ATE446537T1 - Verfahren und vorrichtung zum bestimmen der position einer vielzahl anonymer referenzobjekte in einem mobilen oberflächentransportsystem - Google Patents

Verfahren und vorrichtung zum bestimmen der position einer vielzahl anonymer referenzobjekte in einem mobilen oberflächentransportsystem

Info

Publication number
ATE446537T1
ATE446537T1 AT97918461T AT97918461T ATE446537T1 AT E446537 T1 ATE446537 T1 AT E446537T1 AT 97918461 T AT97918461 T AT 97918461T AT 97918461 T AT97918461 T AT 97918461T AT E446537 T1 ATE446537 T1 AT E446537T1
Authority
AT
Austria
Prior art keywords
reference objects
determining
bearings
transport system
mobile
Prior art date
Application number
AT97918461T
Other languages
English (en)
Inventor
Karl-Erik Astroem
Original Assignee
Danaher Motion Saeroe Ab
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 Danaher Motion Saeroe Ab filed Critical Danaher Motion Saeroe Ab
Application granted granted Critical
Publication of ATE446537T1 publication Critical patent/ATE446537T1/de

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
    • G05D1/0231—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

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Electromagnetism (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Conveyors (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Discharge Of Articles From Conveyors (AREA)
  • Sorting Of Articles (AREA)
AT97918461T 1996-04-15 1997-04-15 Verfahren und vorrichtung zum bestimmen der position einer vielzahl anonymer referenzobjekte in einem mobilen oberflächentransportsystem ATE446537T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE9601440A SE9601440D0 (sv) 1996-04-15 1996-04-15 Förfarande för positionsbestämning av ett flertal fasta objekt
PCT/SE1997/000634 WO1997039394A1 (en) 1996-04-15 1997-04-15 A method for determining the positions of a plurality of anonymous fixed reference objects for mobile surface transportation and a device for determining said positions

Publications (1)

Publication Number Publication Date
ATE446537T1 true ATE446537T1 (de) 2009-11-15

Family

ID=20402213

Family Applications (1)

Application Number Title Priority Date Filing Date
AT97918461T ATE446537T1 (de) 1996-04-15 1997-04-15 Verfahren und vorrichtung zum bestimmen der position einer vielzahl anonymer referenzobjekte in einem mobilen oberflächentransportsystem

Country Status (8)

Country Link
US (1) US6012003A (de)
EP (1) EP0900416B1 (de)
JP (1) JP4067567B2 (de)
AT (1) ATE446537T1 (de)
AU (1) AU2656097A (de)
DE (1) DE69739628D1 (de)
SE (1) SE9601440D0 (de)
WO (1) WO1997039394A1 (de)

Families Citing this family (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3316841B2 (ja) * 1998-08-06 2002-08-19 村田機械株式会社 無人搬送車システム
US6369879B1 (en) 2000-10-24 2002-04-09 The Regents Of The University Of California Method and apparatus for determining the coordinates of an object
US6504605B1 (en) 2000-10-24 2003-01-07 The Regents Of The University Of California Method and apparatus for determining the coordinates of an object
KR100624387B1 (ko) * 2005-04-25 2006-09-20 엘지전자 주식회사 주행영역 지정이 가능한 로봇 시스템
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
EP2385435A1 (de) 2010-04-22 2011-11-09 Danaher Motion Särö AB Verfahren und System zur Erfassung von Daten
EP2508956B1 (de) 2011-04-06 2013-10-30 Kollmorgen Särö AB System und Verfahren zum Verhindern von Kollisionen
KR102041093B1 (ko) 2011-04-11 2019-11-06 크라운 이큅먼트 코포레이션 조정된 경로 계획기를 사용하는 다수의 자동화 비-홀로노믹 차량들을 효율적으로 스케줄링하는 방법 및 장치
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
US8589012B2 (en) 2011-06-14 2013-11-19 Crown Equipment Limited Method and apparatus for facilitating map data processing for industrial vehicle navigation
US8594923B2 (en) 2011-06-14 2013-11-26 Crown Equipment Limited Method and apparatus for sharing map data associated with automated industrial vehicles
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
WO2013076829A1 (ja) * 2011-11-22 2013-05-30 株式会社日立製作所 自律移動システム
EP3885787B1 (de) * 2020-03-27 2022-05-04 Sick Ag Erfassung von abstandsmessdaten
US11977391B1 (en) * 2023-04-14 2024-05-07 Jack George Lawrence, Jr. Robot navigation with obstacle detection using a distance measuring sensor

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8313339D0 (en) * 1983-05-14 1983-06-22 Gen Electric Co Plc Vehicle guidance
SE451770B (sv) 1985-09-17 1987-10-26 Hyypae Ilkka Kalevi Sett for navigering av en i ett plan rorlig farkost, t ex en truck, samt truck for utovning av settet
US4788441A (en) * 1985-12-16 1988-11-29 Acme-Cleveland Corporation Range finder wherein distance between target and source is determined by measuring scan time across a retroreflective target
US4790402A (en) * 1987-09-28 1988-12-13 Tennant Company Automated guided vehicle
EP0366350A3 (de) * 1988-10-25 1991-05-22 Tennant Company Führung eines führerlosen Fahrzeuges in Bezug auf über dem Fahrzeug angebrachte Markierungen
US4969036A (en) * 1989-03-31 1990-11-06 Bir Bhanu System for computing the self-motion of moving images devices
US4967064A (en) * 1989-06-30 1990-10-30 Tennant Company Method and apparatus for a target determining apparatus having increased range
EP0488828B1 (de) * 1990-11-30 1996-08-14 Honda Giken Kogyo Kabushiki Kaisha Steuervorrichtung für einen sich selbständig bewegenden Körper und Verfahren zur Auswertung der Daten davon
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
US5367458A (en) * 1993-08-10 1994-11-22 Caterpillar Industrial Inc. Apparatus and method for identifying scanned reflective anonymous targets

Also Published As

Publication number Publication date
US6012003A (en) 2000-01-04
JP4067567B2 (ja) 2008-03-26
SE9601440D0 (sv) 1996-04-15
EP0900416A1 (de) 1999-03-10
EP0900416B1 (de) 2009-10-21
AU2656097A (en) 1997-11-07
JP2000508766A (ja) 2000-07-11
DE69739628D1 (de) 2009-12-03
WO1997039394A1 (en) 1997-10-23

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