JPH09511060A - 自律した装置のために障害物を感知する方法及び装置 - Google Patents
自律した装置のために障害物を感知する方法及び装置Info
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- JPH09511060A JPH09511060A JP7525127A JP52512795A JPH09511060A JP H09511060 A JPH09511060 A JP H09511060A JP 7525127 A JP7525127 A JP 7525127A JP 52512795 A JP52512795 A JP 52512795A JP H09511060 A JPH09511060 A JP H09511060A
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Classifications
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
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- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
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- A—HUMAN NECESSITIES
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- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
- G01S15/874—Combination of several spaced transponders or reflectors of known location for determining the position of a receiver
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/54—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 with receivers spaced apart
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- 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
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- 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
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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
- 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
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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
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
- G01S15/10—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves
- G01S15/102—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics
- G01S15/104—Systems for measuring distance only using transmission of interrupted, pulse-modulated waves using transmission of pulses having some particular characteristics wherein the transmitted pulses use a frequency- or phase-modulated carrier wave
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/86—Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2015/937—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details
- G01S2015/938—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles sensor installation details in the bumper area
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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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Acoustics & Sound (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Length Measuring Devices Characterised By Use Of Acoustic Means (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.車輪とモーターが備えられ、その上特殊な機能を実行するための手段を有 した自律した装置(10)用の近接感知方法であって、この装置は、近接方位決 定とマイクロプロセッサーシステムの形態で装置をガイドするための手段と、少 なくとも送信手段と受信手段から成る近接感知システムとから成り、 遅い伝搬を持つ波が感知システムの送信手段から送信され、それによって前記 マイクロプロセッサーシステムにより、所定の時間スロットの間、一定の近接領 域に対応して、前記マイクロプロセッサーにデジタル信号を提供するため信号イ ンターフェイスが適切に設けられる多数の受信手段を介して、前記遅い伝搬の波 から反射が検出され、こうしてコヒーレントバイスタティックシステムを形成し 、 前記遅い伝搬の波は連続した扇形内で装置の通常の移動方向に送信され、 前記バイスタティックシステムの前記受信手段は、簡単な方法で前記遅い伝搬 の波を反射する障害物に対する三次元方向を得るために、傾斜した面に、または 好ましくは湾曲した基準線に沿って配置され、 それによって、前記マイクロプロセッサーシステムによる近接領域内で方向付 けがなされ、所定の時間スロット内でこの波周波数上で反射された応答のデジタ ル処理からガイダンスを得る装置の付加的な自動運動において、 連続的に利用されることを特徴とする。 2.三次元分解能を改善するために、付加的に少なくとも幾つかの前記受信手 段が、残りの受信手段に対して高さが異なるように配置されることを特徴とする 請求項1に記載の方法。 3.上から及び/もしくは側面からの望ましくない反射を減衰させるために、 前記自律した装置には受信手段の列にある少なくとも1つの受信手段の上に吸収 体が設けられ、前記吸収体は受信手段の上の出窓として作用することを特徴とす る請求項1または2に記載の方法。 4.上から及び/もしくは側面からの望ましくない反射を減衰させるために、 前記自律した装置には受信手段の列にある少なくとも1つの受信手段の上にスク リーンが設けられ、前記スクリーンは受信手段の上の出窓として作用することを 特徴とする請求項1、2または3に記載の方法。 5.前記遅い伝搬の波は縦の音響波から成ることを特徴とする請求項1から4 のうちいずれか1項に記載の方法。 6.前記遅い伝搬の波は超音波の範囲内の周波数を持つ音響波から成ることを 特徴とする請求項1から5のうちいずれか1項に記載の方法。 7.前記装置に近接する障害物を感知するために送信される前記遅い伝搬の波 は、短い規則的に繰り返されるパルスまたはその代わりに繰り返される掃引パル ス(チ ャープ信号)から成ることを特徴とする請求項1から6のうちいずれか1項に記 載の方法。 8.前記受信手段の列の各々の側にある最も外側の受信手段は、受信システム の残りの受信手段に対して高さが異なるように配置されることを特徴とする請求 項1から7のうちいずれか1項に記載の方法。 9.前記受信手段は、遅い伝搬の波の周波数に採用されるマイクロフォン素子 から成ることを特徴とする請求項1から8のうちいずれか1項に記載の方法。 10.車輪とモーターが備えられ、その上特殊な機能を実行するための手段を 有した自律した装置用の近接感知システムであって、この装置は近接方位決定と マイクロプロセッサーシステムの形態で装置をガイドするための手段と、少なく とも送信手段と受信手段から成る近接感知システムとから成り、 前記送信手段は遅い伝搬を持つ波を送信し、前記マイクロプロセッサーシステ ムは、特定の近接領域に対応する所定の時間スロットの間に、前記マイクロプロ セッサーにデジタル信号を提供するために適切に信号インターフェイスが設けら れ、受信システムの受信手段を介して、異なる障害物から前記遅い伝搬を持つ波 の反射を記録し、こうしてコヒーレントバイスタティックシステムを形成してお り、 前記送信手段は連続した扇形内でこの遅い伝搬の波を装置の通常の移動方向に 送信し、 前記受信システムの受信手段は、前記遅い伝搬の波を反射した障害物に対する 方向分解能を得るために、傾斜した面、または好ましくは湾曲した基準線に沿っ て配置され、 それによって前記マイクロプロセッサーシステムを用いて、所定の時間スロッ ト内で反射された応答のデジタル処理により、自動化された動きにおいて障害物 を避けるために連続して前記装置を前記マイクロプロセッサーを介してガイドす るため、近接領域内で方位決定基準を作ることを特徴とする。 11.三次元分解能を改良するために、付加的に少なくとも幾つかの前記受信 手段が、残りの受信手段に対して高さが異なるように配置されることを特徴とす る請求項10に記載のシステム。 12.前記自律した装置には受信手段の列の少なくとも1つの受信手段の上に 吸収体が設けられ、前記吸収体は、上から及び/もしくは側面からの望ましくな い反射を減衰させ、また受信手段の上の出窓として同様に作用することを特徴と する請求項10または11に記載のシステム。 13.前記自律した装置には受信手段の列の少なくとも1つの受信手段の上に スクリーンが設けられ、前記スクリーンは上から及び/もしくは側面からの望ま しくない反射を減衰させ、また受信手段の上の出窓として同様に作用することを 特徴とする請求項10、11または1 2に記載のシステム。 14.前記受信手段の列の各々の側にある最も外側の受信手段は、受信システ ムの残りの受信手段に対して高さが異なるように配置されることを特徴とする請 求項10から13のうちいずれか1項に記載のシステム。 15.前記遅い伝搬の波は縦の音響波から成ることを特徴とする請求項10か ら14のうちいずれか1項に記載のシステム。 16.前記遅い伝搬の波は超音波の範囲内の周波数を持つ音響波から成ること を特徴とする請求項10から14のうちいずれか1項に記載のシステム。 17.前記装置に近接する障害物を感知するために送信される前記遅い伝搬の 波は、短い規則的に繰り返されるパルスまたはその代わりに繰り返される掃引パ ルス(チャープ信号)から成ることを特徴とする請求項10から14のうちいず れか1項に記載のシステム。 18.前記受信手段は遅い伝搬の波の周波数に採用されるマイクロフォン素子 から成ることを特徴とする請求項10から14のうちいずれか1項に記載のシス テム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE9401061-8 | 1994-03-29 | ||
SE9401061A SE502834C2 (sv) | 1994-03-29 | 1994-03-29 | Förfarande och anordning för avkänning av hinder vid självgående anordning |
PCT/SE1995/000330 WO1995026512A1 (en) | 1994-03-29 | 1995-03-28 | Method and device for sensing of obstacles for an autonomous device |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH09511060A true JPH09511060A (ja) | 1997-11-04 |
JP3480576B2 JP3480576B2 (ja) | 2003-12-22 |
Family
ID=20393470
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP52512795A Expired - Lifetime JP3480576B2 (ja) | 1994-03-29 | 1995-03-28 | 自律した装置のために障害物を感知する方法及び装置 |
Country Status (9)
Country | Link |
---|---|
US (1) | US5867800A (ja) |
EP (1) | EP0753160B1 (ja) |
JP (1) | JP3480576B2 (ja) |
AU (1) | AU689571B2 (ja) |
CA (1) | CA2186223A1 (ja) |
DE (1) | DE69520736T2 (ja) |
ES (1) | ES2156940T3 (ja) |
SE (1) | SE502834C2 (ja) |
WO (1) | WO1995026512A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003524531A (ja) * | 2000-02-21 | 2003-08-19 | ヴィッテンシュタイン アーゲー | 少なくとも1個の物体および/または空間を認識、規定、位置検出するための方法 |
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JPH01180010A (ja) * | 1988-01-08 | 1989-07-18 | Sanyo Electric Co Ltd | 移動車 |
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DE3824947A1 (de) * | 1988-07-22 | 1990-01-25 | Kineton Gmbh | Verfahren zur kollisionsverhuetung bei automatischen fahrzeugen, insbesondere in fahrerlosen transportsystemen |
US5111401A (en) * | 1990-05-19 | 1992-05-05 | The United States Of America As Represented By The Secretary Of The Navy | Navigational control system for an autonomous vehicle |
KR940004375B1 (ko) * | 1992-03-25 | 1994-05-23 | 삼성전자 주식회사 | 자주식 청소기의 구동방법 |
SE514791C2 (sv) * | 1994-06-06 | 2001-04-23 | Electrolux Ab | Förbättrat förfarande för lokalisering av fyrar vid självgående anordning |
DE4433957A1 (de) * | 1994-09-23 | 1996-03-28 | Mayser Gmbh & Co | Verfahren zur Ultraschall-Hinderniserkennung |
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-
1994
- 1994-03-29 SE SE9401061A patent/SE502834C2/sv not_active IP Right Cessation
-
1995
- 1995-03-28 US US08/718,399 patent/US5867800A/en not_active Expired - Lifetime
- 1995-03-28 AU AU21554/95A patent/AU689571B2/en not_active Ceased
- 1995-03-28 WO PCT/SE1995/000330 patent/WO1995026512A1/en active IP Right Grant
- 1995-03-28 DE DE69520736T patent/DE69520736T2/de not_active Expired - Lifetime
- 1995-03-28 CA CA002186223A patent/CA2186223A1/en not_active Abandoned
- 1995-03-28 ES ES95914657T patent/ES2156940T3/es not_active Expired - Lifetime
- 1995-03-28 JP JP52512795A patent/JP3480576B2/ja not_active Expired - Lifetime
- 1995-03-28 EP EP95914657A patent/EP0753160B1/en not_active Expired - Lifetime
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003524531A (ja) * | 2000-02-21 | 2003-08-19 | ヴィッテンシュタイン アーゲー | 少なくとも1個の物体および/または空間を認識、規定、位置検出するための方法 |
JP2005507537A (ja) * | 2001-11-03 | 2005-03-17 | ダイソン・リミテッド | 自律マシン |
Also Published As
Publication number | Publication date |
---|---|
CA2186223A1 (en) | 1995-10-05 |
JP3480576B2 (ja) | 2003-12-22 |
SE9401061L (sv) | 1995-09-30 |
US5867800A (en) | 1999-02-02 |
SE502834C2 (sv) | 1996-01-29 |
EP0753160A1 (en) | 1997-01-15 |
DE69520736T2 (de) | 2001-11-22 |
AU2155495A (en) | 1995-10-17 |
SE9401061D0 (sv) | 1994-03-29 |
WO1995026512A1 (en) | 1995-10-05 |
ES2156940T3 (es) | 2001-08-01 |
EP0753160B1 (en) | 2001-04-18 |
DE69520736D1 (de) | 2001-05-23 |
AU689571B2 (en) | 1998-04-02 |
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