BR112016030104A2 - veículo de manipulação de materiais, sistema para prover localização global para veículos, e, método para navegar ou rastrear a navegação de um veículo de manipulação de materiais. - Google Patents

veículo de manipulação de materiais, sistema para prover localização global para veículos, e, método para navegar ou rastrear a navegação de um veículo de manipulação de materiais.

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Publication number
BR112016030104A2
BR112016030104A2 BR112016030104A BR112016030104A BR112016030104A2 BR 112016030104 A2 BR112016030104 A2 BR 112016030104A2 BR 112016030104 A BR112016030104 A BR 112016030104A BR 112016030104 A BR112016030104 A BR 112016030104A BR 112016030104 A2 BR112016030104 A2 BR 112016030104A2
Authority
BR
Brazil
Prior art keywords
material handling
handling vehicle
pairs
associated functionality
vehicle
Prior art date
Application number
BR112016030104A
Other languages
English (en)
Inventor
Jay Thomson Jacob
Chandrasekar Kashyap
B Waltz Lucas
Estep Ryan
Original Assignee
Crown Equip Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Crown Equip Corp filed Critical Crown Equip Corp
Publication of BR112016030104A2 publication Critical patent/BR112016030104A2/pt

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01CMEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20Instruments for performing navigational calculations
    • G01C21/206Instruments for performing navigational calculations specially adapted for indoor navigation
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01BMEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00Measuring arrangements characterised by the use of optical techniques
    • G01B11/14Measuring arrangements characterised by the use of optical techniques for measuring distance or clearance between spaced objects or spaced apertures
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06FELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/50Information retrieval; Database structures therefor; File system structures therefor of still image data
    • G06F16/51Indexing; Data structures therefor; Storage structures
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T17/00Three dimensional [3D] modelling, e.g. data description of 3D objects
    • G06T17/05Geographic models
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/0002Inspection of images, e.g. flaw detection
    • G06T7/0004Industrial image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00Image analysis
    • G06T7/70Determining position or orientation of objects or cameras
    • G06T7/73Determining position or orientation of objects or cameras using feature-based methods
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00Arrangements for image or video recognition or understanding
    • G06V10/40Extraction of image or video features
    • G06V10/42Global feature extraction by analysis of the whole pattern, e.g. using frequency domain transformations or autocorrelation
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/10Terrestrial scenes
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00Scenes; Scene-specific elements
    • G06V20/50Context or environment of the image
    • G06V20/56Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06VIMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V30/00Character recognition; Recognising digital ink; Document-oriented image-based pattern recognition
    • G06V30/40Document-oriented image-based pattern recognition
    • G06V30/42Document-oriented image-based pattern recognition based on the type of document
    • G06V30/422Technical drawings; Geographical maps
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00Indexing scheme for image data processing or generation, in general
    • G06T2200/04Indexing scheme for image data processing or generation, in general involving 3D image data
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/10Image acquisition modality
    • G06T2207/10016Video; Image sequence
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30108Industrial image inspection
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30248Vehicle exterior or interior
    • GPHYSICS
    • G06COMPUTING; CALCULATING OR COUNTING
    • G06TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00Indexing scheme for image analysis or image enhancement
    • G06T2207/30Subject of image; Context of image processing
    • G06T2207/30248Vehicle exterior or interior
    • G06T2207/30252Vehicle exterior; Vicinity of vehicle

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Theoretical Computer Science (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Software Systems (AREA)
  • Geometry (AREA)
  • Artificial Intelligence (AREA)
  • Electromagnetism (AREA)
  • Computer Graphics (AREA)
  • Quality & Reliability (AREA)
  • Medical Informatics (AREA)
  • Game Theory and Decision Science (AREA)
  • Evolutionary Computation (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Data Mining & Analysis (AREA)
  • Databases & Information Systems (AREA)
  • General Engineering & Computer Science (AREA)
  • Navigation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

de acordo com as modalidades descritas aqui, um método para a recuperação de veículo perdido que usa pares de funcionalidade associados pode incluir, para um veículo de manipulação de materiais determinado como perdido, criar uma pluralidade de pares de funcionalidade associados recuperando um conjunto de dados de câmera subsequente a partir de uma câmera compreendendo informação de espaço uv bidimensional, formando pares a partir da informação de espaço de uv, e associar cada par formado com pares a partir de cada um de uma pluralidade de pontos de funcionalidade global tridimensional de um mapa de instalação industrial. o método pode incluir adicionalmente calcular uma melhor estimativa de pose a partir de poses de veículo calculadas dos pares de funcionalidade associados com base em um par mais bem classificado da pluralidade de pares de funcionalidade associados, usar uma odometria acumulada para atualizar a pose mais bem estimada para uma posição localizada atual, atualizar a posição de semente como a posição localizada atual, e operar o veículo de manipulação de materiais que usa a posição de semente atualizada.
BR112016030104A 2014-06-27 2015-06-25 veículo de manipulação de materiais, sistema para prover localização global para veículos, e, método para navegar ou rastrear a navegação de um veículo de manipulação de materiais. BR112016030104A2 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US201462018094P 2014-06-27 2014-06-27
PCT/NZ2015/050078 WO2015199553A2 (en) 2014-06-27 2015-06-25 Lost vehicle recovery utilizing associated feature pairs

Publications (1)

Publication Number Publication Date
BR112016030104A2 true BR112016030104A2 (pt) 2017-08-22

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Family Applications (1)

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BR112016030104A BR112016030104A2 (pt) 2014-06-27 2015-06-25 veículo de manipulação de materiais, sistema para prover localização global para veículos, e, método para navegar ou rastrear a navegação de um veículo de manipulação de materiais.

Country Status (7)

Country Link
US (3) US9349181B2 (pt)
EP (2) EP3161573B1 (pt)
KR (2) KR102436081B1 (pt)
CN (2) CN106461400B (pt)
AU (2) AU2015280775B2 (pt)
BR (1) BR112016030104A2 (pt)
WO (2) WO2015199554A2 (pt)

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CN106461400B (zh) 2019-08-16
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EP3161573A2 (en) 2017-05-03
KR102436081B1 (ko) 2022-08-25
AU2015280776A2 (en) 2017-02-09
US9349181B2 (en) 2016-05-24
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US20150379704A1 (en) 2015-12-31
US9984467B2 (en) 2018-05-29
CN106461400A (zh) 2017-02-22
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US10614588B2 (en) 2020-04-07
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