Techniques for positioning a vehicle
First Claim
1. A system for determining a location of a vehicle, the vehicle being a container handling machine, the system comprising:
- at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to at least two landmarks of a plurality of landmarks provided in a port area by performing a horizontal scanning, wherein locations of the plurality of landmarks is known to the system;
a processor configured to;
store in memory locations of the at least two landmarks;
determine an initial location and initial heading of the vehicle based on measured distances and directions from the vehicle to the at least two landmarks, and on a recorded movement and change of heading of the vehicle between times the at least two landmarks are observed;
and when only one landmark of the at least two landmarks is visible, the processor is configured to;
record a change in heading and store heading data of the vehicle;
measure distance and direction from the vehicle to the only one landmark;
determine an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark,wherein the system is configured to use the updated location for navigating the vehicle.
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Abstract
A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.
15 Citations
16 Claims
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1. A system for determining a location of a vehicle, the vehicle being a container handling machine, the system comprising:
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at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to at least two landmarks of a plurality of landmarks provided in a port area by performing a horizontal scanning, wherein locations of the plurality of landmarks is known to the system; a processor configured to; store in memory locations of the at least two landmarks; determine an initial location and initial heading of the vehicle based on measured distances and directions from the vehicle to the at least two landmarks, and on a recorded movement and change of heading of the vehicle between times the at least two landmarks are observed; and when only one landmark of the at least two landmarks is visible, the processor is configured to; record a change in heading and store heading data of the vehicle; measure distance and direction from the vehicle to the only one landmark; determine an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark, wherein the system is configured to use the updated location for navigating the vehicle. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A method for determining a location of a vehicle, said vehicle being a container handling machine, the method comprising:
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using at least one scanning distance sensor configured to perform a horizontal scanning and installed in the vehicle to obtain distance and direction from the vehicle to at least two landmarks of a plurality of landmarks provided in a port area, wherein locations of the plurality of landmarks are known to a data processing system; using the data processing system to; store in memory locations of the at least two landmarks; determine an initial location and initial heading of the vehicle based on measured distances and directions from the vehicle to the at least two landmarks, and on a recorded movement and change of heading between times the at least two landmarks are observed; and when only one landmark of the at least two landmarks is visible, using the data processing system to; record a change in heading and store heading data of the vehicle; measure distance and direction from the vehicle to the only one landmark; determine an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark; and navigating the vehicle using the updated location. - View Dependent Claims (12, 13, 14, 15)
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16. A software product on a non-transitory computer-readable storage medium for a data processing device in a vehicle for determining a location of the vehicle in an environment provided with a plurality of landmarks provided in a port area, the vehicle being a container handling machine and comprising at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to at least two landmarks of the plurality of landmarks by performing a horizontal scanning;
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the software product controls the data processing device to carry out a method comprising the following steps; storing in memory locations of the at least two landmarks of the plurality of landmarks; and determining an initial location and initial heading of the vehicle based on measured distances and directions to from the vehicle the at least two landmarks, and on a recorded movement and change of heading between times the at least two landmarks are observed; and when only one landmark of the at least two landmarks is visible; recording a change in heading and storing heading data of the vehicle; measuring distance and direction from the vehicle to the only one landmark; determining an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark; and navigating the vehicle using the updated location.
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Specification