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WO2014075655A3 - Verfahren und vorrichtung zum kombinierten simulieren und steuern ferngesteuerter fahrzeuge - Google Patents

Verfahren und vorrichtung zum kombinierten simulieren und steuern ferngesteuerter fahrzeuge Download PDF

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Publication number
WO2014075655A3
WO2014075655A3 PCT/DE2013/000674 DE2013000674W WO2014075655A3 WO 2014075655 A3 WO2014075655 A3 WO 2014075655A3 DE 2013000674 W DE2013000674 W DE 2013000674W WO 2014075655 A3 WO2014075655 A3 WO 2014075655A3
Authority
WO
WIPO (PCT)
Prior art keywords
controlled
vehicle
data
control
receiving unit
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/DE2013/000674
Other languages
English (en)
French (fr)
Other versions
WO2014075655A2 (de
Inventor
Olaf GÜHRING
Holger Schmidt
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.)
Grenzebach Maschinenbau GmbH
Original Assignee
Grenzebach Maschinenbau 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
Priority to EP13828764.4A priority Critical patent/EP2920779A2/de
Application filed by Grenzebach Maschinenbau GmbH filed Critical Grenzebach Maschinenbau GmbH
Priority to AU2013347285A priority patent/AU2013347285B9/en
Priority to JP2015542161A priority patent/JP2016506528A/ja
Priority to CN201380058135.7A priority patent/CN104823225A/zh
Priority to EA201590837A priority patent/EA201590837A1/ru
Priority to CA2890355A priority patent/CA2890355C/en
Priority to US14/439,975 priority patent/US20150316928A1/en
Priority to KR1020157012577A priority patent/KR20150073187A/ko
Publication of WO2014075655A2 publication Critical patent/WO2014075655A2/de
Publication of WO2014075655A3 publication Critical patent/WO2014075655A3/de
Priority to IL238666A priority patent/IL238666A0/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/005—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with signals other than visual, e.g. acoustic, haptic
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/30—Simulation of view from aircraft
    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/08—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer
    • G09B9/48—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of aircraft, e.g. Link trainer a model being viewed and manoeuvred from a remote point
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls

Landscapes

  • Engineering & Computer Science (AREA)
  • Theoretical Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Business, Economics & Management (AREA)
  • Educational Administration (AREA)
  • Educational Technology (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Acoustics & Sound (AREA)
  • Manipulator (AREA)
  • Toys (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Vorrichtung und Verfahren zum kombinierten Simulieren und Steuern ferngesteuerter Fahrzeuge in einem Simulator, wobei eine dem zu steuernden Fahrzeug nachgebildete Fahrzeugkabine mit realen Bedienelementen mit einem 6 - achsigen Industrieroboter, der über eine Tragvorrichtung, die als Fahrwerk ausgebildet sein kann, mit dem Boden verbunden ist, und wobei zur Übermittlung einer simulierten Außenansicht ein den Konturen der Fahrzeugkabine nachgebildetes Display dient, dadurch gekennzeichnet, dass sie die folgenden Merkmale aufweist, a) eine Empfangseinheit zum Empfang optischer Daten des zu steuernden Fahrzeugs b) eine Empfangseinheit zum Empfang akustischer Daten des zu steuernden Fahrzeugs, c) eine Sende - und Empfangseinheit zum bidirektionalen Übermitteln von bewegungsrelevanten Daten, d) eine Steuerungseinheit, die vom Benutzer des Simulators mechanisch erzeugte Signale, mittels mathematischer Modelle aufbereitet, an die Steuerungs-Organe des Fahrzeugs übermittel, e) eine im Kopfbereich des Benutzers installierte Sensoreinheit zur Erfassung der Kopfposition, wobei deren Daten die auf dem Display angezeigte Blickrichtung und / oder die Bildperspektive beeinflussen.
PCT/DE2013/000674 2012-11-16 2013-11-11 Verfahren und vorrichtung zum kombinierten simulieren und steuern ferngesteuerter fahrzeuge Ceased WO2014075655A2 (de)

Priority Applications (9)

Application Number Priority Date Filing Date Title
KR1020157012577A KR20150073187A (ko) 2012-11-16 2013-11-11 원격 제어식 운송수단의 시뮬레이션과 제어를 조합하여 수행하기 위한 방법 및 장치
AU2013347285A AU2013347285B9 (en) 2012-11-16 2013-11-11 Method and device for the combined simulation and control of remote-controlled vehicles
JP2015542161A JP2016506528A (ja) 2012-11-16 2013-11-11 遠隔操作されたビークルの組み合わされたシミュレーション及び制御のための方法及び装置
CN201380058135.7A CN104823225A (zh) 2012-11-16 2013-11-11 遥控载具组合仿真及控制方法及装置
EA201590837A EA201590837A1 (ru) 2012-11-16 2013-11-11 Способ и устройство для комбинированного моделирования и управления дистанционно управляемыми транспортными средствами
EP13828764.4A EP2920779A2 (de) 2012-11-16 2013-11-11 Verfahren und vorrichtung zum kombinierten simulieren und steuern ferngesteuerter fahrzeuge
US14/439,975 US20150316928A1 (en) 2012-11-16 2013-11-11 Method and device for the combined simulation and control of remote-controlled vehicles
CA2890355A CA2890355C (en) 2012-11-16 2013-11-11 Method and device for the combined simulation and control of remote-controlled vehicles
IL238666A IL238666A0 (en) 2012-11-16 2015-05-06 Method and device for the combined simulation and control of remote-controlled vehicles

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012022472.9 2012-11-16
DE102012022472.9A DE102012022472A1 (de) 2012-11-16 2012-11-16 Verfahren und Vorrichtung zum kombinierten Simulieren und Steuern ferngesteuerter Fahrzeuge

Publications (2)

Publication Number Publication Date
WO2014075655A2 WO2014075655A2 (de) 2014-05-22
WO2014075655A3 true WO2014075655A3 (de) 2014-08-14

Family

ID=50070246

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2013/000674 Ceased WO2014075655A2 (de) 2012-11-16 2013-11-11 Verfahren und vorrichtung zum kombinierten simulieren und steuern ferngesteuerter fahrzeuge

Country Status (10)

Country Link
US (1) US20150316928A1 (de)
EP (1) EP2920779A2 (de)
JP (1) JP2016506528A (de)
KR (1) KR20150073187A (de)
CN (1) CN104823225A (de)
CA (1) CA2890355C (de)
DE (1) DE102012022472A1 (de)
EA (1) EA201590837A1 (de)
IL (1) IL238666A0 (de)
WO (1) WO2014075655A2 (de)

Families Citing this family (14)

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Publication number Priority date Publication date Assignee Title
JP7069456B2 (ja) 2017-03-17 2022-05-18 ザ・リージェンツ・オブ・ザ・ユニバーシティ・オブ・ミシガン マルチポリシー意思決定を導くための有益な結果を構築するための方法および装置
US10564641B2 (en) 2018-07-20 2020-02-18 May Mobility, Inc. Multi-perspective system and method for behavioral policy selection by an autonomous agent
US10614709B2 (en) 2018-07-24 2020-04-07 May Mobility, Inc. Systems and methods for implementing multimodal safety operations with an autonomous agent
US10969470B2 (en) 2019-02-15 2021-04-06 May Mobility, Inc. Systems and methods for intelligently calibrating infrastructure devices using onboard sensors of an autonomous agent
CN110434876B (zh) * 2019-08-09 2024-03-22 南京工程学院 一种六自由度rov模拟驾驶系统及其模拟方法
US11352023B2 (en) 2020-07-01 2022-06-07 May Mobility, Inc. Method and system for dynamically curating autonomous vehicle policies
EP4260009A4 (de) 2020-12-14 2024-11-20 May Mobility, Inc. Autonomes fahrzeugsicherheitsplattformsystem und verfahren
WO2022133242A1 (en) 2020-12-17 2022-06-23 May Mobility, Inc. Method and system for dynamically updating an environmental representation of an autonomous agent
US11472436B1 (en) 2021-04-02 2022-10-18 May Mobility, Inc Method and system for operating an autonomous agent with incomplete environmental information
JP7788110B2 (ja) 2021-06-02 2025-12-18 メイ モビリティー，インコーポレイテッド 自律エージェントの遠隔支援のための方法及びシステム
JP2024545617A (ja) 2021-12-01 2024-12-10 メイ モビリティー，インコーポレイテッド 自律エージェントの影響に基づく動作のための方法およびシステム
WO2023102116A1 (en) 2021-12-02 2023-06-08 May Mobility, Inc. Method and system for feasibility-based operation of an autonomous agent
US11814072B2 (en) 2022-02-14 2023-11-14 May Mobility, Inc. Method and system for conditional operation of an autonomous agent
WO2024129832A1 (en) 2022-12-13 2024-06-20 May Mobility, Inc. Method and system for assessing and mitigating risks encounterable by an autonomous vehicle

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US5904724A (en) * 1996-01-19 1999-05-18 Margolin; Jed Method and apparatus for remotely piloting an aircraft
US7099752B1 (en) * 2003-10-27 2006-08-29 Leslie Jae Lenell Safelander
US20090289778A1 (en) * 2005-02-10 2009-11-26 Quentin King System for applying tactile stimulation to the controller of unmanned vehicles
DE102010035814B3 (de) * 2010-08-30 2011-12-29 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum Betrieb eines Flugsimulators mit besonderer Realitäts-Anmutung
US20120004791A1 (en) * 2009-03-17 2012-01-05 Max-Planck-Gesellschaft Zur Foerderung Der Wissenschaften E.V. Teleoperation method and human robot interface for remote control of a machine by a human operator
US20120249797A1 (en) * 2010-02-28 2012-10-04 Osterhout Group, Inc. Head-worn adaptive display

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JPH08202255A (ja) * 1995-01-27 1996-08-09 Mitsubishi Heavy Ind Ltd 水中潜水船擬似体験装置
JPH09138637A (ja) * 1995-11-13 1997-05-27 Mitsubishi Heavy Ind Ltd 模擬視界装置
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US5904724A (en) * 1996-01-19 1999-05-18 Margolin; Jed Method and apparatus for remotely piloting an aircraft
US7099752B1 (en) * 2003-10-27 2006-08-29 Leslie Jae Lenell Safelander
US20090289778A1 (en) * 2005-02-10 2009-11-26 Quentin King System for applying tactile stimulation to the controller of unmanned vehicles
US20120004791A1 (en) * 2009-03-17 2012-01-05 Max-Planck-Gesellschaft Zur Foerderung Der Wissenschaften E.V. Teleoperation method and human robot interface for remote control of a machine by a human operator
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DE102010035814B3 (de) * 2010-08-30 2011-12-29 Grenzebach Maschinenbau Gmbh Vorrichtung und Verfahren zum Betrieb eines Flugsimulators mit besonderer Realitäts-Anmutung

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Also Published As

Publication number Publication date
EP2920779A2 (de) 2015-09-23
EA201590837A1 (ru) 2015-08-31
KR20150073187A (ko) 2015-06-30
CA2890355C (en) 2017-09-26
AU2013347285B2 (en) 2016-02-04
DE102012022472A1 (de) 2014-05-22
WO2014075655A2 (de) 2014-05-22
IL238666A0 (en) 2015-06-30
JP2016506528A (ja) 2016-03-03
US20150316928A1 (en) 2015-11-05
CN104823225A (zh) 2015-08-05
CA2890355A1 (en) 2014-05-22
AU2013347285A1 (en) 2015-06-11

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