VEHICLE POSITIONING AND OBJECT AVOIDANCE

• US 20180267551A1
• Filed: 05/22/2018
• Published: 09/20/2018
• Est. Priority Date: 01/27/2016
• Status: Active Grant

• Current Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Original Assignee: Hand Held Products Incorporated (Honeywell International Inc.)
• Inventors: Houle, Scott Xavier, Hunt, Jeffrey Mark
• Granted Patent: US 10,747,227 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 10/18 including control of braking systems
• CPC Class Codes: B60W 2050/143 Alarm means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2720/10 Longitudinal speed
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B66F 17/003 for fork-lift trucks
• CPC Class Codes: B66F 9/07509 Braking
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G05D 1/0214 in accordance with safety or protection criteria, e.g. avoiding hazardous areas monitoring the location of vehicles within a certain area, e.g. forbidden or allowed areas, in traffic control systems for road vehicles G08G1/13
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593

Abstract

A system is described for presenting information relating to lifting and moving a load object with a vehicle. Upon the lifting, a dimensioner determines a size and a shape of the load object, computes a corresponding spatial representation, and generates a corresponding video signal. During the moving, an imager observes a scene in front of the vehicle, relative to its forward motion direction, and generates a video signal corresponding to the observed scene. The imager has at least one element moveable vertically, relative to the lifting. A display renders a real time visual representation of the scene observed in front of the vehicle based on the corresponding video signal and superimposes a representation of the computed spatial representation of the load object.

Claims

1. A system, comprising:

a dimensioner operable for determining dimensions of a load object, computing a spatial representation of the load object, and generating a first video signal corresponding to the computed spatial representation;

an imager operable for observing a scene in front of a vehicle and generating a second video signal corresponding to the observed scene, the imager comprising at least one element moveable vertically; and

a display operable for;

rendering a real time visual representation of the observed scene based on the second video signal, the visual representation transposed to a perspective consistent with a direct view of an operator of the vehicle; and

rendering a transparent representation of the computed spatial representation of the load object based on the corresponding first video signal superimposed with the visual representation of the observed scene.

2. The system as described in claim 1, wherein:

the vehicle comprises a forklift;

the forklift comprises a member for lifting a load; and

the imager'"'"'s at least one element moveable vertically is positioned on a portion of the member disposed proximate to the front of the vehicle.

3. The system as described in claim 1, wherein:

observing a scene comprises capturing a real time three dimensional (3D) image of the scene; and

rendering the real time visual representation of the observed scene comprises rendering a real time visual representation of the observed scene based on a perspective corresponding to the at least one vertically moveable element.

4. The system as described in claim 1, wherein the computed spatial representation of the load object comprises a wireframe computed based on the determined dimensions of the load object.

5. The system as described in claim 1, wherein:

the dimensioner is operable for computing a distance between the front of the vehicle and the load object; and

the display is operable for rendering a representation corresponding to the computed distance.

6. The system as described in claim 1, wherein the imager comprises a trajectory analyzer operable, upon a detection of one or more objects positioned over a range within the observed scene disposed before the front of the vehicle, for computing a trajectory relating to the forward motion of the vehicle in relation to each of the objects and generating a trajectory signal corresponding to each of the avoidable objects.

7. The system as described in claim 6, wherein, upon the detection of the one or more objects, rendering the real time visual representation of the observed scene comprises rendering a visual representation of the one or more objects and data relating to the computed trajectory.

8. The system as described in claim 7, wherein, upon the computed trajectory comprising an imminent risk of a collision with at least one of the objects, the trajectory analyzer is operable for performing at least one action related to avoiding the collision.

9. The system as described in claim 1, comprising a plurality of cameras.

10. The system as described in claim 1, wherein the display is observable to an operator of the vehicle during operation of the vehicle.

11. A method of providing a driver of a vehicle an unobstructed view, the method comprising:

capturing images of a scene disposed before a vehicle using one or more imagers, wherein an object obstructs at least a portion of the scene disposed before the vehicle when viewed from a perspective consistent with a direct view of a driver of the vehicle, the one or more cameras positioned on the vehicle so as to observe the scene;

computing a spatial representation of the object based on at least a portion of the images from at least one of the imagers;

transposing a view of at least a portion of the images to a perspective consistent with a direct view of a driver of the vehicle; and

displaying a real-time visual representation of the scene disposed before the vehicle, the visual representation transposed to the perspective consistent with the direct view of the driver of the vehicle and comprising a transparent representation of the object superimposed in relation to the visual representation.

12. The method of claim 11, wherein the vehicle comprises a lifting member configured to move a load, and wherein the object obstructs at least a portion of the scene when moving a load comprising the object.

13. The method of claim 11, wherein the vehicle comprises a lifting member with at least one of the imagers disposed upon a portion of the lifting member.

14. The method of claim 11, wherein the vehicle comprises a lifting member configured to move a load, and wherein at least one of the imagers comprises an element movable in relation to the load.

15. The method of claim 11, wherein the object comprises one or more boxes, one or more crates, one or more packages, one or more machinery items, and/or an one or more palletized configurations.

16. The method of claim 11, wherein the transparent representation of the object comprises a wireframe outlining the object.

17. The method of claim 11, wherein the vehicle is configured to move the object, and wherein displaying the real-time visual representation of the scene comprises superimposing the transparent representation of the object in relation to the visual representation upon lifting the object.

18. The method of claim 11, wherein the vehicle comprises a heads-up-display configured display the real-time visual representation of the scene.

19. The method of claim 11, wherein the scene disposed before the vehicle comprises an obstruction beyond the object, and the real-time visual representation of the scene comprises a view of the obstruction.

20. The method of claim 11, comprising:

detecting an obstruction in scene, wherein the real-time visual representation of the scene comprises a visual representation of the obstruction; and

computing a trajectory for the vehicle in relation to the obstruction.