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WO2004097540A3 - Procede pour la cartographie d’une zone a traiter et son dispositif de mise en oeuvre - Google Patents

Procede pour la cartographie d’une zone a traiter et son dispositif de mise en oeuvre Download PDF

Info

Publication number
WO2004097540A3
WO2004097540A3 PCT/FR2004/001032 FR2004001032W WO2004097540A3 WO 2004097540 A3 WO2004097540 A3 WO 2004097540A3 FR 2004001032 W FR2004001032 W FR 2004001032W WO 2004097540 A3 WO2004097540 A3 WO 2004097540A3
Authority
WO
WIPO (PCT)
Prior art keywords
treated
zone
mapping
identified
device therefor
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/FR2004/001032
Other languages
English (en)
Other versions
WO2004097540A2 (fr
Inventor
Florian Pantaleao
Dominique Meizel
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.)
GRADIENT
Universite de Technologie de Compiegne UTC
Original Assignee
GRADIENT
Universite de Technologie de Compiegne UTC
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 GRADIENT, Universite de Technologie de Compiegne UTC filed Critical GRADIENT
Publication of WO2004097540A2 publication Critical patent/WO2004097540A2/fr
Publication of WO2004097540A3 publication Critical patent/WO2004097540A3/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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0219—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory ensuring the processing of the whole working surface
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Image Processing (AREA)

Abstract

La présente invention se rapporte à un procédé de cartographie d'une zone à traiter, faisant coopérer deux modules de traitement : un module d'analyse/identification puis d'union, de manière incrémentale, des différentes zones élémentaires balayées par le dispositif afin de former une cartographie de la zone à traiter, caractérisé en ce que la surface de chaque zone élémentaire est analysée/identifiée par son apparence visuelle en la comparant avec des modèles d'apparences visuelles de surfaces ; la surface étant identifiée comme « à traiter » ou « à ne pas traiter », un second module utilisant cette représentation de la surface à traiter pour engendrer des mouvements qui tendront à remplir la mission avec un rendement optimal et à découvrir l'intégralité de la surface à traiter. La présente invention concerne également un dispositif mobile (1) pour la réalisation automatique d'une tâche.
PCT/FR2004/001032 2003-04-28 2004-04-28 Procede pour la cartographie d’une zone a traiter et son dispositif de mise en oeuvre Ceased WO2004097540A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR0305191A FR2854256B1 (fr) 2003-04-28 2003-04-28 Procede pour la cartographie d'une zone a traiter et son dispositif de mise en oeuvre
FR03/05191 2003-04-28

Publications (2)

Publication Number Publication Date
WO2004097540A2 WO2004097540A2 (fr) 2004-11-11
WO2004097540A3 true WO2004097540A3 (fr) 2005-01-20

Family

ID=33104449

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/FR2004/001032 Ceased WO2004097540A2 (fr) 2003-04-28 2004-04-28 Procede pour la cartographie d’une zone a traiter et son dispositif de mise en oeuvre

Country Status (2)

Country Link
FR (1) FR2854256B1 (fr)
WO (1) WO2004097540A2 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2987689B1 (fr) * 2012-03-01 2016-08-12 Eos Innovation Systeme de surveillance de locaux comportant au moins un robot et robot destine a un tel systeme
FR3037710B1 (fr) * 2015-06-19 2017-06-23 Exelsius Procede d’activation de surface de carte electronique pour amelioration de l’adherence d'une couche protectrice telle qu'un vernis ou d'un liant electrique, mecanique ou thermique
CN110214534B (zh) * 2019-05-27 2020-11-13 黎声波 草坪自感应自动数控除草装置及使用方法

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4868752A (en) * 1987-07-30 1989-09-19 Kubota Ltd. Boundary detecting method and apparatus for automatic working vehicle
US5995895A (en) * 1997-07-15 1999-11-30 Case Corporation Control of vehicular systems in response to anticipated conditions predicted using predetermined geo-referenced maps
US20010018640A1 (en) * 2000-02-28 2001-08-30 Honda Giken Kogyo Kabushiki Kaisha Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method
US20010022506A1 (en) * 1995-05-30 2001-09-20 Ehud Peless Navigation method and system for autonomous machines with markers defining the working area
WO2002075470A1 (fr) * 2001-03-15 2002-09-26 Aktiebolaget Electrolux Navigation a haut rendement energetique d'un appareil de traitement de surface autonome
US20030028993A1 (en) * 2001-08-07 2003-02-13 Jeong-Gon Song Robot cleaner, system thereof and method for controlling same

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4868752A (en) * 1987-07-30 1989-09-19 Kubota Ltd. Boundary detecting method and apparatus for automatic working vehicle
US20010022506A1 (en) * 1995-05-30 2001-09-20 Ehud Peless Navigation method and system for autonomous machines with markers defining the working area
US5995895A (en) * 1997-07-15 1999-11-30 Case Corporation Control of vehicular systems in response to anticipated conditions predicted using predetermined geo-referenced maps
US20010018640A1 (en) * 2000-02-28 2001-08-30 Honda Giken Kogyo Kabushiki Kaisha Obstacle detecting apparatus and method, and storage medium which stores program for implementing the method
WO2002075470A1 (fr) * 2001-03-15 2002-09-26 Aktiebolaget Electrolux Navigation a haut rendement energetique d'un appareil de traitement de surface autonome
US20030028993A1 (en) * 2001-08-07 2003-02-13 Jeong-Gon Song Robot cleaner, system thereof and method for controlling same

Also Published As

Publication number Publication date
WO2004097540A2 (fr) 2004-11-11
FR2854256B1 (fr) 2005-07-15
FR2854256A1 (fr) 2004-10-29

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