MX2020004611A - Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales. - Google Patents

Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales.

Info

Publication number
MX2020004611A
MX2020004611A MX2020004611A MX2020004611A MX2020004611A MX 2020004611 A MX2020004611 A MX 2020004611A MX 2020004611 A MX2020004611 A MX 2020004611A MX 2020004611 A MX2020004611 A MX 2020004611A MX 2020004611 A MX2020004611 A MX 2020004611A
Authority
MX
Mexico
Prior art keywords
scaling factor
distance
handling vehicle
materials handling
odometry
Prior art date
Application number
MX2020004611A
Other languages
English (en)
Inventor
Thimothy William FANSELOW
Justin Forbes Thode
Ryan Michaels Estep
Original Assignee
Crown Equip Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Crown Equip Corp filed Critical Crown Equip Corp
Publication of MX2020004611A publication Critical patent/MX2020004611A/es

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
    • G01C22/02—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers by conversion into electric waveforms and subsequent integration, e.g. using tachometer generator
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
    • B60W2530/18—Distance travelled

Abstract

La presente invención se refiere a sistemas y métodos para calibrar la odometría de un vehículo de manejo de materiales. Una modalidad de un método incluye determinar una ubicación actual del vehículo de manejo de materiales, determinar una distancia de odometría desde la ubicación actual a un destino con base en un cálculo de un número determinado de rotaciones de una rueda y una circunferencia de la rueda, y determinar una distancia del sistema de posicionamiento desde la posición actual al destino. Algunas modalidades incluyen comparar la distancia de odometría con los datos de la distancia del sistema de posicionamiento para calcular un factor de escala, aplicar el factor de escala a un filtro alfa rápido para lograr un resultado de filtro rápido, y aplicar el factor de escala a un filtro alfa lento para lograr un resultado de filtro lento. Del mismo modo, algunas modalidades incluyen aplicar el filtro alfa rápido al factor de escala para suavizar el ruido, calcular una distancia de odometría actualizada usando el factor de escala, y usar la distancia de odometría actualizada.
MX2020004611A 2015-05-26 2017-11-23 Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales. MX2020004611A (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
US201562166183P 2015-05-26 2015-05-26

Publications (1)

Publication Number Publication Date
MX2020004611A true MX2020004611A (es) 2020-08-06

Family

ID=56121169

Family Applications (2)

Application Number Title Priority Date Filing Date
MX2017015064A MX2017015064A (es) 2015-05-26 2016-05-19 Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales.
MX2020004611A MX2020004611A (es) 2015-05-26 2017-11-23 Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales.

Family Applications Before (1)

Application Number Title Priority Date Filing Date
MX2017015064A MX2017015064A (es) 2015-05-26 2016-05-19 Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales.

Country Status (9)

Country Link
US (3) US9921067B2 (es)
EP (2) EP3304002B1 (es)
KR (2) KR101998561B1 (es)
CN (1) CN107667274B (es)
AU (3) AU2016268034B2 (es)
BR (1) BR112017025109A2 (es)
CA (1) CA2987318C (es)
MX (2) MX2017015064A (es)
WO (1) WO2016191182A1 (es)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11370422B2 (en) * 2015-02-12 2022-06-28 Honda Research Institute Europe Gmbh Method and system in a vehicle for improving prediction results of an advantageous driver assistant system
WO2017118000A1 (zh) * 2016-01-04 2017-07-13 杭州亚美利嘉科技有限公司 机器人轮径补偿方法和装置
US10546385B2 (en) * 2016-02-25 2020-01-28 Technion Research & Development Foundation Limited System and method for image capture device pose estimation
EP3409629B2 (en) * 2017-06-01 2024-02-28 Otis Elevator Company Image analytics for elevator maintenance
US10870556B2 (en) * 2017-12-12 2020-12-22 Otis Elevator Company Method and system for detecting elevator car operating panel condition
US10961082B2 (en) 2018-01-02 2021-03-30 Otis Elevator Company Elevator inspection using automated sequencing of camera presets
US10941018B2 (en) * 2018-01-04 2021-03-09 Otis Elevator Company Elevator auto-positioning for validating maintenance
FR3083607A1 (fr) * 2018-07-06 2020-01-10 Balyo Procede et dispositif de positionnement pour vehicule, et vehicule comportant un tel dispositif
AU2019305588A1 (en) 2018-07-17 2021-02-25 Crown Equipment Corporation Systems and methods for vehicle position calibration using rack leg identification
CN109556630A (zh) * 2018-10-31 2019-04-02 惠州华阳通用电子有限公司 一种车辆里程修正方法及装置
MX2021009139A (es) 2019-02-06 2021-12-10 Crown Equip Corp Sistemas y metodos para la proteccion del final de pasillo y calibracion de posicion de vehiculo mediante la identificacion de pata de rejilla.
WO2020172039A1 (en) 2019-02-19 2020-08-27 Crown Equipment Corporation Systems and methods for calibration of a pose of a sensor relative to a materials handling vehicle
CN110723484B (zh) * 2019-09-26 2020-12-15 兰剑智能科技股份有限公司 穿梭车行走自动纠偏方法、装置、计算机设备及存储介质
DE102019134925A1 (de) * 2019-12-18 2021-06-24 Valeo Schalter Und Sensoren Gmbh Verfahren zum Kalibrieren von Odometriedaten für ein Fahrzeug
CN113124896B (zh) * 2019-12-30 2023-03-28 上海智远慧智能技术股份有限公司 一种agv里程计在线精确校准的控制方法
CN112013843B (zh) * 2020-09-18 2023-11-17 中国人民解放军32202部队 一种惯导与车辆中央充放气系统融合的里程因数修正方法
CN114136232A (zh) * 2021-11-19 2022-03-04 中国神华能源股份有限公司哈尔乌素露天煤矿 一种物料堆积形态测量方法及系统
CN114659539A (zh) * 2022-03-28 2022-06-24 安徽博泰微电子有限公司 一种汽车电子计量设备失准判断方法
US11875615B2 (en) 2022-04-29 2024-01-16 Toyota Research Institute, Inc. Odometry noise model fitting from fleet-scale datasets
CN114935347B (zh) * 2022-07-25 2022-11-08 季华实验室 一种轮式机器人的里程计校正方法、电子设备及存储介质

Family Cites Families (34)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4939659A (en) 1988-01-15 1990-07-03 Allied-Signal, Inc. Speed/rpm transmitting device
EP0366350A3 (en) * 1988-10-25 1991-05-22 Tennant Company Guiding an unmanned vehicle by reference to overhead features
US5155684A (en) * 1988-10-25 1992-10-13 Tennant Company Guiding an unmanned vehicle by reference to overhead features
US5020008A (en) 1989-06-05 1991-05-28 Allied-Signal Inc. Method of calibrating vehicle speed signals
JP3378360B2 (ja) * 1994-06-30 2003-02-17 松下電器産業株式会社 速度センサ係数算出装置
DE4430462A1 (de) * 1994-08-27 1996-02-29 Teves Gmbh Alfred Verfahren zum schnellen Erkennen eines Notrades
IT1285866B1 (it) * 1996-05-09 1998-06-24 Magneti Marelli Spa Sistema di navigazione per un autoveicolo, con calibrazione automatica dei sensori di bordo.
JP3435623B2 (ja) * 1996-05-15 2003-08-11 株式会社日立製作所 交通流監視装置
DE19637616A1 (de) * 1996-09-16 1998-03-19 Bosch Gmbh Robert Verfahren zum automatischen Kalibrieren eines Wegsensors und Vorrichtung
DE19945119C2 (de) * 1999-09-21 2001-12-06 Mannesmann Vdo Ag Verfahren zum Navigieren eines bodengebundenen Fahrzeugs
GB2377538B (en) 2001-03-28 2004-12-29 Citysync Ltd An automatic number plate recognition system
KR100541485B1 (ko) * 2002-10-07 2006-01-10 엘지전자 주식회사 차량 항법 유도 시스템 및 이를 이용한 차량 항법 유도방법
EP1500907B1 (en) * 2003-07-21 2014-11-12 LG Electronics, Inc. Apparatus and method for detecting vehicle location in navigation system
US7405834B1 (en) 2006-02-15 2008-07-29 Lockheed Martin Corporation Compensated coherent imaging for improved imaging and directed energy weapons applications
DE112008002434B4 (de) * 2007-09-10 2013-07-11 Mitsubishi Electric Corp. Navigationsausrüstung
CN101911130B (zh) * 2008-01-15 2016-03-23 泰利特汽车解决方案公司 道路收费系统
KR101214143B1 (ko) * 2008-12-22 2012-12-20 한국전자통신연구원 이동체의 위치 및 방향 인식 장치 및 그 방법
CN102378715B (zh) * 2009-03-30 2013-09-25 爱考斯研究株式会社 车辆
MX2010005149A (es) 2009-05-08 2012-10-11 Sistemas de seguridad.
JP5609073B2 (ja) * 2009-06-16 2014-10-22 カシオ計算機株式会社 測位装置、測位方法およびプログラム
KR20110121129A (ko) * 2010-04-30 2011-11-07 고려대학교 산학협력단 4-륜 차량의 오도메트리 오차 보정 방법
US9170518B2 (en) 2010-08-26 2015-10-27 Xerox Corporation Method and system for closed-loop control of nip width and image transfer field uniformity for an image transfer system
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
EP2555017B1 (en) * 2011-08-03 2017-10-04 Harman Becker Automotive Systems GmbH Vehicle navigation on the basis of satellite positioning data and vehicle sensor data
GB2503460B (en) 2012-06-26 2014-08-13 Siemens Plc Method and apparatus for reduction of gradient coil vibration in MRI systems
US9922423B2 (en) 2012-07-12 2018-03-20 Nec Corporation Image angle variation detection device, image angle variation detection method and image angle variation detection program
US20140204083A1 (en) 2013-01-23 2014-07-24 Brent Thomson Systems and methods for real-time distortion processing
KR101511992B1 (ko) * 2013-09-06 2015-04-14 현대모비스(주) 조향 휠 제어 방법 및 이를 위한 위한 시스템
US9170581B2 (en) 2013-09-30 2015-10-27 Crown Equipment Limited Industrial vehicles with overhead light based localization
US9354070B2 (en) 2013-10-31 2016-05-31 Crown Equipment Corporation Systems, methods, and industrial vehicles for determining the visibility of features
AU2015280776B2 (en) 2014-06-27 2019-08-22 Crown Equipment Corporation Vehicle positioning or navigation utilizing associated feature pairs
GB2533090A (en) 2014-12-08 2016-06-15 Skf Ab Sensor device with mounting means

Also Published As

Publication number Publication date
EP3304002B1 (en) 2019-02-06
CA2987318A1 (en) 2016-12-01
KR101878649B1 (ko) 2018-07-16
US20160349061A1 (en) 2016-12-01
KR20180081835A (ko) 2018-07-17
CN107667274B (zh) 2021-09-21
AU2018203195A1 (en) 2018-05-24
US20180164104A1 (en) 2018-06-14
BR112017025109A2 (pt) 2018-03-20
US9921067B2 (en) 2018-03-20
CN107667274A (zh) 2018-02-06
EP3304002A1 (en) 2018-04-11
AU2018203195B2 (en) 2020-02-27
US20200011674A1 (en) 2020-01-09
KR20180002853A (ko) 2018-01-08
KR101998561B1 (ko) 2019-07-10
WO2016191182A1 (en) 2016-12-01
AU2016268034A1 (en) 2017-12-14
AU2020203481B2 (en) 2022-07-21
US10458799B2 (en) 2019-10-29
US11060872B2 (en) 2021-07-13
AU2016268034B2 (en) 2018-02-08
EP3511678A1 (en) 2019-07-17
CA2987318C (en) 2019-01-15
EP3511678B1 (en) 2023-02-22
MX2017015064A (es) 2018-05-07
AU2020203481A1 (en) 2020-06-18

Similar Documents

Publication Publication Date Title
MX2020004611A (es) Sistemas y metodos para calibracion de odometria de vehiculos de manejo de materiales.
GB2596940B (en) Systems and methods for vehicle navigation
EP3723061A4 (en) PROCEDURES FOR TRANSPORT SERVICE AND PROCEDURES FOR VEHICLE COLUMN FORMATION, VEHICLE GROUP NAVIGATION SYSTEM, SELF-PROPELLED VEHICLE WITH CAPABILITY FOR COLUMN FORMATION AND DEVICE FOR GUIDING GROUPED VEHICLES
EP3784989C0 (en) AUTONOMOUS VEHICLE NAVIGATION SYSTEMS AND METHODS
EP3745654A4 (en) VEHICLE ANOMALY DETECTION SERVER, VEHICLE ANOMALY DETECTION SYSTEM, AND VEHICLE ANOMALY DETECTION METHOD
SG11201913991UA (en) Systems and methods for determining path confidence for unmanned vehicles
EP3593333A4 (en) NAVIGATION SYSTEMS FOR WHEEL CARTS
EP3589521C0 (en) SYSTEMS AND METHOD FOR OPERATING A VEHICLE BASED ON SENSOR DATA
GB2565983A (en) Apparatus and method for providing unmanned delivery vehicles with expressions
EP3628084A4 (en) SYSTEM AND METHOD FOR DETERMINING A VEHICLE NAVIGATION FOR PASSENGERS SEARCHING FOR A DRIVE
EP3526722A4 (en) SYSTEMS AND METHODS FOR CYBER-PHYSICAL VEHICLE MANAGEMENT, DETECTION, AND CONTROL
MX2016008284A (es) Sistemas y metodos de asistencia para estacionamiento del vehiculo.
MX2015005540A (es) Previsualizacion de irregularidades de la carretera con historial del recorrido.
IL247446A0 (en) Method and device for detecting contours of vehicles based on point cloud data
EP3912151A4 (en) SYSTEM AND PROCEDURES FOR HIGH ACCURACY LOCATION AND PARKING
MX354659B (es) Calculadora y método para determinar datos de corrección de fase correspondientes a una señal de audio.
EP3402384A4 (en) SYSTEMS AND METHODS FOR DETERMINING DISTANCE TO AN OBJECT
EP3538424A4 (en) SYSTEMS AND METHODS FOR DETERMINING ABNORMAL INFORMATION RELATING TO A VEHICLE
MX2016013345A (es) Determinacion de factores de varianza para segmentos complejos de la carretera.
GB2596464B (en) Systems and methods for vehicle navigation
EP3522448A4 (en) METHOD, DEVICE AND SYSTEM FOR DETECTING ERROR CODES AND COMPUTER-READABLE STORAGE MEDIUM
EP3778329A4 (en) DETECTION SYSTEM AND DETECTION METHOD FOR DETECTING INFORMATION RELATING TO THE EXTERNAL ENVIRONMENT OF A VEHICLE
PT3452846T (pt) Sistema e método para a determinação da posição de um veículo de transporte e veículo de transporte
SG11202000013WA (en) Systems and methods for navigation path determination for unmanned vehicles
EP3729333A4 (en) AUTONOMOUS NAVIGATION BASED ON LOCAL DETECTION, AND ASSOCIATED SYSTEMS AND PROCESSES