ES2183470T3 - Vehiculo autopropulsado. - Google Patents

Vehiculo autopropulsado.

Info

Publication number
ES2183470T3
ES2183470T3 ES99122846T ES99122846T ES2183470T3 ES 2183470 T3 ES2183470 T3 ES 2183470T3 ES 99122846 T ES99122846 T ES 99122846T ES 99122846 T ES99122846 T ES 99122846T ES 2183470 T3 ES2183470 T3 ES 2183470T3
Authority
ES
Spain
Prior art keywords
vehicle
data
self
path
distance
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
ES99122846T
Other languages
English (en)
Inventor
Gunther Dr Bail
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.)
Bail GmbH
Original Assignee
Bail GmbH
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 Bail GmbH filed Critical Bail GmbH
Application granted granted Critical
Publication of ES2183470T3 publication Critical patent/ES2183470T3/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
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/02—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using radio waves
    • G01S1/08—Systems for determining direction or position line
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • 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
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
    • 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
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS
    • 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
    • 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
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • 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
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • 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
    • G05D1/246—Arrangements for determining position or orientation using environment maps, e.g. simultaneous localisation and mapping [SLAM]
    • 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
    • G05D1/247—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
    • G05D1/248—Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons generated by satellites, e.g. GPS
    • 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
    • G05D1/617—Safety or protection, e.g. defining protection zones around obstacles or avoiding hazards
    • G05D1/622—Obstacle avoidance
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B29/00—Maps; Plans; Charts; Diagrams, e.g. route diagram
    • G09B29/10—Map spot or coordinate position indicators; Map reading aids
    • G09B29/106—Map spot or coordinate position indicators; Map reading aids using electronic means
    • 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
    • G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
    • 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
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2101/00—Details of software or hardware architectures used for the control of position
    • G05D2101/10—Details of software or hardware architectures used for the control of position using artificial intelligence [AI] techniques
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/20—Acoustic signals, e.g. ultrasonic signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Theoretical Computer Science (AREA)
  • Educational Technology (AREA)
  • Business, Economics & Management (AREA)
  • Mathematical Physics (AREA)
  • Educational Administration (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Transition And Organic Metals Composition Catalysts For Addition Polymerization (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Steering-Linkage Mechanisms And Four-Wheel Steering (AREA)
  • Power Steering Mechanism (AREA)
  • Photoreceptors In Electrophotography (AREA)
  • Seal Device For Vehicle (AREA)
  • Acyclic And Carbocyclic Compounds In Medicinal Compositions (AREA)
  • Vehicle Body Suspensions (AREA)
  • Non-Silver Salt Photosensitive Materials And Non-Silver Salt Photography (AREA)
  • Traffic Control Systems (AREA)

Abstract

Sistema para el mando de un vehículo autopropulsado, caracterizado por los siguientes pasos: a) en la memoria de datos del vehículo se introducen los datos de posición de un trayecto seleccionado desde un lugar inicial a uno de destino; b) el vehículo recorre después automáticamente el trayecto predefinido, en el que b1) en un punto de partida recibe de un sistema de posicionamiento, la correspondiente señal actual de posición, compara esta con la posición almacenada del lugar inicial, y cuando los datos de posición no coinciden calcula a partir de estos la dirección y distancia al lugar inicial, y recorre este trayecto, y b2) acto seguido recibe datos sucesivos actuales de posición, y calcula para cada uno, la dirección y distancia a la siguiente posición almacenada, y recorre el trayecto correspondiente.
ES99122846T 1999-11-17 1999-11-17 Vehiculo autopropulsado. Expired - Lifetime ES2183470T3 (es)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP99122846A EP1065579B1 (de) 1999-11-17 1999-11-17 Selbstfahrendes Fahrzeug

Publications (1)

Publication Number Publication Date
ES2183470T3 true ES2183470T3 (es) 2003-03-16

Family

ID=8239413

Family Applications (1)

Application Number Title Priority Date Filing Date
ES99122846T Expired - Lifetime ES2183470T3 (es) 1999-11-17 1999-11-17 Vehiculo autopropulsado.

Country Status (22)

Country Link
US (1) US6834220B1 (es)
EP (1) EP1065579B1 (es)
JP (1) JP2003515209A (es)
KR (1) KR20020068538A (es)
AT (1) ATE223080T1 (es)
AU (1) AU766338B2 (es)
CA (1) CA2391089A1 (es)
CZ (1) CZ20021609A3 (es)
DE (2) DE59902469D1 (es)
DK (1) DK1065579T3 (es)
ES (1) ES2183470T3 (es)
HR (1) HRP20020415A2 (es)
HU (1) HUP0203758A2 (es)
MX (1) MXPA02004927A (es)
NO (1) NO20022373L (es)
NZ (1) NZ518890A (es)
PL (1) PL356107A1 (es)
PT (1) PT1065579E (es)
RU (1) RU2244337C2 (es)
SI (1) SI1065579T1 (es)
SK (1) SK6652002A3 (es)
WO (1) WO2001037059A1 (es)

Families Citing this family (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4456855B2 (ja) * 2003-12-08 2010-04-28 富士重工業株式会社 車両の走行制御装置
US7953526B2 (en) * 2006-01-18 2011-05-31 I-Guide Robotics, Inc. Robotic vehicle controller
US8239083B2 (en) 2006-01-18 2012-08-07 I-Guide Robotics, Inc. Robotic vehicle controller
US20080027599A1 (en) * 2006-07-28 2008-01-31 James Logan Autonomous vehicle and systems and methods for the operation thereof
US20080228384A1 (en) * 2007-03-17 2008-09-18 Erickson Clinton W Navigational system for a personal mobility device
FR2945724B1 (fr) * 2009-05-22 2012-11-16 Gen Electric Appareil a rayons x
US8744664B2 (en) 2009-09-07 2014-06-03 Bae Systems Plc Path determination
EP2330472A1 (en) * 2009-09-07 2011-06-08 BAE Systems PLC Path determination
US9383751B2 (en) 2013-12-12 2016-07-05 Medicraft Holdings (Taiwan) Co., Ltd. Self operable wheelchair
TWI542339B (zh) * 2013-12-12 2016-07-21 dun-ji Li Wheelchair equipment and systems for self care
CN105982682A (zh) * 2015-02-12 2016-10-05 上海西门子医疗器械有限公司 移动式x-光检查设备
US10197999B2 (en) * 2015-10-16 2019-02-05 Lemmings, Llc Robotic golf caddy
WO2025111145A1 (en) * 2023-11-22 2025-05-30 The Toro Company Autonomous ground care machine field coverage method

Family Cites Families (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB8313338D0 (en) * 1983-05-14 1983-06-22 Gen Electric Co Plc Vehicle control
JPS60204012A (ja) * 1983-11-24 1985-10-15 Toyota Central Res & Dev Lab Inc 無人車の走行指令装置
US5367456A (en) * 1985-08-30 1994-11-22 Texas Instruments Incorporated Hierarchical control system for automatically guided vehicles
MC1829A1 (fr) * 1985-10-15 1988-03-18 Reinhard Knepper Hans Procede et appareillage de commande automatique d'un vehicule de travail
JPH0684891B2 (ja) * 1989-08-24 1994-10-26 俊雄 築城 ナビゲーション装置及び方法
US5204814A (en) * 1990-11-13 1993-04-20 Mobot, Inc. Autonomous lawn mower
US5276618A (en) * 1992-02-26 1994-01-04 The United States Of America As Represented By The Secretary Of The Navy Doorway transit navigational referencing system
JPH06301418A (ja) * 1992-10-08 1994-10-28 Takeshi Miura ゴルフカート走行誘導法
DE4433750C1 (de) * 1994-09-22 1995-12-14 Bail Guenther Führungssystem für ein selbstfahrendes Fahrzeug mit getrennter, mobiler Sendereinrichtung und Verfahren zum Steuern des Fahrzeugs
JPH08293093A (ja) * 1995-04-20 1996-11-05 Fujitsu General Ltd 情報蓄積型自動車用道案内システム
US5897603A (en) * 1997-06-23 1999-04-27 Caterpillar Inc. Method for determining the relationship between the heading of a machine and the course of machine travel
US5999865A (en) * 1998-01-29 1999-12-07 Inco Limited Autonomous vehicle guidance system
JP3869108B2 (ja) * 1998-02-23 2007-01-17 株式会社小松製作所 無人車両の干渉予測装置および無人車両の誘導走行方法
JP2000029517A (ja) * 1998-07-10 2000-01-28 Fuji Heavy Ind Ltd 自律走行車の走行制御装置

Also Published As

Publication number Publication date
NO20022373D0 (no) 2002-05-16
DK1065579T3 (da) 2002-12-30
NZ518890A (en) 2005-04-29
DE59902469D1 (de) 2002-10-02
CA2391089A1 (en) 2001-05-25
WO2001037059A1 (de) 2001-05-25
HRP20020415A2 (en) 2003-08-31
EP1065579A1 (de) 2001-01-03
PL356107A1 (pl) 2004-06-14
MXPA02004927A (es) 2003-10-14
AU766338B2 (en) 2003-10-16
AU2347001A (en) 2001-05-30
JP2003515209A (ja) 2003-04-22
HUP0203758A2 (en) 2003-03-28
RU2244337C2 (ru) 2005-01-10
PT1065579E (pt) 2003-01-31
EP1065579B1 (de) 2002-08-28
NO20022373L (no) 2002-07-04
DE10083544D2 (de) 2002-10-31
CZ20021609A3 (cs) 2002-09-11
KR20020068538A (ko) 2002-08-27
SI1065579T1 (en) 2003-10-31
ATE223080T1 (de) 2002-09-15
SK6652002A3 (en) 2002-11-06
RU2002115872A (ru) 2004-03-20
US6834220B1 (en) 2004-12-21

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