发明名称 |
Method and apparatus for using unique landmarks to locate industrial vehicles at start-up |
摘要 |
A method and apparatus for using unique landmarks to position industrial vehicles during start-up. In one embodiment, a method of using pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises identifying a start-up scenario from sensor data, wherein the start-up scenario comprises a unique marker start-up or a pre-positioned object start-up. in response to the identified start-up scenario, either a unique marker or pre-positioned object is identified within a physical environment, wherein the pre-positioned object or unique marker corresponds with a sub-area of the physical environment. The industrial vehicle pose is determined in response to the identity of the pre-positioned object or unique marker and the industrial vehicle is operated based on the determined industrial vehicle pose. |
申请公布号 |
US9580285(B2) |
申请公布日期 |
2017.02.28 |
申请号 |
US201414254953 |
申请日期 |
2014.04.17 |
申请人 |
Crown Equipment Corporation |
发明人 |
Wong Lisa;Graham Andrew Evan;Goode Christopher W.;Waltz Lucas B. |
分类号 |
B66F9/06;G05G1/00;G05G1/02;G06F17/00;G01C21/20;G01S5/16;G01S17/02;G01S17/08;G01S17/87;G01S5/08;G07C5/08 |
主分类号 |
B66F9/06 |
代理机构 |
Dinsmore & Shohl LLP |
代理人 |
Dinsmore & Shohl LLP |
主权项 |
1. A method of correcting pose uncertainty when operating an industrial vehicle comprising one or more sensors, one or more lifting elements, and a mobile computer, wherein the method comprises using the industrial vehicle to:
receive measurement data from the one or more sensors of the industrial vehicle; estimate a current pose of the industrial vehicle in an environment based on the measurement data; navigate the industrial vehicle to a pallet or product load utilizing the current pose estimate and data from the one or more sensors of the industrial vehicle; automatically pick-up the pallet or product load with the one or more lifting elements of the industrial vehicle; retrieve a position of the automatically picked-up pallet or product load from placed object data associated with the automatically picked-up pallet or product load; develop a new pose of the industrial vehicle using the retrieved position of the automatically picked-up pallet or product load; and navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle. |
地址 |
New Bremen OH US |