WO1985005474A1 - Vehicle control and guidance system - Google Patents

Vehicle control and guidance system Download PDF

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Publication number
WO1985005474A1
WO1985005474A1 PCT/GB1984/000352 GB8400352W WO8505474A1 WO 1985005474 A1 WO1985005474 A1 WO 1985005474A1 GB 8400352 W GB8400352 W GB 8400352W WO 8505474 A1 WO8505474 A1 WO 8505474A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
heading
incremental
bearing
target
Prior art date
Application number
PCT/GB1984/000352
Other languages
English (en)
French (fr)
Inventor
Peter Joseph Reeve
Michael Philip Robins
Malcolm Thomas Roberts
Original Assignee
The General Electric Company, P.L.C.
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 The General Electric Company, P.L.C. filed Critical The General Electric Company, P.L.C.
Priority to DE3490712A priority Critical patent/DE3490712C2/de
Priority to KR1019860700022A priority patent/KR920008053B1/ko
Publication of WO1985005474A1 publication Critical patent/WO1985005474A1/en
Priority to SE8600169A priority patent/SE457023B/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
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons
    • G05D1/0236—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons in combination with a laser
    • 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
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
PCT/GB1984/000352 1984-05-16 1984-10-19 Vehicle control and guidance system WO1985005474A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE3490712A DE3490712C2 (de) 1984-05-16 1984-10-19 Fahrzeugsteuerungs- und -leitsystem
KR1019860700022A KR920008053B1 (ko) 1984-05-16 1984-10-19 차량 제어 및 유도 시스템
SE8600169A SE457023B (sv) 1984-05-16 1986-01-15 System foer att styra och leda ett fordon

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
GB08412425A GB2158965B (en) 1984-05-16 1984-05-16 Driverless vehicle
GB8412425 1984-05-16

Publications (1)

Publication Number Publication Date
WO1985005474A1 true WO1985005474A1 (en) 1985-12-05

Family

ID=10561015

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/GB1984/000352 WO1985005474A1 (en) 1984-05-16 1984-10-19 Vehicle control and guidance system

Country Status (10)

Country Link
JP (1) JPS61502149A (ja)
KR (1) KR920008053B1 (ja)
CA (1) CA1230399A (ja)
CH (1) CH667930A5 (ja)
DE (2) DE3490712T1 (ja)
FR (1) FR2564614B1 (ja)
GB (1) GB2158965B (ja)
IE (1) IE55783B1 (ja)
SE (1) SE457023B (ja)
WO (1) WO1985005474A1 (ja)

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986007142A1 (en) * 1985-05-30 1986-12-04 Robert Bosch Gmbh Navigation process for vehicles
EP0403390A1 (fr) * 1989-06-16 1990-12-19 Commissariat A L'energie Atomique Procédé de création et de suivi d'une trajectoire pour un véhicule tel qu'un robot
EP0457064A1 (de) * 1990-05-14 1991-11-21 Siemens Aktiengesellschaft Verfahren zur Steuerung mobiler Systeme
US5483455A (en) * 1992-09-08 1996-01-09 Caterpillar Inc. Method and apparatus for determining the location of a vehicle
GB2353909A (en) * 1999-08-28 2001-03-07 John Alfred Cawkwell Robot positioning and obstacle sensing
AU2012201565B2 (en) * 2011-03-18 2015-11-12 The Raymond Corporation Mast and integral display mount for a material handling vehicle
CN105573321A (zh) * 2016-01-05 2016-05-11 国家电网公司 一种基于激光轨道的变电站巡检机器人导航方法
CN109564430A (zh) * 2016-07-29 2019-04-02 日本电产株式会社 移动体引导系统、移动体、引导装置以及计算机程序
US11840436B2 (en) 2019-04-02 2023-12-12 The Raymond Corporation Mast and supplementary object detection system for a material handling vehicle

Families Citing this family (36)

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GB8501012D0 (en) * 1985-01-16 1985-02-20 Gen Electric Co Plc Automated vehicle drift correction
GB2174512A (en) * 1985-05-01 1986-11-05 John Bell Computer controlled apparatus
US4817000A (en) * 1986-03-10 1989-03-28 Si Handling Systems, Inc. Automatic guided vehicle system
DE3709627A1 (de) * 1987-03-24 1988-10-13 Fraunhofer Ges Forschung Selbstfahrendes fahrzeug
JP2707546B2 (ja) * 1987-05-06 1998-01-28 日産自動車株式会社 車両の操舵制御装置
JP2676737B2 (ja) * 1987-06-26 1997-11-17 日産自動車株式会社 車両の操舵制御装置
JPS647110A (en) * 1987-06-29 1989-01-11 Nissan Motor Steering controller for vehicle
US5663879A (en) * 1987-11-20 1997-09-02 North American Philips Corporation Method and apparatus for smooth control of a vehicle with automatic recovery for interference
JP3002206B2 (ja) * 1989-06-22 2000-01-24 神鋼電機株式会社 移動ロボットの走行制御方法
WO1991009375A1 (en) * 1989-12-11 1991-06-27 Caterpillar Inc. Integrated vehicle positioning and navigation system, apparatus and method
US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
US5187664A (en) 1990-11-27 1993-02-16 Eaton-Kenway, Inc. Proportional position-sensing system for an automatic guided vehicle
US5127486A (en) * 1990-11-23 1992-07-07 Eaton-Kenway, Inc. System for sensing arrival of an automatic guided vehicle at a wire
US5175415A (en) 1990-11-27 1992-12-29 Eaton-Kenway, Inc. Combination drive-wheel mechanism and travel-sensor mechanism
JP2802560B2 (ja) * 1992-02-24 1998-09-24 本田技研工業株式会社 移動体の操向制御装置
US5539646A (en) * 1993-10-26 1996-07-23 Hk Systems Inc. Method and apparatus for an AGV inertial table having an angular rate sensor and a voltage controlled oscillator
ZA957639B (en) * 1994-10-24 1996-05-24 Caterpillar Inc System and method for precisely determining an operating point for an autonomous vehicle
US5916285A (en) * 1995-10-18 1999-06-29 Jervis B. Webb Company Method and apparatus for sensing forward, reverse and lateral motion of a driverless vehicle
US6092010A (en) * 1997-09-03 2000-07-18 Jervis B. Webb Company Method and system for describing, generating and checking non-wire guidepaths for automatic guided vehicles
KR19990049291A (ko) * 1997-12-12 1999-07-05 정몽규 차량 유도 신호 공급장치
DE19938345C1 (de) * 1999-08-13 2001-02-15 Isocom Automationssysteme Gmbh Verfahren und Vorrichtung zur Erfassung der Position von einem Fahrzeug in einem vorgegebenen Bereich, insbesondere einer Lagereinrichtung, sowie Lagerverwaltungsverfahren und -system
US6721638B2 (en) * 2001-05-07 2004-04-13 Rapistan Systems Advertising Corp. AGV position and heading controller
DE10148976A1 (de) * 2001-10-04 2003-04-30 Overmeyer Ludger Transpondergestütztes Fahrzeug- und Transportleitsystem
DE10344528A1 (de) * 2003-09-25 2005-04-28 Volkswagen Ag Verfahren zur Prüfung und/oder Einstellung eines fertig montierten Fahrzeuges
US7980808B2 (en) 2004-05-03 2011-07-19 Jervis B. Webb Company Automatic transport loading system and method
US8075243B2 (en) 2004-05-03 2011-12-13 Jervis B. Webb Company Automatic transport loading system and method
US8192137B2 (en) 2004-05-03 2012-06-05 Jervis B. Webb Company Automatic transport loading system and method
TW200540089A (en) 2004-05-03 2005-12-16 Webb Int Co Jerwis B Automatic transport loading system and method
US8210791B2 (en) 2004-05-03 2012-07-03 Jervis B. Webb Company Automatic transport loading system and method
KR100883520B1 (ko) * 2007-07-23 2009-02-13 한국전자통신연구원 실내 환경지도 작성 시스템 및 방법
US20140176714A1 (en) * 2012-12-26 2014-06-26 Automotive Research & Test Center Collision prevention warning method and device capable of tracking moving object
DE102014204983A1 (de) * 2014-03-18 2015-09-24 Robert Bosch Gmbh Steuergerät und Verfahren zur Positionsbestimmung eines Fahrzeugs
DE102014007794A1 (de) 2014-05-24 2014-10-23 Daimler Ag Verfahren zum Betrieb eines Fahrzeugleitsystems
ES2905317T3 (es) * 2015-02-05 2022-04-07 Grey Orange Pte Ltd Aparato y método para la compensación de trayectos de navegación
GB2574448A (en) * 2018-06-07 2019-12-11 Jaguar Land Rover Ltd Apparatus and method controlling a process
CN111026125B (zh) * 2019-12-26 2023-10-10 上海信耀电子有限公司 一种自动导航小车自动纠偏方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2722222A1 (de) * 1976-08-31 1978-03-09 Komatsu Mfg Co Ltd Steuersystem fuer ein unbemanntes arbeitsfahrzeug
US4347573A (en) * 1978-10-30 1982-08-31 The Singer Company Land-vehicle navigation system
FR2526181A1 (fr) * 1982-04-30 1983-11-04 Traitement Information Tech Nl Installation de transport automatique par chariots autonomes, et chariots autonomes pour une telle installation

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3003287A1 (de) * 1979-02-05 1980-08-14 Volvo Ab Selbststeuerndes fahrzeug
DE2925656A1 (de) * 1979-06-26 1981-01-15 Blaupunkt Werke Gmbh Verfahren und vorrichtung zur zielfuehrung von landfahrzeugen
JPS57182209A (en) * 1981-04-30 1982-11-10 Mitsubishi Electric Corp Traveling error correcting device of unattended carrying vehicle
JPS58144214A (ja) * 1982-02-19 1983-08-27 Kubota Ltd テイ−チング・プレイバツク方式の自動走行車輌

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2722222A1 (de) * 1976-08-31 1978-03-09 Komatsu Mfg Co Ltd Steuersystem fuer ein unbemanntes arbeitsfahrzeug
US4347573A (en) * 1978-10-30 1982-08-31 The Singer Company Land-vehicle navigation system
FR2526181A1 (fr) * 1982-04-30 1983-11-04 Traitement Information Tech Nl Installation de transport automatique par chariots autonomes, et chariots autonomes pour une telle installation

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
Le Nouvel Automatisme, vol. 28, no. 36, March 1983 (Paris, FR) H. Place et al.: "Qu'en est-il des robots mobiles", pages 52-60 *

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1986007142A1 (en) * 1985-05-30 1986-12-04 Robert Bosch Gmbh Navigation process for vehicles
EP0403390A1 (fr) * 1989-06-16 1990-12-19 Commissariat A L'energie Atomique Procédé de création et de suivi d'une trajectoire pour un véhicule tel qu'un robot
FR2648581A1 (fr) * 1989-06-16 1990-12-21 Commissariat Energie Atomique Procede de creation et de suivi d'une trajectoire pour un vehicule tel qu'un robot
EP0457064A1 (de) * 1990-05-14 1991-11-21 Siemens Aktiengesellschaft Verfahren zur Steuerung mobiler Systeme
US5483455A (en) * 1992-09-08 1996-01-09 Caterpillar Inc. Method and apparatus for determining the location of a vehicle
GB2353909B (en) * 1999-08-28 2004-03-17 John Alfred Cawkwell Robot positioning and motion mechanism
GB2353909A (en) * 1999-08-28 2001-03-07 John Alfred Cawkwell Robot positioning and obstacle sensing
AU2012201565B2 (en) * 2011-03-18 2015-11-12 The Raymond Corporation Mast and integral display mount for a material handling vehicle
US9278839B2 (en) 2011-03-18 2016-03-08 The Raymond Corporation Mast and integral display mount for a material handling vehicle
US9434585B2 (en) 2011-03-18 2016-09-06 The Raymond Corporation Mast and integral display mount for a material handling vehicle
CN105573321A (zh) * 2016-01-05 2016-05-11 国家电网公司 一种基于激光轨道的变电站巡检机器人导航方法
CN109564430A (zh) * 2016-07-29 2019-04-02 日本电产株式会社 移动体引导系统、移动体、引导装置以及计算机程序
CN109564430B (zh) * 2016-07-29 2022-07-12 日本电产株式会社 移动体引导系统、移动体、引导装置以及计算机程序
US11460864B2 (en) 2016-07-29 2022-10-04 Nidec Corporation Moving body guidance system, moving body, guidance device, and computer program
US11840436B2 (en) 2019-04-02 2023-12-12 The Raymond Corporation Mast and supplementary object detection system for a material handling vehicle

Also Published As

Publication number Publication date
DE3490712T1 (de) 1986-09-18
GB2158965B (en) 1988-05-18
SE8600169D0 (sv) 1986-01-15
JPS61502149A (ja) 1986-09-25
KR920008053B1 (ko) 1992-09-21
DE3490712C2 (de) 1996-09-19
FR2564614A1 (fr) 1985-11-22
KR860700161A (ko) 1986-03-31
SE8600169L (sv) 1986-01-15
GB8412425D0 (en) 1984-06-20
SE457023B (sv) 1988-11-21
IE842728L (en) 1985-11-16
FR2564614B1 (fr) 1988-12-09
IE55783B1 (en) 1991-01-16
CA1230399A (en) 1987-12-15
CH667930A5 (de) 1988-11-15
GB2158965A (en) 1985-11-20

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