ES2045423T3 - Control de vehiculos automatizados. - Google Patents

Control de vehiculos automatizados.

Info

Publication number
ES2045423T3
ES2045423T3 ES89304450T ES89304450T ES2045423T3 ES 2045423 T3 ES2045423 T3 ES 2045423T3 ES 89304450 T ES89304450 T ES 89304450T ES 89304450 T ES89304450 T ES 89304450T ES 2045423 T3 ES2045423 T3 ES 2045423T3
Authority
ES
Spain
Prior art keywords
vehicle
area
reflectors
sub
numerous
Prior art date
Legal status (The legal status 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 status listed.)
Expired - Lifetime
Application number
ES89304450T
Other languages
English (en)
Inventor
Michael Philip Robins
Malcolm Thomas Roberts
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
General Electric Company PLC
Original Assignee
General Electric Company PLC
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 General Electric Company PLC filed Critical General Electric Company PLC
Application granted granted Critical
Publication of ES2045423T3 publication Critical patent/ES2045423T3/es
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/244—Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic 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
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • 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
    • 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
    • G05D1/60—Intended control result
    • G05D1/646—Following a predefined trajectory, e.g. a line marked on the floor or a flight path

Landscapes

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

Abstract

EN UN SISTEMA DE GUIADO PARA GUIAR UN VEHICULO AUTOMATICO (2, 3) EN UN AREA (18) TAL COMO UN ALMACEN, UN HAZ DE LASER PROCEDENTE DE UNA FUENTE (14,15) MONTADA SOBRE EL VEHICULO INCIDE SOBRE REFLECTORES (13) SITUADOS EN EL CONTORNO DEL AREA. CADA REFLECTOR INCORPORA UN CODIGO OPTICO QUE LO IDENTIFICA. LA LUZ LASER REFLEJADA POR LOS REFLECTORES VUELVE AL VEHICULO Y SE EMPLEA PARA CONTROLAR SU MOVIMIENTO Y DIRECCION. EL AREA ES DIVIDIDA IDEALMENTE EN UN NUMERO DE SUB-AREAS (19) IGUALES DE DIMENSIONES PREDETERMINADAS, CADA UNA CON DOS REFLECTORES CODIFICADOS DIFERENTES, POR LO MENOS. EL VEHICULO ES LLEVADO INICIALMENTE A UNA POSICION (24) DESDE LA QUE PUEDE HACER UN BARRIDO PARA INICIALIZAR LOS REFLECTORES (21,22,23) SITUADOS EN POSICIONES SELECCIONADAS DE INICIALIZACION. EL SISTEMA DE NAVEGACION DETERMINA LA POSICION INICIAL DEL VEHICULO RESPECTO DE LOS REFLECTORES DE INICIALIZACION Y, DURANTE LOS SUBSIGUIENTES MOVIMIENTOS DEL VEHICULO ALREDEDOR DEL AREA, MIDE LAS DISTANCIAS Y DIRECCIONES RECORRIDAS POR EL VEHICULO DESDE LA POSICION INICIAL POR LO QUE EL SISTEMA DE NAVEGACION PUEDE DETERMINAR EN QUE SUB-AREA SE ENCUENTRA EL VEHICULO EN CADA INSTANTE. COMO EL SISTEMA CONOCE SIEMPRE EN QUE SUB-AREA SE ENCUENTRA EL VEHICULO, NO ES NECESARIO QUE CADA REFLECTOR POSEA UN UNICO CODIGO, POR LO QUE SE TOLERA ALGUNA DUPLICACION DE CODIGOS ALREDEDOR DEL AREA, INCREMENTANDOSE CONSIGUIENTEMENTE EL NUMERO DE REFLECTORES DISPONIBLES PARA UN NUMERO DADO DE UNIDADES DE CODIGO.
ES89304450T 1988-05-13 1989-05-03 Control de vehiculos automatizados. Expired - Lifetime ES2045423T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
GB8811442A GB2218590B (en) 1988-05-13 1988-05-13 Automated vehicle control

Publications (1)

Publication Number Publication Date
ES2045423T3 true ES2045423T3 (es) 1994-01-16

Family

ID=10636904

Family Applications (1)

Application Number Title Priority Date Filing Date
ES89304450T Expired - Lifetime ES2045423T3 (es) 1988-05-13 1989-05-03 Control de vehiculos automatizados.

Country Status (8)

Country Link
US (1) US5005128A (es)
EP (1) EP0341890B1 (es)
JP (1) JP2741403B2 (es)
KR (1) KR970002256B1 (es)
DE (1) DE68908259T2 (es)
ES (1) ES2045423T3 (es)
GB (1) GB2218590B (es)
IE (1) IE60924B1 (es)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2401509A1 (es) * 2011-10-05 2013-04-22 Universidad De Almería Sistema de guiado para movimiento autónomo de vehículos en entornos estructurados.

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US5237164A (en) * 1989-05-12 1993-08-17 Sony Corporation Card having retroreflective bar codes and a magnetic stripe
JP2868847B2 (ja) * 1990-06-27 1999-03-10 本田技研工業株式会社 自走車の操向制御装置
US5281901A (en) * 1990-12-03 1994-01-25 Eaton-Kenway, Inc. Downward compatible AGV system and methods
GB2259210B (en) * 1991-08-30 1995-10-04 Marconi Gec Ltd Aircraft ground movement monitor
IL123225A (en) * 1992-01-12 1999-07-14 Israel State Large area movement robot
US5279672A (en) * 1992-06-29 1994-01-18 Windsor Industries, Inc. Automatic controlled cleaning machine
IT1272491B (it) * 1993-07-29 1997-06-23 Renato Zaccaria Metodo per il rilevamento della posizione di un veicolo mobile in un' aerea delimitata e dispositivo che realizza tale metodo
US5367458A (en) * 1993-08-10 1994-11-22 Caterpillar Industrial Inc. Apparatus and method for identifying scanned reflective anonymous targets
IL109360A0 (en) * 1994-04-20 1994-10-07 Siman Sensors & Intelligent Ma Navigation system for fast automated vehicles and mobile robots
DE69807508T2 (de) 1997-05-30 2003-02-27 British Broadcasting Corp., London Positionsbestimmung
GB2325807B (en) * 1997-05-30 2002-03-20 British Broadcasting Corp Position determination
AUPP299498A0 (en) 1998-04-15 1998-05-07 Commonwealth Scientific And Industrial Research Organisation Method of tracking and sensing position of objects
JP2001216575A (ja) * 1999-11-23 2001-08-10 Xerox Corp ユーザ操作型仮想制御システム及び方法
SE519481C2 (sv) * 2000-06-22 2003-03-04 Tts Ships Equipment Ab Anordning vid Ro-Ro fartyg
US6556598B1 (en) * 2000-07-21 2003-04-29 Self-Guided Systems, Llc Laser guidance assembly for a vehicle
RU2180311C1 (ru) * 2001-07-05 2002-03-10 Мешалкин Георгий Алексеевич Защитная пробка
US7533435B2 (en) 2003-05-14 2009-05-19 Karcher North America, Inc. Floor treatment apparatus
EP1517117A1 (de) 2003-09-22 2005-03-23 Leica Geosystems AG Verfahren und System zur Bestimmung einer Aktualposition eines Positionierungsgerätes
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8966693B2 (en) 2009-08-05 2015-03-03 Karcher N. America, Inc. Method and apparatus for extended use of cleaning fluid in a floor cleaning machine
US8224516B2 (en) 2009-12-17 2012-07-17 Deere & Company System and method for area coverage using sector decomposition
US20110153338A1 (en) * 2009-12-17 2011-06-23 Noel Wayne Anderson System and method for deploying portable landmarks
US8635015B2 (en) * 2009-12-17 2014-01-21 Deere & Company Enhanced visual landmark for localization
DE202014104780U1 (de) 2013-12-04 2014-10-29 Götting KG Fahrerloses flurgebundenes Fahrzeug
CN104515441B (zh) * 2014-12-26 2015-12-02 中国人民解放军总装备部军械技术研究所 一种涡轮保险引信性能测试起爆防护装置
US10599157B2 (en) * 2015-06-10 2020-03-24 Doog Inc. Autonomous movement system
CN105157697B (zh) * 2015-07-31 2017-05-17 天津大学 基于光电扫描的室内移动机器人位姿测量系统及测量方法
US10589931B2 (en) 2016-09-30 2020-03-17 Staples, Inc. Hybrid modular storage fetching system
US10683171B2 (en) 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
WO2018064639A1 (en) 2016-09-30 2018-04-05 Staples, Inc. Hybrid modular storage fetching system
WO2018202301A1 (de) 2017-05-04 2018-11-08 Alfred Kärcher SE & Co. KG Bodenreinigungsgerät und verfahren zum reinigen einer bodenfläche
US11084410B1 (en) 2018-08-07 2021-08-10 Staples, Inc. Automated guided vehicle for transporting shelving units
US11590997B1 (en) 2018-08-07 2023-02-28 Staples, Inc. Autonomous shopping cart
US11630447B1 (en) 2018-08-10 2023-04-18 Staples, Inc. Automated guided vehicle for transporting objects
US11180069B2 (en) 2018-12-31 2021-11-23 Staples, Inc. Automated loading of delivery vehicles using automated guided vehicles
US11119487B2 (en) 2018-12-31 2021-09-14 Staples, Inc. Automated preparation of deliveries in delivery vehicles using automated guided vehicles
USD907868S1 (en) 2019-01-24 2021-01-12 Karcher North America, Inc. Floor cleaner
US11124401B1 (en) 2019-03-31 2021-09-21 Staples, Inc. Automated loading of delivery vehicles
CN110262474B (zh) * 2019-05-06 2022-04-05 深圳市恒天伟焱科技股份有限公司 一种激光导引小车行进线路的自动控制系统及方法

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US4225226A (en) * 1978-12-29 1980-09-30 Spectra-Physics, Inc. Laser guidance system for crop spraying aircraft
GB2143395B (en) * 1983-05-14 1986-08-06 Gen Electric Co Plc Vehicle guidance and control system
US4700301A (en) * 1983-11-02 1987-10-13 Dyke Howard L Method of automatically steering agricultural type vehicles
US4716530A (en) * 1984-05-21 1987-12-29 Kabushiki Kaisha Meidensha System for automatically controlling movement of unmanned vehicle and method therefor
US4670648A (en) * 1985-03-06 1987-06-02 University Of Cincinnati Omnidirectional vision system for controllng mobile machines
JP2661661B2 (ja) * 1985-08-30 1997-10-08 テキサス インスツルメンツ インコーポレイテッド 誘導および操縦のための遅延絶対位置データの移動車両制御装置の利用
US4796198A (en) * 1986-10-17 1989-01-03 The United States Of America As Represented By The United States Department Of Energy Method for laser-based two-dimensional navigation system in a structured environment

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ES2401509A1 (es) * 2011-10-05 2013-04-22 Universidad De Almería Sistema de guiado para movimiento autónomo de vehículos en entornos estructurados.

Also Published As

Publication number Publication date
GB2218590A (en) 1989-11-15
EP0341890A2 (en) 1989-11-15
US5005128A (en) 1991-04-02
JP2741403B2 (ja) 1998-04-15
JPH0256611A (ja) 1990-02-26
EP0341890B1 (en) 1993-08-11
GB2218590B (en) 1992-05-20
GB8811442D0 (en) 1988-06-15
EP0341890A3 (en) 1990-12-19
KR970002256B1 (ko) 1997-02-26
IE891430L (en) 1989-11-13
DE68908259T2 (de) 1993-11-25
IE60924B1 (en) 1994-09-07
KR900018778A (ko) 1990-12-22
DE68908259D1 (de) 1993-09-16

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