SE465487B - PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLES - Google Patents
PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLESInfo
- Publication number
- SE465487B SE465487B SE8904128A SE8904128A SE465487B SE 465487 B SE465487 B SE 465487B SE 8904128 A SE8904128 A SE 8904128A SE 8904128 A SE8904128 A SE 8904128A SE 465487 B SE465487 B SE 465487B
- Authority
- SE
- Sweden
- Prior art keywords
- vehicle
- measured values
- detectors
- detector
- concrete
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 11
- 230000002787 reinforcement Effects 0.000 claims description 9
- 239000004567 concrete Substances 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 6
- 230000005294 ferromagnetic effect Effects 0.000 claims description 5
- 239000011150 reinforced concrete Substances 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000005291 magnetic effect Effects 0.000 claims description 3
- 239000002184 metal Substances 0.000 claims description 2
- 238000006073 displacement reaction Methods 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000001739 density measurement Methods 0.000 claims 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
Classifications
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Description
15 20 25 30 35 465 487 2 Denna struktur skall kunna följas direkt från fordonet på så sätt att man erhåller en banreferens, som kan armering. lagras och repeteras ett obegränsat antal gånger. Genom detta förfarande och system skall inga tillkommande särskil- da yttre referenspunkter behöva monteras och intrimmas. 15 20 25 30 35 465 487 2 It must be possible to follow this structure directly from the vehicle in such a way as to obtain a track reference which can be reinforced. stored and repeated an unlimited number of times. Through this procedure and system, no additional special external reference points need to be fitted and trimmed.
Uppfinningen avser också ett navigeringssystem för genom- förande av detta förfarande och detta system kännetecknas genom i patentkrav 2 angivna särdrag.The invention also relates to a navigation system for carrying out this method and this system is characterized by the features stated in claim 2.
Uppfinningen kommer i det följande att närmare beskrivas under hänvisning till i bifogade åskådliggjorda lösningar.The invention will be described in more detail below with reference to the solutions illustrated in the accompanying.
Fig. l visar i en schematisk perspektivbild en del av ett rum i vilket finns ett förarlöst fordon försett med navige- ringssystemet enligt uppfinningen.Fig. 1 shows in a schematic perspective view a part of a room in which there is a driverless vehicle provided with the navigation system according to the invention.
Fig. 2 är en perspektivvy, som schematiskt visar ett ut- förande av appliceringen av detektorer till det schematiskt visade fordonet.Fig. 2 is a perspective view schematically showing an embodiment of the application of detectors to the schematically shown vehicle.
Fig. 3 antyder ett alternativt appliceringssätt för detekto- rer till det schematiskt antydda fordonet.Fig. 3 indicates an alternative method of application for detectors to the schematically indicated vehicle.
Fig. 1 visar schematiskt en del av ett rum t.ex. en indust- rilokal 1. Varje betongyta, d.v.s. i synnerhet golvet 2 har en armering innefattar ett bestämt mönster av armeringsjärn 3, oftast i form av ett rutmönster. Armeringsjärnen 3 är av ett standardiserat ferromagnetiskt material.Fig. 1 schematically shows a part of a room e.g. an industrial premises 1. Any concrete surface, i.e. in particular the floor 2 has a reinforcement comprising a specific pattern of rebar 3, usually in the form of a checkerboard pattern. The reinforcing bars 3 are made of a standardized ferromagnetic material.
All armering sker efter särskilt fastställda regler och dess lägen får ej variera utöver godkända toleranser. Detta skall kontrolleras innan betongen gjutes. Armeringen bildar sálun- da ett ferromagnetiskt koordinatsystem, som enligt förelig- gande uppfinning utnyttjas som navigeringsbasis för ett obe- mannat fordon 4, som är körbart på golvet inom det av väg- garna begränsade utrymmet. I närheten av angränsande väggar 5 och hàltagningar 6 i golvet liksom vid eventuella pelare är dessutom armeringsjärnen anordnade tätare, varför man i närheten av sådana för fordonets 4 framfart hindrande före- 10 15 20 25 30 35 465 487 3 mål 5,6 o.s.v., får ett starkare ferromagnetiskt fält, som kan utnyttjas för fordonets orientering, varigenom vidare kollisoner kan undvikas och manöverförmågan, i synnehet i hörn förbättras.All reinforcement takes place according to specially established rules and its positions must not vary beyond approved tolerances. This must be checked before the concrete is cast. The reinforcement thus forms a ferromagnetic coordinate system, which according to the present invention is used as a navigation base for an unmanned vehicle 4, which is drivable on the floor within the space limited by the walls. In the vicinity of adjacent walls 5 and hollow recesses 6 in the floor as well as in the case of possible pillars, the reinforcement bars are also arranged more densely, so that in the vicinity of such obstacles 56, etc., which obstruct the movement of the vehicle 4, a stronger ferromagnetic field, which can be used for the orientation of the vehicle, whereby further collisions can be avoided and the maneuverability, in particular in corners, is improved.
Genom föreliggande uppfinning erhålles alltså ett system, som bygger på utnyttjandet av en befintlig geometrisk struk- tur. Denna struktur kan följas direkt från fordonet och man erhåller då en banreferens, som kan lagras och återupprepas.The present invention thus provides a system based on the utilization of an existing geometric structure. This structure can be followed directly from the vehicle and a track reference is then obtained, which can be stored and repeated.
Inga särskilda yttre referenser behöver installeras och intrimmas.No special external references need to be installed and trimmed.
Det kan dock vara av fördel att utgångspunkten för varje memorerad bana utgöres av en i betongen ingjuten ferromagne- tisk referensmarkering av bestämd geometri.However, it may be advantageous for the starting point for each memorized path to consist of a ferromagnetic reference mark of cast geometry cast in the concrete.
I Fig. 2 visas i perspektiv en konfiguration av på det an- tydda fordonet 4 applicerade detektorer 7, 8, 9 och 10, vilka t.ex. utgöres av fyra Hall-element, eller andra typer av magnetfältsdetektorer eller andra detektorer för berö- ringsfri mätning av förekomst av metall, anordnade parvis motstående varandra och inrättade att detektera det mönster som bildas av de i x- och y-led anordnade armeringsjärn 3x resp. 3y. Avståndet 7-8 mellan de parvis motstàende detekto- rerna 7,8 är därvid distinkt större än avståndet 9-10 mellan detektorerna 9,10. På detta sätt får man på en betongyta med huvudsakligen symmetrisk rutnätsarmering möjlighet att mäta minst fyra parametrar, såsom riktning, hastighet, densitet och nivå i förhållande till underlaget.Fig. 2 shows in perspective a configuration of detectors 7, 8, 9 and 10 applied to the indicated vehicle 4, which e.g. consists of four Hall elements, or other types of magnetic field detectors or other detectors for non-contact measurement of the presence of metal, arranged in pairs opposite each other and arranged to detect the pattern formed by the rebar 3x and y-direction 3x, respectively. . 3y. The distance 7-8 between the pairwise opposite detectors 7,8 is then distinctly greater than the distance 9-10 between the detectors 9,10. In this way, on a concrete surface with mainly symmetrical grid reinforcement, it is possible to measure at least four parameters, such as direction, speed, density and level in relation to the substrate.
I Fig. 3 illustreras schematiskt i perspektiv ett fordon 4 där det illustreras hur de enskilda detektorelementen - här visade som linjerna 7a, 8a, 9a och l0a - är placerade vid fordonets yttre begränsningsvinklar och är vinklade ut från fordonet under en vinkel a större än 90” varigenom detektorn kommer att vara riktad snett utåt/neråt, medan dess vinkel B är väsentligen lika med 90°. På detta sätt kommer detekte- 10 15 20 25 465 487 4 ringsomràdets ll ytterkonturer att befinna sig utanför for- donets begränsningsytor 4a så att i synnerhet densitets- ökningsmätning kan ske utan risk för kollision, varvid vin- kelrätt anslutande ytor, t.ex. väggar, pelare o.s.v. då delvis ingår i mätomrádet.Fig. 3 schematically illustrates in perspective a vehicle 4 where it is illustrated how the individual detector elements - shown here as lines 7a, 8a, 9a and 10a - are located at the outer limiting angles of the vehicle and are angled out of the vehicle at an angle α greater than 90 °. "Whereby the detector will be directed obliquely outwards / downwards, while its angle B is substantially equal to 90 °. In this way, the outer contours of the detection area 11 will be outside the boundary surfaces 4a of the vehicle so that in particular density increase measurement can take place without risk of collision, whereby perpendicularly connecting surfaces, e.g. walls, pillars, etc. then partly included in the measurement area.
I betongen kan lämpligen vara ingjutet minst en ferromagne- tisk referensmarkering av bestämd geometri, som utgångspunkt för varje memorerad bana.At least one ferromagnetic reference mark of a certain geometry may be embedded in the concrete, as a starting point for each memorized path.
Navigeringssystemet är främst avsett för mobila robotar och då särskilt robotsystem inom byggnadsindustrin. Ett exempel härpà är så kallade glättningsmaskiner, som bearbetar ett bestämt område på en blivande golvyta. När väl inlärning av armeringsmönstret är avklarat kan detta utgöra bas för alla bangenereringar över samma golvyta i framtiden. En städrobot kan då t.ex. utnyttja samma information när huset är färdig- byggt - Även andra typer av fordon, t.ex. förarlösa truckar kan an- vända samma navigeringssystem och då blir besparingarna stora jämfört med installation av fasta slingsystem.The navigation system is primarily intended for mobile robots and especially robot systems in the construction industry. An example of this is so-called smoothing machines, which work a specific area on a future floor surface. Once learning of the reinforcement pattern is completed, this can form the basis for all bangenerations over the same floor surface in the future. A cleaning robot can then e.g. use the same information when the house is completed - Also other types of vehicles, e.g. Driverless trucks can use the same navigation system and then the savings will be large compared with the installation of fixed loop systems.
Uppfinningen är därför ej begränsad till enbart robotsystem utan kan användas för all navigering eller positionering på ytor eller strukturer av armerad betong. .wThe invention is therefore not limited to only robot systems but can be used for all navigation or positioning on surfaces or structures of reinforced concrete. .w
Claims (11)
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8904128A SE465487B (en) | 1989-12-07 | 1989-12-07 | PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLES |
EP91900971A EP0573410A1 (en) | 1989-12-07 | 1990-12-07 | A method and a system for navigation of unmanned vehicles |
AU69594/91A AU6959491A (en) | 1989-12-07 | 1990-12-07 | A method and a system for navigation of unmanned vehicles |
PCT/SE1990/000819 WO1991009356A1 (en) | 1989-12-07 | 1990-12-07 | A method and a system for navigation of unmanned vehicles |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8904128A SE465487B (en) | 1989-12-07 | 1989-12-07 | PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLES |
Publications (3)
Publication Number | Publication Date |
---|---|
SE8904128D0 SE8904128D0 (en) | 1989-12-07 |
SE8904128L SE8904128L (en) | 1991-06-08 |
SE465487B true SE465487B (en) | 1991-09-16 |
Family
ID=20377710
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
SE8904128A SE465487B (en) | 1989-12-07 | 1989-12-07 | PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLES |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0573410A1 (en) |
AU (1) | AU6959491A (en) |
SE (1) | SE465487B (en) |
WO (1) | WO1991009356A1 (en) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
IL113913A (en) | 1995-05-30 | 2000-02-29 | Friendly Machines Ltd | Navigation method and system |
EP0774702B1 (en) * | 1995-11-07 | 2001-10-10 | Friendly Robotics Ltd. | A boundary detection system for an automated robot |
KR100420171B1 (en) * | 2001-08-07 | 2004-03-02 | 삼성광주전자 주식회사 | Robot cleaner and system therewith and method of driving thereof |
DE102017006686A1 (en) | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co Kg | System and method for operating a vehicle |
DE102017006684A1 (en) | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co Kg | Method and system for position detection |
DE102017215646A1 (en) * | 2017-09-06 | 2019-03-07 | Kuka Deutschland Gmbh | Method for the automatic driving of a driverless transport vehicle on a roadway of a building ceiling of a building and driverless transport vehicle |
EP3721260A2 (en) | 2017-12-05 | 2020-10-14 | Sew-Eurodrive GmbH & Co. KG | System comprising an installation and mobile part, and method for operating a system |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4674048A (en) * | 1983-10-26 | 1987-06-16 | Automax Kabushiki-Kaisha | Multiple robot control system using grid coordinate system for tracking and completing travel over a mapped region containing obstructions |
-
1989
- 1989-12-07 SE SE8904128A patent/SE465487B/en not_active IP Right Cessation
-
1990
- 1990-12-07 AU AU69594/91A patent/AU6959491A/en not_active Abandoned
- 1990-12-07 WO PCT/SE1990/000819 patent/WO1991009356A1/en not_active Application Discontinuation
- 1990-12-07 EP EP91900971A patent/EP0573410A1/en not_active Withdrawn
Also Published As
Publication number | Publication date |
---|---|
AU6959491A (en) | 1991-07-18 |
SE8904128D0 (en) | 1989-12-07 |
WO1991009356A1 (en) | 1991-06-27 |
EP0573410A1 (en) | 1993-12-15 |
SE8904128L (en) | 1991-06-08 |
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