Methods and systems for high precision locationing with depth values

• US 10,352,689 B2
• Filed: 01/28/2016
• Issued: 07/16/2019
• Est. Priority Date: 01/28/2016
• Status: Active Grant

• Current Assignee: Symbol Technologies, LLC (Zebra Technologies Corporation)
• Original Assignee: Symbol Technologies, LLC (Zebra Technologies Corporation)
• Inventors: Brown, Patrick Martin, Nanda, Chinmay
• Primary Examiner(s): Diallo, Mamadou L
• Application Number:
  US15/008,710
• Publication Number:
  US 20170219338A1
• Time in Patent Office: 1,265 Days
• CPC Class Codes: G01B 11/002 for measuring two or more coordinates
• CPC Class Codes: G01B 11/22 for measuring depth
• CPC Class Codes: G01B 11/2518 Projection by scanning of the object
• CPC Class Codes: G01S 17/06 Systems determining position data of a target
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 7/4808 Evaluating distance, position or velocity data

Abstract

Described herein are methods and systems for high-precision locationing with depth values. One embodiment takes the form of a method that includes: receiving multiple depth values that correspond respectively to depth readings from multiple depth sensors positioned on a freight-moving vehicle and oriented towards an overhead surface, wherein different portions of the overhead surface are positioned at different heights above a floor surface, determining a position and orientation of the freight-moving vehicle at least in part by querying a lookup table using the received multiple depth values, wherein the lookup table maps respective heights of the respective different portions of the overhead surface to known positions of the different portions of the overhead surface; and outputting the determined position and orientation of the freight-moving vehicle.

Claims

1. A method comprising:

receiving multiple depth values read by multiple depth sensors positioned on a freight-moving vehicle and oriented towards an overhead surface disposed above the freight-moving vehicle, wherein different portions of the overhead surface are positioned at different heights above a floor surface and above the multiple depth sensors, wherein each of the multiple depth values is representative of a distance between a respective one of the depth sensors and a respective different portion of the overhead surface;

determining a position and orientation of the freight-moving vehicle at least in part by querying a lookup table by mapping the received multiple depth values to respective heights of the respective different portions of the overhead surface that correspond, in the lookup table, to known positions of the different portions of the overhead surface;

outputting the determined position and orientation of the freight-moving vehicle, and

dimensioning a freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle.

2. The method of claim 1, wherein:

the overhead surface is a planar surface oriented at an angle with respect to the floor surface, and

the multiple depth sensors comprise a first and a second depth sensor, and a third depth sensor not in line with the first and second depth sensors.

3. The method of claim 1, wherein:

the different portions of the overhead surface comprise a grid of depth elements,

the multiple depth sensors comprise a first and a second depth sensor,

a first depth value of the multiple depth values is associated with the first depth sensor, and

a second depth value of the multiple depth values is associated with the second depth sensor.

4. The method of claim 3, wherein each depth element is located at a different height than each of the other depth elements.

5. The method of claim 3, wherein at least one depth element is located at the same height as at least one other depth element.

6. The method of claim 3, wherein the depth elements are spaced one centimeter apart.

7. The method of claim 1, wherein at least one of the multiple depth sensors is a LIDAR sensor.

8. The method of claim 1, wherein the multiple depth sensors are arranged in a known configuration.

9. The method of claim 8, wherein querying the lookup table by mapping the received multiple depth values comprises querying the lookup table using a combination of the multiple depth values to obtain the position and orientation of the freight-moving vehicle.

10. The method of claim 1, further comprising:

determining a collective geometric shape of (i) the freight being carried by the freight-moving vehicle and (ii) at least a portion of the freight-moving vehicle,

isolating a geometric shape of the freight at least in part by segmenting the geometric shape of the at least a portion of the freight-moving vehicle from the collective geometric shape based at least in part on the determined position and orientation of the freight-moving vehicle, and

dimensioning the freight based on the isolated geometric shape of the freight.

11. The method of claim 10, wherein isolating a geometric shape of the freight further comprises:

determining an identity of the freight-moving vehicle, and

receiving a geometric shape of the freight-moving vehicle based on the determined identity,

wherein segmenting the geometric shape of the at least a portion of the freight-moving vehicle from the collective geometric shape is further based on the received geometric shape of the freight-moving vehicle.

12. A system comprising:

an overhead surface comprising a plurality of different portions of varying heights;

a plurality of depth sensors positioned on a freight-moving vehicle, oriented towards the overhead surface disposed above the freight-moving vehicle, and configured to measure respective depths to respective different portions of the overhead surface; and

a processor configured to;

receive respective depth values read by respective depth sensors in the plurality of depth sensors;

determine a position and orientation of the freight-moving vehicle at least in part by querying a lookup table by mapping the received multiple depth values to respective heights of respective different portions of the overhead surface that correspond, in the lookup table, to known positions of the different portions of the overhead surface;

output the determined position and orientation of the freight-moving vehicle, and

dimension a freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle.

13. The system of claim 12, wherein:

the overhead surface is a planar surface oriented at an angle with respect to the floor surface, and

the multiple depth sensors comprise a first and a second depth sensor, and a third depth sensor not in line with the first and second depth sensors.

14. The system of claim 12, wherein:

the different portions of the overhead surface comprise a grid of depth elements,

the multiple depth sensors comprise a first and a second depth sensor,

a first depth value of the multiple depth values is associated with the first depth sensor, and

a second depth value of the multiple depth values is associated with the second depth sensor.

15. The system of claim 14, wherein each depth element is located at a different height than each of the other depth elements.

16. The system of claim 14, wherein at least one depth element is located at the same height as at least one other depth element.

17. The system of claim 14, wherein the depth elements are spaced one centimeter apart.

18. The system of claim 12, wherein at least one of the multiple depth sensors is a LIDAR sensor.

19. The system of claim 12, wherein the processor is further configured to:

determine a collective shape of (i) the freight being carried by the freight-moving vehicle and (ii) at least a portion of the freight-moving vehicle,

isolate a geometric shape of the freight at least in part by segmenting the geometric shape of the at least a portion of the freight-moving vehicle from the collective geometric shape based at least in part on the determined position and orientation of the freight-moving vehicle, and

output the isolated geometric shape of the freight.

20. A system comprising:

an overhead grid comprising a plurality of depth elements of varying heights;

at least three depth sensors positioned on a freight-moving vehicle and oriented towards the overhead grid disposed above the freight-moving vehicle, the at least three depth sensors configured to measure a respective depth to a respective depth element positioned above the respective depth sensor, and

a processor configured to;

receive respective depth values read by the at least three depth sensors;

determine a position and orientation of the freight-moving vehicle at least in part by querying a database by mapping the received respective depth values to respective heights of respective depth elements in the overhead grid that correspond, in the database, to known Cartesian positions of the depth elements in the overhead grid;

determine a collective geometric shape of (i) freight being carried by the freight-moving vehicle and (ii) at least a portion of the freight-moving vehicle;

isolate a geometric shape of the freight at least in part by segmenting the geometric shape of the at least a portion of the freight-moving vehicle from the collective geometric shape based at least in part on the determined position and orientation of the freight-moving vehicle,

output the isolated geometric shape of the freight, and

dimension the freight carried by the freight-moving vehicle based at least in part on the determined position and orientation of the freight-moving vehicle and the isolated geometric shape of the freight.