[go: up one dir, main page]

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 PDF

Info

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
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.)
Ceased
Application number
PCT/EP2010/053323
Other languages
German (de)
French (fr)
Other versions
WO2010130479A2 (en
Inventor
Ulrich-Lorenz Benzler
Anke Svensson
Andreas Pfeil
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.)
Robert Bosch GmbH
Original Assignee
Robert Bosch 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 Robert Bosch GmbH filed Critical Robert Bosch GmbH
Publication of WO2010130479A2 publication Critical patent/WO2010130479A2/en
Publication of WO2010130479A3 publication Critical patent/WO2010130479A3/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

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, 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
    • G05D1/0253—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).
PCT/EP2010/053323 2009-05-13 2010-03-16 Method and arrangement for track control, in particular of mobile vehicles Ceased WO2010130479A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102009003061.1 2009-05-13
DE102009003061A DE102009003061A1 (en) 2009-05-13 2009-05-13 Method and device for web control, in particular of mobile vehicles

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 Ceased 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 (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012221572A1 (en) * 2012-11-26 2014-05-28 Robert Bosch Gmbh Autonomous locomotion device
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
CA3181601A1 (en) 2021-11-10 2023-05-10 Techtronic Cordless Gp Robotic lawn mowers
EP4270138A1 (en) 2022-04-28 2023-11-01 Techtronic Cordless GP Creation of a virtual boundary for a robotic garden tool
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
EP4310621B1 (en) 2022-07-19 2025-02-12 Techtronic Cordless GP Display for controlling robotic tool
EP4340296B1 (en) 2022-07-29 2025-04-09 Techtronic Cordless GP Generation of a cryptography key for a robotic garden tool
DE102023004795A1 (en) * 2023-11-22 2025-05-22 JT RecTec GmbH Control system for a mobile converter

Citations (8)

* Cited by examiner, † Cited by third party
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 Vehicle runway determination device
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)

* Cited by examiner, † Cited by third party
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
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 Vehicle runway determination device

Also Published As

Publication number Publication date
WO2010130479A2 (en) 2010-11-18
DE102009003061A1 (en) 2010-11-18

Similar Documents

Publication Publication Date Title
WO2010130479A3 (en) Method and arrangement for track control, in particular of mobile vehicles
WO2012014041A8 (en) Vehicle control system installed in a vehicle or a group of vehicles
WO2013024016A3 (en) Brake system having an electromagnetic track brake device
WO2012103906A3 (en) Method and device for controlling the power supply in an electrical system of a motor vehicle, as well as a motor vehicle
WO2014044484A3 (en) Diagnostic method for rail vehicles
WO2012171739A3 (en) Method and control device for recognising weather conditions in the surroundings of a vehicle
WO2012140367A3 (en) Method of managing data between an rfid marker carried by a tyre and a sensor carried by a rim
WO2012047980A3 (en) Diagnosis and repair for autonomous vehicles
WO2012134957A3 (en) Driver assistance system and method
EP2078652A4 (en) Hybrid car control device, control method and recording medium for recording program to put the control method into practice
WO2008099809A1 (en) Parking assistance device and parking assistance method
WO2014037549A3 (en) Method for calculating a driving recommendation for a rail vehicle, assistance system of a rail vehicle and rail vehicle
WO2008024361A3 (en) Systems and methods for simulating motion with sound
EP2487454A3 (en) Vehicle length estimation
WO2011059817A3 (en) Method and system for independent control of vehicles
EP4647314A3 (en) A robust method for detecting traffic signals and their associated states
WO2010100273A3 (en) Variable overlap method and device for stitching together lithographic stripes
EP2141565A3 (en) System and method for providing towed implement compensation
PL2113444T3 (en) Systems and methods involving torque disturbance rejection
WO2014048708A3 (en) Method and arrangement for monitoring a route section which is bounded by two axle-counting sensor units
WO2013034734A3 (en) Brake control device for a brake system of a rail vehicle, brake system, rail vehicle and method for operating a brake control device
WO2008043842A3 (en) Vehicle and method for identifying vehicles located in the surroundings of the vehicle
WO2008152242A3 (en) Device, system and method of estimating the angle of attack of an aircraft
FR2981322B1 (en) DEVICE AND METHOD FOR RECOGNIZING ERRORS IN TRAFFIC DATA
TW200604047A (en) Method to detect an obstruction on a railroad

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 10711183

Country of ref document: EP

Kind code of ref document: A2

122 Ep: pct application non-entry in european phase

Ref document number: 10711183

Country of ref document: EP

Kind code of ref document: A2