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.

主权项

1. A method of correcting pose uncertainty when operating an industrial vehicle comprising one or more sensors and a mobile computer, wherein the method comprises using the mobile computer 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 pre-positioned object utilizing the current pose estimate and data from the one or more sensors of the industrial vehicle; engage the pre-positioned object with the industrial vehicle; retrieve a position of the pre-positioned object from placed object data associated with the pre-positioned object; develop a new pose using the retrieved position of the pre-positioned object; and navigate the industrial vehicle through the environment utilizing the new pose and data from the one or more sensors of the industrial vehicle.