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Method and apparatus for managing and controlling manned and automated utility vehicles

  • US 8,381,982 B2
  • Filed: 09/02/2010
  • Issued: 02/26/2013
  • Est. Priority Date: 12/03/2005
  • Status: Active Grant
First Claim
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1. A method of determining a coordinate position and rotational orientation of an object within a predefined coordinate space, the method comprising:

  • a) providing a plurality of unique position markers having identifying indicia and positional reference indicia thereupon, the markers being arranged at predetermined known positional locations within the coordinate space, the known positional locations and known angular orientations being stored in a map, so that at least two position markers are always within view of the object;

    b) using an image acquisition system mounted on the object, acquiring an image of the at least two position markers M1, M2 within view;

    c) establishing a center point N1, N2 of each respective marker M1, M2 and determining a line segment N1-N2 connecting the respective center points N1, N2;

    d) determining a center point O of the field of view of the image acquisition system;

    e) determining line segments O-N1, O-N2 respectively connecting point O with the centers N1, N2 of the respective position markers M1, M2;

    f) using the lengths and directions of line segments O-N1, O-N2 to calculate the position of the object relative to the known positions of the markers M1, M2, thereby determining the location of the object within the coordinate space; and

    g) using the direction of line segment N1-N2 to calculate the rotational orientation of the object within the coordinate space.

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