BR0208112A - Método e dispositivo para determinar a posição de um aparelho autÈnomo - Google Patents
Método e dispositivo para determinar a posição de um aparelho autÈnomoInfo
- Publication number
- BR0208112A BR0208112A BR0208112-1A BR0208112A BR0208112A BR 0208112 A BR0208112 A BR 0208112A BR 0208112 A BR0208112 A BR 0208112A BR 0208112 A BR0208112 A BR 0208112A
- Authority
- BR
- Brazil
- Prior art keywords
- actual
- travel modes
- determining
- turning angle
- autonomous
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 238000004364 calculation method Methods 0.000 abstract 2
- 238000006073 displacement reaction Methods 0.000 abstract 1
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
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
-
- 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
- G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
"MéTODO E DISPOSITIVO PARA DETERMINAR A POSIçãO DE UM APARELHO AUTÈNOMO". A presente invenção descreve um dispositivo para determinar a posição (50) para um aparelho autónomo (1). O dispositivo para determinação de posição (50) compreende meios (54) para dividir o deslocamento do aparelho autónomo (1), com base nas velocidades de rotação das rodas motrizes (17, 18), em diferentes modos de deslocamento (40a-40u), nos quais a largura de trilhamento real (30) do aparelho é substancialmente constante. O dispositivo (50) compreende ainda meios de calibração da largura de trilhamento real (30) para cada um dos modos de deslocamento (40a-40u). Os meios de calibração operam um método de cálculo, no qual o aparelho (1) é alinhado em uma direção inicial e gira em um dos modos de deslocamento (40a-40u). O ângulo de giro total real do aparelho (1) é medido em juntamente com as rotações das rodas motrizes (17, 18). O cálculo da largura de trilhamento real (30) é realizado com base neste ângulo de giro total real e nas rotações das rodas.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE0100925A SE518683C2 (sv) | 2001-03-15 | 2001-03-15 | Förfarande och anordning för positionsbestämning av en autonom apparat |
PCT/SE2002/000420 WO2002075469A1 (en) | 2001-03-15 | 2002-03-07 | Method and device for determining position of an autonomous apparatus |
Publications (2)
Publication Number | Publication Date |
---|---|
BR0208112A true BR0208112A (pt) | 2004-03-02 |
BRPI0208112B1 BRPI0208112B1 (pt) | 2015-09-01 |
Family
ID=20283398
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
BRPI0208112-1A BRPI0208112B1 (pt) | 2001-03-15 | 2002-03-07 | Método e dispositivo para determinar a posição de um aparelho autônomo e método para calibrar um dispositivo de posicionamento de um aparelho autônomo |
Country Status (8)
Country | Link |
---|---|
US (1) | US7248951B2 (pt) |
EP (1) | EP1368715B1 (pt) |
AT (1) | ATE313821T1 (pt) |
BR (1) | BRPI0208112B1 (pt) |
CA (1) | CA2441076A1 (pt) |
DE (1) | DE60208164T2 (pt) |
SE (1) | SE518683C2 (pt) |
WO (1) | WO2002075469A1 (pt) |
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-
2001
- 2001-03-15 SE SE0100925A patent/SE518683C2/sv not_active IP Right Cessation
-
2002
- 2002-03-07 BR BRPI0208112-1A patent/BRPI0208112B1/pt not_active IP Right Cessation
- 2002-03-07 DE DE60208164T patent/DE60208164T2/de not_active Expired - Lifetime
- 2002-03-07 US US10/471,665 patent/US7248951B2/en not_active Expired - Lifetime
- 2002-03-07 CA CA002441076A patent/CA2441076A1/en not_active Abandoned
- 2002-03-07 AT AT02704006T patent/ATE313821T1/de not_active IP Right Cessation
- 2002-03-07 EP EP02704006A patent/EP1368715B1/en not_active Expired - Lifetime
- 2002-03-07 WO PCT/SE2002/000420 patent/WO2002075469A1/en not_active Application Discontinuation
Also Published As
Publication number | Publication date |
---|---|
US7248951B2 (en) | 2007-07-24 |
EP1368715A1 (en) | 2003-12-10 |
SE518683C2 (sv) | 2002-11-05 |
US20040193339A1 (en) | 2004-09-30 |
WO2002075469A1 (en) | 2002-09-26 |
DE60208164D1 (de) | 2006-01-26 |
DE60208164T2 (de) | 2006-08-24 |
SE0100925L (sv) | 2002-09-16 |
BRPI0208112B1 (pt) | 2015-09-01 |
ATE313821T1 (de) | 2006-01-15 |
CA2441076A1 (en) | 2002-09-26 |
EP1368715B1 (en) | 2005-12-21 |
SE0100925D0 (sv) | 2001-03-15 |
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