該位置お よび該不確実性は連続的に計算され、該移動装置が該輸送水陸路の上を移動する ときの該不確実性を低減するステップを包含することを特徴とする、方法。 2.前記方位が、時間的に連続して測定されることを特徴とする、請求項1に記 載の方法。 3.各時間値について、1つよりも多い方位が検出されることを特徴とする、請 求項1に記載の方法。 4.前記方位の検出が、電磁信号、例えば光信号の放出、反射および検出を含む ことを特徴とする、請求項1に記載の方法。 5.前記信号が、前記輸送水陸路に実質的に平行に延びる回転レーザビームであ ることを特徴とする、請求項6に記載の方法。 6.移動水陸路輸送ユニットについての無名の固定参照物体の位置を決定し、該 物体に関してナビゲートし、該輸送水陸路の上を移動するための装置であって、 移動装置に固定された方向を基準にして、該装置の測定点から1つ以上の該参 照物体までの方位を検出するための装置と、 該方位を、方位が有効な時間とともに格納するための手段と、 該移動装置が該輸送水陸路の上を移動するときに、各参照物体を追跡するため の計算手段と、 該参照物体の位置を計算し、各参照物体の計算された位置の不確実性を計算す るための手段と、該位置および該不確実性を連続的に計算し、該移動装置が該輸 送水陸路の上を移動するときの該不確実性を低減するための手段とを含むことを 特徴とする、装置。 7.前記方位を検出するための装置が、レーザ走査手段と、該方位を時間的に連 続して検出するための角度検出器手段とを含むことを特徴とする、請求項6に記 載の装置。 8.前記方位を検出するための手段が、フラッシュ手段と、各時間値について1 よりも多い方位を検出するためのカメラ手段とを含むことを特徴とする、請求項 6に記載の装置。 9.前記各参照物体を追跡するための計算手段が、予測フィルタを含むことを特 徴とする、請求項8に記載の装置。 10.前記参照物体が、複数の反射器手段からなることを特徴とする、請求項8 に記載の装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9601440-2 | 1996-04-15 | ||
SE9601440A SE9601440D0 (sv) | 1996-04-15 | 1996-04-15 | Förfarande för positionsbestämning av ett flertal fasta objekt |
PCT/SE1997/000634 WO1997039394A1 (en) | 1996-04-15 | 1997-04-15 | A method for determining the positions of a plurality of anonymous fixed reference objects for mobile surface transportation and a device for determining said positions |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2000508766A true JP2000508766A (ja) | 2000-07-11 |
JP4067567B2 JP4067567B2 (ja) | 2008-03-26 |
Family
ID=20402213
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP53702897A Expired - Lifetime JP4067567B2 (ja) | 1996-04-15 | 1997-04-15 | 移動水陸路輸送のための複数の無名の固定参照物体の位置を決定する方法およびその位置を決定する装置 |
Country Status (8)
Country | Link |
---|---|
US (1) | US6012003A (ja) |
EP (1) | EP0900416B1 (ja) |
JP (1) | JP4067567B2 (ja) |
AT (1) | ATE446537T1 (ja) |
AU (1) | AU2656097A (ja) |
DE (1) | DE69739628D1 (ja) |
SE (1) | SE9601440D0 (ja) |
WO (1) | WO1997039394A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2013076829A1 (ja) * | 2011-11-22 | 2015-04-27 | 株式会社日立製作所 | 自律移動システム |
JP2021156882A (ja) * | 2020-03-27 | 2021-10-07 | ジック アーゲー | 距離測定データの取得 |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3316841B2 (ja) * | 1998-08-06 | 2002-08-19 | 村田機械株式会社 | 無人搬送車システム |
US6504605B1 (en) | 2000-10-24 | 2003-01-07 | The Regents Of The University Of California | Method and apparatus for determining the coordinates of an object |
US6369879B1 (en) | 2000-10-24 | 2002-04-09 | The Regents Of The University Of California | Method and apparatus for determining the coordinates of an object |
KR100624387B1 (ko) * | 2005-04-25 | 2006-09-20 | 엘지전자 주식회사 | 주행영역 지정이 가능한 로봇 시스템 |
US8508590B2 (en) * | 2010-03-02 | 2013-08-13 | Crown Equipment Limited | Method and apparatus for simulating a physical environment to facilitate vehicle operation and task completion |
US8538577B2 (en) * | 2010-03-05 | 2013-09-17 | Crown Equipment Limited | Method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles |
EP2385435A1 (en) | 2010-04-22 | 2011-11-09 | Danaher Motion Särö AB | A method and a system for gathering data |
EP2508956B1 (en) | 2011-04-06 | 2013-10-30 | Kollmorgen Särö AB | A collision avoiding method and system |
EP3435189B1 (en) | 2011-04-11 | 2022-02-09 | Crown Equipment Corporation | Apparatus for efficient scheduling for multiple automated non-holonomic vehicles using a coordinated path planner |
US8655588B2 (en) | 2011-05-26 | 2014-02-18 | Crown Equipment Limited | Method and apparatus for providing accurate localization for an industrial vehicle |
US8548671B2 (en) | 2011-06-06 | 2013-10-01 | Crown Equipment Limited | Method and apparatus for automatically calibrating vehicle parameters |
US8589012B2 (en) | 2011-06-14 | 2013-11-19 | Crown Equipment Limited | Method and apparatus for facilitating map data processing for industrial vehicle navigation |
US8594923B2 (en) | 2011-06-14 | 2013-11-26 | Crown Equipment Limited | Method and apparatus for sharing map data associated with automated industrial vehicles |
US20140058634A1 (en) | 2012-08-24 | 2014-02-27 | Crown Equipment Limited | Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
US9056754B2 (en) | 2011-09-07 | 2015-06-16 | Crown Equipment Limited | Method and apparatus for using pre-positioned objects to localize an industrial vehicle |
US20130060461A1 (en) * | 2011-09-07 | 2013-03-07 | INRO Technologies Limited | Method and apparatus for using pre-positioned objects to localize an industrial vehicle |
US11977391B1 (en) * | 2023-04-14 | 2024-05-07 | Jack George Lawrence, Jr. | Robot navigation with obstacle detection using a distance measuring sensor |
Family Cites Families (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB8313339D0 (en) * | 1983-05-14 | 1983-06-22 | Gen Electric Co Plc | Vehicle guidance |
SE451770B (sv) | 1985-09-17 | 1987-10-26 | Hyypae Ilkka Kalevi | Sett for navigering av en i ett plan rorlig farkost, t ex en truck, samt truck for utovning av settet |
US4788441A (en) * | 1985-12-16 | 1988-11-29 | Acme-Cleveland Corporation | Range finder wherein distance between target and source is determined by measuring scan time across a retroreflective target |
US4790402A (en) * | 1987-09-28 | 1988-12-13 | Tennant Company | Automated guided vehicle |
EP0366350A3 (en) * | 1988-10-25 | 1991-05-22 | Tennant Company | Guiding an unmanned vehicle by reference to overhead features |
US4969036A (en) * | 1989-03-31 | 1990-11-06 | Bir Bhanu | System for computing the self-motion of moving images devices |
US4967064A (en) * | 1989-06-30 | 1990-10-30 | Tennant Company | Method and apparatus for a target determining apparatus having increased range |
DE69121369T2 (de) * | 1990-11-30 | 1997-01-09 | Honda Motor Co Ltd | Steuervorrichtung für einen sich selbständig bewegenden Körper und Verfahren zur Auswertung der Daten davon |
DE4324531C1 (de) * | 1993-07-21 | 1994-12-01 | Siemens Ag | Verfahren zur Erstellung einer Umgebungskarte und zur Bestimmung einer Eigenposition in der Umgebung durch eine selbstbewegliche Einheit |
US5367458A (en) * | 1993-08-10 | 1994-11-22 | Caterpillar Industrial Inc. | Apparatus and method for identifying scanned reflective anonymous targets |
-
1996
- 1996-04-15 SE SE9601440A patent/SE9601440D0/xx unknown
-
1997
- 1997-04-15 DE DE69739628T patent/DE69739628D1/de not_active Expired - Lifetime
- 1997-04-15 EP EP97918461A patent/EP0900416B1/en not_active Expired - Lifetime
- 1997-04-15 JP JP53702897A patent/JP4067567B2/ja not_active Expired - Lifetime
- 1997-04-15 AT AT97918461T patent/ATE446537T1/de not_active IP Right Cessation
- 1997-04-15 WO PCT/SE1997/000634 patent/WO1997039394A1/en active Application Filing
- 1997-04-15 AU AU26560/97A patent/AU2656097A/en not_active Abandoned
-
1998
- 1998-10-15 US US09/172,846 patent/US6012003A/en not_active Expired - Lifetime
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPWO2013076829A1 (ja) * | 2011-11-22 | 2015-04-27 | 株式会社日立製作所 | 自律移動システム |
JP2021156882A (ja) * | 2020-03-27 | 2021-10-07 | ジック アーゲー | 距離測定データの取得 |
JP7114207B2 (ja) | 2020-03-27 | 2022-08-08 | ジック アーゲー | 距離測定データの取得 |
Also Published As
Publication number | Publication date |
---|---|
EP0900416A1 (en) | 1999-03-10 |
EP0900416B1 (en) | 2009-10-21 |
ATE446537T1 (de) | 2009-11-15 |
WO1997039394A1 (en) | 1997-10-23 |
US6012003A (en) | 2000-01-04 |
JP4067567B2 (ja) | 2008-03-26 |
SE9601440D0 (sv) | 1996-04-15 |
AU2656097A (en) | 1997-11-07 |
DE69739628D1 (de) | 2009-12-03 |
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