JP7541083B2 - 全方向移動ラインを追従する自律走行車両 - Google Patents

全方向移動ラインを追従する自律走行車両 Download PDF

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Publication number
JP7541083B2
JP7541083B2 JP2022520777A JP2022520777A JP7541083B2 JP 7541083 B2 JP7541083 B2 JP 7541083B2 JP 2022520777 A JP2022520777 A JP 2022520777A JP 2022520777 A JP2022520777 A JP 2022520777A JP 7541083 B2 JP7541083 B2 JP 7541083B2
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Prior art keywords
autonomous vehicle
omnidirectional
vehicle
path
omnidirectional autonomous
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Japanese (ja)
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JP2023509267A5 (https=
JP2023509267A (ja
Inventor
テリアン・グレゴワール
ラモン・ピエール
トマティス・ニコラ
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ブルーボティックス・ソシエテ・アノニム
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
    • B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
    • B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
    • B62D1/283—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers for unmanned vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D7/00—Steering linkage; Stub axles or their mountings
    • B62D7/06—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins
    • B62D7/14—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering
    • B62D7/15—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels
    • B62D7/1509—Steering linkage; Stub axles or their mountings for individually-pivoted wheels, e.g. on king-pins the pivotal axes being situated in more than one plane transverse to the longitudinal centre line of the vehicle, e.g. all-wheel steering characterised by means varying the ratio between the steering angles of the steered wheels with different steering modes, e.g. crab-steering, or steering specially adapted for reversing of the vehicle
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D15/00—Steering not otherwise provided for
    • B62D15/02—Steering position indicators ; Steering position determination; Steering aids
    • B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation

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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2022520777A 2019-10-18 2020-10-15 全方向移動ラインを追従する自律走行車両 Active JP7541083B2 (ja)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
CH13242019 2019-10-18
CH01324/19 2019-10-18
PCT/IB2020/059704 WO2021074843A1 (en) 2019-10-18 2020-10-15 Omnidirectional line following autonomous vehicle

Publications (3)

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JP2023509267A JP2023509267A (ja) 2023-03-08
JP2023509267A5 JP2023509267A5 (https=) 2023-11-15
JP7541083B2 true JP7541083B2 (ja) 2024-08-27

Family

ID=73014559

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2022520777A Active JP7541083B2 (ja) 2019-10-18 2020-10-15 全方向移動ラインを追従する自律走行車両

Country Status (5)

Country Link
US (1) US12393193B2 (https=)
EP (1) EP4045991B1 (https=)
JP (1) JP7541083B2 (https=)
CN (1) CN114585552B (https=)
WO (1) WO2021074843A1 (https=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012216129A (ja) 2011-04-01 2012-11-08 Nippon Yusoki Co Ltd 無人車両および無人搬送システム
WO2017158973A1 (ja) 2016-03-17 2017-09-21 本田技研工業株式会社 自動搬送車
JP2017227943A (ja) 2014-11-07 2017-12-28 株式会社日立産機システム 位置検出装置、制御方法及び自動走行車

Family Cites Families (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10198425A (ja) * 1997-01-16 1998-07-31 Matsushita Electric Ind Co Ltd 無人搬送車の走行制御方法
JP4762068B2 (ja) * 2006-07-17 2011-08-31 日本輸送機株式会社 産業車両の操舵制御装置
US8126642B2 (en) 2008-10-24 2012-02-28 Gray & Company, Inc. Control and systems for autonomously driven vehicles
JP5398489B2 (ja) 2009-11-20 2014-01-29 村田機械株式会社 自律移動体とその制御方法
WO2017050357A1 (en) 2015-09-22 2017-03-30 Bluebotics Sa Virtual line-following and retrofit method for autonomous vehicles
CN106200647A (zh) * 2016-08-30 2016-12-07 北京华力兴科技发展有限责任公司 自动导航系统和自动导航方法
IT201600109633A1 (it) * 2016-10-31 2018-05-01 Magneti Marelli Spa Procedimento e sistema di controllo adattivo in un veicolo terrestre per l'inseguimento di un percorso, particolarmente in uno scenario di guida autonoma.
CN108628324B (zh) * 2018-07-12 2021-03-02 中国科学院深圳先进技术研究院 基于矢量地图的无人车导航方法、装置、设备及存储介质
KR102157290B1 (ko) * 2019-01-09 2020-09-17 여정기 능동적 주행경로 트래킹 기능을 갖는 무인반송차량
DE102019215373B4 (de) * 2019-10-08 2021-07-22 Kuka Deutschland Gmbh Verfahren zum Betreiben eines autonomen Fahrzeugs, autonomes Fahrzeug und Computerprogrammprodukt
KR20210071193A (ko) * 2019-12-05 2021-06-16 한국전자통신연구원 자율 주행 장치, 센서 캘리브레이션 시스템 및 방법

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2012216129A (ja) 2011-04-01 2012-11-08 Nippon Yusoki Co Ltd 無人車両および無人搬送システム
JP2017227943A (ja) 2014-11-07 2017-12-28 株式会社日立産機システム 位置検出装置、制御方法及び自動走行車
WO2017158973A1 (ja) 2016-03-17 2017-09-21 本田技研工業株式会社 自動搬送車

Also Published As

Publication number Publication date
US20240103515A1 (en) 2024-03-28
WO2021074843A1 (en) 2021-04-22
CN114585552A (zh) 2022-06-03
CN114585552B (zh) 2024-03-05
EP4045991A1 (en) 2022-08-24
US12393193B2 (en) 2025-08-19
EP4045991C0 (en) 2026-01-07
JP2023509267A (ja) 2023-03-08
EP4045991B1 (en) 2026-01-07

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