METHOD AND APPARATUS FOR USING PRE-POSITIONED OBJECTS TO LOCALIZE AN INDUSTRIAL VEHICLE

• US 20130060461A1
• Filed: 09/07/2011
• Published: 03/07/2013
• Est. Priority Date: 09/07/2011
• Status: Abandoned Application

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Inro Technologies Limited
• Inventors: WONG, LISA, GRAHAM, ANDREW EVAN, GOODE, CHRISTOPHER W.
• Application Number:
  US13/227,165
• Publication Number:
  US 20130060461A1
• Time in Patent Office: Days
• US Class Current: 701/408
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G01C 21/20 Instruments for performing navigational calculations G01C21/24, G01C21/26 take precedence
• CPC Class Codes: G05D 1/0234 using optical markers or beacons optical beacons per se G01S1/70
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

Methods and apparatuses for using at least one movable, pre-positioned object as a landmark to localize an industrial vehicle are described. The method includes placing at least one movable, pre-positioned object within a physical environment, identifying features from the pre-positioned object, and determining an industrial vehicle pose relative to the movable, pre-positioned object.

Claims

1. A method of using at least one movable, pre-positioned object as a landmark to localize an industrial vehicle, comprising:

identifying a feature from at least one movable, pre-positioned object within a physical environment; and

determining industrial vehicle pose relative to the movable, pre-positioned object.

2. The method of claim 1, wherein the pre-positioned object is placed within a physical environment by at least one of a first vehicle, an automated industrial vehicle, industrial vehicle, or conveyer system.

3. The method of claim 1, wherein the pre-positioned object is removed from within a physical environment by at least one of a first vehicle, an automated industrial vehicle, industrial vehicle, or conveyer system.

4. The method of claim 2, wherein the features of the placed object are stored in a database map.

5. The method of claim 4, wherein the sensor observable features are described by a model of the object.

6. The method of claim 1, wherein identifying the pre-positioned object comprises accessing a database comprising object information.

7. The method of claim 6, wherein the pre-positioned object information comprises object identity, object pose, and object pose uncertainty.

8. The method of claim 7, wherein the database comprising object information is updated.

9. The method of claim 1, wherein the pre-positioned object comprises a unique landmark.

10. The method of claim 9, wherein the unique landmark comprises a unique identifier that is readable using sensors located upon or within the industrial vehicle.

11. The method of claim 10, wherein the unique identifier is at least one of a barcode, RFID tag, unique structural features, or uniquely positioned reflectors.

12. The method of claim 10, wherein the unique identifier seeds an initial vehicle pose.

13. The method of claim 1, wherein a second vehicle uses the pre-positioned object for localization.

14. The method of claim 1, wherein a second vehicle identifies the pre-positioned object and determines an industrial vehicle pose.

16. The apparatus of claim 14, wherein the computer further comprises a database coupled to the computer, the database including object information to identify the pre-positioned object.

18. The apparatus of claim 14, wherein the pre-positioned object comprises a unique landmark.

20. The apparatus of claim 18, wherein the unique identifier is at least one of a barcode, RFID tag, unique structural features, or uniquely positioned reflectors.

15. An apparatus to navigate an industrial vehicle, comprising:

a computer coupled to an industrial vehicle, comprising;

an environment based navigation module for identifying feature from at least one of movable, pre-positioned object within a physical environment; and

determining industrial vehicle pose in response to the sensor readings from the pre-positioned object.

17. The apparatus of claim 15, wherein the object information comprises object identity and object pose.

19. The apparatus of claim 17, wherein the unique landmark comprises a unique identifier that is readable using sensors located upon or within the industrial vehicle.