WO2007012199A3 - Traffic management system for a passageway environment - Google Patents

Traffic management system for a passageway environment Download PDF

Info

Publication number
WO2007012199A3
WO2007012199A3 PCT/CA2006/001262 CA2006001262W WO2007012199A3 WO 2007012199 A3 WO2007012199 A3 WO 2007012199A3 CA 2006001262 W CA2006001262 W CA 2006001262W WO 2007012199 A3 WO2007012199 A3 WO 2007012199A3
Authority
WO
WIPO (PCT)
Prior art keywords
passageway environment
vehicles
passageway
environment
orientation
Prior art date
Application number
PCT/CA2006/001262
Other languages
French (fr)
Other versions
WO2007012199A2 (en
Inventor
Timothy D Barfoot
Joshua A Marshall
Original Assignee
Macdonald Dettwiler & Associat
Timothy D Barfoot
Joshua A Marshall
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 Macdonald Dettwiler & Associat, Timothy D Barfoot, Joshua A Marshall filed Critical Macdonald Dettwiler & Associat
Priority to AU2006274421A priority Critical patent/AU2006274421B2/en
Priority to CA2612921A priority patent/CA2612921C/en
Priority to EP06761203A priority patent/EP1924981B1/en
Publication of WO2007012199A2 publication Critical patent/WO2007012199A2/en
Publication of WO2007012199A3 publication Critical patent/WO2007012199A3/en
Priority to AU2011202456A priority patent/AU2011202456B2/en

Links

Classifications

    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
    • G08G1/202—Dispatching vehicles on the basis of a location, e.g. taxi dispatching
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0019—Control system elements or transfer functions
    • B60W2050/0028—Mathematical models, e.g. for simulation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40555—Orientation and distance
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45004—Mining
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

Abstract

The present invention provides a system for coordinating multiple vehicles in a passageway environment (e.g., in underground mines). The system includes methods and apparatus for determining the global position and orientation of a vehicle in said passageway environment, and methods for planning routes and monitoring the travels of multiple vehicles in said passageway environment. A global position and orientation estimation system employs one or more odometric sensors and one or more range sensing devices. It works in three basic steps. In the first step, it records and processes sensor data that is descriptive of the passageway environment by moving the system through said passageway environment. In the second step, it generates a globally consistent map of said passageway environment. Finally, real-time localization is provided by employing odometric sensors and range sensing devices to determine the system's global position and orientation with respect to said globally consistent map, both initially and as it travels through the passageway environment. A route planning method accepts higher-level goals for a set of multiple vehicles in said passageway environment and generates a route plan for each vehicle that minimizes the travel time for the group of vehicles, while at the same time avoiding collisions between vehicles. Route plans are sent to the vehicles for implementation and a monitoring method tracks the global positions and orientations of the vehicles and ensures that both safety and efficiency are maintained.
PCT/CA2006/001262 2005-07-26 2006-07-26 Traffic management system for a passageway environment WO2007012199A2 (en)

Priority Applications (4)

Application Number Priority Date Filing Date Title
AU2006274421A AU2006274421B2 (en) 2005-07-26 2006-07-26 Traffic management system for a passageway environment
CA2612921A CA2612921C (en) 2005-07-26 2006-07-26 Traffic management system for a passageway environment
EP06761203A EP1924981B1 (en) 2005-07-26 2006-07-26 Traffic management system for a passageway environment
AU2011202456A AU2011202456B2 (en) 2005-07-26 2011-05-26 Traffic Management System for a Passageway Environment

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US70228505P 2005-07-26 2005-07-26
US60/702,285 2005-07-26

Publications (2)

Publication Number Publication Date
WO2007012199A2 WO2007012199A2 (en) 2007-02-01
WO2007012199A3 true WO2007012199A3 (en) 2008-03-27

Family

ID=37682969

Family Applications (2)

Application Number Title Priority Date Filing Date
PCT/CA2006/001262 WO2007012199A2 (en) 2005-07-26 2006-07-26 Traffic management system for a passageway environment
PCT/CA2006/001261 WO2007012198A1 (en) 2005-07-26 2006-07-26 Guidance, navigation, and control system for a vehicle

Family Applications After (1)

Application Number Title Priority Date Filing Date
PCT/CA2006/001261 WO2007012198A1 (en) 2005-07-26 2006-07-26 Guidance, navigation, and control system for a vehicle

Country Status (8)

Country Link
US (3) US8090491B2 (en)
EP (3) EP2450763B1 (en)
AT (1) ATE504872T1 (en)
AU (3) AU2006274421B2 (en)
CA (2) CA2616613C (en)
DE (1) DE602006021188D1 (en)
WO (2) WO2007012199A2 (en)
ZA (2) ZA200800635B (en)

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US20120035798A1 (en) 2012-02-09
EP1924981B1 (en) 2012-09-12
ATE504872T1 (en) 2011-04-15
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EP1924981A2 (en) 2008-05-28
EP1913235B1 (en) 2011-04-06
AU2006274421A1 (en) 2007-02-01
AU2006274421B2 (en) 2011-08-11
AU2006274420A1 (en) 2007-02-01
ZA200801764B (en) 2008-11-26
EP2450763B1 (en) 2017-03-01
CA2616613A1 (en) 2007-02-01
AU2011202456B2 (en) 2012-08-02
AU2011202456A1 (en) 2011-06-16
US20090043439A1 (en) 2009-02-12
WO2007012199A2 (en) 2007-02-01
ZA200800635B (en) 2008-11-26
US7756615B2 (en) 2010-07-13
CA2612921C (en) 2016-08-30
EP2450763A1 (en) 2012-05-09
EP1924981A4 (en) 2009-11-11

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