WO2003096052A3 - Vorrichtung zur lokalisierung mit festen und/oder veränderlichen landmarken - Google Patents

Vorrichtung zur lokalisierung mit festen und/oder veränderlichen landmarken Download PDF

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Publication number
WO2003096052A3
WO2003096052A3 PCT/DE2003/001371 DE0301371W WO03096052A3 WO 2003096052 A3 WO2003096052 A3 WO 2003096052A3 DE 0301371 W DE0301371 W DE 0301371W WO 03096052 A3 WO03096052 A3 WO 03096052A3
Authority
WO
WIPO (PCT)
Prior art keywords
environment
determining
landmarks
information data
fixed
Prior art date
Application number
PCT/DE2003/001371
Other languages
English (en)
French (fr)
Other versions
WO2003096052A2 (de
Inventor
Bernhard Ober
Gisbert Lawitzky
Original Assignee
Siemens Ag
Bernhard Ober
Gisbert Lawitzky
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 Siemens Ag, Bernhard Ober, Gisbert Lawitzky filed Critical Siemens Ag
Priority to EP03749835A priority Critical patent/EP1504279A2/de
Publication of WO2003096052A2 publication Critical patent/WO2003096052A2/de
Publication of WO2003096052A3 publication Critical patent/WO2003096052A3/de
Priority to US10/984,871 priority patent/US20050149256A1/en

Links

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
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/0276—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

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Navigation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Die Erfindung betrifft eine Vorrichtung (1) zur Positionsbestimmung in einer Umgebung und zur Ermittlung und Aktualisierung von Landmarken (5 und 6) mittels die Umgebung beschreibenden Informationsdaten (3). Die Vorrichtung weist ein Navigationssystem (2) zur Ermittlung einer Eigenposition in der Umgebung auf. Veränderungen von beweglichen Landmarken (5) durch die Vorrichtung (1) werden von selbiger registriert und die Umgebung beschreibenden Informationsdaten (3) werden verändert. Über Sende- und Empfangsvorrichtungen (7, 9, 10 und 11) kann die Vorrichtung (1) mit einer Basiseinheit (8) Informationsdaten über die Umgebung austauschen.
PCT/DE2003/001371 2002-05-10 2003-04-29 Vorrichtung zur lokalisierung mit festen und/oder veränderlichen landmarken WO2003096052A2 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP03749835A EP1504279A2 (de) 2002-05-10 2003-04-29 Vorrichtung zur lokalisierung mit festen und/oder veranderlichen landmarken
US10/984,871 US20050149256A1 (en) 2002-05-10 2004-11-10 Device for determining the position by means of fixed and/or variable landmarks

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10220936A DE10220936A1 (de) 2002-05-10 2002-05-10 Vorrichtung zur Lokalisierung mit festen und/oder veränderlichen Landmarken
DE10220936.7 2002-05-10

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US10/984,871 Continuation US20050149256A1 (en) 2002-05-10 2004-11-10 Device for determining the position by means of fixed and/or variable landmarks

Publications (2)

Publication Number Publication Date
WO2003096052A2 WO2003096052A2 (de) 2003-11-20
WO2003096052A3 true WO2003096052A3 (de) 2004-02-12

Family

ID=29413740

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2003/001371 WO2003096052A2 (de) 2002-05-10 2003-04-29 Vorrichtung zur lokalisierung mit festen und/oder veränderlichen landmarken

Country Status (3)

Country Link
EP (1) EP1504279A2 (de)
DE (1) DE10220936A1 (de)
WO (1) WO2003096052A2 (de)

Families Citing this family (20)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102004001198A1 (de) * 2004-01-07 2005-08-04 Daimlerchrysler Ag Verfahren zur Überwachung des Lagerzustandes mittels einem sehenden autonomen Transportfahrzeug
DE102004047130B4 (de) * 2004-09-27 2012-07-26 Andreas Stopp Umgebungsmodellierung für autonome mobile Systeme
DE102007021693A1 (de) * 2007-05-09 2008-11-13 Götting jun., Hans-Heinrich, Dipl.-Ing. (FH) Hilfssystem zur Lagebestimmung eines Fahrzeugs
AT509438A1 (de) 2010-01-18 2011-08-15 Zeno Track Gmbh Verfahren und system zum erfassen der position eines fahrzeuges in einem definierten bereich
US8508590B2 (en) 2010-03-02 2013-08-13 Crown Equipment Limited Method and apparatus for simulating a physical environment to facilitate vehicle operation and task completion
US8538577B2 (en) 2010-03-05 2013-09-17 Crown Equipment Limited Method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles
CN107272678B (zh) 2011-04-11 2020-11-06 克朗设备公司 使用经协调路径规划器有效调度多个自动非完整车辆的方法和设备
US8655588B2 (en) 2011-05-26 2014-02-18 Crown Equipment Limited Method and apparatus for providing accurate localization for an industrial vehicle
US8548671B2 (en) 2011-06-06 2013-10-01 Crown Equipment Limited Method and apparatus for automatically calibrating vehicle parameters
US8594923B2 (en) * 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
US8589012B2 (en) * 2011-06-14 2013-11-19 Crown Equipment Limited Method and apparatus for facilitating map data processing for industrial vehicle navigation
US20130054129A1 (en) * 2011-08-26 2013-02-28 INRO Technologies Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US20140058634A1 (en) 2012-08-24 2014-02-27 Crown Equipment Limited Method and apparatus for using unique landmarks to locate industrial vehicles at start-up
US20130060461A1 (en) * 2011-09-07 2013-03-07 INRO Technologies Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
US9056754B2 (en) 2011-09-07 2015-06-16 Crown Equipment Limited Method and apparatus for using pre-positioned objects to localize an industrial vehicle
EP2711880B1 (de) * 2012-09-24 2021-06-23 KNAPP Systemintegration GmbH Verfahren und Vorrichtung zur Kommissionierung von Waren in einem Warenlager
US10353395B2 (en) 2016-09-26 2019-07-16 X Development Llc Identification information for warehouse navigation
DE102017105086A1 (de) * 2017-03-10 2018-09-13 Valeo Schalter Und Sensoren Gmbh Aktualisieren einer Landmarkenkarte
DE102017011768A1 (de) * 2017-12-19 2019-06-19 Kuka Deutschland Gmbh Navigieren einer Roboteranordnung mithilfe einer Sensoranordnung
DE102019128253B4 (de) * 2019-10-18 2024-06-06 StreetScooter GmbH Verfahren zum Navigieren eines Flurförderzeugs

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4324531C1 (de) * 1993-07-21 1994-12-01 Siemens Ag Verfahren zur Erstellung einer Umgebungskarte und zur Bestimmung einer Eigenposition in der Umgebung durch eine selbstbewegliche Einheit
US5525883A (en) * 1994-07-08 1996-06-11 Sara Avitzour Mobile robot location determination employing error-correcting distributed landmarks
US5793934A (en) * 1994-06-22 1998-08-11 Siemens Aktiengesellschaft Method for the orientation, route planning and control of an autonomous mobile unit

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US5202832A (en) * 1991-01-29 1993-04-13 R. R. Donnelley & Sons Co. Material handling automation system using portable transfer module
DE10007864A1 (de) * 2000-02-21 2001-08-30 Wittenstein Gmbh & Co Kg Verfahren zum Erkennen, Bestimmen, Lokalisieren zumindest eines beliebigen Gegenstandes und/oder Raumes

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4324531C1 (de) * 1993-07-21 1994-12-01 Siemens Ag Verfahren zur Erstellung einer Umgebungskarte und zur Bestimmung einer Eigenposition in der Umgebung durch eine selbstbewegliche Einheit
US5793934A (en) * 1994-06-22 1998-08-11 Siemens Aktiengesellschaft Method for the orientation, route planning and control of an autonomous mobile unit
US5525883A (en) * 1994-07-08 1996-06-11 Sara Avitzour Mobile robot location determination employing error-correcting distributed landmarks

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
CHENG G ET AL: "Real-time visual behaviours for navigating a mobile robot", INTELLIGENT ROBOTS AND SYSTEMS '96, IROS 96, PROCEEDINGS OF THE 1996 LEEE/RSJ INTERNATIONAL CONFERENCE ON OSAKA, JAPAN 4-8 NOV. 1996, NEW YORK, NY, USA,IEEE, US, PAGE(S) 973-980, ISBN: 0-7803-3213-X, XP010212420 *
HU H ET AL: "A transputer network for real-time control of an intelligent mobile robot", CONTROL APPLICATIONS, 1994., PROCEEDINGS OF THE THIRD IEEE CONFERENCE ON GLASGOW, UK 24-26 AUG. 1994, NEW YORK, NY, USA,IEEE, PAGE(S) 1049-1054, ISBN: 0-7803-1872-2, XP010130961 *

Also Published As

Publication number Publication date
EP1504279A2 (de) 2005-02-09
DE10220936A1 (de) 2003-12-04
WO2003096052A2 (de) 2003-11-20

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