Electricity: motive power systems – Positional servo systems – Vehicular guidance systems with single axis control
Patent
1994-11-21
1996-07-16
Cabeca, John W.
Electricity: motive power systems
Positional servo systems
Vehicular guidance systems with single axis control
31856812, 31856816, 36442402, 364516, G06F 1550
Patent
active
055370179
DESCRIPTION:
BRIEF SUMMARY
BACKGROUND OF THE INVENTION
Nowadays there is a wide range of possible applications for autonomously operating mobile units. Just think in this respect of remote sensing probes, mobile units which operate in hazardous areas, self-propelled industrial vacuum cleaners, transporting vehicles in the production industry etc. To ensure that these autonomously operating self-propelled units have greatest possible freedom of movement and are flexible in use, it is often desirable and appropriate for these units first of all to mark and explore their working area. Until now, processes in which the working area is marked in advance have often been used (bar codes for laser triangulation, Wiklund, U., Anderson, U., Hyyppa, K., Gelders, L. F., "AGV navigation by angle measurements" Automated Guided Vehicle Systems, Proceedings of the 6th International Conference, AGVS-6, Brussels, Belgium 25-26 Oct. 1988, p. 199-212, Kempston, UK IFS Publications 1854230247; transponders, Hill, L., "Improvements in inductive communications for wire-guided AGVs", Automated Guided Vehicle Systems, Proceedings of the 7th International Conference, Technology for Tomorrow, Berlin, West Germany 13-14 Jun. 1989, p. 69-81 vi+160 1989, Bedford, UK IFS 1854230484; guide lines, Fahringer, B. J., "AGVs and automation: getting there", Production (USA) Vol 101, No 7, p 35-39, Jul. 1989, so that mobile systems can take their bearings from these marks. These processes all have the disadvantage that they are complicated and that they restrict the flexibility of use of the system.
A further known possibility is the use of complex sensory technology, by which landmarks present in the working area are extracted and serve as an orientation aid for the self-propelled autonomous system, Robins, M. P., "Free-ranging automatic guided vehicle System", GEC Rev. (GB), Vol 2, No 2, p. 129-132, 1986. In this case, the disadvantage is the very complex sensory technology and the necessity for the presence of landmarks in the vicinity of use. Further possibilities for exploring working areas and their marking are not known.
SUMMARY OF THE INVENTION
The object on which the invention is based is to specify a movable device and a process for exploring and mapping an area, with which the area does not have to have any special characteristics specifically for exploring.
This object is achieved for the device and for the process of the present invention as follows.
In general terms the present invention is a self-propelled device for exploring an area. The device has at least one sensor, which detects obstacles in the area, means for marking the area and means for detecting the marking means. The device has a memory for storing the geometry of the area.
The present invention is also a process for exploring an area, in which in a first step, a boundary of the area is established. In a further step, a self-propelled device moves up to the boundary of the area. In a further step, the device moves along the boundary and when doing so applies markings along the path at a distance from the boundary. In a further step, the device turns around when it encounters a further boundary of the area and moves, taking its bearings from the previously applied markings, and applies further markings at a distance from the previously applied markings. These last two steps are repeated until the entire area has been explored. The result of the exploring is recorded for further evaluation.
All other further developments of the present invention are as follows.
The device has a sensor that detects the area boundary. The means for marking are small metal plates, a power cable of the device, or odoriferous substances or other substances. The device removes the marking after use. The means for detecting the marking means is the sensor. The sensor is an ultrasonic sensor or a camera.
An advantage of the present invention is that it can mark areas independently.
It is particularly favorable when exploring and marking areas to begin with the boundary of the area.
It is furthermore advantageous tha
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Wiklund, U., Anderson, U., Hyyppa, K., Gelders, L. F., "AGV navigation by angle measurements", Automated Guided Vehicle Systems. Proceedings of the 6th International Conference, AGVS-6, Brussels, Belgium 25-26 Oct. 1988, pp. 199-212, Kempston, UK IFS Publications 1854230247.
Fahringer, B. J., "AGVs and automation: getting there", Production (USA) vol. 101, No. 7, pp. 35-39, Jul. 1989.
Hill, L., "Improvements in inductive communications for wire-guided AGVs", Automated Guided Vehicle Systems. Proceedings of the 7th International Conference. Technology for Tomorrow, Berlin, West Germany 13-14 Jun. 1989, p. 69-81 vi + 160 1989, Bedford, UK IFS 1854230484.
Robins, M. P., "Free-ranging automatic guided vehicle System", GEC Rev. (GB), vol. 2, No. 2, pp. 129-132, 1986.
Feiten Wendelin
Moller Marcus
Neubauer Werner
Cabeca John W.
Siemens Aktiengesellschaft
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