DK169004B1 - Fremgangsmåde og apparat til laser-optisk navigering - Google Patents

Fremgangsmåde og apparat til laser-optisk navigering Download PDF

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Publication number
DK169004B1
DK169004B1 DK338988A DK338988A DK169004B1 DK 169004 B1 DK169004 B1 DK 169004B1 DK 338988 A DK338988 A DK 338988A DK 338988 A DK338988 A DK 338988A DK 169004 B1 DK169004 B1 DK 169004B1
Authority
DK
Denmark
Prior art keywords
reflectors
coordinate system
sensor unit
vessel
relative
Prior art date
Application number
DK338988A
Other languages
Danish (da)
English (en)
Other versions
DK338988A (da
DK338988D0 (da
Inventor
Bengt Olof Olsen
Original Assignee
Arnex Hb
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 Arnex Hb filed Critical Arnex Hb
Publication of DK338988D0 publication Critical patent/DK338988D0/da
Publication of DK338988A publication Critical patent/DK338988A/da
Application granted granted Critical
Publication of DK169004B1 publication Critical patent/DK169004B1/da

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
    • G05D1/0242—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
    • 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
    • G05D1/02—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
    • G05D1/0244—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using reflecting strips
    • 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
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0248—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means in combination with a laser

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Optics & Photonics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Navigation (AREA)
  • Optical Radar Systems And Details Thereof (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
DK338988A 1987-06-22 1988-06-21 Fremgangsmåde og apparat til laser-optisk navigering DK169004B1 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SE8702569 1987-06-22
SE8702569A SE464837B (sv) 1987-06-22 1987-06-22 Foerfarande och anordning foer laseroptisk navigering

Publications (3)

Publication Number Publication Date
DK338988D0 DK338988D0 (da) 1988-06-21
DK338988A DK338988A (da) 1988-12-23
DK169004B1 true DK169004B1 (da) 1994-07-25

Family

ID=20368922

Family Applications (1)

Application Number Title Priority Date Filing Date
DK338988A DK169004B1 (da) 1987-06-22 1988-06-21 Fremgangsmåde og apparat til laser-optisk navigering

Country Status (7)

Country Link
EP (1) EP0296405B1 (sv)
AU (1) AU613377B2 (sv)
CA (1) CA1317009C (sv)
DE (1) DE3888732T2 (sv)
DK (1) DK169004B1 (sv)
ES (1) ES2052638T3 (sv)
SE (1) SE464837B (sv)

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DE3915627A1 (de) * 1989-05-12 1990-11-15 Dornier Luftfahrt Optisches radar
FR2648581A1 (fr) * 1989-06-16 1990-12-21 Commissariat Energie Atomique Procede de creation et de suivi d'une trajectoire pour un vehicule tel qu'un robot
AU641315B2 (en) * 1991-04-11 1993-09-16 Honda Giken Kogyo Kabushiki Kaisha System for detecting the position of moving body
GB2259823A (en) * 1991-09-17 1993-03-24 Radamec Epo Limited Navigation system
NL1004450C2 (nl) * 1996-11-06 1998-05-08 Maasland Nv Inrichting voor het bewerken van grond.
US8412377B2 (en) 2000-01-24 2013-04-02 Irobot Corporation Obstacle following sensor scheme for a mobile robot
US6956348B2 (en) 2004-01-28 2005-10-18 Irobot Corporation Debris sensor for cleaning apparatus
US6690134B1 (en) 2001-01-24 2004-02-10 Irobot Corporation Method and system for robot localization and confinement
US7571511B2 (en) 2002-01-03 2009-08-11 Irobot Corporation Autonomous floor-cleaning robot
US7663333B2 (en) 2001-06-12 2010-02-16 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US8396592B2 (en) 2001-06-12 2013-03-12 Irobot Corporation Method and system for multi-mode coverage for an autonomous robot
US9128486B2 (en) 2002-01-24 2015-09-08 Irobot Corporation Navigational control system for a robotic device
US8428778B2 (en) 2002-09-13 2013-04-23 Irobot Corporation Navigational control system for a robotic device
US7332890B2 (en) 2004-01-21 2008-02-19 Irobot Corporation Autonomous robot auto-docking and energy management systems and methods
US7720554B2 (en) 2004-03-29 2010-05-18 Evolution Robotics, Inc. Methods and apparatus for position estimation using reflected light sources
JP2008508572A (ja) 2004-06-24 2008-03-21 アイロボット コーポレーション 携帯ロボットのプログラミングおよび診断ツール
US7706917B1 (en) 2004-07-07 2010-04-27 Irobot Corporation Celestial navigation system for an autonomous robot
US8972052B2 (en) 2004-07-07 2015-03-03 Irobot Corporation Celestial navigation system for an autonomous vehicle
US7620476B2 (en) 2005-02-18 2009-11-17 Irobot Corporation Autonomous surface cleaning robot for dry cleaning
US8392021B2 (en) 2005-02-18 2013-03-05 Irobot Corporation Autonomous surface cleaning robot for wet cleaning
ES2346343T3 (es) 2005-02-18 2010-10-14 Irobot Corporation Robot autonomo de limpieza de superficies para una limpieza en seco y en mojado.
US8930023B2 (en) 2009-11-06 2015-01-06 Irobot Corporation Localization by learning of wave-signal distributions
EP2816434A3 (en) 2005-12-02 2015-01-28 iRobot Corporation Autonomous coverage robot
KR101300493B1 (ko) 2005-12-02 2013-09-02 아이로보트 코퍼레이션 커버리지 로봇 이동성
EP2544065B1 (en) 2005-12-02 2017-02-08 iRobot Corporation Robot system
ES2706729T3 (es) 2005-12-02 2019-04-01 Irobot Corp Sistema de robot
EP1969438B1 (en) 2005-12-02 2009-09-09 iRobot Corporation Modular robot
EP2394553B1 (en) 2006-05-19 2016-04-20 iRobot Corporation Removing debris from cleaning robots
US8417383B2 (en) 2006-05-31 2013-04-09 Irobot Corporation Detecting robot stasis
EP3031375B1 (en) 2007-05-09 2021-11-03 iRobot Corporation Compact autonomous coverage robot
CN105147193B (zh) 2010-02-16 2018-06-12 艾罗伯特公司 真空吸尘器毛刷
US8836922B1 (en) 2013-08-20 2014-09-16 Google Inc. Devices and methods for a rotating LIDAR platform with a shared transmit/receive path
DE102019202040B4 (de) * 2019-02-15 2022-01-27 Zf Friedrichshafen Ag Sichere autonome Landmaschine

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2186658B1 (sv) * 1972-03-13 1976-10-29 Thomson Csf
US4225226A (en) * 1978-12-29 1980-09-30 Spectra-Physics, Inc. Laser guidance system for crop spraying aircraft
US4516264A (en) * 1982-01-29 1985-05-07 United States Of America Postal Service Apparatus and process for scanning and analyzing mail information
DE3316600A1 (de) * 1983-05-06 1984-11-15 Impulsphysik Gmbh, 2000 Hamburg Augensicheres schraegsichtmessgeraet
GB2143395B (en) * 1983-05-14 1986-08-06 Gen Electric Co Plc Vehicle guidance and control system
EP0185816A1 (en) * 1984-12-27 1986-07-02 THE GENERAL ELECTRIC COMPANY, p.l.c. A vehicle guidance and control system
DE3686379T2 (de) * 1985-08-30 1993-03-11 Texas Instruments Inc Regler fuer ein ferngesteuertes fahrzeug unter verwendung der verzoegerten absoluten positionsdaten fuer lenkung und navigation.

Also Published As

Publication number Publication date
EP0296405B1 (en) 1994-03-30
SE464837B (sv) 1991-06-17
ES2052638T3 (es) 1994-07-16
AU1815488A (en) 1988-12-22
DK338988A (da) 1988-12-23
DK338988D0 (da) 1988-06-21
DE3888732T2 (de) 1994-08-11
AU613377B2 (en) 1991-08-01
EP0296405A3 (en) 1990-04-04
CA1317009C (en) 1993-04-27
EP0296405A2 (en) 1988-12-28
SE8702569D0 (sv) 1987-06-22
DE3888732D1 (de) 1994-05-05
SE8702569L (sv) 1988-12-23

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Legal Events

Date Code Title Description
B1 Patent granted (law 1993)
PBP Patent lapsed