Method for autonomous localization of unmanned motorized vehicles

An unmanned and vehicle technology, applied in motor vehicles, vehicle position/route/altitude control, two-dimensional position/airway control and other directions, can solve problems such as vehicle parking, vehicles can no longer be positioned, and achieve measurement data density. improved effect

Active Publication Date: 2016-10-26
SIEMENS AG
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

Conversely, in areas with only a few landmarks, no landmarks are detected and the vehicle can no longer localize, which causes the vehicle to stop

Method used

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  • Method for autonomous localization of unmanned motorized vehicles
  • Method for autonomous localization of unmanned motorized vehicles
  • Method for autonomous localization of unmanned motorized vehicles

Examples

Experimental program
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Embodiment Construction

[0019] figure 1 Shown is a schematic plan view of an unmanned motorized vehicle 10 , which is positioned using an autonomous localization method within a known environment 12 , which is delimited here by two walls 14 and 16 arranged opposite one another. . Vehicle 10 is positioned by means of natural landmarks in the form of walls 14 and 16 as well as existing geometrical structures 18 a, b, c, d, e, f in environment 12 , such as pipes, beams, columns or the like. When vehicle 10 is moving in the direction of movement indicated by arrow 20 , these natural landmarks 14 , 16 , 18 a to f are detected by means of a distance-measuring sensor 22 arranged on vehicle 10 , which is a laser scanner. The sensor 22 is arranged on a sensor motor 24 such that its measuring plane 25 can be pivoted about a pivot axis (not shown in detail) by the drive 24 of the sensor motor. By deflecting the sensor 22 , as indicated by the arrow 26 , the environment 12 can correspondingly be scanned three-...

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PUM

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Abstract

The invention relates to a method for the autonomous positioning of a vehicle within a known environment using a range-measuring sensor provided on an unmanned motorized vehicle, the measuring direction or measuring plane of which can be determined by means of at least one sensor motor Drive to change, wherein the method has the steps of: creating a map of the environment with the help of natural landmarks; determining a predetermined route along which the vehicle should move; determining these landmarks, which can be used as a positioning aid along the predetermined route; As the vehicle moves along a predetermined route, the environment is scanned at different times using sensors that detect predetermined landmarks; and the vehicle is positioned by comparing the detected landmarks with those marked on the map; wherein the speed of the sensor motor and / or The direction of rotation is actively controlled at least in surrounding areas with only a few predefined landmarks such that the sensor is aimed at these landmarks in order to ensure detection of these landmarks.

Description

technical field [0001] The invention relates to a method for autonomous localization of an unmanned motorized vehicle within a known environment using at least one sensor. Background technique [0002] Such methods are known in various designs from the prior art. It is used to determine the position of an unmanned motorized vehicle, thereby enabling unmanned navigation of the vehicle. [0003] Such positioning methods are used, for example, in the field of warehouse logistics. There, unmanned motorized vehicles are increasingly used for the transport of goods in order to achieve a high degree of automation. [0004] Existing positioning methods use additional so-called artificial landmarks in the form of installations such as reflector markers, wires, radio stations or the like. These artificial landmarks are placed within the known environment within which the vehicle should be localized, which on the one hand provides enough landmarks for a reliable localization, but on...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01S17/86
CPCG05D1/0274G05D2201/0216G05D1/024G01S17/86
Inventor 梅尔滕·利普科夫斯基托马斯·韦斯奇
Owner SIEMENS AG
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