Mobile vehicle controller utilization of delayed absolute position data for guidance and navigation
First Claim
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1. A mobile vehicle controller for controlling a mobile apparatus that travels along a commanded path, the mobile vehicle controller comprising:
- navigation means for navigating the mobile apparatus along the commanded path in response to factory floor coordinate system X-Y position data;
position means for determining by dead reckoning the factory floor coordinate system X-Y position of the mobile apparatus and to provide the factory floor coordinate system X-Y position data to the navigation means;
absolute means for determining the factory floor coordinate system X-Y absolute position of the mobile apparatus and to provide factory floor coordinate system X-Y absolute position data;
correction means for periodically modifying the factory floor coordinate system X-Y position data with the X-Y absolute position data to correct for accumulated inaccuracies in the factory floor coordinate system X-Y position data; and
synchronization means for synchronizing the position means with the absolute means.
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Abstract
A mobile vehicle controller for controlling a mobile apparatus that travels along a commanded path. The mobile vehicle controller has a dead reckoning navigation procedure for navigating the controllable mobile apparatus along the commanded path in response to positions data. The mobile apparatus determines its position and provides the position data. A vision system provides the absolute position to the mobile apparatus. The dead reckoning position data is periodically modifying with the absolute position. The dead reckoning procedure is synchronized with the vision system.
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Citations
28 Claims
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1. A mobile vehicle controller for controlling a mobile apparatus that travels along a commanded path, the mobile vehicle controller comprising:
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navigation means for navigating the mobile apparatus along the commanded path in response to factory floor coordinate system X-Y position data; position means for determining by dead reckoning the factory floor coordinate system X-Y position of the mobile apparatus and to provide the factory floor coordinate system X-Y position data to the navigation means; absolute means for determining the factory floor coordinate system X-Y absolute position of the mobile apparatus and to provide factory floor coordinate system X-Y absolute position data; correction means for periodically modifying the factory floor coordinate system X-Y position data with the X-Y absolute position data to correct for accumulated inaccuracies in the factory floor coordinate system X-Y position data; and synchronization means for synchronizing the position means with the absolute means. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for controlling a mobile apparatus that travels along a commanded path, the method comprising:
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navigating the mobile apparatus along the commanded path in response to factory floor coordinate system X-Y position data; determining by dead reckoning the factory floor coordinate system X-Y position of the mobile apparatus and to provide the factory floor coordinate system X-Y position data; determining the factory floor coordinate system X-Y absolute position of the mobile apparatus and providing factory floor coordinate system X-Y absolute position data; periodically modifying the factory floor coordinate system X-Y position data with the factory floor coordinate system X-Y absolute position data to correct for accumulated inaccuracies in the factory floor coordinate system X-Y position data; and synchronizing the position step with the absolute step. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification