SE0100954D0 - Camera based distance and angle gauges - Google Patents

Camera based distance and angle gauges

Info

Publication number
SE0100954D0
SE0100954D0 SE0100954A SE0100954A SE0100954D0 SE 0100954 D0 SE0100954 D0 SE 0100954D0 SE 0100954 A SE0100954 A SE 0100954A SE 0100954 A SE0100954 A SE 0100954A SE 0100954 D0 SE0100954 D0 SE 0100954D0
Authority
SE
Sweden
Prior art keywords
angular
pixels
reflector
determining
relation
Prior art date
Application number
SE0100954A
Other languages
Swedish (sv)
Other versions
SE523318C2 (en
SE0100954L (en
Inventor
Kalevi Hyyppae
Original Assignee
Apogeum Ab
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 Apogeum Ab filed Critical Apogeum Ab
Priority to SE0100954A priority Critical patent/SE523318C2/en
Publication of SE0100954D0 publication Critical patent/SE0100954D0/en
Priority to PCT/SE2002/000544 priority patent/WO2002075350A1/en
Publication of SE0100954L publication Critical patent/SE0100954L/en
Publication of SE523318C2 publication Critical patent/SE523318C2/en

Links

Classifications

    • 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
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87—Combinations of systems using electromagnetic waves other than radio waves
    • 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
    • G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
    • G01S3/782—Systems for determining direction or deviation from predetermined direction
    • G01S3/783—Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • 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
    • 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
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Abstract

A method for determining an angular position of a reflector from a vehicle reference position in relation to an angular reference position including the step of arranging vertically extended reflectors in a working area. From the vehicle reference position vertical image slices of at least one horizontal segment of the working area are obtained, each image slice comrising a plurality of pixels and intensity values of pixels in each vertical image slice are added into a set of column sums, one position in teh set forming an angular reference point. Then the angular position of a reflector is determined as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point. The invention also includes a method for determining the distance between a reflector and a vehicle reference position using reflectors with a predetermined vertical extension. The number of consecutive pixels having intensity values exceeding a predetermined intensity value is calculated and based on said number of consecutive pixels the distance is calculated. A device for determining the angular position comprises an image sensing means. An adder is provided for adding intensity values of pixels in vertical image slices into a set of column sums and computing means are provided for determining the angular position of a reflector as the position of a peak column sum or a subset of adjacent peak column sums in the said set in relation to the angular reference point.
SE0100954A 2001-03-20 2001-03-20 Camera based distance and angle gauges SE523318C2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE0100954A SE523318C2 (en) 2001-03-20 2001-03-20 Camera based distance and angle gauges
PCT/SE2002/000544 WO2002075350A1 (en) 2001-03-20 2002-03-20 Method and device for determining an angular position of a reflector

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0100954A SE523318C2 (en) 2001-03-20 2001-03-20 Camera based distance and angle gauges

Publications (3)

Publication Number Publication Date
SE0100954D0 true SE0100954D0 (en) 2001-03-20
SE0100954L SE0100954L (en) 2002-11-08
SE523318C2 SE523318C2 (en) 2004-04-13

Family

ID=20283428

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0100954A SE523318C2 (en) 2001-03-20 2001-03-20 Camera based distance and angle gauges

Country Status (2)

Country Link
SE (1) SE523318C2 (en)
WO (1) WO2002075350A1 (en)

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US8788092B2 (en) 2000-01-24 2014-07-22 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7429843B2 (en) 2001-06-12 2008-09-30 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
DE10336085A1 (en) * 2003-08-06 2005-03-10 Siemens Ag Determining the position of a cargo by combining local, absolute position measurement and relative position measurement
US20050060899A1 (en) * 2003-09-23 2005-03-24 Snap-On Technologies, Inc. Invisible target illuminators for 3D camera-based alignment systems
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
JP2007530978A (en) 2004-03-29 2007-11-01 エヴォリューション ロボティクス インコーポレイテッド Position estimation method and apparatus using reflected light source
US9008835B2 (en) 2004-06-24 2015-04-14 Irobot Corporation Remote control scheduler and method for autonomous robotic device
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
EP2289384B1 (en) 2005-02-18 2013-07-03 iRobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
KR101099808B1 (en) 2005-12-02 2011-12-27 아이로보트 코퍼레이션 Robot system
ES2334064T3 (en) 2005-12-02 2010-03-04 Irobot Corporation MODULAR ROBOT.
US7441298B2 (en) 2005-12-02 2008-10-28 Irobot Corporation Coverage robot mobility
ES2522926T3 (en) 2005-12-02 2014-11-19 Irobot Corporation Autonomous Cover Robot
US20090044370A1 (en) 2006-05-19 2009-02-19 Irobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
KR101160393B1 (en) 2007-05-09 2012-06-26 아이로보트 코퍼레이션 Compact autonomous coverage robot
CN104127156B (en) 2010-02-16 2017-01-11 艾罗伯特公司 Vacuum Brush
CN108132667B (en) * 2017-11-21 2020-08-25 北京特种机械研究所 AGV navigation state machine

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4947094A (en) * 1987-07-23 1990-08-07 Battelle Memorial Institute Optical guidance system for industrial vehicles
US5051906A (en) * 1989-06-07 1991-09-24 Transitions Research Corporation Mobile robot navigation employing retroreflective ceiling features
JP2000161918A (en) * 1998-12-01 2000-06-16 Tsubakimoto Chain Co Method and device for detecting position of moving body

Also Published As

Publication number Publication date
WO2002075350A1 (en) 2002-09-26
SE523318C2 (en) 2004-04-13
SE0100954L (en) 2002-11-08

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