MX2021009266A - Sistemas y métodos para calibración de posición de vehículo mediante la identificación de pata de rejilla y la compensación de oscilación de mástil. - Google Patents
Sistemas y métodos para calibración de posición de vehículo mediante la identificación de pata de rejilla y la compensación de oscilación de mástil.Info
- Publication number
- MX2021009266A MX2021009266A MX2021009266A MX2021009266A MX2021009266A MX 2021009266 A MX2021009266 A MX 2021009266A MX 2021009266 A MX2021009266 A MX 2021009266A MX 2021009266 A MX2021009266 A MX 2021009266A MX 2021009266 A MX2021009266 A MX 2021009266A
- Authority
- MX
- Mexico
- Prior art keywords
- rack leg
- odometry
- aisle
- vehicle
- initial
- Prior art date
Links
- 230000004807 localization Effects 0.000 abstract 1
- 238000005007 materials handling Methods 0.000 abstract 1
Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control 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
- G05D1/0253—Control 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 extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/20—Means for actuating or controlling masts, platforms, or forks
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0272—Control 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
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/70—Determining position or orientation of objects or cameras
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30248—Vehicle exterior or interior
- G06T2207/30252—Vehicle exterior; Vicinity of vehicle
Abstract
Un vehículo de manipulación de materiales incluye una cámara, un módulo de odometría, un procesador y un mecanismo de accionamiento. La cámara captura imágenes de un identificador para un pasillo del sistema de estantería y una porción de la pata del estante en el pasillo. El procesador utiliza el identificador para generar información indicativa de la posición inicial de la pata del estante y el espacio entre las patas del estante en el pasillo, generar una posición inicial del vehículo utilizando la posición inicial de la pata del estante, generar una posición basada en la odometría del vehículo utilizando los datos de la odometría y la posición inicial del vehículo, detectar una pata del estante posterior utilizando una imagen capturada, correlacionar la pata del estante posterior detectada con una posición esperada del vehículo utilizando el espaciado de la pata del estante, generar una señal de error de odometría basada en una diferencia entre las posiciones y actualizar la posición basada en la odometría del vehículo utilizando la señal de error de odometría y/o compensación de balanceo del mástil generada para usarse en la protección del extremo del pasillo y/o la localización dentro/fuera del pasillo.
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201962801893P | 2019-02-06 | 2019-02-06 | |
US201962801897P | 2019-02-06 | 2019-02-06 | |
US201962801904P | 2019-02-06 | 2019-02-06 | |
PCT/US2020/016566 WO2020163321A1 (en) | 2019-02-06 | 2020-02-04 | Systems and methods for vehicle position calibration using rack leg identification and mast sway compensation |
Publications (1)
Publication Number | Publication Date |
---|---|
MX2021009266A true MX2021009266A (es) | 2021-11-12 |
Family
ID=69740831
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2021009266A MX2021009266A (es) | 2019-02-06 | 2020-02-04 | Sistemas y métodos para calibración de posición de vehículo mediante la identificación de pata de rejilla y la compensación de oscilación de mástil. |
MX2021009139A MX2021009139A (es) | 2019-02-06 | 2020-02-04 | Sistemas y metodos para la proteccion del final de pasillo y calibracion de posicion de vehiculo mediante la identificacion de pata de rejilla. |
MX2021009136A MX2021009136A (es) | 2019-02-06 | 2020-02-04 | Sistemas y metodos para la localizacion fuera del pasillo y calibracion de posicion de vehiculo mediante la identificacion de pata de rejilla. |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
MX2021009139A MX2021009139A (es) | 2019-02-06 | 2020-02-04 | Sistemas y metodos para la proteccion del final de pasillo y calibracion de posicion de vehiculo mediante la identificacion de pata de rejilla. |
MX2021009136A MX2021009136A (es) | 2019-02-06 | 2020-02-04 | Sistemas y metodos para la localizacion fuera del pasillo y calibracion de posicion de vehiculo mediante la identificacion de pata de rejilla. |
Country Status (8)
Country | Link |
---|---|
US (4) | US11681300B2 (es) |
EP (3) | EP3921714B1 (es) |
KR (4) | KR20230142809A (es) |
CN (3) | CN113557207B (es) |
AU (3) | AU2020218503A1 (es) |
CA (3) | CA3129397A1 (es) |
MX (3) | MX2021009266A (es) |
WO (3) | WO2020163322A1 (es) |
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2020
- 2020-02-04 KR KR1020237032513A patent/KR20230142809A/ko not_active Application Discontinuation
- 2020-02-04 AU AU2020218503A patent/AU2020218503A1/en active Pending
- 2020-02-04 MX MX2021009266A patent/MX2021009266A/es unknown
- 2020-02-04 CA CA3129397A patent/CA3129397A1/en active Pending
- 2020-02-04 EP EP20713770.4A patent/EP3921714B1/en active Active
- 2020-02-04 US US16/781,521 patent/US11681300B2/en active Active
- 2020-02-04 CN CN202080020156.XA patent/CN113557207B/zh active Active
- 2020-02-04 CA CA3129390A patent/CA3129390A1/en active Pending
- 2020-02-04 EP EP20713414.9A patent/EP3921713B1/en active Active
- 2020-02-04 WO PCT/US2020/016567 patent/WO2020163322A1/en unknown
- 2020-02-04 US US16/781,514 patent/US11531352B2/en active Active
- 2020-02-04 EP EP20709042.4A patent/EP3921712A1/en active Pending
- 2020-02-04 MX MX2021009139A patent/MX2021009139A/es unknown
- 2020-02-04 US US16/781,515 patent/US11640175B2/en active Active
- 2020-02-04 WO PCT/US2020/016566 patent/WO2020163321A1/en unknown
- 2020-02-04 KR KR1020217026738A patent/KR20210125504A/ko unknown
- 2020-02-04 WO PCT/US2020/016580 patent/WO2020163331A1/en unknown
- 2020-02-04 KR KR1020217026734A patent/KR20210124282A/ko unknown
- 2020-02-04 AU AU2020219110A patent/AU2020219110A1/en active Pending
- 2020-02-04 CA CA3129386A patent/CA3129386A1/en active Pending
- 2020-02-04 AU AU2020217710A patent/AU2020217710A1/en active Pending
- 2020-02-04 CN CN202080019267.9A patent/CN113544615A/zh active Pending
- 2020-02-04 CN CN202080019347.4A patent/CN113544616A/zh active Pending
- 2020-02-04 MX MX2021009136A patent/MX2021009136A/es unknown
- 2020-02-04 KR KR1020217026736A patent/KR102583386B1/ko active IP Right Grant
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2022
- 2022-11-22 US US18/058,093 patent/US20230084450A1/en active Pending
Also Published As
Publication number | Publication date |
---|---|
KR20210125504A (ko) | 2021-10-18 |
CN113557207B (zh) | 2022-10-21 |
EP3921714A1 (en) | 2021-12-15 |
AU2020218503A1 (en) | 2021-08-26 |
KR20230142809A (ko) | 2023-10-11 |
WO2020163322A1 (en) | 2020-08-13 |
US11531352B2 (en) | 2022-12-20 |
US20230084450A1 (en) | 2023-03-16 |
US20200247612A1 (en) | 2020-08-06 |
AU2020217710A1 (en) | 2021-08-26 |
CN113557207A (zh) | 2021-10-26 |
US11681300B2 (en) | 2023-06-20 |
US20200249692A1 (en) | 2020-08-06 |
MX2021009139A (es) | 2021-12-10 |
MX2021009136A (es) | 2021-12-10 |
US11640175B2 (en) | 2023-05-02 |
EP3921713B1 (en) | 2023-01-04 |
KR102583386B1 (ko) | 2023-10-05 |
KR20210119473A (ko) | 2021-10-05 |
WO2020163331A1 (en) | 2020-08-13 |
CN113544615A (zh) | 2021-10-22 |
KR20210124282A (ko) | 2021-10-14 |
AU2020219110A1 (en) | 2021-08-26 |
WO2020163321A1 (en) | 2020-08-13 |
US20200247613A1 (en) | 2020-08-06 |
EP3921714B1 (en) | 2023-01-25 |
EP3921712A1 (en) | 2021-12-15 |
EP3921713A1 (en) | 2021-12-15 |
CA3129397A1 (en) | 2020-08-13 |
CA3129386A1 (en) | 2020-08-13 |
CN113544616A (zh) | 2021-10-22 |
CA3129390A1 (en) | 2020-08-13 |
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