JP6022567B2 - ビーム誘導運動制御システム - Google Patents
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- JP6022567B2 JP6022567B2 JP2014525013A JP2014525013A JP6022567B2 JP 6022567 B2 JP6022567 B2 JP 6022567B2 JP 2014525013 A JP2014525013 A JP 2014525013A JP 2014525013 A JP2014525013 A JP 2014525013A JP 6022567 B2 JP6022567 B2 JP 6022567B2
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- 230000033001 locomotion Effects 0.000 title claims description 66
- 238000000034 method Methods 0.000 claims description 40
- 230000005484 gravity Effects 0.000 claims description 29
- 230000003287 optical effect Effects 0.000 claims description 9
- 230000004807 localization Effects 0.000 claims description 4
- 230000007423 decrease Effects 0.000 claims description 2
- 230000005670 electromagnetic radiation Effects 0.000 claims 1
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- 238000010586 diagram Methods 0.000 description 39
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- 238000004891 communication Methods 0.000 description 22
- 238000012545 processing Methods 0.000 description 19
- 238000012360 testing method Methods 0.000 description 19
- 230000002085 persistent effect Effects 0.000 description 12
- 230000001066 destructive effect Effects 0.000 description 11
- 238000011156 evaluation Methods 0.000 description 11
- 230000008859 change Effects 0.000 description 9
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- 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
-
- 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
-
- 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
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/01—Mobile robot
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
- Y10S901/47—Optical
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Length Measuring Devices By Optical Means (AREA)
- Lighting Device Outwards From Vehicle And Optical Signal (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Description
Claims (13)
- ビークル(102)の目標対象物(134)上の第1領域(132)に誘導される第1エネルギービーム(130)を生成するように構成される第1エネルギー源(128)と、
前記目標対象物(134)上の第2領域(148)に誘導される第2エネルギービーム(146)を生成するように構成される第2エネルギー源(144)と、
前記目標対象物(134)上の前記第1領域(132)の第1位置(138)および前記目標対象物(134)上の前記第2領域(148)の第2位置(150)を特定するように構成される位置特定システム(114)と、
前記ビークル(102)を移動させて、前記第1位置(138)と前記目標対象物(134)上の基準位置(142)との間の差を小さくするように構成される移動システム(108)と、を備え、
前記目標対象物(134)は、ビークル(102)が移動する表面(120)、またはビークル(102)に関連付けられる構造物(136)であり、
前記移動システム(108)が前記ビークル(102)を移動させて、前記第1位置(138)と前記目標対象物(134)上の前記基準位置(142)との間の差を小さくする際に、前記移動システム(108)は、前記ビークル(102)を移動させて、前記第1位置(138)、前記第2位置(150)と前記基準位置(142)との間の差(140)を小さくする、装置。 - 更に:
前記第1エネルギービーム(130)を前記目標対象物(134)に対して移動させて、前記第1位置(138)が、前記目標対象物(134)上を、前記基準位置(142)に対して移動して、前記ビークル(102)を所望の経路(158)に沿って移動させるように構成されるコントローラ(118)を備える、請求項1に記載の装置。 - 更に:
前記目標対象物(134)上の第3領域に誘導される第3エネルギービームを生成するように構成される第3エネルギー源を備え、前記位置特定システム(114)は更に、前記目標対象物(134)上の前記第3領域の第3位置を特定するように構成される、請求項1または2に記載の装置。 - 前記第1位置(138)、前記第2位置(150)と前記基準位置(142)との間の前記差(140)は、前記基準位置(142)と前記第1位置(138)及び前記第2位置(150)の重心との間の距離、並びに前記第1位置(138)及び前記第2位置(150)を通る直線と前記基準位置(142)を通る基準線とがなす角度(156)のうちの少なくとも1つを含む、請求項1から3のいずれか一項に記載の装置。
- 前記位置特定システム(114)は:
前記目標対象物(134)の画像を、前記第1領域(132)が光ビームで照射されている状態で生成するように構成されるカメラシステム(141)と、
前記目標対象物(134)上で前記光ビームにより照射される前記第1領域(132)の前記第1位置(138)を特定するように構成されるプロセッサユニット(139)と、
を備える、請求項4に記載の装置。 - 前記位置特定システム(114)は:
前記目標対象物(134)上の光センサアレイと、
前記目標対象物(134)上で前記第1エネルギービーム(130)により照射される前記第1領域(132)の前記第1位置(138)を、前記目標対象物(134)上の前記光センサアレイの中の多数の光センサが前記第1エネルギービーム(130)を検出することにより特定するように構成されるプロセッサユニット(139)と、
を備える、請求項4に記載の装置。 - 前記目標対象物(134)は、前記目標対象物(134)を多数の軸に対して移動させるように構成されるジンバルシステム(160)に接続される、請求項1に記載の装置。
- 前記第1エネルギー源(128)は前記ビークル(102)から離れた位置に在り、そして前記目標対象物(134)は、多数の軸の回りに移動することができる、請求項1に記載の装置。
- 前記第1エネルギービーム(130)は、電磁放射ビーム、可視光ビーム、紫外光ビーム、マイクロ波放射ビーム、赤外光ビーム、及びレーザビームのうちの1つとして選択される、請求項1に記載の装置。
- 前記ビークル(102)はビークルロボット(104)であり、そして前記ビークルロボット(104)はホロノミックドライブシステム(122)を備える、請求項1に記載の装置。
- ビークル(102)を移動させる方法であって:
第1エネルギービーム(130)を目標対象物(134)上の第1領域(132)に向かって誘導するステップと、
前記目標対象物(134)上の前記第1領域(132)の第1位置(138)を特定するステップと、
第2エネルギービーム(146)を目標対象物(134)上の第2領域(148)に向かって誘導するステップと、
前記目標対象物(134)上の前記第2領域(148)の第2位置(150)を特定するステップと、
前記ビークル(102)を移動させて、前記目標対象物(134)上の前記第1位置(138)と基準位置(142)との間の差が小さくなるようにするステップと、を備え、
前記目標対象物(134)は、ビークル(102)が移動する表面(120)、またはビークル(102)に関連付けられる構造物(136)であり、
前記ビークル(102)を移動させて、前記第1位置(138)と前記目標対象物(134)上の前記基準位置(142)との間の差を小さくするようにするステップは、前記ビークル(102)を移動させて、前記第1位置(138)、前記第2位置(150)と前記基準位置(142)との間の差(140)を小さくするようにするステップを備える、方法。 - 更に:
前記第1エネルギービーム(130)を目標対象物(134)上の経路に沿って移動させて、前記ビークル(102)を所望の経路(158)に沿って移動させるステップを備える、請求項11に記載の方法。 - 更に:
前記目標対象物(134)上の前記第1領域(132)の前記第1位置(138)が特定されると、前記第1位置(138)と前記基準位置(142)との間の距離、及び前記基準位置(142)に対する前記第1位置(138)の第1方向を表わすベクトル(416)を計算するステップと、
前記ビークル(102)を、前記ベクトル(416)の前記第1方向に一致する第2方向に移動させるステップと、を備える、請求項12に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/206,269 US8874371B2 (en) | 2011-08-09 | 2011-08-09 | Beam directed motion control system |
US13/206,269 | 2011-08-09 | ||
PCT/US2012/042761 WO2013022520A1 (en) | 2011-08-09 | 2012-06-15 | Beam directed motion control system |
Publications (2)
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JP2014522064A JP2014522064A (ja) | 2014-08-28 |
JP6022567B2 true JP6022567B2 (ja) | 2016-11-09 |
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JP2014525013A Active JP6022567B2 (ja) | 2011-08-09 | 2012-06-15 | ビーム誘導運動制御システム |
Country Status (5)
Country | Link |
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US (2) | US8874371B2 (ja) |
EP (1) | EP2742393B1 (ja) |
JP (1) | JP6022567B2 (ja) |
KR (1) | KR101971750B1 (ja) |
WO (1) | WO2013022520A1 (ja) |
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-
2011
- 2011-08-09 US US13/206,269 patent/US8874371B2/en active Active
-
2012
- 2012-06-15 WO PCT/US2012/042761 patent/WO2013022520A1/en unknown
- 2012-06-15 JP JP2014525013A patent/JP6022567B2/ja active Active
- 2012-06-15 KR KR1020137034708A patent/KR101971750B1/ko active IP Right Grant
- 2012-06-15 EP EP12733551.1A patent/EP2742393B1/en active Active
-
2014
- 2014-08-25 US US14/467,049 patent/US9195235B2/en active Active
Also Published As
Publication number | Publication date |
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JP2014522064A (ja) | 2014-08-28 |
US8874371B2 (en) | 2014-10-28 |
KR20140053032A (ko) | 2014-05-07 |
US20130041544A1 (en) | 2013-02-14 |
KR101971750B1 (ko) | 2019-04-23 |
WO2013022520A1 (en) | 2013-02-14 |
US9195235B2 (en) | 2015-11-24 |
EP2742393A1 (en) | 2014-06-18 |
US20140365063A1 (en) | 2014-12-11 |
EP2742393B1 (en) | 2019-02-27 |
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