WO1991009356A1 - A method and a system for navigation of unmanned vehicles - Google Patents
A method and a system for navigation of unmanned vehicles Download PDFInfo
- Publication number
- WO1991009356A1 WO1991009356A1 PCT/SE1990/000819 SE9000819W WO9109356A1 WO 1991009356 A1 WO1991009356 A1 WO 1991009356A1 SE 9000819 W SE9000819 W SE 9000819W WO 9109356 A1 WO9109356 A1 WO 9109356A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- anyone
- navigation
- measurement values
- steering
- Prior art date
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
- G05D1/0265—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using buried wires
Definitions
- the present invention refers to navigation of unmanned vehicles particularly mobile robots, and it more exactly refers to a method and a system for determining the position of such a vehicle within a predetermined area over a surface of reinforced concrete, such as e.g. the floor plane of a building.
- Older known systems of this type are based either on that the vehicle is caused to follow a fixedly installed guide loop, or on that it receives position references from extern so called beacons or markers.
- Genuine navigation systems use either a compass or inertial navigation.
- the purpose of the present invention is to provide a method for navigation of initially described vehicles, which method proffers a simple and efficient navigation, which eliminates the above mentioned drawbacks, and this has been achieved with the features defined in claim 1.
- the invention is based on the basic concept of using, instead of navigation in accordance with a particularly positioned fixed guide loop or the like, a geometric struc ⁇ ture already present in the building, which is constituted by the reinforcement of the reinforced concrete surface. It must be possible to follow this structure directly from the vehicle in such a manner that a track reference is obtained, which may be stored and repeated an unlimited number of times. With this method and system there shall be no need for mounting and trimming any additional external reference points.
- the invention furthermore refers to a navigation system for accomplishing this method and this system is characterized by the features defined in claim 2.
- Fig. 1 shows in a schematical perspective view a portion of a room in which there is an unmanned vehicle equipped with the navigation system according to the invention.
- Fig. 2 is a perspective view, which schematically illustra- tes an embodiment of the fitting of detectors to the schema ⁇ tically shown vehicle.
- Fig. 3 intimates an alternative method of application of the detectors for the schematically intimated vehicle.
- Fig. 1 shows schematically a portion of a room, e.g. an industry hall 1.
- Each concrete surface, i.e. particularly the floor 2 has a reinforcement incorporating a specific pattern of reinforcing irons 3, often in the shape of a bar pattern.
- the reinforcing irons 3 are made from a standardi- zed ferromagnetic material.
- All reinforcement is made in accordance with especially established rules and its positions may not vary outside approved tolerances. This shall be controlled prior to the pouring of the concrete.
- the reinforcement thus forms an ferromagnetic system of coordinates, which according to the present invention is utilized as a navigational basis for an unmanned vehicle 4, which can be driven on the floor within the space limited by the walls.
- the reinforcing irons are furthermore provided closer to each other, whereby a more strong ferromagnetic field is obtained in the vicinity of such objects 5,6 et ⁇ cetera, impeding the motion of the vehicle 4, and which can be utilized for the orientation of the vehicle, whereby collisions furthermore may be avoided and the manoeuvra ⁇ bility may be improved, particularly at corners.
- the starting point for each memorized track is a ferromagnetic reference marking of particular geometry, which is embedded in the concrete.
- Fig. 2 is shown in perspective the configuration of detectors 7,8,9,10 applied on the intimated vehicle 4, and which might be four Hall-elements, or other types of magne- tic field detectors or other detectors for contact-free measurement of the presence of metal, arranged in pairs opposed to each other and adapted to detect the pattern formed by the reinforcing irons 3x and 3y resp., arranged in x and y directions.
- the distance 7-8 between the pairs of opposed detectors 7, 8 thereby is distinctly bigger than the distance 9-10 between the detectors 9, 10.
- On a concrete surface having a substantially symmetrical bar pattern reinforcement in this manner is obtained a possibility of measuring at least four parameters, such as direction, speed, density and level in relation to the base.
- Fig. 1 On a concrete surface having a substantially symmetrical bar pattern reinforcement in this manner is obtained a possibility of measuring at least four parameters, such as direction, speed, density and level in relation to the base.
- FIG. 3 is illustrated schematically in perspective a vehicle 4 wherein it is illustrated how the separate detec ⁇ tor elements - here shown as lines 7a, 8a, 9a and 10a - are positioned at the outer border angles of the vehicle and are positioned outwardly from the vehicle under an angle ⁇ bigger than 90° whereby the detector will be facing obli ⁇ quely outwards/downwards, whereas its angle ⁇ is substan ⁇ tially equal to 90°.
- the outer boundaries of the detecting area 11 will be situated outside the limiting surfaces 4a of the vehicle, thus that particularly the measurement of the density increase can take place without risk for collision, whereby perpendicularly adjoining sur ⁇ faces, e.g. walls, pillars, etcetera, will partly form part of the measuring area.
- the concrete may preferably be embedded at least one ferromagnetic reference marker of a certain geometry, as a starting point for every memorized track.
- the navigation system is primarily intended for mobile robots and particularly for robot systems in the building industry.
- One example of this is so called power floats, which treat a certain area of the floor surface to be.
- power floats which treat a certain area of the floor surface to be.
- a cleaning robot then may use the same infor ⁇ mation when the building of the house has been finished.
- the invention is not limited only to robot systems but can be used for all navigation or positioning on surfa ⁇ ces or structures of reinforced concrete.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8904128-9 | 1989-12-07 | ||
SE8904128A SE465487B (en) | 1989-12-07 | 1989-12-07 | PROCEDURE AND SYSTEM FOR NAVIGATION OF UNDEMANDED VEHICLES |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1991009356A1 true WO1991009356A1 (en) | 1991-06-27 |
Family
ID=20377710
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/SE1990/000819 WO1991009356A1 (en) | 1989-12-07 | 1990-12-07 | A method and a system for navigation of unmanned vehicles |
Country Status (4)
Country | Link |
---|---|
EP (1) | EP0573410A1 (en) |
AU (1) | AU6959491A (en) |
SE (1) | SE465487B (en) |
WO (1) | WO1991009356A1 (en) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0774702A2 (en) * | 1995-11-07 | 1997-05-21 | Friendly Machines Ltd. | A boundary detection system for an automated robot |
US6255793B1 (en) | 1995-05-30 | 2001-07-03 | Friendly Robotics Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
FR2828427A1 (en) * | 2001-08-07 | 2003-02-14 | Samsung Kwangju Electronics Co | Robot cleaner, calculates travel distance and travel trajectory based on metal component detector output to regulate robot driving mechanism |
DE102017006686A1 (en) | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co Kg | System and method for operating a vehicle |
WO2018046134A1 (en) * | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co. Kg | Method and system for position capture |
DE102017215646A1 (en) * | 2017-09-06 | 2019-03-07 | Kuka Deutschland Gmbh | Method for the automatic driving of a driverless transport vehicle on a roadway of a building ceiling of a building and driverless transport vehicle |
DE102018008775A1 (en) | 2017-12-05 | 2019-06-06 | Sew-Eurodrive Gmbh & Co Kg | System with system and handset and method of operating a system |
Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0142594A1 (en) * | 1983-10-26 | 1985-05-29 | Automax Kabushiki Kaisha | Control system for mobile robot |
-
1989
- 1989-12-07 SE SE8904128A patent/SE465487B/en not_active IP Right Cessation
-
1990
- 1990-12-07 WO PCT/SE1990/000819 patent/WO1991009356A1/en not_active Application Discontinuation
- 1990-12-07 AU AU69594/91A patent/AU6959491A/en not_active Abandoned
- 1990-12-07 EP EP91900971A patent/EP0573410A1/en not_active Withdrawn
Patent Citations (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0142594A1 (en) * | 1983-10-26 | 1985-05-29 | Automax Kabushiki Kaisha | Control system for mobile robot |
Non-Patent Citations (1)
Title |
---|
PATENT ABSTRACTS OF JAPAN, Vol. 9, No. 239, P391, Abstract of JP,A,60 093 523, publ 1985-05-25 HITACHI SEISAKUSHO K.K. * |
Cited By (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6255793B1 (en) | 1995-05-30 | 2001-07-03 | Friendly Robotics Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
US6417641B2 (en) | 1995-05-30 | 2002-07-09 | Friendly Robotics Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
US6850024B2 (en) | 1995-05-30 | 2005-02-01 | F Robotics Acquisitions Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
US6984952B2 (en) | 1995-05-30 | 2006-01-10 | F Robotics Acquisitions Ltd. | Navigation method and system for autonomous machines with markers defining the working area |
EP0774702A2 (en) * | 1995-11-07 | 1997-05-21 | Friendly Machines Ltd. | A boundary detection system for an automated robot |
EP0774702A3 (en) * | 1995-11-07 | 1997-08-06 | Friendly Machines Ltd | A boundary detection system for an automated robot |
FR2828427A1 (en) * | 2001-08-07 | 2003-02-14 | Samsung Kwangju Electronics Co | Robot cleaner, calculates travel distance and travel trajectory based on metal component detector output to regulate robot driving mechanism |
DE10157016A1 (en) * | 2001-08-07 | 2003-03-27 | Samsung Kwangju Electronics Co | Robot cleaner, calculates travel distance and travel trajectory based on metal component detector output to regulate robot driving mechanism |
US6841963B2 (en) | 2001-08-07 | 2005-01-11 | Samsung Gwangju Electronics Co., Ltd. | Robot cleaner, system thereof and method for controlling same |
DE10157016B4 (en) * | 2001-08-07 | 2006-12-21 | Samsung Kwangju Electronics Co., Ltd. | Cleaning robot, robot cleaning system and method for controlling such a cleaning robot |
DE102017006686A1 (en) | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co Kg | System and method for operating a vehicle |
WO2018046134A1 (en) * | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co. Kg | Method and system for position capture |
WO2018046135A1 (en) | 2016-09-12 | 2018-03-15 | Sew-Eurodrive Gmbh & Co. Kg | System and method for guiding a vehicle |
CN109564431A (en) * | 2016-09-12 | 2019-04-02 | 索尤若驱动有限及两合公司 | For guiding the system and method for vehicle |
US11092969B2 (en) | 2016-09-12 | 2021-08-17 | Sew-Eurodrive Gmbh & Co. Kg | System and method for operating a vehicle |
US11092687B2 (en) | 2016-09-12 | 2021-08-17 | Sew-Eurodrive Gmbh & Co. Kg | Method and system for position capture |
CN109564431B (en) * | 2016-09-12 | 2022-12-02 | 索尤若驱动有限及两合公司 | System and method for guiding a vehicle |
US11619735B2 (en) | 2016-09-12 | 2023-04-04 | Sew-Eurodrive Gmbh & Co. Kg | Method and system for position capture |
DE102017215646A1 (en) * | 2017-09-06 | 2019-03-07 | Kuka Deutschland Gmbh | Method for the automatic driving of a driverless transport vehicle on a roadway of a building ceiling of a building and driverless transport vehicle |
WO2019048302A1 (en) * | 2017-09-06 | 2019-03-14 | Kuka Deutschland Gmbh | Method for automatically driving a driverless transport vehicle on a track on a ceiling of a building, and driverless transport vehicle |
DE102018008775A1 (en) | 2017-12-05 | 2019-06-06 | Sew-Eurodrive Gmbh & Co Kg | System with system and handset and method of operating a system |
WO2019110143A2 (en) | 2017-12-05 | 2019-06-13 | Sew-Eurodrive Gmbh & Co. Kg | System comprising an installation and mobile part, and method for operating a system |
Also Published As
Publication number | Publication date |
---|---|
SE8904128L (en) | 1991-06-08 |
EP0573410A1 (en) | 1993-12-15 |
SE8904128D0 (en) | 1989-12-07 |
SE465487B (en) | 1991-09-16 |
AU6959491A (en) | 1991-07-18 |
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