公开(公告)号：WO2009043082A1

公开(公告)日：2009-04-09

申请号：PCT/AU2008/001114

申请日：2008-08-04

Applicant: PROTEGE SPORT PTY LTD ,  EDWARDS, Ian ,  PROWSE, Michael ,  WILLIAMS, Allan

Inventor： EDWARDS, Ian ,  PROWSE, Michael ,  WILLIAMS, Allan

IPC: G05D1/08 ,  B62D6/00 ,  G01C21/00

CPC classification number: G01C21/12 ,  A63B2055/605 ,  B62B5/0026 ,  B62B5/0069 ,  B62B2202/404 ,  G05D1/027 ,  G05D2201/0204

Abstract: A navigation system (30) for a vehicle, the vehicle including left and right motors (22, 24) for respectively causing rotation of left and right wheels and left and right motor drives(26, 28) for respectively driving the left and right motors, the navigation system including: an electronic gyroscope (36) mountable to the vehicle; and a control unit (32) configured to: receive an output signal from the gyroscope; derive a yaw angular velocity from the gyroscope output signal; derive a vehicle turning direction from the gyroscope output signal for non-zero yaw angular velocities; and cause the motor drives to apply a relative speed difference between the motors according to the yaw angular velocity and vehicle turning direction to thereby compensate for a change in vehicle heading.

Abstract translation: 一种用于车辆的导航系统（30），所述车辆包括用于分别使左右车轮和左右电动机驱动器（26,28）分别旋转的左右电动机（22,24），用于分别驱动左右电动机 ，所述导航系统包括：可安装到所述车辆的电子陀螺仪（36）; 以及控制单元（32），被配置为：从所述陀螺仪接收输出信号; 从陀螺仪输出信号得出偏航角速度; 从非零偏航角速度的陀螺仪输出信号得出车辆转向方向; 并且使得电动机驱动器根据偏航角速度和车辆转向方向在电动机之间施加相对速度差，从而补偿车辆行驶方向的变化。

公开(公告)号：WO2008144810A1

公开(公告)日：2008-12-04

申请号：PCT/AU2008/000737

申请日：2008-05-26

Applicant: XBUG PTY LTD ,  FONDAS, Nick ,  DOUKAS, Angelo

Inventor： FONDAS, Nick ,  DOUKAS, Angelo

IPC: G01S13/58

CPC classification number: G01S3/42 ,  G01S1/04 ,  G05D1/0257 ,  G05D2201/0204 ,  H01Q1/22 ,  H01Q3/02

Abstract: The present invention provides a system and method of controlling a vehicle. The method includes the steps of: Providing a transmitter arranged to transmit in the microwave frequency range; providing a receiving means on the vehicle, receiving the signal, and calculating the azimuth of the transmitter with respect to the vehicle. The vehicle is controlled based on the calculated azimuth.

Abstract translation: 本发明提供了一种控制车辆的系统和方法。 该方法包括以下步骤：提供布置成在微波频率范围内传输的发射机; 在车辆上提供接收装置，接收信号，以及计算发射机相对于车辆的方位角。 基于计算出的方位来控制车辆。

公开(公告)号：WO2006077605A1

公开(公告)日：2006-07-27

申请号：PCT/IT2005/000027

申请日：2005-01-20

Applicant: O.M.G. S.R.L. ,  SPIGAI, Alberto

Inventor： SPIGAI, Alberto

IPC: G05D1/02

CPC classification number: G05D1/0255 ,  G05D2201/0204

Abstract: A cart for transporting objects and various goods, in particular on golf courses, comprising at least one electric traction motor fed by at least one set of accumulators installed on board the cart, a series of ultrasonic sensors apt to detect the signals coming from an external source of signals, and a microcomputer control unit which interfaces with said sensors and with an electronic speed regulator of said at least one electric motor, is automatically guided to maintain a pre-determined position set in respect of the position of said extemal source of reference signals. Special algorithms are implemented in the microcomputer control unit of the cart in order to exactly determine the mutual position cart / source and to avoid interferences with similar carts operating in the same area.

Abstract translation: 一种用于运输物品和各种商品的车，特别是高尔夫球场，包括至少一个电动牵引电动机，该电动牵引电动机由安装在车上的至少一组蓄能器供电;一系列超声波传感器，用于检测来自外部的信号 信号源和与所述传感器和所述至少一个电动机的电子调速器接口的微型计算机控制单元被自动引导以保持相对于所述外部参考源的位置设定的预定位置 信号。 在车的微机控制单元中实现特殊算法，以便精确地确定相互位置购物车/源，并避免与在相同区域中操作的类似车辆的干扰。

公开(公告)号：WO99012793A1

公开(公告)日：1999-03-18

申请号：PCT/US1998/018209

申请日：1998-09-02

IPC: A63B55/08 ,  A63B57/00 ,  A63B69/36 ,  A63B71/06 ,  B62B5/00 ,  B62D1/28 ,  G01C21/20 ,  G01C22/00 ,  G01S5/14 ,  G01S19/14 ,  G01S19/48 ,  G05D1/02

CPC classification number: A63B71/06 ,  A63B24/0021 ,  A63B55/61 ,  A63B57/00 ,  A63B69/36 ,  A63B2024/0025 ,  A63B2055/603 ,  A63B2071/0691 ,  A63B2102/32 ,  A63B2220/12 ,  A63B2220/13 ,  A63B2220/14 ,  A63B2220/20 ,  A63B2225/66 ,  B62B5/0076 ,  B62B2202/404 ,  B62D1/28 ,  G01C21/20 ,  G01C22/004 ,  G01S19/07 ,  G01S19/41 ,  G05D1/0244 ,  G05D1/0255 ,  G05D1/0263 ,  G05D1/027 ,  G05D1/0272 ,  G05D1/0274 ,  G05D1/0278 ,  G05D1/0282 ,  G05D2201/0204 ,  Y10S280/05

Abstract: A robotic golf caddy apparatus (21) movably supported on a steering assembly (28) and including a communications assembly (41) for communicating with a GPS system (61) and a central control station in order to guide and steer the apparatus around designated accessible areas of a golf course. The apparatus (21) also includes a dead reckoning system with distance determination device (83) and compass (85) for determining the distance the caddy travels should the communications assembly (41) lose communications with a predetermined minimum number of satellites in the GPS system (61). Also, a sensor (72a) is provided for detecting a guide tape or line (126, 130), provided in preselected areas of the golf course. The caddy apparatus (21) is steered along the guide tape (126, 130), rather than by the GPS system (61), in certain areas of the course where the GPS system (61) may be inadequate for maximum safe operation of the caddy apparatus.

Abstract translation: 一种可移动地支撑在转向组件上并包括用于与GPS系统（61）和中央控制站进行通信的通信组件（41）的机器人高尔夫球盒设备（21），以引导和引导设备围绕指定的可访问 高尔夫球场的区域。 装置（21）还包括具有距离确定装置（83）和罗盘（85）的航位推算系统，用于当通信组件（41）与GPS系统中的预定最小数量的卫星失去通信时，确定球童行进的距离 （61）。 此外，设置有用于检测设置在高尔夫球场的预选区域中的导引带或线（126,130）的传感器（72a）。 在GPS系统（61）可能不足以最大程度地安全操作的某些区域中，小童装置（21）沿着引导带（126,130）而不是由GPS系统（61）转向， 球童仪器

公开(公告)号：WO1991009757A1

公开(公告)日：1991-07-11

申请号：PCT/US1990007561

申请日：1990-12-20

Applicant: INVISIBLE FENCE COMPANY, INC.

Inventor： INVISIBLE FENCE COMPANY, INC. ,  DIX, Thomas, S., Jr.

IPC: B60T07/16

CPC classification number: G08B21/182 ,  B60R25/1018 ,  B60T7/16 ,  G05D1/0282 ,  G05D2201/0204 ,  Y10S280/05

Abstract: A system and method are provided for controlling the movement of a golf cart (30) relative to a selected restricted area (20) on a golf course, such as a green. A signal transmitter (10) having a transmitting antenna (15) is positioned in the vicinity of the selected restricted area (20). A transmission signal is produced from the transmitting antenna (15) at the selected restricted area (20). A signal receiver (35) having a receiving antenna (33) is positioned on the golf cart (30) for receiving the transmission signal when the golf cart moves into the vicinity of the transmitting antenna (15). An alarm (48) on the golf cart is activated when the transmission signal received by the receiving antenna (33) reaches a predetermined level for indicating to an operator of the golf cart (30) that the cart has moved into the restricted area (20) on the golf course. The activation period of the first alarm (48) is timed so that a second alarm (49) on the golf cart (30) can be activated after the expiration of a predetermined time period of activation of the first alarm (48). The second alarm (49) provides notice to the cart operator that the cart (30) has remained in the restricted area (20) for the predetermined time period. The golf cart (30) may also be disabled in the forward direction after a predetermined time period of activation of the first alarm (48) to prevent further ingress of the cart (30) into the restricted area.

公开(公告)号：WO2014065159A1

公开(公告)日：2014-05-01

申请号：PCT/JP2013/077963

申请日：2013-10-15

Applicant: ヤマハ発動機株式会社

Inventor： 倉貫　芳紀

IPC: G05D1/02 ,  G01B11/00 ,  G06T1/00 ,  G06T7/60 ,  H04N7/18

CPC classification number: H04N13/122 ,  G01C3/085 ,  G01S5/16 ,  G05D1/0251 ,  G05D2201/0204 ,  G06T7/564 ,  G06T7/593 ,  G06T2207/10012 ,  G06T2207/10028 ,  G06T2207/20112 ,  G06T2207/30261 ,  H04N7/181 ,  H04N13/243

Abstract: 　視差画像のマッチング精度が高く、演算量を抑制した距離測定装置を提供する。　視差画像を作成し距離を測定する距離測定装置（４）において、画像を撮像する複数の撮像センサ（３ａ、３ｂ）と、画像から明から暗への変化によって生じるエッジと暗から明への変化によって生じるエッジとを識別するための識別情報を有する画素値を持つエッジ画像を抽出するエッジ画像抽出部（１３）と、エッジ画像の正負の符号に応じて２値化エッジ画像を作成する２値化エッジ画像作成部（１５）と、２値化エッジ画像から視差画像を作成する視差画像作成部（１７）と、視差画像から距離画像を演算する距離画像演算部（１９）とを備える。

Abstract translation: 提供了一种以高度准确的方式执行视差图像匹配并且计算量最小化的距离测量装置。 一种用于产生视差图像和测量距离的距离测量装置（4），具有：用于形成图像的多个成像传感器（3a，3b）; 边缘图像提取器（13），用于从图像中提取具有像素值的边缘图像，所述边缘图像具有用于区分由亮度变化引起的边缘的区别信息和由暗变为亮造成的边缘; 二值化边缘图像创建单元，用于根据边缘图像的正或负符号创建二值化边缘图像; 用于从二值化边缘图像创建视差图像的视差图像创建单元（17）; 以及用于从视差图像计算距离图像的距离图像计算单元（19）。

公开(公告)号：WO2013059423A1

公开(公告)日：2013-04-25

申请号：PCT/US2012/060766

申请日：2012-10-18

Applicant: FTR SYSTEMS, INC. ,  ZHANG, Jian ,  LEE, Chunghsin

Inventor： ZHANG, Jian ,  LEE, Chunghsin

IPC: B60R21/16

CPC classification number: B60K1/02 ,  B60L15/20 ,  B62B5/0076 ,  B62B2202/404 ,  G05D1/0255 ,  G05D2201/0204 ,  Y02T10/7258 ,  Y10S280/05 ,  Y10S280/06

Abstract: A foldable cart assembly 10 having a user tracking arrangement 30,32,33 so as to follow movement of the user during motion over a field. The cart assembly 10 has a plurality of ultrasound 32 and RF sensors 54 in communication with corresponding sensors in a remote handset transmission device "T" carried by the user.

Abstract translation: 具有用户跟踪装置30,32,33的可折叠推车组件10，以便跟随用户在场上运动期间的移动。 手推车组件10具有多个超声波32和RF传感器54，与用户携带的远程手机传输设备“T”中的对应传感器通信。

公开(公告)号：WO2009022929A3

公开(公告)日：2009-07-30

申请号：PCT/PT2008000031

申请日：2008-08-13

Applicant: UNIV DO MINHO ,  MACEDO RIBEIRO ANTONIO FERNAND ,  DUARTE OLIVEIRA E SILVA CARLOS ,  CORREIA MOUTINHO IVO MAURO ,  DA COSTA E SILVA PEDRO LUIS ,  COSTA PACHECO LUIS FERNANDO ,  COSTA DE OLIVEIRA SERGIO ALEXA ,  BARBOSA OLIVEIRA ANDRE JOAQUIM ,  CARDOSO COSTA HELOISA CRISTIAN

Inventor： MACEDO RIBEIRO ANTONIO FERNANDO ,  DUARTE OLIVEIRA E SILVA CARLOS ,  CORREIA MOUTINHO IVO MAURO ,  DA COSTA E SILVA PEDRO LUIS ,  COSTA PACHECO LUIS FERNANDO ,  COSTA DE OLIVEIRA SERGIO ALEXANDRE ,  BARBOSA OLIVEIRA ANDRE JOAQUIM ,  CARDOSO COSTA HELOISA CRISTIANA

IPC: A63B47/02 ,  G05D1/02

CPC classification number: G05D1/0246 ,  A63B47/021 ,  A63B2047/022 ,  G05D1/0225 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0204

Abstract: The present invention regards a motorised system with electric traction with computer vision for outdoor environments, which can interact with the surrounding environment in an autonomous way or remotely operated. This vehicle tows a trailer that permits, amongst other functions, to perform golf balls picking. The totally autonomous golf picking system comprises : a base (1) with, at least, two linked wheels, each driven by an independent motor; a vision system (8) with a variable amount of video cameras; a set of sensors - humidity, accelerometer, compass, coders, temperature, ultrasounds, GPS, that allow the path optimisation of the system; an image acquisition and processing system; a continuous processing unit of sensor data and motor control; a trailer with a mechanical device for picking the balls (3) and a ball container (2) with an automatic opening system (4) to an unloading dock; and a unit of rechargeable batteries through external terminals.

Abstract translation: 本发明涉及具有用于室外环境的计算机视觉的电牵引的电动系统，其可以以自主的方式或远程操作与周围环境交互。 这种车辆牵引拖车，除了其他功能之外，还可以执行高尔夫球的采摘。 完全自主的高尔夫拾取系统包括：具有至少两个联动轮的基座（1），每个由独立的马达驱动; 具有可变量摄像机的视觉系统（8）; 一组传感器 - 湿度，加速度计，罗盘，编码器，温度，超声波，GPS，允许系统的路径优化; 图像采集和处理系统; 传感器数据和电机控制的连续处理单元; 具有用于将球（3）拾取的机械装置的拖车和具有自动打开系统（4）的球容器（2）到卸载坞; 和通过外部端子的可充电电池单元。

公开(公告)号：WO2009022929A2

公开(公告)日：2009-02-19

申请号：PCT/PT2008/000031

申请日：2008-08-13

Applicant: UNIVERSIDADE DO MINHO ,  MACEDO RIBEIRO, António Fernando ,  DUARTE OLIVEIRA E SILVA, Carlos ,  CORREIA MOUTINHO, Ivo Mauro ,  DA COSTA E SILVA, Pedro Luís ,  COSTA PACHECO, Luís Fernando ,  COSTA DE OLIVEIRA, Sérgio Alexandre ,  BARBOSA OLIVEIRA, André Joaquim ,  CARDOSO COSTA, Heloísa Cristiana

Inventor： MACEDO RIBEIRO, António Fernando ,  DUARTE OLIVEIRA E SILVA, Carlos ,  CORREIA MOUTINHO, Ivo Mauro ,  DA COSTA E SILVA, Pedro Luís ,  COSTA PACHECO, Luís Fernando ,  COSTA DE OLIVEIRA, Sérgio Alexandre ,  BARBOSA OLIVEIRA, André Joaquim ,  CARDOSO COSTA, Heloísa Cristiana

IPC: A63B47/02 ,  G05D1/02

CPC classification number: G05D1/0246 ,  A63B47/021 ,  A63B2047/022 ,  G05D1/0225 ,  G05D1/0259 ,  G05D1/027 ,  G05D1/0278 ,  G05D1/028 ,  G05D2201/0204

Abstract: The present invention regards a motorised system with electric traction with computer vision for outdoor environments, which can interact with the surrounding environment in an autonomous way or remotely operated. This vehicle tows a trailer that permits, amongst other functions, to perform golf balls picking. The totally autonomous golf picking system comprises : a base (1) with, at least, two linked wheels, each driven by an independent motor; a vision system (8) with a variable amount of video cameras; a set of sensors - humidity, accelerometer, compass, coders, temperature, ultrasounds, GPS, that allow the path optimisation of the system; an image acquisition and processing system; a continuous processing unit of sensor data and motor control; a trailer with a mechanical device for picking the balls (3) and a ball container (2) with an automatic opening system (4) to an unloading dock; and a unit of rechargeable batteries through external terminals.

Abstract translation: 本发明涉及一种用于室外环境的具有电脑视觉的电力牵引的机动化系统，其能够以自主方式与周围环境进行交互或远程操作。 该车辆牵引拖车，允许执行高尔夫球采摘等功能。 全自动高尔夫球采摘系统包括：底座（1），其具有至少两个连接的轮子，每个轮子由独立的马达驱动; 具有可变数量摄像机的视觉系统（8） 一套传感器 - 湿度，加速度计，指南针，编码器，温度，超声波，全球定位系统，可以对系统进行路径优化; 一个图像采集和处理系统; 传感器数据和电机控制的连续处理单元; 具有用于拾取所述球（3）的机械装置的拖车和具有自动开启系统（4）的球容器（2）至卸载坞; 和一个通过外部终端充电电池的单元。

公开(公告)号：WO2004026538A1

公开(公告)日：2004-04-01

申请号：PCT/SE2003/000136

申请日：2003-01-28

Applicant: WILKENSON SCOOP AB ,  WILKENSON, Ulf

Inventor： WILKENSON, Ulf

IPC: B25J9/00

CPC classification number: G05D1/0236 ,  A63B47/021 ,  A63B2047/022 ,  G05D1/027 ,  G05D1/0278 ,  G05D2201/0201 ,  G05D2201/0204 ,  G05D2201/0208

Abstract: The present invention relates to a method for making a work machine automatically perform work tasks, which work machine comprises a positioning equipment connected to a control and monitoring computer and capable of detecting the current position of the vehicle, control and sensor means connected to the steering and drive members of the vehicle as well as connected to the control and monitoring computer and capable of controlling and detecting the steering and drive members of the vehicle. The invention is characterised by the steps of performing the current work task by an operator of the vehicle during simultaneous recording and storage in the control and monitoring computer of information from the positioning equipment as well as the sensor means, performing the current work task based on the stored information in the order it was stored during activation of the steering means. The invention also comprises a device and a computer program for performing the method.

Abstract translation: 本发明涉及一种使作业机自动执行工作任务的方法，该工作机器包括连接到控制和监视计算机的定位设备，并且能够检测车辆的当前位置，连接到转向器的控制和传感器装置 并且驱动车辆的构件，并且连接到控制和监视计算机，并且能够控制和检测车辆的转向和驱动构件。 本发明的特征在于以下步骤：在控制和监视计算机中同时记录和存储来自定位设备的信息以及传感器装置的同时记录和存储车辆的操作者的步骤，执行基于 存储的信息按照在激活转向装置期间存储的顺序。 本发明还包括用于执行该方法的装置和计算机程序。