Method for predicting tracking cameras for free-roaming mobile robots
First Claim
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1. A system for predicting tracking cameras used for navigating a mobile apparatus that is electrically controllable, comprising:
- a plurality of independent, selectable cameras, each having a predetermined field of view of an area used for travel by the mobile apparatus;
associated with the mobile apparatus, a plurality of lighted points arranged in a predefined, identifiable pattern detectable by said cameras;
control and navigation means for selecting the video output of one at a time of said cameras to determine the location of the mobile apparatus by using the video output of one of said cameras in whose field of view the mobile apparatus is to be found, wherein said cameras are in electrical communication with said control and navigation means;
wherein said control and navigation means includes a computer having memory for storing predetermined instructions for finding said one of said cameras in whose field of view the mobile apparatus is to be found.
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Abstract
In a manufacturing environment, a controllable mobile apparatus such as a mobile robot is guided through the manufacturing environment by a navigation system that utilizes fixed overhead cameras having a predefined viewing area. As the robot leaves a first viewing area there is an uncertainty as to which viewing area the robot will go into so that that camera may be monitored. The uncertainty is minimized by using a plurality of rings of uncertainty which overlap the surrounding areas. The uncertainty is continuously eliminating by drawing the circle of uncertainty into smaller and smaller area.
97 Citations
15 Claims
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1. A system for predicting tracking cameras used for navigating a mobile apparatus that is electrically controllable, comprising:
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a plurality of independent, selectable cameras, each having a predetermined field of view of an area used for travel by the mobile apparatus; associated with the mobile apparatus, a plurality of lighted points arranged in a predefined, identifiable pattern detectable by said cameras; control and navigation means for selecting the video output of one at a time of said cameras to determine the location of the mobile apparatus by using the video output of one of said cameras in whose field of view the mobile apparatus is to be found, wherein said cameras are in electrical communication with said control and navigation means; wherein said control and navigation means includes a computer having memory for storing predetermined instructions for finding said one of said cameras in whose field of view the mobile apparatus is to be found. - View Dependent Claims (2, 3, 4, 5, 6)
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7. A method of selecting navigation cameras used for finding the position of a mobile apparatus, wherein the selection is made from among a plurality of independent, selectable cameras, each having a field of view of an area traveled by the mobile apparatus, wherein the position of the mobile apparatus can be determined from the video output of one of said cameras in whose field of view the mobile apparatus is found, comprising the steps of:
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tracking the mobile apparatus in the field of view of one of said selectable cameras; saving the last known position of the mobile apparatus when it leaves the field of view of said one of said selectable cameras; calculating the maximum distance that the mobile apparatus could have traveled if it was traveling at its maximum speed after leaving said field of view of one of said selectable cameras; choosing a radius of uncertainty at least as large as said maximum distance; selecting only those cameras in whose field of view the mobile apparatus could be found it is had traveled a straight line distance equal to or less than said radius of uncertainty, in any straight line from said last known position; and examining the video output of as many of said selected cameras as is necessary to locate the mobile apparatus, or until the video output of all said selected cameras has been examined, whichever occurs first. - View Dependent Claims (8, 9)
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10. A computerized method of navigating a mobile apparatus using a plurality of independent cameras whose fields of view cover areas traveled by the mobile apparatus, comprising the steps of:
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determining the position of the mobile apparatus from the video output of a first camera in whose field of view the mobile apparatus is found; storing the last position determined using the first camera as the mobile apparatus leaves the field of view of the first camera; calculating a radius of uncertainty; selecting all cameras whose field of view intersects the area enclosed by the circle centered at said last position and whose radius is equal to said radius of uncertainty; and examining the video output from each of said selected cameras one-by-one until the mobile apparatus is relocated in a second camera'"'"'s field of view, or until all of said selected cameras'"'"' videw output has been examined, whichever comes first. - View Dependent Claims (11, 12, 13, 14, 15)
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Specification