METHOD AND APPARATUS FOR USING PRE-POSITIONED OBJECTS TO LOCALIZE AN INDUSTRIAL VEHICLE
First Claim
1. A method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle, the method comprising:
- transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment;
determining a pose of the dynamically placed pre-positioned object based at least in part on (i) vehicle pose prediction data stored on a central computer or a mobile computer coupled to the industrial vehicle and (ii) a location of the placed object relative to a lift carriage of the industrial vehicle;
updating a map of the physical environment by using the determined pose and adding placed object data representing the dynamically placed pre-positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data;
storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and
operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.
1 Assignment
0 Petitions
Accused Products
Abstract
According to one embodiment of the present disclosure, a method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises (i) transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment; (ii) updating a map of the physical environment by adding placed object data representing the dynamically placed pre-positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data; (iii) storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and (iv) operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.
-
Citations
20 Claims
-
1. A method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle, the method comprising:
-
transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment; determining a pose of the dynamically placed pre-positioned object based at least in part on (i) vehicle pose prediction data stored on a central computer or a mobile computer coupled to the industrial vehicle and (ii) a location of the placed object relative to a lift carriage of the industrial vehicle; updating a map of the physical environment by using the determined pose and adding placed object data representing the dynamically placed pre-positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data; storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment. - View Dependent Claims (3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
-
-
2. (canceled)
Specification