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Online Calibration Checks During Autonomous Vehicle Operation

A technology for vehicles, calibration parameters, applied in the direction of vehicle position/route/altitude control, motor vehicles, transportation and packaging, etc., can solve problems such as expensive, uncheckable calibration, time-consuming, etc.

Active Publication Date: 2021-07-13
KUKA ROBOTER
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

But this method is time-consuming, expensive and requires additional measuring instruments
[0006] In addition, the calibration cannot be checked in the operating mode of the unmanned transport system

Method used

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  • Online Calibration Checks During Autonomous Vehicle Operation
  • Online Calibration Checks During Autonomous Vehicle Operation
  • Online Calibration Checks During Autonomous Vehicle Operation

Examples

Experimental program
Comparison scheme
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Embodiment Construction

[0042] exist figure 1 In , a vehicle 10 is schematically shown, which is equipped with a first sensor 12 and a second sensor 13 . Such as figure 1 As shown, the two sensors 12 , 13 are mounted at different locations on the vehicle 10 and also have different coordinate systems. Furthermore, the vehicle 10 has two wheels 11 which are equipped with corresponding odometry sensors in order to be able to determine the intrinsic motion of the vehicle on the basis of odometry. The determination of the movement of the vehicle itself and the adjustment of the sensors 12 , 3 are carried out by the controller 14 . The controller 14 is configured to carry out the method according to the invention for determining calibration parameters of the vehicle 10 .

[0043] Objects or structures 21 , 22 , 23 are detected by means of the first sensor 12 , for example in the surroundings of the vehicle 10 , and structures or objects 24 , 25 , 26 are detected by means of the second sensor 13 , for ex...

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PUM

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Abstract

The invention relates to a method for determining calibration parameters of a vehicle, in particular a driverless transport vehicle. In this case, the vehicle has a first sensor and a second sensor. The position and orientation of the vehicle can be determined from the at least one sensor of the at least two sensors and the calibration parameters. The invention also relates to a vehicle, in particular a driverless transport vehicle, which has at least one first sensor and a second sensor. The vehicle also has a controller configured to perform the method of determining vehicle calibration parameters.

Description

technical field [0001] The invention relates to a method for determining calibration parameters of a vehicle and in particular to monitoring an existing calibration by using the determined calibration parameters. Furthermore, the invention relates to a corresponding vehicle and in particular to a corresponding driverless transport vehicle. Background technique [0002] In modern production plants, driverless transport systems are often used, for example, to transport materials or workpieces from one workstation to the next. In another example, driverless transportation systems could also be used to move manipulators or industrial robots on a factory floor. An unmanned delivery system is typically a delivery system that includes at least one unmanned delivery vehicle. An unmanned transport system may, for example, comprise a multidirectional and in particular omnidirectional robotic vehicle. For this purpose, such a vehicle may, for example, have omnidirectional wheels, th...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G05D1/02G01C3/00G01C22/00G01C25/00
CPCG05D1/024G05D1/0272G01C3/00G01C22/00G01C25/00G01S17/08
Inventor R·屈默勒D·迈耶-德利乌斯P·普法夫
Owner KUKA ROBOTER