Object placement verification
First Claim
1. A method comprising:
- determining, by a control system of a vehicle, a target location for an object carried by the vehicle;
determining, by the control system, a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by a sensor on the vehicle to produce a scan of the volume;
determining, by the control system, a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space;
determining, by the control system, a path for the vehicle to follow to the target location, wherein the respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and
causing, by the control system, the vehicle to follow the determined path to the target location.
3 Assignments
0 Petitions
Accused Products
Abstract
An example system may include a vehicle, a sensor, and a control system that may determine a target location for an object carried by the vehicle. The control system may also determine a plurality of points defining a boundary of a volume to be occupied by the object at the target location. The plurality of points may be scannable in a sequence by the sensor to scan the volume. The control system may additionally determine a respective field of visibility to each respective point. Further, the control system may determine a path for the vehicle to follow to the target location. The respective field of visibility may intersect with at least a respective portion of the determined path such that each respective point is observable by the sensor along at least the respective portion of the determined path as the vehicle moves along the determined path to the target location.
67 Citations
20 Claims
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1. A method comprising:
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determining, by a control system of a vehicle, a target location for an object carried by the vehicle; determining, by the control system, a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by a sensor on the vehicle to produce a scan of the volume; determining, by the control system, a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space; determining, by the control system, a path for the vehicle to follow to the target location, wherein the respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and causing, by the control system, the vehicle to follow the determined path to the target location. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A non-transitory computer readable storage medium having stored thereon instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
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determining a target location for an object carried by a vehicle; determining a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by a sensor on the vehicle to produce a scan of the volume; determining a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space; determining a path for the vehicle to follow to the target location, wherein each respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and causing the vehicle to follow the determined path to the target location. - View Dependent Claims (16, 17)
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18. A system comprising:
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a vehicle; a sensor connected to the vehicle; and a control system configured to; determine a target location for an object carried by the vehicle; determine a plurality of points defining a boundary of a volume to be occupied by the object at the target location, wherein the plurality of points are scannable in a sequence by the sensor to produce a scan of the volume; determine a respective field of visibility to each respective point of the plurality of points, wherein the respective field of visibility defines a region of space extending from the respective point such that the respective point is unobstructed to the sensor when the sensor is positioned within the region of space; determine a path for the vehicle to follow to the target location, wherein each respective field of visibility intersects with a respective portion of the determined path such that each respective point of the plurality of points is observable by the sensor along at least a section of the respective portion of the determined path as the vehicle moves along the determined path to the target location; and cause the vehicle to follow the determined path to the target location. - View Dependent Claims (19, 20)
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Specification