SE0100954L - Camera-based distance and angle gauges - Google Patents

Camera-based distance and angle gauges

Info

Publication number
SE0100954L
SE0100954L SE0100954A SE0100954A SE0100954L SE 0100954 L SE0100954 L SE 0100954L SE 0100954 A SE0100954 A SE 0100954A SE 0100954 A SE0100954 A SE 0100954A SE 0100954 L SE0100954 L SE 0100954L
Authority
SE
Sweden
Prior art keywords
position
angular
set
pixels
reflector
Prior art date
Application number
SE0100954A
Other languages
Swedish (sv)
Other versions
SE523318C2 (en
SE0100954D0 (en
Inventor
Kalevi Hyyppae
Original Assignee
Ingenjoers N D C Netzler & Dah
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 Ingenjoers N D C Netzler & Dah filed Critical Ingenjoers N D C Netzler & Dah
Priority to SE0100954A priority Critical patent/SE523318C2/en
Publication of SE0100954D0 publication Critical patent/SE0100954D0/en
Publication of SE0100954L publication Critical patent/SE0100954L/en
Publication of SE523318C2 publication Critical patent/SE523318C2/en

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0242Control 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/12Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/87Combinations of systems using electromagnetic waves other than radio waves
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S3/00Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
    • G01S3/78Direction-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
    • G01S3/782Systems for determining direction or deviation from predetermined direction
    • G01S3/783Systems for determining direction or deviation from predetermined direction using amplitude comparison of signals derived from static detectors or detector systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control 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
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO 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
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-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
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

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 (1)

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

Applications Claiming Priority (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

Publications (3)

Publication Number Publication Date
SE0100954D0 SE0100954D0 (en) 2001-03-20
SE0100954L true 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)

Families Citing this family (28)

* Cited by examiner, † Cited by third party
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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
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7429843B2 (en) 2001-06-12 2008-09-30 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
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 postion of transported goods by combining local, absolute position measurement and the relative position measurement
US20050060899A1 (en) * 2003-09-23 2005-03-24 Snap-On Technologies, Inc. Invisible target illuminators for 3D camera-based alignment systems
KR101214667B1 (en) 2004-01-21 2012-12-24 아이로보트 코퍼레이션 Method of docking an autonomous robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
WO2005098476A1 (en) 2004-03-29 2005-10-20 Evolution Robotics, Inc. Method and apparatus for position estimation using reflected light sources
EP1776623B1 (en) 2004-06-24 2011-12-07 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
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
WO2006089307A2 (en) 2005-02-18 2006-08-24 Irobot Corporation Autonomous surface cleaning robot for wet and dry cleaning
KR20080072962A (en) 2005-12-02 2008-08-07 아이로보트 코퍼레이션 Autonomous coverage robot navigation 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
EP2466411B1 (en) 2005-12-02 2018-10-17 iRobot Corporation Robot system
EP3031377B1 (en) 2006-05-19 2018-08-01 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
KR101168481B1 (en) 2007-05-09 2012-07-26 아이로보트 코퍼레이션 Autonomous coverage robot
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
EP2536322B1 (en) 2010-02-16 2017-04-05 iRobot Corporation Vacuum brush

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
SE0100954D0 (en) 2001-03-20
SE523318C2 (en) 2004-04-13
WO2002075350A1 (en) 2002-09-26

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Legal Events

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NUG Patent has lapsed