SE523318C2 - Kamerabaserad avstånds- och vinkelmätare - Google Patents

Kamerabaserad avstånds- och vinkelmätare

Info

Publication number
SE523318C2
SE523318C2 SE0100954A SE0100954A SE523318C2 SE 523318 C2 SE523318 C2 SE 523318C2 SE 0100954 A SE0100954 A SE 0100954A SE 0100954 A SE0100954 A SE 0100954A SE 523318 C2 SE523318 C2 SE 523318C2
Authority
SE
Sweden
Prior art keywords
angular
vehicle
reflector
image
vertical
Prior art date
Application number
SE0100954A
Other languages
English (en)
Swedish (sv)
Other versions
SE0100954D0 (sv
SE0100954L (sv
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/sv
Publication of SE0100954D0 publication Critical patent/SE0100954D0/xx
Priority to PCT/SE2002/000544 priority patent/WO2002075350A1/fr
Publication of SE0100954L publication Critical patent/SE0100954L/xx
Publication of SE523318C2 publication Critical patent/SE523318C2/sv

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
SE0100954A 2001-03-20 2001-03-20 Kamerabaserad avstånds- och vinkelmätare SE523318C2 (sv)

Priority Applications (2)

Application Number Priority Date Filing Date Title
SE0100954A SE523318C2 (sv) 2001-03-20 2001-03-20 Kamerabaserad avstånds- och vinkelmätare
PCT/SE2002/000544 WO2002075350A1 (fr) 2001-03-20 2002-03-20 Procede et dispositif permettant de determiner une position angulaire d'un reflecteur

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
SE0100954A SE523318C2 (sv) 2001-03-20 2001-03-20 Kamerabaserad avstånds- och vinkelmätare

Publications (3)

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

Family

ID=20283428

Family Applications (1)

Application Number Title Priority Date Filing Date
SE0100954A SE523318C2 (sv) 2001-03-20 2001-03-20 Kamerabaserad avstånds- och vinkelmätare

Country Status (2)

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

Families Citing this family (29)

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US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US8788092B2 (en) 2000-01-24 2014-07-22 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
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
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 (de) * 2003-08-06 2005-03-10 Siemens Ag Bestimmung der Postion eines Transportgutes durch Kombination lokaler, absoluter Positionsmessung und relativer Positionsmessung
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
DE112005000738T5 (de) 2004-03-29 2007-04-26 Evolution Robotics, Inc., Pasadena Verfahren und Vorrichtung zur Positionsbestimmung unter Verwendung von reflektierten Lichtquellen
WO2006002385A1 (fr) 2004-06-24 2006-01-05 Irobot Corporation Outil de programmation et de diagnostic pour robot mobile
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
KR101247933B1 (ko) 2005-02-18 2013-03-26 아이로보트 코퍼레이션 습식 및 건식 청소를 위한 자동 표면 청소 로봇
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
KR101300493B1 (ko) 2005-12-02 2013-09-02 아이로보트 코퍼레이션 커버리지 로봇 이동성
KR101099808B1 (ko) 2005-12-02 2011-12-27 아이로보트 코퍼레이션 로봇 시스템
US8584305B2 (en) 2005-12-02 2013-11-19 Irobot Corporation Modular robot
EP2065774B1 (fr) 2005-12-02 2013-10-23 iRobot Corporation Système de navigation pour robot autonome de couverture
US8528157B2 (en) 2006-05-19 2013-09-10 Irobot Corporation Coverage robots and associated cleaning bins
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
KR101414321B1 (ko) 2007-05-09 2014-07-01 아이로보트 코퍼레이션 자동 커버리지 로봇
EP3192419B1 (fr) 2010-02-16 2021-04-07 iRobot Corporation Brosse d'aspirateur
CN108132667B (zh) * 2017-11-21 2020-08-25 北京特种机械研究所 一种agv导航状态机

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 (ja) * 1998-12-01 2000-06-16 Tsubakimoto Chain Co 移動体位置検出方法及びその装置

Also Published As

Publication number Publication date
WO2002075350A1 (fr) 2002-09-26
SE0100954D0 (sv) 2001-03-20
SE0100954L (sv) 2002-11-08

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