Method and apparatus for using pre-positioned objects to localize an industrial vehicle

• US 9,056,754 B2
• Filed: 11/08/2012
• Issued: 06/16/2015
• Est. Priority Date: 09/07/2011
• Status: Active Grant

• Current Assignee: Crown Equipment Corporation
• Original Assignee: Crown Equipment Corporation
• Inventors: Wong, Lisa, Graham, Andrew Evan, Goode, Christopher W., Waltz, Lucas B.
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Do, Truc M
• Application Number:
  US13/672,391
• Publication Number:
  US 20140074342A1
• Time in Patent Office: 950 Days
• Field of Search: 701/28, 701/23, 701/434, 701/2, 701/25, 701/408, 701/457, 701/500, 340/995.2, 340/10.1, 340/10.6, 340/572.1, 340/901, 340/988, 340/990, 700/253, 700/56, 700/214, 700/215, 700/225
• US Class Current: 1/1
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

According to one embodiment of the present disclosure, a method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises (i) transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment; (ii) updating a map of the physical environment by adding placed object data representing the dynamically placed pre-positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data; (iii) storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and (iv) operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.

Claims

1. A method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle, the method comprising:

transporting an object along a path within a physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment;

determining a pose of the dynamically placed pre-positioned object based at least in part on (i) vehicle pose prediction data stored on a central computer or a mobile computer coupled to the industrial vehicle and (ii) a location of the placed object relative to a lift carriage of the industrial vehicle;

updating a map of the physical environment by using the determined pose and adding placed object data representing the dynamically placed pre-positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in navigation of an industrial vehicle with access to the updated map data;

storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and

operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.

2. The method of claim 1 further comprising:

creating a landmark based at least in part on the placed object data, wherein the placed object data comprises features from the placed object, a landmark pose representing the location at which the object was placed, and an object pose uncertainty from the vehicle pose prediction data;

adding the landmark to the updated map data; and

operating the industrial vehicle based on a navigational position determined from updated map data including the landmark.

3. The method of claim 2 wherein:

the placed object comprises a unique identifier; and

the method comprises utilizing a sensor on the industrial vehicle to sense the unique identifier.

4. The method of claim 3 wherein the placed object data is stored on the central computer or the mobile computer with data representing the unique identifier.

5. The method of claim 1 wherein:

object pose prediction data is stored on the mobile computer or the central computer; and

the industrial vehicle comprises a sensor for determining the location of an object to be placed relative to a lift carriage of the industrial vehicle.

6. The method of claim 1 wherein the object is transported and placed using an industrial vehicle, an automated industrial vehicle, or a conveyer system.

7. The method of claim 1 wherein:

operation of the industrial vehicle comprises a transition from an unpowered state to a powered state where current vehicle pose is unknown; and

the industrial vehicle is subsequently operated by determining current vehicle pose from the updated map data and navigating the industrial vehicle along the path within the physical environment.

8. The method of claim 1 wherein the dynamically placed pre-positioned object comprises a pallet loaded with items.

9. The method of claim 1 wherein the dynamically placed pre-positioned object has a known geometry, and the method comprises:

defining the known geometry as placed object model data that describes a set of feature information for the dynamically placed pre-positioned object; and

operating the industrial vehicle based on vehicle localization using the placed object model data.

10. The method of claim 9 wherein:

the dynamically placed pre-positioned object comprises a pallet and items located on the pallet; and

the updated map data comprises a model of the pallet and the items located on the pallet.

11. The method of claim 1, wherein:

the updated map data comprises invisible dynamic objects generated from slot locations according to parametric data derived from warehouse rack dimensions or according to a site defined storage rule for block storage areas; and

the method comprises updating the map to make the invisible object visible.

12. The method of claim 1 wherein the placed object data representing the dynamically placed pre-positioned object serves as a landmark comprising features that are observable from more than one side of the landmark.

13. The method of claim 1 wherein the placed object data is at least partially derived from a sensor attached to the industrial vehicle.

14. The method of claim 1 wherein the sensor data from which the navigational position is determined comprises image data, laser range data, ultrasonic range data, pressure transducer data, encoder data, or combinations thereof.

15. The method of claim 1 wherein the placed object data forms a majority of landmarks comprised in the updated map data.

16. The method of claim 1 wherein the current vehicle pose is determined by referring to landmark data predominantly comprising placed object data.

17. The method of claim 1 wherein the current vehicle pose is determined by referring to landmark data consisting entirely of placed object data.

18. The method of claim 1 wherein:

the step of operating the industrial vehicle based on the navigational position determined from the sensor data and the updated map data comprises one or more automated operations executed with the assistance of a central computer or a mobile computer attached to the industrial vehicle; and

the automated operations are selected from a vehicle navigating operation, a vehicle status alert display, or combinations thereof.

19. A computer attached to an industrial vehicle or coupled to an industrial vehicle via a network, the computer comprising a navigation module for operating the industrial vehicle based on a navigational position determined from sensor data and updated map data, wherein the computer enables the use of dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle according to the method of claim 1.