WO2012136555A1 - Dispositif pour la localisation et la navigation de véhicules autonomes et procédé pour l'exploitation desdits véhicules - Google Patents

Dispositif pour la localisation et la navigation de véhicules autonomes et procédé pour l'exploitation desdits véhicules Download PDF

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Publication number
WO2012136555A1
WO2012136555A1 PCT/EP2012/055610 EP2012055610W WO2012136555A1 WO 2012136555 A1 WO2012136555 A1 WO 2012136555A1 EP 2012055610 W EP2012055610 W EP 2012055610W WO 2012136555 A1 WO2012136555 A1 WO 2012136555A1
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WO
WIPO (PCT)
Prior art keywords
vehicles
units
route
computing
autonomous vehicles
Prior art date
Application number
PCT/EP2012/055610
Other languages
German (de)
English (en)
Inventor
Wolfgang Trumler
Original Assignee
Siemens Aktiengesellschaft
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 Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2012136555A1 publication Critical patent/WO2012136555A1/fr

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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
    • G05D1/0276—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

Definitions

  • the invention relates to a device for localization and navigation of simple and inexpensive autonomous vehicles.
  • the vehicles are often routed through rails. Some of these are laid in the form of metal rails in the ground or, for example, applied to the floor as colored markings, often in the form of lines.
  • the autonomous vehicle can keep track of these rails, there is no possibility of navigation and localization of the vehicles.
  • additional systems usually with a simultaneous increase in the "intelligence" or the autonomous capabilities of the vehicles. If very many cost-effective autonomous vehicles are to be used, as could be the case, for example, when carrying luggage or goods at an airport, the costs for the additional sensor and localization systems are unfavorable due to the high number of units.
  • the autonomous vehicles for route planning must be aware of their current position.
  • the position is calculated using an a-priori known map and a localization system.
  • the Vorwerk company presented the "Thinking Carpet" in 2004.
  • the floor should be equipped with sensors connected to a central computer to help people in different situations as well. For example, in this way, people can be warned when they enter a security area. Or an emergency service can be alerted if integrated pressure sensors detect that a person is lying on the ground.
  • the object underlying the invention is now to provide a device for localization and navigation of autonomous vehicles, in which the autonomous vehicles with regard to the cost of localization and
  • the invention relates generally to a device for locating and navigating autonomous vehicles in the form of an "intelligent lane", wherein the "intelligence" of the vehicles and the environment is shifted into a band for marking the route.
  • the overall system is relatively fault-tolerant and, on the one hand, enables a very simple installation and a simple change of lanes during operation and, on the other hand, relatively simple autonomous vehicles, which only have to be able to follow the intelligent lane autonomously or cost-effective vehicles, which also lack further localization. require navigation or navigation systems.
  • Localization and navigation is possible without having to relate to the actual position of a vehicle in the real world, and for routing the vehicles it is not necessary to correlate the current position of a vehicle with the position of the vehicle in the real world autonomous vehicle does not even have to own a map of its surroundings.
  • Figure 1 is an illustration of a schematic structure of a device according to the invention with several processing units
  • Figure 2 is a representation of the device according to the invention in the range of a single processing unit with power supply and communication lines
  • Figure 3 is a representation for explaining the structure of a branch.
  • Figure 1 shows a device in the form of a band for marking the course of the route, wherein the band a computing units b and communication / power supply connections o and wherein the band is composed of at least one lower layer, an intermediate layer and a top layer, the are arranged one above the other so that the arithmetic units and the lines for the
  • a lowermost layer may be an adhesive layer with which the tape can be fixed to the floor during installation.
  • FIG. 2 shows the device in the region of a single arithmetic unit 2 with voltage supply lines 5 and communication lines 6, these elements being incorporated in band a or here 1 as described above. Through the supply lines 5, the arithmetic unit 2 is supplied with the necessary energy.
  • the physical communication path 6, which can be carried out either as a single-wire or multi-wire solution, serves adjacent computing units as the communication medium.
  • Communication lines are designed so that only adjacent computing units communicate with each other.
  • the computing unit 2 comprises a microcontroller 3 and a radio module 4, e.g. an RFID or MSIBand module.
  • a radio module e.g. an RFID or MSIBand module.
  • the microcontroller 3 assumes the calculation of the local navigation information for an autonomous vehicle, taking into account the information of the neighboring computing units.
  • the radio module is responsible for communication with the autonomous vehicles.
  • the communication between the vehicle and the computing unit can advantageously be limited to a few data.
  • the vehicle transmits its destination to a respective node, that is to say the computing unit closest to it geographically.
  • the respective node then sends the vehicle the most suitable route for the vehicle.
  • the best routes to a destination are constantly recalculated by all accounts based on the current situation.
  • it is possible to respond very quickly and flexibly to changed load situations on certain routes, for example by offering alternative routes for vehicles in order to distribute the load as evenly as possible while at the same time maximizing the throughput.
  • the tape For laying the tape, for example, the tape is unrolled from a roll and laid on the floor. This first results in a linear arrangement of the arithmetic units, in which two arithmetic units adjacent to each other in the band can communicate with each other. In addition, on the basis of such a band also branches or merges are possible.
  • Figure 3 shows an example of the structure of such a branch, with a second band la on the
  • first band 1 is laid and by pressing a respective contact pin 7, for example in the form of a matching needle, on the power lines 5 and the communication line 6, a physical connection between three or more adjacent computing units 2 is made.
  • Laying the tape or the "intelligent lane" creates a virtual topology in which neighboring computation units, ie nodes of a network, can communicate with one another, whereby certain nodes can be defined as target accounts by assigning particular importance to them. is shown. By propagating this information from one node to the next, the computing units are able to make local decisions in each case as to how an autonomous vehicle can travel from the current node to a desired destination.
  • neighboring computation units ie nodes of a network
  • the topology is built by the arithmetic units, each arithmetic unit asking its neighbors which targets are reachable via this heg.
  • the list of targets that can be reached via a node can be stored here as a positive or negative list.
  • a node has more than two direct neighbors, which it can query for the achievable targets.
  • the localization of an autonomous vehicle is done by communication between a computing unit and
  • both the autonomous vehicle and the band or the "intelligent lane" each have a radio module, e.g. an RFID module, by means of which both can exchange information with one another. It suffices if the autonomous vehicle transmits its ID and its searched destination to the node. On the basis of this information and the locally available target tables, the arithmetic unit can make a decision as to which way a vehicle should go if it is at a junction.
  • a radio module e.g. an RFID module
  • neighboring nodes or computation units exchange information when a vehicle has transmitted its data to the node, further interesting information can be obtained therefrom.
  • it can be the
  • Speed of the vehicle are calculated, the distance between vehicles or the total occupancy of a route, which in turn can be used as valuable information for the routing of the vehicles.
  • the routing of the autonomous vehicles takes over the tape or the "intelligent lane" by the vehicle per Radio module tells which is the most appropriate way to reach the destination you are looking for. Different information can be used in the calculation of this information, such as the average speed, the number of vehicles or the availability of overtaking lanes on certain routes, etc.
  • the vehicle itself need only be able to follow the "smart lane” and junctions and junctions to recognize and use properly.
  • the respectively adjacent computing nodes are connected to one another by a communication line, whereby information can be exchanged with the direct neighbor.
  • the connections of the communication lines to the arithmetic units are physically designed so that in case of failure of a computing unit, the communication line is "looped through”. This creates a direct physical connection to the next but one node, which then takes over the task of the previous neighbor. This creates a fault-tolerant infrastructure that also allows the failure or the deliberate shutdown of multiple nodes.
  • the arithmetic units recognize the failure of another arithmetic unit in that incoming messages of the neighboring node suddenly have a different ID than before. If a node fails on a route without a turn, there is no major change.
  • the virtual topology and the current position of the autonomous vehicles are queried and visualized by connecting an external communication unit.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

L'invention concerne essentiellement un dispositif pour la localisation et la navigation de véhicules autonomes, sous la forme d'une « piste de conduite intelligente », l'« intelligence » étant transférée des véhicules et de l'environnement dans une bande de marquage du tracé du trajet. L'ensemble du système est relativement tolérant en matière d'erreur et permet d'une part une installation très simple et une modification simple des pistes de conduite en service, et d'autre part des véhicules autonomes relativement simples qui doivent seulement suivre d'eux-mêmes la piste de conduite intelligente, ou des véhicules de coût avantageux qui ne nécessitent pas d'autres systèmes de localisation ou de navigation. Un domaine d'application typique est le transport des bagages ou des marchandises sur un aéroport.
PCT/EP2012/055610 2011-04-08 2012-03-29 Dispositif pour la localisation et la navigation de véhicules autonomes et procédé pour l'exploitation desdits véhicules WO2012136555A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011007040.0 2011-04-08
DE102011007040A DE102011007040A1 (de) 2011-04-08 2011-04-08 Vorrichtung zur Lokalisierung und Navigation von autonomen Fahrzeugen und Verfahren zu deren Betrieb

Publications (1)

Publication Number Publication Date
WO2012136555A1 true WO2012136555A1 (fr) 2012-10-11

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PCT/EP2012/055610 WO2012136555A1 (fr) 2011-04-08 2012-03-29 Dispositif pour la localisation et la navigation de véhicules autonomes et procédé pour l'exploitation desdits véhicules

Country Status (2)

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DE (1) DE102011007040A1 (fr)
WO (1) WO2012136555A1 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017147802A1 (fr) * 2016-03-02 2017-09-08 吴伟民 Procédé et système de conduite automatique pour véhicule
WO2020182146A1 (fr) * 2019-03-13 2020-09-17 锥能机器人（上海）有限公司 Système robotique, système de cartographie et procédé pour carte de navigation robotique

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009031019A1 (de) 2009-06-29 2010-12-30 Siemens Aktiengesellschaft System und Verfahren zur Bereitstellung von personalisierter Navigationsinformation

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102009031019A1 (de) 2009-06-29 2010-12-30 Siemens Aktiengesellschaft System und Verfahren zur Bereitstellung von personalisierter Navigationsinformation

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
FRANCO MAZZENGA ET AL: "Applications of Smart Tagged RFID Tapes for Localization Services in Historical and Cultural Heritage Environments", ENABLING TECHNOLOGIES: INFRASTRUCTURES FOR COLLABORATIVE ENTERPRISES (WETICE), 2010 19TH IEEE INTERNATIONAL WORKSHOP ON, IEEE, PISCATAWAY, NJ, USA, 28 June 2010 (2010-06-28), pages 186 - 191, XP031727444, ISBN: 978-1-4244-7216-1 *
KAEMPKE ET AL: "RFID navigation of service robots on smart floors", PROCEEDINGS : ASER 06, 3RD INTERNATIONAL WORKSHOP ON ADVANCES IN SERVICE ROBOTICS, IRB VERLAG, STUTTGART, DE, 7 July 2006 (2006-07-07), pages 1 - 11, XP009152288, ISBN: 978-3-8167-7198-2 *

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2017147802A1 (fr) * 2016-03-02 2017-09-08 吴伟民 Procédé et système de conduite automatique pour véhicule
WO2020182146A1 (fr) * 2019-03-13 2020-09-17 锥能机器人（上海）有限公司 Système robotique, système de cartographie et procédé pour carte de navigation robotique
CN111693046A (zh) * 2019-03-13 2020-09-22 锥能机器人（上海）有限公司 机器人系统和机器人导航地图建图系统及方法

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