SYSTEMS, METHODS, AND APPARATUS FOR TRACKING AN OBJECT

• US 20170102467A1
• Filed: 11/20/2014
• Published: 04/13/2017
• Est. Priority Date: 11/20/2013
• Status: Abandoned Application

• Current Assignee: Certusview Technologies LLC (Dycom Industries Incorporated)
• Original Assignee: Certusview Technologies LLC (Dycom Industries Incorporated)
• Inventors: Vice, Jack Maxwell, Nielsen, Steven E., Chambers, Curtis, Farr, Jeffrey, Mishra, Sanjay, Rightmyer, Joli
• Application Number:
  US14/549,488
• Publication Number:
  US 20170102467A1
• Time in Patent Office: Days
• CPC Class Codes: G01C 21/1654 with electromagnetic compass
• CPC Class Codes: G01C 21/1656 with passive imaging devices, e.g. cameras
• CPC Class Codes: G01S 19/14 specially adapted for specific applications
• CPC Class Codes: G01S 19/26 involving a sensor measurement for aiding acquisition or tracking
• CPC Class Codes: G01S 19/43 using carrier phase measurements, e.g. kinematic positioning; using long or short baseline interferometry
• CPC Class Codes: G01S 19/47 the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 19/49 whereby the further system is an inertial position system, e.g. loosely-coupled
• CPC Class Codes: G01S 5/018 Involving non-radio wave signals or measurements

Abstract

Systems, methods, and apparatus are provided for tracking an object moving along and above a ground surface. The object may comprise, affixed thereto or contained therein, a satellite-based location tracking apparatus to provide a first set of position coordinate pairs for the object as well as an inertial measurement unit to provide a plurality of heading direction values for the object and/or a velocity/distance sensor to provide a second set of position coordinate pairs based on, for example, optical flow image processing of a plurality of images of the ground surface. At least one processor may calculate a third set of position coordinate pairs based on a combination of the first set of position coordinate pairs, accounting for first reliability factor(s), as well as the second set of position coordinate pairs, accounting for second reliability factor(s), and/or the plurality of heading direction values, accounting for third related reliability factor(s).

Claims

1. A system to track a position of an object moving along and above a ground surface, the system comprising:

the object, wherein the object comprises, affixed thereto or contained therein;

an inertial measurement unit (IMU) to provide a plurality of heading direction values for the object as the object moves along and above the ground surface;

a satellite-based location tracking apparatus to provide a first set of position coordinate pairs corresponding to respective positions of the object as the object moves along and above the ground surface, based on a plurality of satellites communicatively coupled to the satellite-based location tracking apparatus;

an optical flow-based image acquisition apparatus to acquire a plurality of images of the ground surface as the object moves along and above the ground surface, the optical flow-based image acquisition apparatus configured to provide a second set of position coordinate pairs corresponding to at least some of the respective positions of the object as the object moves along and above the ground surface, based on optical flow image processing of the plurality of images of the ground surface; and

at least one processor communicatively coupled to the IMU, the satellite-based location tracking apparatus, and the optical flow-based image acquisition apparatus, to calculate a third set of position coordinate pairs corresponding to the respective positions of the object based at least in part on;

at least some of the first set of position coordinate pairs;

at least one first reliability factor relating to the first set of position coordinate pairs; and

at least one of;

at least some of the second set of position coordinate pairs;

at least one second reliability factor relating to the second set of position coordinate pairs, if used by the processor to calculate the third set of position coordinate pairs;

at least some of the plurality of heading direction values; and

at least one third reliability factor relating to the plurality of heading direction values, if used by the processor to calculate the third set of position coordinate pairs.

2. The system of claim 1, wherein the IMU comprises at least one of:

at least one gyroscope; and

at least one electronic compass,

wherein the plurality of heading direction values are based on gravitational north in a north-south-east-west or NSEW reference frame.

3. The system of claim 2, wherein:

the IMU comprises the at least one gyroscope and the at least one electronic compass;

the at least one gyroscope provides a plurality of angular velocity vectors as a function of time;

the at least one electronic compass provides a plurality of magnetic field vectors as a function of time representative of a magnetic field of the earth;

the plurality of heading direction values are based on at least one of the plurality of angular velocity vectors and the plurality of magnetic field vectors; and

the at least one processor is configured to calculate the at least one third reliability factor relating to the plurality of heading direction values based at least in part on at least one of the plurality of angular velocity vectors and the plurality of magnetic field vectors.

4. The system of claim 3, wherein:

the system further comprises at least one communication interface coupled to the at least one processor to facilitate communication between the at least one processor and the Internet;

the at least one processor is configured to control the at least one communication interface so as to access via the Internet geographically-dependent ambient magnetic field values; and

the at least one processor is configured to compare the geographically-dependent ambient magnetic field values accessed via the Internet to respective ones of the plurality of magnetic field vectors to determine at least one of the at least one third reliability factor and a magnetic field calibration factor.

5. The system of claim 1, wherein:

the plurality of satellites communicatively coupled to the satellite-based location tracking apparatus, during operation of the system, includes at least one GNSS satellite; and

the satellite-based location tracking apparatus is configured to provide the first set of position coordinate pairs as a plurality of latitude/longitude coordinate pairs, wherein for each latitude/longitude coordinate pair of the plurality of latitude/longitude coordinate pairs, the satellite-based location tracking apparatus further is configured to provide;

a total number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the latitude/longitude coordinate pair; and

for each satellite of the total number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the latitude/longitude coordinate pair;

a signal-to-noise ratio (SNR);

an elevation value;

a dilution of precision (DOP) value; and

a time stamp including coordinated universal time and date.

6. The system of claim 5, wherein the at least one processor is configured to calculate the at least one first reliability factor for at least one coordinate pair of the first set of position coordinate pairs based at least in part on:

a first number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the at least one coordinate pair and having an SNR above a first predetermined threshold, an elevation value above a second predetermined threshold, and a DOP value above a third predetermined threshold.

7. The system of claim 6, wherein the first number is at least four satellites.

8. The system of claim 6, wherein:

the first predetermined threshold for the SNR is 35 dB;

the second predetermined threshold for the elevation value is 20 degrees; and

the third predetermined threshold for the DOP value is 2.7.

9. The system of claim 5, wherein:

the satellite-based location tracking apparatus further is configured to provide, for each satellite of the total number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the latitude/longitude coordinate pair;

a pseudo range value;

a carrier phase value; and

an azimuth value; and

the at least one processor is configured to calculate the at least one first reliability factor for at least one coordinate pair of the first set of position coordinate pairs based at least in part on;

the signal-to-noise ratio (SNR);

the pseudo range value;

the carrier phase value;

the elevation value; and

the azimuth value.

10. The system of claim 9, wherein the total number of GNSS satellites is less than or equal to three satellites.

11. The system of claim 1, wherein:

the optical flow-based image acquisition apparatus is configured to provide the second set of position coordinate pairs as a plurality of relative position coordinate pairs based on a field-of-view (FOV) of the image acquisition apparatus;

the at least one processor is configured to calculate the at least one second reliability factor for at least one coordinate pair of the second set of position coordinate pairs based at least in part on at least one of;

an elapsed time since a previous reliable position coordinate pair of the first set of position coordinate pairs was acquired from the satellite-based location tracking apparatus; and

a distance traveled by the object in a two-dimensional plane substantially parallel to the ground surface since the previous reliable position coordinate pair of the first set of position coordinate pairs was acquired from the satellite-based location tracking apparatus.

12. The system of claim 11, wherein the at least one processor is further configured to calculate the at least one second reliability factor for the at least one coordinate pair of the second set of position coordinate pairs based at least in part on the at least one third reliability factor relating to the plurality of heading direction values.

13. The system of claim 1, wherein the object is a marking device to dispense a marking material onto the ground surface.

14. The system of claim 1, wherein the object is a vehicle.

15. The system of claim 14, wherein the vehicle is at least one of an unmanned vehicle and an autonomous vehicle.

16. The system of claim 14, wherein the vehicle is at least one of a land vehicle, a piece of heavy equipment, a watercraft, a spacecraft, and an aircraft.

17. The system of claim 16, wherein the piece of heavy equipment is at least one of a work cart, tractor, grader, skid steer loader, trencher, back hoe, fork lift, paver, plow, and line painter.

18. The system of claim 1, wherein the object is at least one of an accessory, a handheld tool, a piece of equipment, and a container.

19. A system to track a position of an object moving substantially in a two-dimensional plane substantially parallel to a ground surface, the system comprising:

A) the object, wherein the object comprises, affixed thereto or contained therein;

A1) a satellite-based location tracking apparatus to provide a first set of position coordinates pairs corresponding to respective positions of the object as the object moves substantially in the two-dimensional plane, based on a plurality of satellites communicatively coupled to the satellite-based location tracking apparatus, wherein;

the plurality of satellites communicatively coupled to the satellite-based location tracking apparatus, during operation of the system, includes at least one GNSS satellite; and

the satellite-based location tracking apparatus is configured to provide the first set of position coordinate pairs as a plurality of latitude/longitude coordinate pairs, wherein for each latitude/longitude coordinate pair of the plurality of latitude/longitude coordinate pairs, the satellite-based location tracking apparatus further is configured to provide;

a total number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the latitude/longitude coordinate pair; and

satellite-specific information for each satellite of the total number of GNSS satellites communicatively coupled to the satellite-based location tracking apparatus and used to calculate the latitude/longitude coordinate pair, the satellite-specific information comprising for each satellite;

 

a signal-to-noise ratio (SNR);

 

at least one of a carrier phase value and a Doppler frequency value;

 

ephemeris information; and

 

a time stamp including coordinated universal time and date; and

A2) at least one of;

A2a) an inertial measurement unit (IMU) to provide a plurality of heading direction values for the object as the object moves substantially in the two-dimensional plane; and

A2b) an optical flow-based image acquisition apparatus to acquire a plurality of images of the ground surface as the object moves substantially in the two-dimensional plane, the optical flow-based image acquisition apparatus configured to provide a second set of position coordinate pairs corresponding to at least some of the respective positions of the object as the object moves substantially in the two-dimensional plane, based on optical flow image processing of the plurality of images of the ground surface; and

B) at least one processor communicatively coupled to the satellite-based location tracking apparatus, and the at least one of the IMU and the optical flow-based image acquisition apparatus, to calculate a third set of position coordinate pairs corresponding to the respective positions of the object as a function of time based at least in part on;

B1) at least some latitude/longitude coordinate pairs of the plurality of latitude/longitude coordinate pairs provided by the satellite-based location tracking apparatus;

B2) at least some of the satellite-specific information for each satellite used to calculate the at least some latitude/longitude coordinate pairs; and

B3) at least one of;

B3a) at least some of the plurality of heading direction values provided by the IMU; and

B3b) at least some position coordinate pairs of the second set of position coordinate pairs provided by the optical flow-based image acquisition apparatus.

20. The system of claim 19, wherein:

the at least one processor is configured to implement a dynamic model for the respective positions of the object as a state machine having a position state variable and a velocity state variable as a function of time; and

the at least one processor calculates the position state variable and the velocity state variable based at least in part on;

at least one latitude/longitude coordinate pair of the plurality of latitude/longitude coordinate pairs;

the satellite-specific information for each satellite used to calculate the at least one latitude/longitude coordinate pair; and

at least one of;

at least one of the plurality of heading direction values provided by the IMU; and

a distance value based on the at least some position coordinate pairs of the second set of position coordinate pairs provided by the optical flow-based image acquisition apparatus.

21. The system of claim 20, wherein the at least one processor is configured to propagate a state of the state machine using at least one extended Kalman filter.

22. A method for tracking respective positions of an object that is moved along a ground surface, the method comprising:

A) electronically receiving;

A1) a plurality of satellite information data sets from a satellite-based location tracking apparatus coupled to the object, the plurality of satellite information data sets representing the respective positions of the object, each satellite information data set comprising;

a latitude/longitude coordinate pair corresponding to one position of the respective positions of the object;

a total number of GNSS satellites used by the satellite-based location tracking system to calculate the latitude/longitude coordinate pair; and

satellite-specific information for each satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair; and

A2) at least one of;

A2a) heading direction values for the object, correlated in time with the plurality of satellite information data sets and corresponding to the respective positions of the object; and

A2b) distance information, correlated in time with the plurality of satellite information data sets and representing respective relative positions of the object in a two-dimensional plane substantially parallel to the ground surface; and

B) electronically calculating a third set of position coordinate pairs corresponding to the respective positions of the object as a function of time based at least in part on;

B1) at least some latitude/longitude coordinate pairs of the plurality of latitude/longitude coordinate pairs provided by the satellite-based location tracking apparatus;

B2) at least some of the satellite-specific information for each satellite used to calculate the at least some latitude/longitude coordinate pairs; and

B3) at least one of;

B3a) at least some of the heading direction values; and

B3b) at least some of the distance information.

23. An apparatus to provide position information regarding respective positions of an object that is moved along a ground surface, the apparatus comprising:

at least one communication interface to receive;

a plurality of satellite information data sets from a satellite-based location tracking apparatus coupled to the object, the plurality of satellite information data sets representing the respective positions of the object, each satellite information data set comprising;

a latitude/longitude coordinate pair corresponding to one position of the respective positions of the object;

a total number of GNSS satellites used by the satellite-based location tracking system to calculate the latitude/longitude coordinate pair; and

satellite-specific information for each satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair, the satellite-specific information comprising, for each satellite;

a signal-to-noise ratio (SNR);

a carrier phase value;

an elevation value;

an azimuth value; and

a time stamp including coordinated universal time and date; and

distance information, correlated in time with the plurality of satellite information data sets, representing respective relative positions of the object in a two-dimensional plane substantially parallel to the ground surface; and

at least one processor, communicatively coupled to the at least one communication interface, to provide the position information regarding the respective positions of the object as a set of resultant latitude/longitude coordinate pairs, wherein for each satellite information data set of the plurality of satellite information data sets, the at least one processor is configured to;

A) analyze the total number of satellites used to calculate the latitude/longitude coordinate pair of the satellite information data set, and the satellite-specific information for each satellite of the total number of satellites, to determine if the longitude/latitude coordinate pair of the satellite information data set is of sufficient reliability;

B) if it is determined in A) that the latitude/longitude coordinate pair is of sufficient reliability, include the latitude/longitude coordinate pair in the set of resultant latitude/longitude coordinate pairs;

C) if it is determined in A) that the latitude/longitude coordinate pair is not of sufficient reliability;

C1) calculate an improved estimated latitude/longitude coordinate pair based at least in part on;

a previous latitude/longitude coordinate pair of sufficient reliability as determined in B);

the distance information representing the respective relative positions of the object in the two-dimensional plane substantially parallel to the ground surface; and

the carrier phase value, the elevation value, and the azimuth value for at least one satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair; and

C2) include the improved estimated latitude/longitude coordinate pair in the set of resultant latitude/longitude coordinate pairs.

24. The apparatus of claim 23, wherein:

the distance information includes a plurality of relative position coordinate pairs provided by an optical flow-based image acquisition apparatus coupled to the object and configured to acquire a plurality of images of the ground surface as the object is moved along the ground surface; and

the plurality of relative position coordinate pairs are based on optical flow image processing of the plurality of images of the ground surface.

25. The apparatus of claim 23, wherein C1) comprises:

C1a) calculate a first distance D^OF moved by the object in the two-dimensional plane substantially parallel to the ground surface, relative to the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), wherein the first distance D^OF is based at least in part on the distance information;

C1b) for a first satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair;

calculate a carrier phase difference dφ

for the first satellite based on a previous carrier phase value associated with the first satellite used to calculate the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), and the carrier phase value for the first satellite;

calculate a second distance D_r^s moved by the object along a line-of-site vector between the object and the first satellite, relative to the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), wherein the second distance D_r^s is calculated based at least in part on the carrier phase difference dφ

;

calculate a first projected distance D_r,HorizX^s moved by the object along the line-of-site vector as projected onto the two-dimensional plane substantially parallel to the ground surface, based on the second distance D_r^s and the elevation value for the first satellite;

calculate a second projected distance D_r,HorizY^s moved by the object along a perpendicular vector to the line-of-site vector as projected onto the two-dimensional plane substantially parallel to the ground surface, based on the first projected distance D_r,HorizX^s and the first distance D^OF; and

calculate a first estimated latitude/longitude coordinate pair based on the first projected distance D_r,HorizX^s the second projected distance D_r,HorizY^s the azimuth value for the first satellite, and the previous latitude/longitude coordinate pair of sufficient reliability as determined in B).

26. The apparatus of claim 25, wherein if the total number of satellites used to calculate the latitude/longitude coordinate pair is one, C1) further comprises:

use the first estimated latitude/longitude coordinate pair as the improved estimated latitude/longitude coordinate pair.

27. The apparatus of claim 25, wherein if the total number of satellites used to calculate the latitude/longitude coordinate pair is greater than one, C1) further comprises:

C1c) repeat C1b) for each remaining satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair so as to calculate a corresponding estimated latitude/longitude coordinate pair for each remaining satellite;

C1d) calculate a weighted average latitude/longitude coordinate pair based on the estimated latitude/longitude coordinate pair for each satellite of the total number of satellites and the SNR for each satellite; and

C1e) use the weighted average latitude/longitude coordinate pair as the improved estimated latitude/longitude coordinate pair.

28. The apparatus of claim 23, wherein the at least one processor is configured to provide the position information regarding the respective positions of the object as the set of resultant latitude/longitude coordinate pairs without using any heading information for the object.

29. A system, comprising:

the apparatus of claim 24;

the satellite-based location tracking apparatus; and

the optical flow-based image acquisition apparatus.

30. The system of claim 29, wherein the object is a marking device to dispense a marking material onto the ground surface.

31. The system of claim 29, wherein the object is a vehicle.

32. The system of claim 31, wherein the vehicle is at least one of an unmanned vehicle and an autonomous vehicle.

33. The system of claim 31, wherein the vehicle is at least one of a land vehicle, a piece of heavy equipment, a watercraft, a spacecraft, and an aircraft.

34. The system of claim 33, wherein the piece of heavy equipment is at least one of a work cart, tractor, grader, skid steer loader, trencher, back hoe, fork lift, paver, plow, and line painter.

35. The system of claim 29, wherein the object is at least one of an accessory, a handheld tool, a piece of equipment, and a container.

36. An apparatus to provide position information regarding respective positions of an object that is moved along a ground surface, the apparatus comprising:

at least one communication interface to receive;

a plurality of satellite information data sets from a satellite-based location tracking apparatus coupled to the object, the plurality of satellite information data sets representing the respective positions of the object, each satellite information data set comprising;

a latitude/longitude coordinate pair corresponding to one position of the respective positions of the object;

a total number of GNSS satellites used by the satellite-based location tracking system to calculate the latitude/longitude coordinate pair; and

satellite-specific information for each satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair, the satellite-specific information comprising, for each satellite;

a signal-to-noise ratio (SNR);

a carrier phase value;

an elevation value;

an azimuth value; and

a time stamp including coordinated universal time and date; and

heading information, correlated in time with the plurality of satellite information data sets, representing respective headings of the object at the respective positions along the ground surface; and

at least one processor, communicatively coupled to the at least one communication interface, to provide the position information regarding the respective positions of the object as a set of resultant latitude/longitude coordinate pairs, wherein for each satellite information data set of the plurality of satellite information data sets, the at least one processor is configured to;

A) analyze the total number of satellites used to calculate the latitude/longitude coordinate pair of the satellite information data set, and the satellite-specific information for each satellite of the total number of satellites, to determine if the longitude/latitude coordinate pair of the satellite information data set is of sufficient reliability;

B) if it is determined in A) that the latitude/longitude coordinate pair is of sufficient reliability, include the latitude/longitude coordinate pair in the set of resultant latitude/longitude coordinate pairs; and

C) if it is determined in A) that the latitude/longitude coordinate pair is not of sufficient reliability;

C1) calculate an improved estimated latitude/longitude coordinate pair based at least in part on;

a previous latitude/longitude coordinate pair of sufficient reliability as determined in B);

a heading direction θ

of the respective headings, correlated in time with the satellite information data set; and

the carrier phase value, the elevation value, and the azimuth value for at least one satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair; and

C2) include the improved estimated latitude/longitude coordinate pair in the set of resultant latitude/longitude coordinate pairs.

37. The apparatus of claim 36, wherein:

the heading information is provided by at least one of an attitude heading reference system, an inertial measurement unit, and an electronic compass coupled to the object.

38. The apparatus of claim 36, wherein C1) comprises:

C1a) for a first satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair;

calculate a carrier phase difference dφ

for the first satellite based on a previous carrier phase value associated with the first satellite used to calculate the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), and the carrier phase value for the first satellite;

calculate a second distance D_r^s moved by the object along a line-of-site vector between the object and the first satellite, relative to the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), wherein the second distance D_r^s is calculated based at least in part on the carrier phase difference dφ

;

calculate a first projected distance D_r,HorizX^s moved by the object along the line-of-site vector as projected onto a two-dimensional plane substantially parallel to the ground surface, based on the second distance D_r^s and the elevation value for the first satellite;

calculate a first distance D^R moved by the object in the two-dimensional plane substantially parallel to the ground surface, relative to the previous latitude/longitude coordinate pair of sufficient reliability as determined in B), based on the heading direction θ

, the azimuth value for the first satellite, and a first projected distance D_r,HorizX^s;

calculate a second projected distance D_r,HorizY^s moved by the object along a perpendicular vector to the line-of-site vector as projected onto the two-dimensional plane substantially parallel to the ground surface, based on the first projected distance D_r,HorizX^s and the first distance D^R; and

calculate a first estimated latitude/longitude coordinate pair based on the first projected distance D_r,HorizX^s the second projected distance D_r,HorizY^s, the azimuth value for the first satellite, and the previous latitude/longitude coordinate pair of sufficient reliability as determined in B).

39. The apparatus of claim 38, wherein if the total number of satellites used to calculate the latitude/longitude coordinate pair is one, C1) further comprises:

use the first estimated latitude/longitude coordinate pair as the improved estimated latitude/longitude coordinate pair.

40. The apparatus of claim 38, wherein if the total number of satellites used to calculate the latitude/longitude coordinate pair is greater than one, C1) further comprises:

C1b) repeat C1a) for each remaining satellite of the total number of satellites used to calculate the latitude/longitude coordinate pair so as to calculate a corresponding estimated latitude/longitude coordinate pair for each remaining satellite;

C1c) calculate a weighted average latitude/longitude coordinate pair based on the estimated latitude/longitude coordinate pair for each satellite of the total number of satellites and the SNR for each satellite; and

C1d) use the weighted average latitude/longitude coordinate pair as the improved estimated latitude/longitude coordinate pair.

41. A system, comprising:

the apparatus of claim 37;

the satellite-based location tracking apparatus; and

the at least one of the attitude heading reference system, the inertial measurement unit, and the electronic compass.

42. The system of claim 41, wherein the object is a marking device to dispense a marking material onto the ground surface.

43. The system of claim 41, wherein the object is a vehicle.

44. The system of claim 43, wherein the vehicle is at least one of an unmanned vehicle and an autonomous vehicle.

45. The system of claim 43, wherein the vehicle is at least one of a land vehicle, a piece of heavy equipment, a watercraft, a spacecraft, and an aircraft.

46. The system of claim 45, wherein the piece of heavy equipment is at least one of a work cart, tractor, grader, skid steer loader, trencher, back hoe, fork lift, paver, plow, and line painter.

47. The system of claim 41, wherein the object is at least one of an accessory, a handheld tool, a piece of equipment, and a container.