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WO2018130878A1 - Systeme de localisation et de guidage de dispositifs mobiles - Google Patents

Systeme de localisation et de guidage de dispositifs mobiles Download PDF

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Publication number
WO2018130878A1
WO2018130878A1 PCT/IB2017/050146 IB2017050146W WO2018130878A1 WO 2018130878 A1 WO2018130878 A1 WO 2018130878A1 IB 2017050146 W IB2017050146 W IB 2017050146W WO 2018130878 A1 WO2018130878 A1 WO 2018130878A1
Authority
WO
WIPO (PCT)
Prior art keywords
information
pieces
associate
distance
logical level
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/IB2017/050146
Other languages
English (en)
Spanish (es)
Inventor
Alejandro BADOLATO MARTÍN
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.)
Auto Drive Solutions SL
Original Assignee
Auto Drive Solutions SL
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 Auto Drive Solutions SL filed Critical Auto Drive Solutions SL
Priority to PCT/IB2017/050146 priority Critical patent/WO2018130878A1/fr
Publication of WO2018130878A1 publication Critical patent/WO2018130878A1/fr
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
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions

Definitions

  • the recommended invention relates to a mobile positioning and guidance system, which begins with the identification of objects at a distance.
  • the reading of the information is obtained by the relative displacement between the encoded medium and the sensor.
  • a sensor embarks on the mobile that travels along a certain path and points to some part of the infrastructure (preferably the ground).
  • information about the position of the mobile with respect to a coordinate system is coded along a trajectory.
  • the information is encoded using materials that have a different response than the support or material on which it rests when the assembly is previously excited.
  • the field of the invention is that of the high-tech object identification industry that can be applied for the identification of cargo and positioning containers and the high-tech industry for mobile control that can be applied in devices of surface transport such as AGV (Automated Ground Vehicles) or cranes or drones or airplanes.
  • AGV Automatic Ground Vehicles
  • the inventor is also the inventor of the international patent PCT / ES2015 / 070378, where a guide rail installed along the road sign is described as coding means although it may optionally be hidden under a layer of asphalt treated with a layer of hydrophobic material of preferred dimensions of 1.5 cm wide by 5 cm deep and where hollows are machined inside, being the The preferred shape of the cavities is that of dihedral since the planes of the dihedral increase the reflected signal thus facilitating its detection.
  • the inventor has also presented a system similar to that proposed using radar techniques according to his PCT / IB2016 / 0571 19 or an optical system according to his PCT / IB2016 / 057873.
  • the recommended invention relates to a mobile positioning and guidance system, which begins with the identification of objects at a distance.
  • the reading of the information is obtained by the relative displacement between the encoded medium and the sensor.
  • the reading of the information is obtained by the relative displacement between the encoded medium and the sensor.
  • a sensor embarks on the mobile that travels along a certain path and points to some part of the infrastructure (preferably the ground).
  • the infrastructure information about the position of the mobile with respect to a coordinate system is coded along a trajectory.
  • the coding of the information is done through materials that have a different response to the support or material on which it rests when the assembly is previously excited.
  • An example of a different response is a different temperature, either because an external source heats or cools the medium that encodes the information permanently or because the medium that encodes the information has a certain persistence when it is previously excited.
  • An example of coding can be metal coins that follow a coding system similar to the reading system for Braille blinds or bar codes formed with metal strips.
  • the metals are fixed to an insulating support strip or directly on the infrastructure.
  • the metallic parts respond to the previous thermal excitation with a temperature increase clearly different from the support or the infrastructure and are capable of storing this temperature for a short period of time during which a thermal imager obtains an image where the hottest areas are detected .
  • the information can be encoded in 2 different ways:
  • the mobile positioning and guidance system that the invention advocates is constituted by:
  • a digital signal processing system obtained by the reader that identifies the presence of the excited passive means, decodes the information and is able to estimate the position of the information regarding the position of the camera.
  • One of the preferred means of storing the information consists of a rubber strip that has embedded metal parts on its surface along its path.
  • the metal parts have an area of 1 square centimeter.
  • the information is encoded by arranging metal pieces with a separation of 10 cm in an axis perpendicular to the path of the infrastructure.
  • the location of a third metal part between the two determines the logical level of the transverse axis as described: 1 metal piece separated 2 cm from the left metal part in the direction of vehicle advance determines a logical level 1.
  • 1 metal part separated 4 cm from the left metal part in the direction of vehicle advance determines a logical level 0.
  • 1 metal part separated 6 cm from the left metal part in the direction of vehicle advance determines a logical level start bit of word
  • the information is encoded forming words that begin with a start bit, then 64 bits of data 1 or 0 are encoded and finally have a stop bit.
  • the separation between each of the transverse axes where 3 specks are coded is 2 cm.
  • This coded surface is excited by a heating element coupled to the underside of the vehicle and installed near the reader and subsequently read by a thermal imager that has an approximate field of view of 50x50cm A 2.
  • both the chamber and the heater can be coupled to the vehicle on a motorized mobile transverse axis that allows them to move from one wheel to the other to facilitate reading.
  • the movement of the vehicle along the path allows other parts of the surface to be explored and in this way the sensor is able to decode a recorded message about location and positioning.
  • the pieces that encode the information can also consist of metal sheets that have a circular through hole in the center and join with the other pieces forming a metal strip and because the metal strip rests on insulating material.
  • the exciter element varies the temperature of the pieces that encode the information and the reader is a thermal imager.
  • the pieces that encode the information are metallic sheets arranged as a bar code and because the metal sheets rest on insulating material, the exciter element varying the temperature of the pieces encoding the information and the reader is a thermal imager
  • the information encoded in the infrastructure is carried out by means of heated elements along an information path and the pieces are arranged in axes transverse to the path according to the following provision:
  • the encoded material media are read by means of a thermal imager by relative displacement of both in a given path regardless of the relative speed of both and where the material media are encoded by materials that have a different thermal response with respect to the support against a previous excitation, the reader being a sensitive reader constituted by a thermal imager that detects the thermal differences between the encoded media and the support thereof.

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  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Electromagnetism (AREA)
  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Artificial Intelligence (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Theoretical Computer Science (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne un système de localisation et de guidage de dispositifs mobiles comprenant: ° Une information codée sur l'infrastructure au moyen d'éléments passifs sur une trajectoire déterminée ° Un élément d'excitation incorporé dans le dispositif mobile qui transfère de l'énergie aux éléments passifs qui codent l'information, produisant dans ces derniers une réponse temporelle qui présente une certaine persistance. °Un lecteur sensible aux variations produites dans les éléments °Un système de traitement numérique du signal obtenu.
PCT/IB2017/050146 2017-01-12 2017-01-12 Systeme de localisation et de guidage de dispositifs mobiles Ceased WO2018130878A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/IB2017/050146 WO2018130878A1 (fr) 2017-01-12 2017-01-12 Systeme de localisation et de guidage de dispositifs mobiles

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/IB2017/050146 WO2018130878A1 (fr) 2017-01-12 2017-01-12 Systeme de localisation et de guidage de dispositifs mobiles

Publications (1)

Publication Number Publication Date
WO2018130878A1 true WO2018130878A1 (fr) 2018-07-19

Family

ID=62839950

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2017/050146 Ceased WO2018130878A1 (fr) 2017-01-12 2017-01-12 Systeme de localisation et de guidage de dispositifs mobiles

Country Status (1)

Country Link
WO (1) WO2018130878A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2188991A (en) * 1937-09-08 1940-02-06 Newton M Weaver Automatic railway signaling system
WO1999003399A1 (fr) * 1997-07-17 1999-01-28 Friedman, Mark, M. Guidage d'echographie endovaginale lors d'interventions intra-uterines, cervicales et tubaires
US20130140649A1 (en) * 2011-12-01 2013-06-06 John A. Rogers Transient devices designed to undergo programmable transformations
ES2545680A1 (es) * 2014-03-11 2015-09-14 Manuel MUÑOZ SÁIZ Sistema y procedimiento de conducción automática y de aviso de datos o señales de tráfico para trenes y vehículos rodados

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2188991A (en) * 1937-09-08 1940-02-06 Newton M Weaver Automatic railway signaling system
WO1999003399A1 (fr) * 1997-07-17 1999-01-28 Friedman, Mark, M. Guidage d'echographie endovaginale lors d'interventions intra-uterines, cervicales et tubaires
US20130140649A1 (en) * 2011-12-01 2013-06-06 John A. Rogers Transient devices designed to undergo programmable transformations
ES2545680A1 (es) * 2014-03-11 2015-09-14 Manuel MUÑOZ SÁIZ Sistema y procedimiento de conducción automática y de aviso de datos o señales de tráfico para trenes y vehículos rodados

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