Apparatus for measuring the displacement of a vehicle, in particular an all-terrain robot, and a vehicle equipped with such apparatus

US5410478A · kind A · utility

Assignee

• Alcatel Alsthom Compagnie Generale d'Electricite · FR

Inventors

• Francois Richard · Les Ulis, FR
• Pierre Tournassoud · Paris, FR

Key dates

• Filing date: Jun 16, 1993
• Grant date: Apr 25, 1995
• Expiry date: Jun 16, 2013

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B62D55/065
• WIPO field: Transport
• WIPO sector: Mechanical engineering

Abstract

A primary odometer velocity is measured by a sensor on an odometer member travelling over terrain. The velocity is corrected by a calculating unit to take account of the inclination of the terrain at the point of contact where the member is in contact with the terrain. The inclination is measured by means of force sensors, e.g. measuring the forces applied to said member as a whole. An inertial unit supplies the orientation and the angular velocities of the vehicle. The device has application to navigation of all-terrain robots.