METHOD AND APPARATUS FOR SENSING OBJECT LOAD ENGAGEMENT, TRANSPORTATION AND DISENGAGEMENT BY AUTOMATED VEHICLES

• US 20110218670A1
• Filed: 03/05/2010
• Published: 09/08/2011
• Est. Priority Date: 03/05/2010
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Inro Technologies Limited
• Inventors: Howse, David Charles, Bell, Jamie, Chandrasekar, Kashyap, Graham, Andrew Evan
• Granted Patent: US 8,538,577 B2
• Time in Patent Office: Days
• US Class Current: 700/215
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/20 Means for actuating or controlling masts, platforms, or forks power take-off from vehicle transmissions, combined with vehicle propulsion systems B60K
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

A method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles is described. In one embodiment, the method includes processing data that is transmitted from a sensor array comprising at least one device for analyzing a plurality of objects that are placed throughout a physical environment, executing an object recognition process on the sensor array data using model information to identify at least one object, determining orientation information associated with the at least one object, wherein the orientation information is relative to the lift carriage and positioning at least one lifting element based on the orientation information.

Claims

1. A method of sensing object load engagement, transportation and disengagement by automated vehicles, comprising:

processing data that is transmitted from a sensor array comprising at least one device for analyzing a plurality of objects that are placed throughout a physical environment;

executing an object recognition process on the sensor array data using model information to identify at least one object;

determining orientation information associated with the at least one object, wherein the orientation information is relative to the lift carriage; and

positioning at least one lifting element based on the orientation information.

2. The method of claim 1, wherein the at least one device comprises a camera and a laser scanner that are coupled to a lift carriage.

3. The method of claim 2, wherein at least one of the camera or the laser scanner are located below the at least one lifting element.

4. The method of claim 2, wherein at least one of the camera or the laser scanner are located above the at least one lifting element.

5. The method of claim 2, wherein the camera and the laser scanner are articulated.

6. The method of claim 1, wherein determining the orientation information further comprises defining an entry point orientation associated with at least one of a pallet or a rack system.

7. The method of claim 1, wherein determining the orientation information further comprises defining a destination orientation associated with an object load.

8. The method of claim 1, wherein executing the object recognition process further comprises identifying a matching object model using laser scanner data and image data.

9. A computer-readable-storage medium comprising one or more processor-executable instructions that, when executed by at least one processor, causes the at least one processor to:

process data that is transmitted from a sensor array comprising at least one device for analyzing a plurality of objects that are placed throughout a physical environment;

execute an object recognition process on the sensor array data using model information to identify at least one object;

determine orientation information associated with the at least one object, wherein the orientation information is relative to the lift carriage; and

instruct an automated vehicle to position at least one lifting element based on the orientation information.

10. The computer-readable-storage medium of claim 9 further comprising one or more processor-executable instructions that, when executed by the at least one processor, causes the at least one processor to:

define an entry point orientation associated with at least one of a pallet or a rack system.

11. The computer-readable-storage medium of claim 9 further comprising one or more processor-executable instructions that, when executed by the at least one processor, causes the at least one processor to:

define a destination orientation associated with an object load.

12. The computer-readable-storage medium of claim 9 further comprising one or more processor-executable instructions that, when executed by the at least one processor, causes the at least one processor to:

identify a matching object model using laser scanner data and image data.

13. A system for sensing object load engagement, transportation and disengagement by automated vehicles, comprising:

a sensor array comprising a laser scanner and a camera; and

a computer for processing data that is transmitted from the sensor array, executing an object recognition process on the sensor array data using model information to identify at least one object, determining orientation information associated with the at least one object, wherein the orientation information is relative to the lift carriage and positioning at least one lifting element based on the orientation information.

14. The system of claim 13, wherein the computer communicates, to another computer for operating a vehicle, instructions for performing at least one task based on the at least one visual representation, wherein the mobile computer is adapted to couple with the vehicle.

15. The system of claim 13, wherein the camera and the laser scanner are articulated.

16. The system of claim 13, wherein the camera and the laser scanner are located above the at least one lifting element.

17. The system of claim 13, wherein the camera and the laser scanner are located below the at least one lifting element.

18. The system of claim 13, wherein the computer defines an entry point orientation associated with at least one of a pallet or a rack system.

19. The system of claim 13, wherein the computer defines a destination orientation associated with an object load.

20. The system of claim 13, wherein the computer identifies a matching object model using laser scanner data and image data.