• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    METHOD FOR AUTONOMOUS LOCATION OF MOTORIZED VEHICLE, WITHOUT DRIVER. The present invention relates to a method for autonomously locating a motorized vehicle without a driver within an environment known for the use of a range measurement sensor, which is arranged on the vehicle and in which the measurement direction or measurement plan it can be changed by activating at least one sensor engine, in which the method has the following steps: a map of the environment is produced by the use of natural landmarks; a predetermined route along which the vehicle to be moved is specified; those landmarks that can serve as an aid in locating along the predetermined route are determined; the environment is digitized at different times by using the sensor in order to detect the previously determined reference points while the vehicle is moving along the predetermined route; and the vehicle is located by comparing the detected landmarks with the landmarks recorded on the map; where the speed and / or direction of rotation of the sensor motor is / are actively controlled (s) at least in areas of the environment with (...).
    公开号:BR112013020667B1
    申请号:R112013020667-5
    申请日:2012-02-06
    公开日:2021-03-16
    发明作者:Merten Lipkowski；Thomas Wösch
    申请人:Siemens Aktiengesellschaft；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a method for autonomously locating a motorized vehicle without a driver within a known environment using at least one sensor.
    [0002] Such methods are known in a variety of prior art designs. They are used to determine the position of a motorized vehicle without a driver and through this means navigation of the driverless vehicle is allowed.
    [0003] Such location methods are used, for example, in the field of logistics for a commercial establishment. For the transport of cargo in this field, motorized vehicles without a driver are being used more and more in order to obtain a high level of automation.
    [0004] There are localization methods that make use of “artificial” landmarks in the form of additional installations, such as reflector markers, guide wires, radio stations or the like. These artificial landmarks are placed within the known environment in which the vehicle is to be located so that, first, sufficient landmarks are present for safe location and, second, so that the associated complexity and equipment costs are kept as low as possible. As the sensor for detecting artificial reference points, for example, a distance measurement sensor in the form, for example, of a laser scanner, can be used, which is mounted on the vehicle and is evenly articulated back and forth forward around a pivot axis using a sensor engine.
    [0005] However, autonomous location methods do not use artificial landmarks, but natural landmarks as geometric structural elements present in the environment in the form of tubes, beams, columns and the like. In this way, a high degree of flexibility is achieved with a highly accurate location without interfering with the environment. This has the advantage, in particular, that vehicle routes can be changed without any major financial or time costs. In this case, a laser scanner, which is mounted on the vehicle and pivoted back and forth around a pivot axis, can serve as the sensor.
    [0006] These autonomous location methods work well as long as sufficient information about the environment is available in the form of natural landmarks, which can be detected with an appropriate sensor. In practice, however, it is often the case that some regions of the environment have only a few landmarks that can serve to locate the vehicle. In these regions, therefore, it is particularly important to detect and actually use the small amount of information available. However, proper detection of reference points by the sensor used can only be ensured through a suitably large measurement data density, for which a particular amount of time is required. As a result, the entire vehicle environment cannot be detected immediately, but only gradually, with a corresponding chronological shift. This can have the effect that, due to the movement of the vehicle, some regions of the environment are not detected at all or only improperly. In other words, it can happen that waypoints are passed undetected. In regions where sufficient landmarks are present, this is usually not a problem.
    [0007] However, in regions where there are only a few reference points, the failure to detect a reference point can result in the vehicle not being located anymore, which leads to the vehicle stopping.
    [0008] Starting from this prior art, it is an objective of the invention to provide a method of the type mentioned above, in which it is ensured that landmarks in critical regions of the environment where there are only a few landmarks are also safely detected in order to thereby preventing the vehicle from coming to a standstill.
    [0009] In order to achieve that target, the present invention provides a method for autonomously locating a motorized vehicle without a driver within a known environment using a distance measurement sensor arranged on the vehicle, the measurement direction or measurement plane of which it can be changed by controlling at least one sensor engine, the method comprising the following steps: creation of an environment map based on natural landmarks; definition of a predetermined route along which the vehicle must move; determining those landmarks that can serve as an aid in locating along the predetermined route; digitalization of the environment at different points in time using the sensor to detect previously determined reference points while the vehicle is moving along the predetermined route; and location of the vehicle by comparing the landmarks detected with the landmarks recorded on the map; in which the speed and / or direction of rotation of the sensor motor is / are controlled, at least in areas of the environment with only a few previously determined reference points, so that the sensor is actively oriented towards those reference points at in order to ensure that they are detected. In other words, the sensor is actively guided, at least in regions of the environment having only a few reference points and is oriented towards the reference points where the speed and / or the direction of rotation of the sensor motor are changed, as a consequence . In this way, the detection of reference points in critical regions of the environment is ensured, so that the vehicle's current position cannot become lost. As a result, neither a stoppage of the vehicle nor an interruption of vehicle navigation can occur.
    [00010] In accordance with an embodiment of the present invention, a laser scanner that measures in one plane is used as the sensor, the measurement plane of which is articulated by the control of the sensor motor. The measuring space is correspondingly detected in three dimensions by combining the movement of the motor and the laser plane.
    [00011] Alternatively, a single beam laser, which is attached to a motor and is articulated around two pivot axes, is used as the sensor. Alternatively, its beam can also be deflected by means of a mirror arranged to be articulated around two pivot axes in a motor.
    [00012] Preferably, when locating the vehicle, the speed of the vehicle detected by another sensor is taken into account. Taking into account the current speed of the vehicle, firstly, the speed at which the sensor engine must be started in order to ensure the safe registration of specific reference points can be determined very precisely. Second, the scans carried out at different points in time can be logically linked with each other via the vehicle's speed.
    [00013] According to another modality, the speed and / or direction of rotation of the sensor motor is / are controlled so that the sensor digitizes at least reference points in regions of the environment with only a few reference points previously determined more intensively than other landmarks, in particular through a relatively long duration. By increasing the density of the measurement data, the expected value of the vehicle's positional uncertainty can be minimized because the error of a geometric structural element or a natural reference point becomes smaller as the number of measurements increases.
    [00014] Regions in which information can be obtained, on the other hand, are observed, preferably with a reduced intensity or not, at all. In this way, the number of unnecessary measurements drops dramatically, simplifying the processing of the detected measurement data, because, by observing only relevant regions, the calculation effort for locating the vehicle is reduced.
    [00015] Other features and advantages of the present invention will now be described in detail by reference to the subsequent description of a preferred embodiment of an autonomous location method according to the invention, taking into account the accompanying drawings, in which: Fig. 1 is a schematic plan view of a motor vehicle to be located; Figures 2 to 4 are schematic plan views that illustrate the operation of an autonomous location method and the associated disadvantages; and Figures 5 to 8 are schematic plan views that illustrate the operation of a location method according to an embodiment of the present invention and the associated advantages. The same reference signs below refer to the same or similar components. Fig. 1 shows a schematic plan view of a motorized vehicle without a driver 10 that must be located using an autonomous location method within a known environment 12, which, in the present case, is bounded by two walls 14 and 16, arranged in opposition to each other. Vehicle 10 is located using natural landmarks in the form of walls 14 and 16 and in the form of geometric structural elements 18a, b, c, d, e, f present in environment 12, such as tubes, bars, columns and the like . These natural reference points 14, 16, 18a - 18f are detected during movement of the vehicle 10 in the direction of movement indicated by the arrow 20 with the aid of a distance measurement sensor 22 arranged in the vehicle 10, the sensor being a laser scanner in the present case. The sensor 22 is arranged in a motor sensor 24, so that its measurement plane 25 is articulated around a pivot axis (not shown in detail) by the control of the motor motor 24. Through the articulation of the sensor 22, as indicated by the arrow 26, the environment 12 can be digitized in a three-dimensional way, in order, in this way, to detect the reference points 14, 16, 18. The circle 28 symbolizes the positional uncertainty of the vehicle 10 in the directions of X and Y.
    [00016] In an autonomous locating method, the sensor motor 24 is driven continuously at a constant speed V0 in the direction of the arrow 26 to detect the reference points 14, 16, 18a -18f. The speed V0 is selected so that the sensor 22 detects the environment with a sufficiently large data density. In other words, sensor 22 cannot be rotated at any desired speed, since otherwise, detection of reference points 18a - 18f would not be possible. In order to locate vehicle 10 in environment 12, the landmarks 14, 16, 18 detected are then compared with landmarks recorded on a previously created map. In this way, vehicle 10 can be navigated.
    [00017] When detecting walls or landmarks 14, 16, said items essentially provide location information regarding the position of Y and the orientation of the vehicle 10. Once the landmarks 18a - 18f have been detected , these reference points essentially provide location information regarding the X position of the vehicle 10.
    [00018] The detection of reference points 14, 16 is not critical, due to its extension in the present example. Activation without detecting the reference points is not possible. Therefore, the location of the vehicle in the Y position and orientation are provided at all times. In contrast, the location of the vehicle's X positions is critical, as shown in the following description.
    [00019] Due to the movement of the vehicle 10 and the time required to digitize the environment at the required data density, it may happen that some of the reference points 18a - 18f are not detected. This is the case if the sensor 22 is oriented in the other direction, while the vehicle 10 drives in addition to one of the reference points 18a - 18f, particularly in a different direction. Relevant reference points 18a - 18f are therefore "ignored". In regions of the environment where sufficient reference points 18a - 18f are present, this is not problematic because other sufficient reference points 18a - 18f are detected on the basis of which, the location of the vehicle 10 can be performed. What is critical, however, is "ignoring" in regions of the environment with only a few points of reference, as shown in the description based on Figures 2 to 4.
    [00020] Figures 2 to 4 show instantaneous events during the digitization of an environment region in which only a single reference point 18g is present that can be used to locate the vehicle 10 within that environment region. Fig. 1 shows vehicle 10 moving in the direction of arrow 20, in a first position where sensor 22 is oriented in the direction of wall 14. If vehicle 10 is now moved from the position shown in figure 2 in the direction of the arrow 20 to the position shown in Fig. 3, while sensor 22 is rotated in the direction of arrow 26 by the actuation of sensor motor 24 at constant speed V0, the positional uncertainty in the Y direction is improved due to the fact that the distances from the wall 14 have been detected by sensor 22. In contrast, positional uncertainty in the X direction increases, since no reference point could be detected in this section. If vehicle 10 is now moved from the position shown in Fig. 3 in the direction of arrow 20 to the position shown in Fig. 4 it is clear that the reference point 18g will be ignored, without the sensor 22 being able to detect the said point of reference. Here, positional uncertainty in the X direction increases so that the location of vehicle 10 within environment 12 is no longer possible and, for that reason, vehicle 10 comes to a stop.
    [00021] This problem is solved by the method of autonomous localization of the invention, as described in greater detail below by reference to Figures 5 to 8, based on an exemplary embodiment of the method of the invention.
    [00022] In a first step, in the method of autonomous location of the invention according to an exemplary embodiment of the present invention, a map of the environment12 is created based on the natural landmarks 14, 16, 18 contained therein. In a subsequent step, a predetermined route along which the vehicle 10 must move within the environment 12 is defined. Then, the reference points 18 that can serve as a location aid along the predetermined route are determined. During this process, critical regions of the environment are identified in which only a few of the previously identified landmarks 18 are present.
    [00023] Vehicle 10 is now moved in the direction of arrow 20 at a uniform speed along the predetermined route and sensor motor 24 is driven at a constant speed V0 in order to articulate sensor 22. If vehicle 10 enters a of the critical environment regions identified previously in which only a few reference points are provided - in the present case, only a single reference point 18g, as shown in Fig. 2 - the sensor motor 24 is actively accelerated from speed V0 to speed V1 , so that sensor 22 rotates significantly faster in the direction of arrow 26. In this process, the positional uncertainty in the Y direction is reduced, as shown in Fig. 6, while the uncertainty positioned in the X direction increases, as described above in relation to Figures 2 and 3. Before the point in time when the sensor 22 detects the reference point 18g, the motor sensor 24 is actively controlled again in order to reduce the speed V1 to a speed V2, V2 being less than V0. This has the result that the sensor 22 detects the reference point 18g with a very high measurement data density, so that the positional uncertainty in the Z direction is greatly reduced, as shown in Fig. 7. After detecting the reference point 18g by sensor 22, sensor motor 24 is once again actively controlled in order to increase its speed once again, for example, to speed V0, as shown in Fig. 8.
    [00024] It should be made clear that not only the speed of the sensor motor, but also the direction of rotation of the sensor motor 24 can be changed to ensure the detection of the reference point. Alternatively, sensor 22 can be a single beam laser mounted on a motor, rotatable around two pivot axes, or its measuring beam is deflected by means of a mirror attached to a motor to be rotatable around two axes pivot.
    [00025] A significant advantage of the autonomous location method according to the invention when compared to the method described in relation to Figures 2 to 4 lies in that the active control of the sensor motor 24 is ensured, in which the reference points are also detected in regions of the environment where only a few reference points are available, so that vehicle 10 can always be located within environment 12. Loss of vehicle position and associated cessation of navigation are prevented. A reduction in vehicle speed in critical regions of the environment to ensure that the detection of landmarks is also not required. The reduction in the speed of the V1 speed sensor engine to the V2 speed in the vicinity of a reference point 18g in a critical region of the environment allows the density of the measurement data to be increased and, in this way, the reliable detection of the reference point Relevant 18g is obtained. The increase in the speed of the sensor motor from V0 to V1 and the associated reduction in the density of the measurement data means that the corresponding environment section is digitized less intensively. This is not problematic since the previously performed analysis of the predetermined route produced the result that, in the environment section that the sensor 22 digitizes during the acceleration of the motor sensor 24, there are no relevant reference points 18 present. In environment sections without reference points 18, digitization can also be dispensed with entirely, making the positional uncertainty in the Y direction not too great. The less unnecessary measurement data is recorded, the faster and more simply the vehicle 10 can be located within the environment 12.
    [00026] If the vehicle speed is not constant, then said speed is preferably detected by a suitable sensor, for example, using a sensor that detects the rotating speed of the vehicle wheels. The vehicle speed detected at the moment is then taken into account for the location of the vehicle 10.
    权利要求:
    Claims (6)
    [0001]
    1. Method for autonomously locating a motorized vehicle without a driver (10) within a known environment (12) using a distance measurement sensor (22) arranged on the vehicle (10), the measurement direction or measurement plane of the which can be changed by driving at least one sensor motor (24), the method presenting the following steps - creating an environment map (12) based on natural landmarks (14, 16, 18a, 18b , 18c, 18d, 18e, 18f, 18g); - determining a predetermined route, along which the vehicle (10) must move; - determination of those reference points (14, 16, 18a, 18b, 18c, 18d, 18e, 18f, 18g) that can serve as an aid in locating along the predetermined route; - digitalization of the environment (12) at different points in time using the sensor (22) to detect previously determined reference points (14, 16, 18a, 18b, 18c, 18d, 18e, 18f, 18g), while the vehicle ( 10) moves along the predetermined route; and - vehicle location (10) by comparing the detected reference points (14, 16, 18a, 18b, 18c, 18d, 18e, 18f, 18g) with the reference points (14, 16, 18a, 18b, 18c, 18d, 18e, 18f, 18g) marked on the map; characterized by the fact that the speed and / or direction of rotation of the sensor motor (24) is / are actively controlled (s) at least in environment regions with only a few previously determined reference points (18g), so that the sensor (22) is oriented towards these reference points (18g), in order to ensure its detection.
    [0002]
    2. Method, according to claim 1, characterized by the fact that, as a sensor (22), a laser scanner is used, which measures in a plane, whose measurement plane is articulated by the activation of the sensor motor (24) .
    [0003]
    3. Method, according to claim 1, characterized by the fact that, as a sensor (22), a single beam laser is used, which is fixed to a motor in a rotatable way around two pivot axes, or whose beam The measuring system is deflected by means of a mirror attached to a motor in a rotatable way around two pivot axes.
    [0004]
    Method according to any one of claims 1 to 3, characterized in that during the location of the vehicle (10), the vehicle speed detected by an additional sensor is taken into account.
    [0005]
    Method according to any one of claims 1 to 4, characterized in that the speed and / or direction of rotation of the sensor motor (24) is / are controlled so that the sensor (22) scans at least reference points (18g) in environment regions with only a few reference points determined previously more intensively than other reference points (14, 16, 18a, 18b, 18c, 18d, 18e, 18f), in particular by a longer duration.
    [0006]
    Method according to any one of claims 1 to 5, characterized in that the speed and / or direction of rotation of the sensor motor (24) is / are controlled so that the sensor (22) it scans irrelevant regions of the environment, which do not have previously determined reference points, with a lower intensity than other regions of the environment or does not scan at all.
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    法律状态:
    2018-12-18| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2019-12-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2021-01-12| B09A| Decision: intention to grant|
    2021-03-16| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 06/02/2012, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    EP11154607.3A|EP2490092B1|2011-02-16|2011-02-16|Method for autonomous localisation of a driver-less motorised vehicle|
    EP11154607.3|2011-02-16|
    PCT/EP2012/051925|WO2012110343A1|2011-02-16|2012-02-06|Method for the autonomous localization of a driverless, motorized vehicle|
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