Portable system for inventory identification and classification

• US 5,960,413 A
• Filed: 03/05/1996
• Issued: 09/28/1999
• Est. Priority Date: 03/05/1996
• Status: Expired due to Fees

• Current Assignee: Bethlehem Technologies Incorporated
• Original Assignee: James A. Amon, William R. Holler
• Inventors: Amon, James A., Holler, William R.
• Primary Examiner(s): COSIMANO, EDWARD R
• Application Number:
  US08/611,999
• Time in Patent Office: 1,302 Days
• Field of Search: 235/385, 340/568, 356/375, 364/400, 364/478.01, 364/478.02, 364/516, 382/141, 395/228, 705/28
• US Class Current: 705/28
• CPC Class Codes: G01S 17/74 Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 5/163 Determination of attitude using inertial means G01C9/00; control of attitude G05D1/49
• CPC Class Codes: G01S 7/4802 using analysis of echo signal for target characterisation; Target signature; Target cross-section
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

The prior art invention entitled Automated End Tally System, has been augmented to include either a scanning radar unit (22c) or a phased array scanning radar unit (42c), for the purposes of additionally obtaining unit interior topological information. Such interior information is required to determine an accurate tally count in the case where two or three boards such as (13), (14), and (15), have been longitudinally aligned to span the entire board row (11b) of a given coarse (10b) (a technique referred to as "nesting"). In the case of scanning radar unit (22c), this additional interior topology information is gathered by emitting a focused pulsed incident scanning energy beam (38a), which is of an energy chosen to be transmissive to paper wrap materials (8) which might be covering unit (10) and to the lumber of unit (10) itself. As beam (38a) transmits through "nested" boards such as (13) and (14) it will encounter a board row break such as (16) where the two boards are abutted. Either board end (13b) or (14a), which define this break, will have been previously demarcated during unit construction by a reflective material. This reflective marking (16a) will cause the incident beam (38a) to reflect back towards scanning radar unit (22c) as reflective beam (38b). The reflective information obtained by unit (22c) is input to the unit interior topological processor (22d) which then determines the three dimensional locations of all board row breaks within lumber unit (10) which is communicated to computer (28). Computer (28) then combines this interior end surface information with the exterior information to provide a precise tally count of unit (10).

Claims

1. An portable system for remotely determining the absolute coordinates of a point on an object, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising:

means for projecting from said portable system said energy beam onto said object;

means for receiving said reflection of said energy beam from said object;

means for determining the relative coordinates of said point with respect to said portable system,

means for determining the absolute coordinates of said portable system, and

means for computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said portable system.

2. The invention of claim 1 wherein said energy beam comprises focused laser radiation.

3. The invention of claim 1 wherein said means for projecting from said portable system said energy beam onto said object comprises:

means for producing said energy beam, and

means for focusing said energy beam onto said object.

4. The invention of claim 1 wherein said means for receiving said reflection of said energy beam from said object comprises:

means for focusing said reflection of said energy beam, and

means responsive to said focused reflection of said energy beam for producing an electrical signal.

5. The invention of claim 1 wherein said means for computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said portable system comprises:

means for vectorially adding said relative coordinates of said point with respect to said portable system with said absolute coordinates of said portable system.

6. The invention of claim 1 wherein said means for determining the absolute coordinates of said portable system comprises:

triangulation means for determining the absolute X-Y coordinates of said portable system, and

means for determining the absolute Z height coordinate of said portable system.

7. The invention of claim 6 wherein said triangulation means for determining the absolute X-Y coordinates of said portable system comprises a global positioning satellite system (GPS).

8. The invention of claim 6 wherein said means for determining the absolute Z height coordinate of said portable system comprises a gravity directed gimbaled ultrasonic distance measuring system.

9. The invention of claim 1 wherein said means for determining the relative coordinates of said point with respect to said portable system comprises:

means for determining the distance (r) from said point to said portable system;

means for determining the rotational angle (θ

) of said portable system with respect to a vertical reference plane, and

means for determining the azimuth angle (φ

) of said portable system with respect to a horizontal reference plane.

10. The invention of claim 9 wherein said means for determining the distance (r) comprises a laser range (lidar) system.

11. The invention of claim 9 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

12. The invention of claim 9 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

13. A portable system for remotely determining the relative coordinates of a point on an object with respect to said portable system, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising:

means for projecting from a known observation point within said portable system said energy beam onto said object;

means for determining the rotational angle (θ

) and the azimuth angle (φ

) of said projected beam with respect to said observation point;

means for receiving said reflection of said energy beam from said object;

means for determining the distance from said observation point to said reflection point, and

means for calculating the relative coordinates of said reflection point with respect to said observation point based upon said angles and said distance.

14. The invention of claim 13 wherein said means for projecting from a known observation point within said portable system said energy beam onto said object comprises:

means for producing said energy beam at know observation point, and

means for focusing said energy beam onto said object.

15. The invention of claim 13 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

16. The invention of claim 13 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

17. The invention of claim 13 wherein said means for receiving said reflection of said energy beam from said object comprises:

means for focusing said reflection of said energy beam, and

means responsive to said focused reflection of said energy beam for producing an electrical signal.

18. The invention of claim 13 wherein said means for determining the distance from said observation point to said reflection point comprises a laser range (lidar) system.

19. The invention of claim 13 wherein said means for calculating the relative coordinates of said reflection point with respect to said observation point based upon said angles and said distance comprises:

means for determining the distance (r) from said reflection point to said observation point;

means for determining the rotational angle (θ

) of said observation point with respect to a vertical reference plane, and

means for determining the azimuth angle (φ

) of said observation point with respect to a horizontal reference plane.

20. The invention of claim 19 wherein said means for determining the distance (r) comprises a laser range (lidar) system.

21. The invention of claim 19 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

22. The invention of claim 19 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

23. A portable system for remotely determining the absolute coordinates of a point on an object, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising:

means for projecting from a known observation point within said portable system said energy beam onto said object;

means for receiving said reflection of said energy beam from said object;

means for determining the relative coordinates of said point of reflection with respect to said observation point;

means for determining the absolute coordinates of said observation point, and

means for computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point.

24. The invention of claim 23 wherein said means for projecting from a known observation point within said portable system said energy beam onto said object comprises:

means for producing said energy beam at said know observation point, and

means for focusing said energy beam onto said object.

25. The invention of claim 23 wherein said means for receiving said reflection of said energy beam from said object comprises:

means for focusing said reflection of said energy beam, and

means responsive to said focused reflection of said energy beam for producing an electrical signal.

26. The invention of claim 23 wherein said means for computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point comprises:

means for vectorially adding said relative coordinates of said point of reflection with respect to said observation point with said absolute coordinates of said observation point.

27. The invention of claim 23 wherein said means for determining the absolute coordinates of said observation point comprises

triangulation means for determining the absolute X-Y coordinates of said observation point, and

means for determining the absolute Z height coordinate of said observation point.

28. The invention of claim 27 wherein said triangulation means for determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

29. The invention of claim 27 wherein said means for determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.

30. The invention of claim 23 wherein said means for determining the relative coordinates of said point of reflection with respect to said observation point comprises:

means for determining the distance (r) from said point of reflection to said observation point;

means for determining the rotational angle (θ

) of said point of reflection from said observation point with respect to a vertical reference plane, and

means for determining the azimuth angle (φ

) of said of said point of reflection from said observation point with respect to a horizontal reference plane.

31. The invention of claim 30 wherein said means for determining distance (r) comprises a laser range (lidar) system.

32. The invention of claim 30 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

33. The invention of claim 30 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

34. An automatic means for identifying any object from within a group of objects, where the objects are not required to bear any identifying indicia, comprising:

means for determining the dimensions of the outer surfaces of said object before placing it within said group of objects;

means for determining the three dimensional coordinates and orientation of said object as it is placed in a stationary position within said group of objects;

means for creating a comparative database of said three dimensional coordinates and orientation, as well as said dimensions of said outer surfaces of all of said objects which have been placed within said group of objects;

means for projecting an energy beam from a known observation onto some point on said outer surfaces of one of said objects;

means for determining the relative three dimensional coordinates of said some point with respect to said observation point;

means for determining the absolute three dimensional coordinates of said observation point;

means for computing said absolute three dimensional coordinates of said some point from said relative coordinates of said some point and said absolute coordinates of said observation point, and

means for determining from said comparative database said identity of said object within said group of objects, based upon said absolute three dimensional coordinates of said some point.

35. The invention of claim 34 wherein said means for determining the dimensions of the outer surfaces of said object before placing it within said group of objects

means for scanning the outer surfaces of said object to determine said objects topology, and

means for determining said objects outer dimensions from said topology.

36. The invention of claim 34 wherein said means for determining the three dimensional coordinates and orientation of said object as it is placed in a stationary position within said group of objects comprises means for tracking the current location of said object as it is engaged, transported and disengaged within a prescribed area by a transporting vehicle such as a fork lift.

37. The invention of claim 34 wherein said means for creating a comparative database of said three dimensional coordinates and orientation, as well as said dimensions of said outer surfaces of all of said objects which have been placed within said group of objects comprises:

computer means for translating said coordinates, said orientation and said outer dimensions of said objects into the separate X-Y-Z coordinates of each comer of said outer surfaces of said object, and

computer means for associating said X-Y-Z coordinates of all of said comers which form a single outer surface of said object into a list of unique planes associated with said object.

38. The invention of claim 34 wherein said means for projecting an energy beam from a known observation point onto some point on said outer surfaces of one of said objects comprises:

means for producing said energy beam at said know observation point, and

means for focusing said energy beam onto said some point on said outer surfaces.

39. The invention of claim 34 wherein said means for computing said absolute three dimensional coordinates of said some point from said relative coordinates of said some point and said absolute coordinates of said observation point comprises:

means for vectorially adding said relative coordinates of said some point with respect to said observation point with said absolute coordinates of said observation point.

40. The invention of claim 34 wherein said means for determining from said comparative database said identity of said object within said group of objects, based upon said absolute three dimensional coordinates of said some point comprises:

computer means for algorithmically searching said comparative database based upon said absolute coordinates of said some point to determine upon which of said outer surfaces said some point was reflected from, and

computer means for selectively retrieving said objects identity based upon said identified outer surface.

41. The invention of claim 34 wherein said means for determining the absolute three dimensional coordinates of said observation point comprises:

triangulation means for determining the absolute X-Y coordinates of said observation point, and

means for determining the absolute Z height coordinate of said observation point.

42. The invention of claim 41 wherein said triangulation means for determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

43. The invention of claim 41 wherein said means for determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.

44. The invention of claim 34 wherein said means for determining the relative coordinates of said some point with respect to said observation point comprises:

means for determining the distance (r) from said some point to said observation point;

means for determining the rotational angle (θ

) of said some point from said observation point with respect to a vertical reference plane, and

means for determining the azimuth angle (φ

) of said of said some point from said observation point with respect to a horizontal reference plane.

45. The invention of claim 44 wherein said means for determining distance (r) comprises a laser range (lidar) system.

46. The invention of claim 44 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

47. The invention of claim 44 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

52. The invention of claim 44 wherein said means for capturing an image of said object at said point of reflection comprises a CCD camera.

48. An automatic means for classifying an object, where the object is not required to bear any identifying indicia, comprising:

means for projecting from a known observation point within a portable system an energy beam onto said object;

means for receiving the reflection of said energy beam off of said object;

means for determining the relative coordinates of the point of reflection of said energy beam with respect to said observation point;

means for determining the absolute coordinates of said observation point;

means for computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point;

means for capturing an image of said object at said point of reflection;

means for creating a comparative database of said three dimensional coordinates of said point of reflection and of corresponding said image of said object, and

means for classifying said objects based upon said comparative database.

49. The invention of claim 48 wherein said means for projecting from a known observation point within a portable system an energy beam onto said object comprises:

means for producing said energy beam at said know observation point, and

means for focusing said energy beam onto said object.

50. The invention of claim 48 wherein said means for receiving the reflection of said energy beam off of said object comprises:

means for focusing said reflection of said energy beam, and

means responsive to said focused reflection of said energy beam for producing an electrical signal.

51. The invention of claim 48 wherein said means for computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point comprises:

means for vectorially adding said relative coordinates of said point of reflection with respect to said observation point with said absolute coordinates of said observation point.

53. The invention of claim 48 wherein said means for creating a comparative database of said three dimensional coordinates of said point of reflection and of corresponding said image of said object comprises:

computer means for calculating the average dimensions of said object based upon said captured image;

computer means for storing said captured image and said calculated average dimensions indexed by said three dimensional coordinates of said point of reflection;

computer means for associating one or more of said three dimensional coordinates which are related to said object;

computer means for calculating distances between any of said one or more associated coordinates;

computer means for determining the outer dimensions of said object based upon said calculated distances between any of said one or more associated coordinates;

means for assigning a tracking code to said one or more coordinates wherein said tracking code may act as a means of retrieving said coordinates and related said images and said calculated dimensions, and

computer means for storing said outer dimensions and said calculated distances indexed with said tracking code.

54. The invention of claim 48 wherein said means for determining the absolute coordinates of said observation point comprises:

triangulation means for determining the absolute X-Y coordinates of said observation point, and

means for determining the absolute Z height coordinate of said observation point.

55. The invention of claim 54 wherein said triangulation means for determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

56. The invention of claim 54 wherein said means for determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.

57. The invention of claim 48 wherein said means for determining the relative coordinates of the point of reflection of said energy beam with respect to said observation point comprises:

means for determining the distance (r) from said point of reflection to said observation point;

means for determining the rotational angle (θ

) of said point of reflection from said observation point with respect to a vertical reference plane, and

means for determining the azimuth angle (φ

) of said of said point of reflection from said observation point with respect to a horizontal reference plane.

58. The invention of claim 57 wherein said means for determining distance (r) comprises a laser range (lidar) system.

59. The invention of claim 57 wherein said means for determining said rotational angle (θ

) comprises an electronic compass.

60. The invention of claim 57 wherein said means for determining said azimuth angle (φ

) comprises an electronic level.

61. A method for remotely determining the absolute coordinates of a point on an object, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising the steps of:

projecting from a portable system said energy beam onto said object;

receiving into said portable system said reflection of said energy beam from said object;

determining the relative coordinates of said point with respect to said portable system;

determining the absolute coordinates of said portable system, and

computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said portable system.

62. The invention of claim 61 wherein said energy beam comprises focused laser radiation.

63. The invention of claim 61 wherein said step of projecting from said portable system said energy beam onto said object comprising the steps of:

producing said energy beam, and

focusing said energy beam onto said object.

64. The invention of claim 61 wherein said step of receiving said reflection of said energy beam from said object comprising the steps of:

focusing said reflection of said energy beam, and

producing an electrical signal responsive to said focused reflection of said energy beam for.

65. The invention of claim 61 wherein said step of computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said portable system comprising the steps of:

vectorially adding said relative coordinates of said point with respect to said portable system with said absolute coordinates of said portable system.

66. The invention of claim 61 wherein said step of determining the absolute coordinates of said portable system comprising the steps of:

using triangulation to determine the absolute X-Y coordinates of said portable system, and

determining the absolute Z height coordinate of said portable system.

67. The invention of claim 66 wherein said using triangulation step of determining the absolute X-Y coordinates of said portable system comprises a global positioning satellite system (GPS).

68. The invention of claim 66 wherein said step of determining the absolute Z height coordinate of said portable system comprises a gravity directed gimbaled ultrasonic distance measuring system.

69. The invention of claim 61 wherein said step of determining the relative coordinates of said point with respect to said portable system comprising the steps of:

determining the distance (r) from said point to said portable system;

determining the rotational angle (θ

) of said portable system with respect to a vertical reference plane, and

determining the azimuth angle (φ

) of said portable system with respect to a horizontal reference plane.

70. The invention of claim 69 wherein said step of determining the distance (r) comprises a laser range (lidar) system.

71. The invention of claim 69 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

72. The invention of claim 69 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

73. A method for remotely determining the relative coordinates of a point on an object with respect to a portable system, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising the steps of:

projecting from a known observation point within said portable system said energy beam onto said object;

determining the relative angles of rotation and tilt of said projected beam from said observation point;

receiving into said portable system said reflection of said energy beam from said object;

determining the distance from said observation point to said reflection point, and

calculating the relative coordinates of said reflection point with respect to said observation point based upon said angles and said distance.

74. The invention of claim 73 wherein said step of projecting from a known observation point within said portable system said energy beam onto said object comprising the steps of:

producing said energy beam at know observation point, and

focusing said energy beam onto said object.

75. The invention of claim 73 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

76. The invention of claim 73 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

77. The invention of claim 73 wherein said step of receiving said reflection of said energy beam from said object comprising the steps of:

focusing said reflection of said energy beam, and

producing an electrical signal responsive to said focused reflection of said energy beam.

78. The invention of claim 73 wherein said step of determining the distance from said observation point to said reflection point comprises a laser range (lidar) system.

79. The invention of claim 73 wherein said step of calculating the relative coordinates of said reflection point with respect to said observation point based upon said angles and said distance comprising the steps of:

determining the distance (r) from said reflection point to said observation point;

determining the rotational angle (θ

) of said observation point with respect to a vertical reference plane, and

determining the azimuth angle (φ

) of said observation point with respect to a horizontal reference plane.

80. The invention of claim 79 wherein said step of determining the distance (r) comprises a laser range (lidar) system.

81. The invention of claim 79 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

82. The invention of claim 79 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

83. A method for remotely determining the absolute coordinates of a point on an object, said point being defined by the reflection of an energy beam incident onto said object at said point, comprising the steps of:

projecting from an observation point within a portable system said energy beam onto said object;

receiving into said portable system said reflection of said energy beam from said object;

determining the relative coordinates of said point with respect to said observation point;

determining the absolute coordinates of said observation point, and

computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said observation point.

84. The invention of claim 83 wherein said step of projecting from a known observation point within said portable system said energy beam onto said object comprising the steps of:

producing said energy beam at said know observation point, and

focusing said energy beam onto said object.

85. The invention of claim 83 wherein said step of receiving said reflection of said energy beam from said object comprising the steps of:

focusing said reflection of said energy beam, and

producing an electrical signal responsive to said focused reflection of said energy beam.

86. The invention of claim 83 wherein said step of computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point comprising the steps of:

vectorially adding said relative coordinates of said point of reflection with respect to said observation point with said absolute coordinates of said observation point.

87. The invention of claim 83 wherein said step of determining the absolute coordinates of said observation point comprises

using triangulation to determine the absolute X-Y coordinates of said observation point, and

determining the absolute Z height coordinate of said observation point.

88. The invention of claim 87 wherein said triangulation step of determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

89. The invention of claim 87 wherein said step of determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.

90. The invention of claim 83 wherein said step of determining the relative coordinates of said point of reflection with respect to said observation point comprising the steps of:

determining the distance (r) from said point of reflection to said observation point;

determining the rotational angle (θ

) of said point of reflection from said observation point with respect to a vertical reference plane, and

determining the azimuth angle (φ

) of said of said point of reflection from said observation point with respect to a horizontal reference plane.

91. The invention of claim 90 wherein said step of determining distance (r) comprises a laser range (lidar) system.

92. The invention of claim 90 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

93. The invention of claim 90 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

94. A method for identifying any object from within a group of objects, where the objects are not required to bear any identifying indicia, comprising the steps of:

determining the dimensions of the outer surfaces of said object before placing it within said group of objects;

determining the three dimensional coordinates and orientation of said object as it is placed in a stationary position within said group of objects;

creating a comparative database of said three dimensional coordinates and orientation, as well as said dimensions of said outer surfaces of all of said objects which have been placed within said group of objects;

projecting an energy beam from a known observation point within a portable system onto some point on said outer surfaces of one of said objects;

determining the relative three dimensional coordinates of said point relative to said observation point,

determining the absolute coordinates of said observation point;

computing said absolute coordinates of said point from said relative coordinates of said point and said absolute coordinates of said observation point, and

determining from said comparative database said identity of said object within said group of objects, based upon said absolute three dimensional coordinates of said point of reflection.

95. The invention of claim 94 wherein said step of determining the dimensions of the outer surfaces of said object before placing it within said group of objects

scanning the outer surfaces of said object to determine said objects topology, and

determining said objects outer dimensions from said topology.

96. The invention of claim 94 wherein said step of determining the three dimensional coordinates and orientation of said object as it is placed in a stationary position within said group of objects comprises step of tracking the current location of said object as it is engaged, transported and disengaged within a prescribed area by a transporting vehicle such as a fork lift.

97. The invention of claim 94 wherein said step of creating a comparative database of said three dimensional coordinates and orientation, as well as said dimensions of said outer surfaces of all of said objects which have been placed within said group of objects comprising the steps of:

translating said coordinates, said orientation and said outer dimensions of said objects into the separate X-Y-Z coordinates of each comer of said outer surfaces of said object, and

associating said X-Y-Z coordinates of all of said comers which form a single outer surface of said object into a list of unique planes associated with said object.

98. The invention of claim 94 wherein said step of projecting an energy beam from a known observation point within a portable system onto some point on said outer surfaces of one of said objects comprising the steps of:

producing said energy beam at said know observation point, and

focusing said energy beam onto said some point on said outer surfaces.

99. The invention of claim 94 wherein said step of computing said absolute three dimensional coordinates of said some point from said relative coordinates of said some point and said absolute coordinates of said observation point comprising the steps of:

vectorially adding said relative coordinates of said some point with respect to said observation point with said absolute coordinates of said observation point.

100. The invention of claim 94 wherein said step of determining from said comparative database said identity of said object within said group of objects, based upon said absolute three dimensional coordinates of said some point comprising the steps of:

algorithmically searching said comparative database based upon said absolute coordinates of said some point to determine upon which of said outer surfaces said some point was reflected from, and

selectively retrieving said objects identity based upon said identified outer surface.

101. The invention of claim 94 wherein said step of determining the absolute three dimensional coordinates of said observation point comprising the steps of:

using triangulation to determine the absolute X-Y coordinates of said observation point, and

determining the absolute Z height coordinate of said observation point.

102. The invention of claim 101 wherein said triangulation step of determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

103. The invention of claim 101 wherein said step of determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.

104. The invention of claim 94 wherein said step of determining the relative three dimensional coordinates of said some point with respect to said observation point comprising the steps of:

determining the distance (r) from said some point to said observation point;

determining the rotational angle (θ

) of said some point from said observation point with respect to a vertical reference plane, and

determining the azimuth angle (φ

) of said of said some point from said observation point with respect to a horizontal reference plane.

105. The invention of claim 104 wherein said step of determining distance (r) comprises a laser range (lidar) system.

106. The invention of claim 104 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

107. The invention of claim 104 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

108. A method for classifying an object, where the object is not required to bear any identifying indicia, comprising the steps of:

projecting from a known observation point within a portable system an energy beam onto said object;

receiving into said portable system the reflection of said energy beam off of said object;

determining the relative coordinates of the point of reflection of said energy beam with respect to said observation point;

determining the absolute coordinates of said observation point;

computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point;

capturing an image of said object at said point of reflection;

creating a comparative database of said three dimensional coordinates of said point of reflection and of corresponding said image of said object, and

classifying said objects based upon said comparative database.

109. The invention of claim 108 wherein said step of projecting from a known observation point within a portable system an energy beam onto said object comprising the steps of:

producing said energy beam at said know observation point, and

focusing said energy beam onto said object.

110. The invention of claim 108 wherein said step of receiving the reflection of said energy beam off of said object comprising the steps of:

focusing said reflection of said energy beam, and

producing an electrical signal responsive to said focused reflection of said energy beam.

111. The invention of claim 108 wherein said step of computing said absolute coordinates of said point of reflection from said relative coordinates of said point of reflection and said absolute coordinates of said observation point comprising the steps of:

vectorially adding said relative coordinates of said point of reflection with respect to said observation point with said absolute coordinates of said observation point.

112. The invention of claim 108 wherein said step of capturing an image of said object at said point of reflection comprises a CCD camera.

113. The invention of claim 108 wherein said step of creating a comparative database of said three dimensional coordinates of said point of reflection and of corresponding said image of said object comprising the steps of:

calculating the average dimensions of said object based upon said captured image;

storing said captured image and said calculated average dimensions indexed by said three dimensional coordinates of said point of reflection;

associating one or more of said three dimensional coordinates which are related to said object;

calculating distances between any of said one or more associated coordinates;

determining the outer dimensions of said object based upon said calculated distances between any of said one or more associated coordinates;

assigning a tracking code to said one or more coordinates wherein said tracking code may act as a means of retrieving said coordinates and related said images and said calculated dimensions, and

storing said outer dimensions and said calculated distances indexed with said tracking code.

114. The invention of claim 108 wherein said step of determining the relative coordinates of the point of reflection of said energy beam with respect to said observation point comprising the steps of:

determining the distance (r) from said point of reflection to said observation point;

determining the rotational angle (θ

) of said point of reflection from said observation point with respect to a vertical reference plane, and

determining the azimuth angle (φ

) of said of said point of reflection from said observation point with respect to a horizontal reference plane.

115. The invention of claim 114 wherein said step of determining distance (r) comprises a laser range (lidar) system.

116. The invention of claim 114 wherein said step of determining said rotational angle (θ

) comprises an electronic compass.

117. The invention of claim 114 wherein said step of determining said azimuth angle (φ

) comprises an electronic level.

118. The invention of claim 108 wherein said step of determining the absolute coordinates of said observation point comprising the steps of:

using triangulation to determine the absolute X-Y coordinates of said observation point, and

determining the absolute Z height coordinate of said observation point.

119. The invention of claim 118 wherein said triangulation step of determining the absolute X-Y coordinates of said observation point comprises a global positioning satellite system (GPS).

120. The invention of claim 118 wherein said step of determining the absolute Z height coordinate of said observation point comprises a gravity directed gimbaled ultrasonic distance measuring system.