JP6214496B2 - 自律走行作業車の制御装置 - Google Patents
自律走行作業車の制御装置 Download PDFInfo
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- JP6214496B2 JP6214496B2 JP2014172443A JP2014172443A JP6214496B2 JP 6214496 B2 JP6214496 B2 JP 6214496B2 JP 2014172443 A JP2014172443 A JP 2014172443A JP 2014172443 A JP2014172443 A JP 2014172443A JP 6214496 B2 JP6214496 B2 JP 6214496B2
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- sensor
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- 238000000034 method Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000002474 experimental method Methods 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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Classifications
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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
- G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
- G01D5/2006—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the self-induction of one or more coils
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P21/00—Testing or calibrating of apparatus or devices covered by the preceding groups
-
- 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
- G05D1/027—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
-
- 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
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Business, Economics & Management (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Game Theory and Decision Science (AREA)
- Medical Informatics (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Guiding Agricultural Machines (AREA)
Description
Claims (2)
- エリアワイヤで規定される作業エリアを自律走行しつつ作業を行う作業車と、前記エリアワイヤを流れる電流によって発生する磁界強度を検出する磁気センサと、前記作業車の旋回時における角速度を示すセンサ値を出力する角速度センサと、前記角速度センサを較正する較正手段とを備えた自律走行作業車の制御装置において、
前記磁気センサは、前記作業車の直進方向中心線に対して左右対称となるように前記作業車の車体の左右にそれぞれ配置され、
前記較正手段は、前記左右に配置された磁気センサによって検出された磁界強度に基づいて前記エリアワイヤの敷設方向と前記作業車の直進方向との相対角度を算出すると共に、前記算出された相対角度に基づいて前記角速度センサを較正することを特徴とする自律走行作業車の制御装置。 - 前記較正手段は、前記算出された相対角度が所定角度となったときに前記角速度センサによって出力された前記センサ値を時間積分したセンサ積分値を初期化した後、前記作業車を規定角度だけ超信地旋回させると共に、前記超信地旋回中に前記角速度センサの出力から得られた前記センサ積分値に基づいて前記角速度センサを較正することを特徴とする請求項1記載の自律走行作業車の制御装置。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014172443A JP6214496B2 (ja) | 2014-08-27 | 2014-08-27 | 自律走行作業車の制御装置 |
US14/834,952 US9612597B2 (en) | 2014-08-27 | 2015-08-25 | Apparatus for controlling autonomously navigating utility vehicle |
ES15182462.0T ES2629297T3 (es) | 2014-08-27 | 2015-08-26 | Aparato para controlar un vehículo utilitario que navega de forma autónoma |
EP15182462.0A EP2990903B1 (en) | 2014-08-27 | 2015-08-26 | Apparatus for controlling autonomously navigating utility vehicle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2014172443A JP6214496B2 (ja) | 2014-08-27 | 2014-08-27 | 自律走行作業車の制御装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2016048415A JP2016048415A (ja) | 2016-04-07 |
JP6214496B2 true JP6214496B2 (ja) | 2017-10-18 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2014172443A Active JP6214496B2 (ja) | 2014-08-27 | 2014-08-27 | 自律走行作業車の制御装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US9612597B2 (ja) |
EP (1) | EP2990903B1 (ja) |
JP (1) | JP6214496B2 (ja) |
ES (1) | ES2629297T3 (ja) |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5973610B1 (ja) * | 2015-03-27 | 2016-08-23 | 本田技研工業株式会社 | 無人作業車の制御装置 |
KR101856503B1 (ko) * | 2016-04-29 | 2018-05-11 | 엘지전자 주식회사 | 이동 로봇 및 그 제어방법 |
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
CN109874487B (zh) | 2016-06-30 | 2022-11-04 | 创科(澳门离岸商业服务)有限公司 | 一种自主式割草机及其导航系统 |
DE102019201222A1 (de) * | 2019-01-31 | 2020-08-06 | Robert Bosch Gmbh | Verfahren zur Bestimmung einer Position eines Fahrzeugs in einer digitalen Karte |
KR102308530B1 (ko) * | 2021-07-07 | 2021-10-06 | 주식회사 고산자 | 드론에 장착된 레이저를 이용한 지하시설물 측량시스템 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8027761B1 (en) * | 2007-09-04 | 2011-09-27 | Nelson Russell G | Local positioning system for automated lawn mowers |
JP5420510B2 (ja) * | 2010-09-30 | 2014-02-19 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP5420511B2 (ja) * | 2010-09-30 | 2014-02-19 | 本田技研工業株式会社 | 自律走行作業車の制御装置 |
JP5724855B2 (ja) * | 2011-12-02 | 2015-05-27 | トヨタ自動車株式会社 | 倒立移動体及び角速度センサの出力値補正方法 |
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2014
- 2014-08-27 JP JP2014172443A patent/JP6214496B2/ja active Active
-
2015
- 2015-08-25 US US14/834,952 patent/US9612597B2/en active Active
- 2015-08-26 EP EP15182462.0A patent/EP2990903B1/en active Active
- 2015-08-26 ES ES15182462.0T patent/ES2629297T3/es active Active
Also Published As
Publication number | Publication date |
---|---|
JP2016048415A (ja) | 2016-04-07 |
ES2629297T3 (es) | 2017-08-08 |
EP2990903A1 (en) | 2016-03-02 |
US20160062358A1 (en) | 2016-03-03 |
US9612597B2 (en) | 2017-04-04 |
EP2990903B1 (en) | 2017-06-07 |
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