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WO2014026843A3 - Transportfahrzeug und bildgestütztes verfahren zum ermitteln seiner position auf einer containeranlage - Google Patents

Transportfahrzeug und bildgestütztes verfahren zum ermitteln seiner position auf einer containeranlage Download PDF

Info

Publication number
WO2014026843A3
WO2014026843A3 PCT/EP2013/065817 EP2013065817W WO2014026843A3 WO 2014026843 A3 WO2014026843 A3 WO 2014026843A3 EP 2013065817 W EP2013065817 W EP 2013065817W WO 2014026843 A3 WO2014026843 A3 WO 2014026843A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
transport vehicle
image
based method
container compound
Prior art date
Application number
PCT/EP2013/065817
Other languages
English (en)
French (fr)
Other versions
WO2014026843A2 (de
Inventor
Jürgen HATZL
Stefan Kluckner
Josef Alois Birchbauer
Claudia Windisch
Original Assignee
Siemens Aktiengesellschaft
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 Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2014026843A2 publication Critical patent/WO2014026843A2/de
Publication of WO2014026843A3 publication Critical patent/WO2014026843A3/de

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • 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
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/225—Remote-control arrangements operated by off-board computers
    • 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
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/80—Transportation hubs
    • G05D2107/84—Harbours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Electromagnetism (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)

Abstract

Die Erfindung bezieht sich u. a. auf ein Verfahren zum Ermitteln der Position eines Transportfahrzeugs (60) auf einer Containeranlage (10), wobei mit zumindest einer Kamera (30- 33, 80-82) Bilder aufgenommen und rechnergestützt ausgewertet werden und anhand der aufgenommenen Bilder die Position ermittelt wird.
PCT/EP2013/065817 2012-08-16 2013-07-26 Containeranlage und deren betrieb WO2014026843A2 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012214579.6 2012-08-16
DE102012214579.6A DE102012214579A1 (de) 2012-08-16 2012-08-16 Containeranlage und deren Betrieb

Publications (2)

Publication Number Publication Date
WO2014026843A2 WO2014026843A2 (de) 2014-02-20
WO2014026843A3 true WO2014026843A3 (de) 2014-04-10

Family

ID=48917514

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/065817 WO2014026843A2 (de) 2012-08-16 2013-07-26 Containeranlage und deren betrieb

Country Status (2)

Country Link
DE (1) DE102012214579A1 (de)
WO (1) WO2014026843A2 (de)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015004330A1 (de) 2015-04-09 2016-10-13 Eisenmann Se Lage- und Positionserkennung für eine Fördereinrichtung
DE102017011768A1 (de) * 2017-12-19 2019-06-19 Kuka Deutschland Gmbh Navigieren einer Roboteranordnung mithilfe einer Sensoranordnung
CN113353072A (zh) * 2020-03-04 2021-09-07 青岛海尔工业智能研究院有限公司 一种行车控制方法、装置、服务器及介质

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (de) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Anordnung zur automatischen positionserfassung eines container-transportfahrzeuges
DE102006054083A1 (de) * 2006-11-16 2008-05-29 Siemens Ag Verfahren und Navigationssystem zum Navigieren eines Transportmittels für Waren, deren Anwendungen und Verwendungen sowie Computerprogramm und Datenspeichermedium
DE102007021693A1 (de) * 2007-05-09 2008-11-13 Götting jun., Hans-Heinrich, Dipl.-Ing. (FH) Hilfssystem zur Lagebestimmung eines Fahrzeugs

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10234730A1 (de) * 2002-07-30 2004-02-19 Josef Schreiner Verfahren zur Positionsbestimmung eines Transportfahrzeuges
US7162338B2 (en) * 2002-12-17 2007-01-09 Evolution Robotics, Inc. Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system
WO2006065563A2 (en) * 2004-12-14 2006-06-22 Sky-Trax Incorporated Method and apparatus for determining position and rotational orientation of an object

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (de) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Anordnung zur automatischen positionserfassung eines container-transportfahrzeuges
DE102006054083A1 (de) * 2006-11-16 2008-05-29 Siemens Ag Verfahren und Navigationssystem zum Navigieren eines Transportmittels für Waren, deren Anwendungen und Verwendungen sowie Computerprogramm und Datenspeichermedium
DE102007021693A1 (de) * 2007-05-09 2008-11-13 Götting jun., Hans-Heinrich, Dipl.-Ing. (FH) Hilfssystem zur Lagebestimmung eines Fahrzeugs

Also Published As

Publication number Publication date
DE102012214579A1 (de) 2014-02-20
WO2014026843A2 (de) 2014-02-20

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