Method and system for sensing the position of a vehicle
First Claim
1. A method for registering the position of a vehicle in a defined region, the method comprising:
- creating a digital map of the defined region, the digital map having a defined coordinates system and including first stationary reference features with a unique identifying feature;
recording one or more digital images of at least a sub-region of the defined region for purposes of registering and detecting further reference features;
registering and detecting second stationary or temporary reference features without unique identifying features detected in the one or more digital images;
adding the second stationary or temporary reference features without unique identifying features to the digital map or an associated buffer store;
subsequently determining the absolute position of the vehicle in the defined region by recording a subsequent digital image of a portion of the defined region by the vehicle;
detecting and identifying the second stationary or temporary reference features in the subsequent digital image; and
determining the absolute position of the vehicle on the basis of the second stationary or temporary reference features without unique identifying features that have been detected and identified in the subsequent digital image;
wherein when setting down a goods item having an identifying feature in the defined region, or when driving past with the vehicle, the coordinates of the goods item, preferably the corner points of the goods item, are added to the buffer store;
wherein when detecting an identifying feature of a goods item and at least one corner point of the goods item an absolute position of the vehicle is determined by means of the coordinates held in the buffer store;
wherein when determining the absolute position sub-regions of the defined region that cannot be navigated/driven through, or reached, or maximum possible alterations in position within a time period are taken into account on the basis of performance data of the vehicle in combination with a movement history.
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Abstract
The invention concerns a method and a system for purposes of registering the position of a vehicle (1) in a defined region (3), wherein a digital map of the defined region (3) is created, having a defined coordinates system, wherein the digital map includes stationary reference features (T1) with a unique identifying feature, before digital images are recorded of at least a sub-region of the defined region (3), preferably of the whole defined region (3), for purposes of registering and detecting further reference features (T1, T2, T3), wherein stationary and/or temporary reference features (T2, T3) without unique identifying features are also registered and detected, and are added to the digital map and/or an associated buffer store, so that the absolute position of the vehicle (1) in the defined region (3) can subsequently be determined, in that a digital image of a portion of the defined region (3) is recorded by the vehicle (1), and in the digital image reference features (T1, T2, T3) are detected and optionally identified, wherein the determination of absolute position is undertaken on the basis of the stationary and/or temporary reference features (T1, T2, T3) that have been detected and optionally identified.
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Citations
18 Claims
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1. A method for registering the position of a vehicle in a defined region, the method comprising:
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creating a digital map of the defined region, the digital map having a defined coordinates system and including first stationary reference features with a unique identifying feature; recording one or more digital images of at least a sub-region of the defined region for purposes of registering and detecting further reference features; registering and detecting second stationary or temporary reference features without unique identifying features detected in the one or more digital images; adding the second stationary or temporary reference features without unique identifying features to the digital map or an associated buffer store; subsequently determining the absolute position of the vehicle in the defined region by recording a subsequent digital image of a portion of the defined region by the vehicle; detecting and identifying the second stationary or temporary reference features in the subsequent digital image; and determining the absolute position of the vehicle on the basis of the second stationary or temporary reference features without unique identifying features that have been detected and identified in the subsequent digital image; wherein when setting down a goods item having an identifying feature in the defined region, or when driving past with the vehicle, the coordinates of the goods item, preferably the corner points of the goods item, are added to the buffer store; wherein when detecting an identifying feature of a goods item and at least one corner point of the goods item an absolute position of the vehicle is determined by means of the coordinates held in the buffer store; wherein when determining the absolute position sub-regions of the defined region that cannot be navigated/driven through, or reached, or maximum possible alterations in position within a time period are taken into account on the basis of performance data of the vehicle in combination with a movement history. - View Dependent Claims (2, 3, 4, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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5. A system for registering the position of a vehicle in a defined region, the system comprising:
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a memory for storing a digital map having a defined coordinates system of the defined region, wherein the digital map includes first stationary reference features with a unique identifying feature detected in one or more digital images; and an imaging sensor device is provided for purposes of registering and detecting further stationary or temporary reference features without unique identification features, which are assigned to the digital map or an associated buffer store, wherein the imaging sensor device records one or more digital images of a sub-region of the defined region, detects second stationary or temporary reference features in the one or more digital images, registers a subsequent digital image of a portion of the defined region, and detects and identifies the second stationary or temporary reference features held in the subsequent digital image, so that a determination of absolute position of a vehicle provided with the imaging sensor device can be determined based on the second stationary or temporary reference features without unique identifying features detected and identified in the subsequent digital image; wherein when setting down a goods item having an identifying feature in the defined region, or when driving past with the vehicle, the coordinates of the goods item, preferably the corner points of the goods item, are added to the buffer store; wherein when detecting an identifying feature of a goods item and at least one corner point of the goods item an absolute position of the vehicle is determined by means of the coordinates held in the buffer store; wherein when determining the absolute position sub-regions of the defined region that cannot be navigated/driven through, or reached, or maximum possible alterations in position within a time period are taken into account on the basis of performance data of the vehicle in combination with a movement history. - View Dependent Claims (6)
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Specification