Techniques for positioning a vehicle

• US 9,410,804 B2
• Filed: 04/20/2012
• Issued: 08/09/2016
• Est. Priority Date: 04/21/2011
• Status: Active Grant

• Current Assignee: Konecranes Global Corporation (Konecranes Terex Plc)
• Original Assignee: Konecranes Global Corporation (Konecranes Terex Plc)
• Inventors: Rintanen, Kari
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): McPherson, James M
• Application Number:
  US14/112,872
• Publication Number:
  US 20140046587A1
• Time in Patent Office: 1,572 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B66C 19/007 for containers
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: G01C 21/12 executed aboard the object being navigated; Dead reckoning
• CPC Class Codes: G01C 3/08 Use of electric radiation detectors
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 19/45 by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
• CPC Class Codes: G01S 19/485 whereby the further system is an optical system or imaging system
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

A system for determining a location of a vehicle in an environment provided with at least two landmarks whose location is known. The system includes at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to the at least two landmarks, as well as a data processing device configured to store in its memory the location of the at least two landmarks; and determine the location of the vehicle on the basis of at least the location of the at least two landmarks as well as the distance and direction from the vehicle to the at least two landmarks.

Claims

1. A system for determining a location of a vehicle, the system comprising:

at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to at least two landmarks of a plurality of landmarks, wherein locations of the plurality of landmarks is known to the system;

a processor configured to;

store in memory locations of the at least two landmarks;

determine a shape of at least one scanned object by measuring a plurality of directions and distances from the vehicle to the at least one scanned object, and accept the scanned object as a landmark if the determined shape corresponds to a stored shape of at least one landmark;

determine an initial location and initial heading of the vehicle based on measured distances and directions from the vehicle to the at least two landmarks, and on a recorded movement and change of heading of the vehicle between times the at least two landmarks are observed;

and when only one landmark of the at least two landmarks is visible, the processor is configured to;

record a change in heading and store heading data of the vehicle;

measure distance and direction from the vehicle to the only one landmark;

determine an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark,

wherein the system is configured to use the updated location for navigating the vehicle.

2. The system as claimed in claim 1, wherein the processor is further configured to determine a change in location of the vehicle by utilizing satellite positioning.

3. The system as claimed in claim 1, wherein the processor is further configured to determine a change in location of the vehicle by monitoring a travel direction of the vehicle as well as a distance measurement sensor installed in the vehicle, wherein calibration data of the distance measurement sensor is based on the locations of the plurality of landmarks known to the system.

4. The system as claimed in claim 1, wherein the processor is further configured to determine the location of the vehicle by employing dead reckoning if no landmarks are detectable.

5. The system as claimed in claim 1, wherein the at least one landmark is cylindrical in shape, and wherein the shape of the landmark is independent from the direction from the vehicle to the landmark.

6. The system as claimed in claim 1, wherein the distance sensor is a laser sensor.

7. The system as claimed in claim 1, wherein the processor is further configured to slow down or stop the vehicle based on an obstacle detected by the distance sensor in a travel direction of the vehicle.

8. The system as claimed in claim 1, wherein the processor is further configured to control the vehicle automatically.

9. The system as claimed in claim 1, wherein the vehicle is a container handling machine.

10. The system as claimed in claim 1, wherein the processor is further configured to determine an unloading site of cargo transported by the vehicle by determining the location of the vehicle at a time when the vehicle unloads the cargo.

11. The system as claimed in claim 10, wherein the processor is further configured to identify the cargo based on a site from which the vehicle picks up the cargo.

12. The system as claimed in claim 1, wherein the vehicle is configured to move unmanned.

13. A method for determining a location of a vehicle, the method comprising:

using at least one scanning distance sensor installed in the vehicle to obtain distance and direction from the vehicle to at least two landmarks of a plurality of landmarks, wherein locations of the plurality of landmarks are known to a data processing system;

using the data processing system to;

store in memory locations of the at least two landmarks;

determine a shape of at least one scanned object by measuring a plurality of directions and distances from the vehicle to the at least one scanned object, and accept the scanned object as a landmark if the determined shape corresponds to a stored shape of at least one landmark;

determine an initial location and initial heading of the vehicle based on measured distances and directions from the vehicle to the at least two landmarks, and on a recorded movement and change of heading between times the at least two landmarks are observed;

and when only one landmark of the at least two landmarks is visible, using the data processing system to;

record a change in heading and store heading data of the vehicle;

measure distance and direction from the vehicle to the only one landmark;

determine an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark; and

navigating the vehicle using the updated location.

14. The method as claimed in claim 13, further comprising determining a change in location of the vehicle by monitoring a travel direction of the vehicle as well as a distance measurement sensor installed in the vehicle, wherein calibration data of the distance measurement sensor is based on the locations of the plurality of landmarks known to the system.

15. The method as claimed in claim 13, further comprising determining the location of the vehicle by employing dead reckoning if no landmarks are detectable.

16. The method as claimed in claim 13, wherein at least one landmark is cylindrical in shape.

17. The method as claimed in claim 13, wherein the distance sensor is a laser sensor.

18. A software product on a non-transitory computer-readable storage medium for a data process sing device in a vehicle for determining a location of the vehicle in an environment provided with a plurality of landmarks, the vehicle comprising at least one scanning distance sensor installed in the vehicle and configured to measure distance and direction from the vehicle to at least two landmarks of the plurality of landmarks;

the software product controls the data processing device to carry out a method comprising the following steps;

storing in memory locations of the at least two landmarks of the plurality of landmarks;

determining a shape of at least one scanned object by measuring a plurality of directions and distances from the vehicle to the at least one scanned object, and accepting the scanned object as a landmark if the determined shape corresponds to a stored shape of at least one landmark; and

determining an initial location and initial heading of the vehicle based on measured distances and directions to from the vehicle the at least two landmarks, and on a recorded movement and change of heading between times the at least two landmarks are observed;

and when only one landmark of the at least two landmarks is visible;

recording a change in heading and storing heading data of the vehicle;

measuring distance and direction from the vehicle to the only one landmark;

determining an updated location of the vehicle based on at least the location of the only one landmark as well as the distance and direction from the vehicle to the only one landmark; and

navigating the vehicle using the updated location.