Systems and methods for determining a location of an object
First Claim
1. A system for determining a location of an object, the system comprising:
- an object location tracker for attachment to a mobile vehicle, the object location tracker comprising;
an object identification reading device for sensing object identification indicia on the object; and
a position-tracking device for determining a location of the object location tracker as the mobile vehicle moves throughout an environment; and
a computer system in communication with the object location tracker for associating the sensed object identification indicia of the object with a location in the environment based on the position of the object location tracker in the environment as determined by the position-tracking device when the object identification reading device senses the object identification indicia.
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Accused Products
Abstract
A system for determining a location of an object. The system includes an object location tracker and a computer system. The object location tracker is configured for attachment to a mobile vehicle and includes an object identification reading device and a position-tracking device. The object identification reading device senses object identification indicia on the object, such as RF ID tags, bar codes, etc., as the mobile vehicle moves around an environment in which the object is situated. The position-tracking device computes the location of the object location tracker as the mobile vehicle moves throughout environment. The computer system associates the sensed object identification indicia of the object, as determined by the reading device, with a location in the environment based on the position of the object location tracker in the environment, as determined by the position-tracking device, when the reading device senses the object identification indicia. The mobile vehicle may include its own mobility system, such as a forklift or an autonomous robotic device, or the mobile vehicle may be, for example, a pushcart that is pushed around the environment.
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Citations
25 Claims
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1. A system for determining a location of an object, the system comprising:
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an object location tracker for attachment to a mobile vehicle, the object location tracker comprising;
an object identification reading device for sensing object identification indicia on the object; and
a position-tracking device for determining a location of the object location tracker as the mobile vehicle moves throughout an environment; and
a computer system in communication with the object location tracker for associating the sensed object identification indicia of the object with a location in the environment based on the position of the object location tracker in the environment as determined by the position-tracking device when the object identification reading device senses the object identification indicia. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A system for determining a location of an object, the system comprising:
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a vehicle;
an object location tracker attached to the vehicle, the object location tracker comprising;
an object identification reading device for sensing object identification indicia on the object; and
a position-tracking device for determining a location of the object location tracker as the vehicle moves throughout an environment; and
a computer system in communication with the object location tracker for associating the sensed object identification indicia of the object with a location in the environment based on the position of the object location tracker in the environment as determined by the position-tracking device when the object identification reading device senses the object identification indicia. - View Dependent Claims (17, 18, 19)
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20. A method for determining a location of an object, the method comprising:
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sensing object identification indicia on the object from a mobile vehicle as the mobile vehicle moves in an environment in which the object is located;
detecting the position of the mobile vehicle in the environment by;
detecting movement of the mobile vehicle with an inertial sensor assembly;
determining a current mode of movement of the vehicle based on the detected movement and state estimates for the vehicle for prior instances in time;
determining a first state estimate of the vehicle based at least on a motion model for the current mode of movement of the vehicle;
determining a second state estimate of the vehicle by dead reckoning based on movement of the vehicle detected by the inertial sensor assembly and the state estimates for the vehicle for the prior instances in time; and
determining a near real-time state estimate for the vehicle based on the first and second state estimates; and
associating the sensed object identification indicia of the object with a location in the environment based on the state estimate of the vehicle when the object identification indicia of the object is sensed. - View Dependent Claims (21, 22, 23, 24, 25)
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Specification