WO2010130479A3 - Method and arrangement for track control, in particular of mobile vehicles - Google Patents
Method and arrangement for track control, in particular of mobile vehicles Download PDFInfo
- Publication number
- WO2010130479A3 WO2010130479A3 PCT/EP2010/053323 EP2010053323W WO2010130479A3 WO 2010130479 A3 WO2010130479 A3 WO 2010130479A3 EP 2010053323 W EP2010053323 W EP 2010053323W WO 2010130479 A3 WO2010130479 A3 WO 2010130479A3
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- travel
- arrow
- vehicle
- track control
- mobile vehicles
- Prior art date
Links
- 238000000034 method Methods 0.000 title abstract 2
- 238000011156 evaluation Methods 0.000 abstract 4
- 238000012986 modification Methods 0.000 abstract 2
- 230000004048 modification Effects 0.000 abstract 2
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- 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
- G05D1/0231—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
- G05D1/0253—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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Multimedia (AREA)
- Environmental Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention relates to a method for track control, in particular of mobile vehicles (10a, 10b). According to the invention, the vehicle (10a, 10b) comprises at least one image capturing device (14, 15, 16) which is connected to an evaluation device (19). The at least one image capturing device (14, 15, 16) records image information in and counter to the direction of travel (arrow 11) of the vehicle (10a, 10b), guides said information to the evaluation device (19) as an input variable, which determines, by means of an evaluation algorithm (A), modifications (Evorne, Ehinten) of the image information recorded in the direction of travel (arrow 11) and counter to the direction of travel (arrow 11). The modifications (Evorne, Ehinten) are combined together in the evaluation device (19) in order to detect an angular offset (α) between and actual path (26) provided in relation to a vertical axis (27) and a desired path (25) or a lateral offset (D) of an actual path (28) of the vehicle (10a, 10b) provided in relation to a desired path (25).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102009003061A DE102009003061A1 (en) | 2009-05-13 | 2009-05-13 | Method and device for web control, in particular of mobile vehicles |
DE102009003061.1 | 2009-05-13 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010130479A2 WO2010130479A2 (en) | 2010-11-18 |
WO2010130479A3 true WO2010130479A3 (en) | 2011-02-24 |
Family
ID=42978891
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2010/053323 WO2010130479A2 (en) | 2009-05-13 | 2010-03-16 | Method and arrangement for track control, in particular of mobile vehicles |
Country Status (2)
Country | Link |
---|---|
DE (1) | DE102009003061A1 (en) |
WO (1) | WO2010130479A2 (en) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102012221572A1 (en) * | 2012-11-26 | 2014-05-28 | Robert Bosch Gmbh | Autonomous locomotion device |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5483453A (en) * | 1992-04-20 | 1996-01-09 | Mazda Motor Corporation | Navigation control system with adaptive characteristics |
DE19614916A1 (en) * | 1996-04-16 | 1997-11-06 | Detlef Raupach | Floor cleaning robot vehicle for use in rooms |
US5961571A (en) * | 1994-12-27 | 1999-10-05 | Siemens Corporated Research, Inc | Method and apparatus for automatically tracking the location of vehicles |
JP2007178358A (en) * | 2005-12-28 | 2007-07-12 | Aisin Aw Co Ltd | System and method for route guidance |
EP1962254A2 (en) * | 2007-02-13 | 2008-08-27 | Hitachi, Ltd. | In-vehicle apparatus for recognizing running environment of vehicle |
JP2009054173A (en) * | 2008-10-06 | 2009-03-12 | Toyota Motor Corp | Device for deciding vehicle travel road |
DE102007043534A1 (en) * | 2007-09-12 | 2009-03-19 | Robert Bosch Gmbh | Arrangement for detecting an environment |
EP2042962A1 (en) * | 2007-09-27 | 2009-04-01 | Hitachi Ltd. | Driving support system |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102005000651A1 (en) * | 2005-01-04 | 2006-07-13 | Robert Bosch Gmbh | Method for determining the intrinsic motion of a vehicle |
JP4676373B2 (en) * | 2006-04-27 | 2011-04-27 | 株式会社デンソー | Peripheral recognition device, peripheral recognition method, and program |
DE102007016802B3 (en) * | 2007-04-05 | 2008-05-15 | Miele & Cie. Kg | Self-propelled tilling device e.g. robot, navigating method, involves determining driving direction by evaluating determined vectors and by controlling distance to preceding tracks, and forming meander/spiral shaped preset track |
-
2009
- 2009-05-13 DE DE102009003061A patent/DE102009003061A1/en not_active Withdrawn
-
2010
- 2010-03-16 WO PCT/EP2010/053323 patent/WO2010130479A2/en active Application Filing
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5483453A (en) * | 1992-04-20 | 1996-01-09 | Mazda Motor Corporation | Navigation control system with adaptive characteristics |
US5961571A (en) * | 1994-12-27 | 1999-10-05 | Siemens Corporated Research, Inc | Method and apparatus for automatically tracking the location of vehicles |
DE19614916A1 (en) * | 1996-04-16 | 1997-11-06 | Detlef Raupach | Floor cleaning robot vehicle for use in rooms |
JP2007178358A (en) * | 2005-12-28 | 2007-07-12 | Aisin Aw Co Ltd | System and method for route guidance |
EP1962254A2 (en) * | 2007-02-13 | 2008-08-27 | Hitachi, Ltd. | In-vehicle apparatus for recognizing running environment of vehicle |
DE102007043534A1 (en) * | 2007-09-12 | 2009-03-19 | Robert Bosch Gmbh | Arrangement for detecting an environment |
EP2042962A1 (en) * | 2007-09-27 | 2009-04-01 | Hitachi Ltd. | Driving support system |
JP2009054173A (en) * | 2008-10-06 | 2009-03-12 | Toyota Motor Corp | Device for deciding vehicle travel road |
Also Published As
Publication number | Publication date |
---|---|
WO2010130479A2 (en) | 2010-11-18 |
DE102009003061A1 (en) | 2010-11-18 |
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