WO2010006352A1 - Procédé et dispositif pour détecter la position d’un véhicule dans une zone définie - Google Patents

Procédé et dispositif pour détecter la position d’un véhicule dans une zone définie Download PDF

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Publication number
WO2010006352A1
WO2010006352A1 PCT/AT2009/000278 AT2009000278W WO2010006352A1 WO 2010006352 A1 WO2010006352 A1 WO 2010006352A1 AT 2009000278 W AT2009000278 W AT 2009000278W WO 2010006352 A1 WO2010006352 A1 WO 2010006352A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
determined
relative movement
reference position
digital image
Prior art date
Application number
PCT/AT2009/000278
Other languages
German (de)
English (en)
Inventor
Alec Essati
Original Assignee
Zeno Track Gmbh
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 Zeno Track Gmbh filed Critical Zeno Track Gmbh
Publication of WO2010006352A1 publication Critical patent/WO2010006352A1/fr

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Classifications

    • 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
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • 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
    • G05D1/0234—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using optical markers or beacons

Definitions

  • the invention relates to a method for detecting the position of a vehicle in a defined area, wherein an absolute reference position of the vehicle and a relative movement of the vehicle are detected, wherein for detecting the absolute reference position, a digital image of the surroundings of the vehicle is taken, in the digital image at least one visual marking is determined and the reference position of the vehicle with respect to the determined visual marking is determined, and a device for detecting the position of a vehicle in a defined area, wherein at least one sensor device for detecting a reference position of the vehicle and for detecting a relative movement of the vehicle is provided, wherein an imaging sensor device is provided for determining the reference position.
  • the detection of the current position of a vehicle in a defined range is of great importance in a wide variety of applications. For example, determining the position of industrial trucks (for example, forklifts) in the field of warehouse logistics (warehouse management) is of great importance, since this enables automatic batch tracking.
  • determining the position of industrial trucks (for example, forklifts) in the field of warehouse logistics (warehouse management) is of great importance, since this enables automatic batch tracking.
  • a variety of methods and devices are known, it is particularly known to detect an absolute reference position of the vehicle as well as the relative movement of the vehicle and thus to determine the current position of the vehicle using a dead reckoning system.
  • a navigation system of driverless vehicles in particular of transport systems in halls, known, which record by means of an image sensor moving with the vehicle high-contrast objects in the environment, especially ceiling lights. From the location of these ceiling lights then position and angle of the vehicle are determined. By using the high-contrast ceiling lights for the detection of an absolute reference position, the costs of the navigation system should be kept low.
  • a trailing wheel which is connected via a vertical axis and about this rotatably connected to the vehicle. From the angle of rotation of the wheel about its axis and from the angle of rotation of the horizontal offset about the vertical axis, the position of the vehicle is thus to be determined via dead reckoning. In practice, however, such trailing wheels have proved to be extremely inaccurate (in particular due to problems with slippage and drift).
  • a method and a device for detecting the position of a vehicle is further known in which on the ceiling of a warehouse previously reflective markings must be attached, which can be detected by the vehicle when driving under a marker, so that As a result, a reference position can be detected and stored at this time.
  • a wheel encoder is provided which detects the distance traveled by the vehicle at intervals; Furthermore, the angle of rotation of the vehicle is determined by means of a gyroscope. The current position of the vehicle can then be determined by means of dead reckoning from the reference position and the relative distance determined by means of vector addition.
  • EP-1 916 504 A2 proposes to acquire digital image data of a reference surface of successive discrete frames, then to divide the first of two successive frames into a plurality of macroblocks to subsequently determine these macroblocks in the second frame, depending on the displacement vectors of the positions of the macroblocks the relative displacement of the vehicle can be determined.
  • EP-1 916 504 A2 proposes to acquire digital image data of a reference surface of successive discrete frames, then to divide the first of two successive frames into a plurality of macroblocks to subsequently determine these macroblocks in the second frame, depending on the displacement vectors of the positions of the macroblocks the relative displacement of the vehicle can be determined.
  • a similar method or a similar device for detecting a reference position of a vehicle in a warehouse is further known from US 2007/10143006 A1.
  • transponders attached to the hall floor, with the help then a reference position of the vehicle to be determined.
  • this is a technically very complex system with a large number of sensors, which cause a very high installation and investment costs, especially in large area defined areas.
  • DE 103 46 596 A1 also proposes the detection of an absolute reference position with the aid of previously installed measuring strips. Furthermore, with the help of a
  • Incremental position detection unit by vectorial summation of incremental motion vectors made a relative position determination, wherein a parameter for indicating the quality of the detected absolute position is determined.
  • the position of the vehicle in the predetermined range is output either in the absolute mode or in the incremental mode, ie, disadvantageously, the absolute and relative measurement results are not here - A - fused together, but it is the measurement of poorer quality completely discarded.
  • DE 103 23 225 A1 and DE 103 23 418 A1 disclose different methods for detecting placemarks by means of an upwardly-looking camera.
  • no position determination of a vehicle in a defined area but it is selectively determined whether shapes of object marks are identical to those of reference marks, whether the distance between the object marks is identical to those between the reference marks, and whether the surrounding image of object marks with identical to the reference marks.
  • the location of a robot cleaning device can be determined at certain points.
  • a transponder-aided positioning system in which a plurality of distributed disposed, introduced into the bottom of the bearing transponder devices must be provided.
  • each transponder device stores information which at least indirectly represents the position of the corresponding transport device within the bearing. This is to a position with the goods can be stored within the camp, determined and stored. Since in such a system the incorporation of a large number of distributed transponders in a storage floor is thus required, such a system is extremely complicated and expensive.
  • the aim of the present invention is therefore to provide a method and an apparatus of the type mentioned, wherein the installation and investment costs for detecting an absolute reference position can be kept low, but at the same time an accurate positioning of the vehicle is guaranteed in the defined range.
  • this is achieved in the method of the type mentioned in that for detecting the relative movement of the vehicle, a first digital image of a section of the defined area is recorded in the environment of the vehicle, in the first digital image at least one striking pattern is determined, then a second digital image of a second section is taken in the vicinity of the vehicle, and in the second digital image, the distinctive pattern is determined, so that the relative movement of the vehicle is determined from the displacement of the distinctive pattern between the first and the second image.
  • the position of the vehicle with respect to the detected visual mark can be easily determined and constructive on the known position of the visual marking in the defined area thus an absolute reference position of the vehicle can be determined continuously, without the need for special reflective markers, transponders or the like. must be laid in advance in the defined area.
  • use can be made, for example, of using the method according to the invention in storage logistics of existing visual markings, such as markers already present on the floor in the warehouse (for example storage bin numbering), on the walls or on the ceilings of the store. In this case, no investment is required at all to attach the visual markers.
  • a first digital image of a section of the defined area in the surroundings of the vehicle is recorded to capture the relative movement of the vehicle, at least one distinctive pattern in the first digital image is determined, then a second digital image of a second output Section taken in the vicinity of the vehicle, and in the second digital image, the distinctive pattern is determined, so that from the displacement of the distinctive pattern between the first and the second image, the relative movement of the vehicle is determined.
  • at least one distinctive pattern is then also determined in the second digital image, which is subsequently determined in a further digital image at a later time.
  • This method ie the relative position determination by detecting the relative movement is - as well as that for determining the absolute reference position - continuously repeated.
  • optical flow ie the relative position determination by detecting the relative movement
  • the relative movement of the vehicle is determined with respect to the last detected absolute reference position and from a combination of absolute reference position and Relative movement, the position of the vehicle is determined in the defined range. In the event that no absolute reference position can be determined (because in the recorded digital image just no visual mark can be determined), therefore, the determined relative movement and the previously determined absolute reference position is used. By merging the two data streams, a predetermined measurement accuracy is ensured in a simple manner.
  • a probable position is predetermined in dependence on the determined relative movement and the visual associated with this position Marker is searched in the captured image. Accordingly, the knowledge of the current position of the vehicle from the relative movement can be used for process acceleration. However, not only is the speed of the position sensing method accelerated, but also the stability of the method is increased. If a visual image can not be clearly identified from a current image, it can still be identified with a very high probability due to the recourse to the determined relative movement, and the vehicle can therefore be assigned an absolute reference position.
  • the vehicle whose position is detected by means of the method according to the invention picks up a product, it is favorable if an identification of the goods picked up by the vehicle is also detected.
  • other properties of the picked-up product such as e.g. Shape, packaging or color of the goods.
  • the device of the initially cited type is characterized in that an imaging sensor device is provided for detecting the relative movement of the vehicle.
  • an imaging sensor device for determining the absolute reference position and an imaging sensor device, in particular a digital camera, for detecting the relative movement of the vehicle, the already explained in connection with the aforementioned method according to the invention advantages, so that in order to avoid repetition of the above References.
  • the same digital camera can be used to detect the relative movement, which is used to determine the absolute reference position.
  • it is of course also possible provide only imaging sensor device which is intended both for determining the absolute reference position and for detecting the Realtivmony the vehicle.
  • a digital camera is provided as the imaging sensor device.
  • the Imaging Source can be used, which has an image resolution of 640 x 480 pixels and a recording of grayscale images (8 bits per Pixels). Color images are by no means absolutely necessary, but it would be possible to use a color digital camera to distinguish the visual markings not only by their shape but also by their color.
  • a digital image is taken every 16 ms in order to be able to accurately track the relative movement even at higher speeds and with narrower, faster rotational movements.
  • the imaging sensor devices for determining the absolute reference position and / or for detecting the relative movement on a bottom surface on which the vehicle is moved are addressed, for example, when using the device according to the invention in the field of inventory management markings in the ground area can be used as in warehouses usually designations of storage areas or storage areas, eg AB17, are attached to the ground.
  • boundary strips for identifying the routes in the camp can be detected as visual markers; It is also possible to record visual markings on a warehouse or hall ceiling.
  • 1 is a flow chart of the steps of a method for obtaining the position of a vehicle in a defined area
  • Figure 2 is a view of a forklift with two imaging sensor devices.
  • FIG. 3 schematically shows a perspective view of a forklift together with visual markings
  • FIG. 3a shows schematically a perspective view similar to FIG. 3, wherein only a single imaging sensor device is provided.
  • a recording I 1 of the surroundings of a vehicle 4 (see FIGS. 2 and 3) is made with a digital camera 1.
  • a visual marking 2 is determined whose absolute position in the defined area is known.
  • the absolute reference position 3 of the vehicle 4 is determined. This determination of an absolute reference position 3 is repeated continuously.
  • a digital recording 5 1 at a time tl and a digital recording 5 1 1 at a time t2 made.
  • a marked pattern 6 is determined according to the so-called "optical flow” method in the digital image 5 ', and then this marked pattern detected in the image 5' is determined in the digital image 5 ' 1 in method step 7, and a further step determines the relative movement 8 and thus the relative position of the vehicle from the displacement (movement) of the pattern between the image 5 'and the image 5 1 1.
  • the absolute reference position and the relative position are fused together and thus determines the position 10 of the vehicle 4 in the defined area.
  • FIGS. 2 and 3 a vehicle or a forklift 4 is respectively sketched, which is provided with a digital camera 1 for determining its absolute reference position as well as with a digital camera 5 for determining the relative movement and thus the relative position of the vehicle 4.
  • the digital camera 1 for determining the reference position is arranged in the roof area of the vehicle 4, the digital camera 5 for detecting the relative movement in the area of the rear area of the vehicle 4, ie near the ground (the arrangement of the digital cameras 1, 5 can also be at other locations of the vehicle 4).
  • the position determination of the vehicle 4 in the defined area, ie, for example, a warehouse is of great importance in warehouse logistics, for example to ensure automatic identification of goods in a warehouse and, associated therewith, automatic batch tracking. As can be seen in FIGS.
  • the two digital cameras 1, 5 each receive a local section 11, 12 of the defined area, the two digital cameras 1, 5 being directed to the floor 13 in the preferred embodiment.
  • the images taken by the two digital cameras 1, 5 are then transmitted to a data processing system 15, with which subsequently the evaluation of the images 1 ', 5', 5 1 'taken by the digital cameras 1, 5 takes place, as already ' related described with Fig. 1.
  • the vehicle 4 can in this case receive a product 14, which is also associated with a visual identification 14 ';
  • other visual properties such as shape, packaging, color of the goods 14, can be detected.
  • designations of storage areas or storage areas can be used as visual markings 2, which can be arranged predominantly on the floor 13 or also on the storage or hall ceiling (not shown).
  • the visual markings 2 can also be arranged on a wall 13 'or a pillar, but here there is a risk that such visual markings are concealed by goods located in the warehouse.
  • numerals (and letters) provided in particular by means of an ink application can be provided as visual markings 2.
  • These numbers (book Bars) whose position in the defined area, ie in the warehouse, is known and whose coordinates are stored in a database, are advantageously provided with a rectangular border 2 1 .
  • the edges of the rectangular border 2 1 can hereby be used to determine the relative orientation of the marking to the vehicle 4, the numbers serving to identify the visual marking 2 and to resolve the inherent symmetry of the rectangular border 2 '.
  • the identification of a visual marking 2 is carried out, for example, by means of known pattern recognition methods (so-called "pattern matching") or can take place on the basis of the position relative to other visual markings.
  • the position of the visual markings 2 relative to the vehicle 4 can be due to the geometric properties the individual marking - eg their dominant axis - or by the geometric properties of several visual markers 2, ie their arrangement to each other, are determined.
  • the camera 5 detects prominent patterns 6, which basically occur in every object with a surface structure.
  • the floor 13 of a warehouse usually has such a continuous, changing surface structure, which is extremely well suited as an object for finding distinctive patterns 6.
  • two consecutive digital images 5 1 , 5 ' 1 are compared with each other by the digital camera 5 and matched to one another, as already described in connection with FIG. 1 Pattern examined. From the movement of these striking patterns and the time passed between the recordings can be closed on the relative movement between the vehicle 4 and the defined environment and thus the relative position of the vehicle 4 can be determined.
  • the rotation of the vehicle 4 can be determined either from a plurality of sensors mounted at a greater distance from each other on the vehicle 4 , or from the kinematic restrictions of the vehicle 4 be directed.
  • a single digital camera 1 in the roof area of the vehicle or forklift 4 can be provided, via which both the determination of the absolute reference position 3 and the detection of the relative movement 8 takes place.
  • the determination of the absolute reference position 3 and the relative movement 8 and, as a result, the relative position of the vehicle is dependent on the respectively present properties of the defined area (number and position of the visual markings 2, characteristics of the surface structure of the ground 13 for pattern recognition) and the travel paths of the vehicle Vehicle 4. Accordingly, each position measurements are determined with different frequency and quality.
  • the more visual markings 2 are detected by the absolute measuring method the more accurate the absolute position of the vehicle 4 can be determined, since not only an averaging of the measurement errors can take place, but also the relative positions of the markers 2 are known to each other.
  • the more continuous and pronounced the surface structure is in the relative position determination by the relative measuring method the more precisely can the relative movement and thus the relative position of the vehicle 4 be determined.
  • the integration over time which is necessary in this measurement method, can lead to a possible continuously increasing deviation (integration drift) from the actual position of the vehicle 4 in the case of suboptimal properties of the defined region.
  • the two measuring methods are combined with one another, ie that between two time points at which the absolute reference position determination is performed by the absolute measuring method Determination of the absolute position in each case the last measured reference position is summed to the measured in the meantime relative movement.
  • various methods are known, with data with statistical error often the use of a extended cayman filter is done.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Navigation (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L’invention concerne un procédé et un dispositif pour détecter la position d’un véhicule (4) dans une zone définie. Selon l’invention, une photo numérique (1') de l’environnement du véhicule (4) est prise pour détecter une position de référence (3), au moins un repère visuel (2) est déterminé dans la photo numérique (1') et la position de référence (3) du véhicule (4) est déterminée par rapport au repère visuel (2) déterminé. Selon l'invention, une première photo numérique (5') d’une partie de la zone définie dans l’environnement du véhicule (4) est prise afin de détecter le mouvement relatif (8) du véhicule, au moins une figure spécifique (6) est déterminée dans la première photo numérique (5'), une deuxième photo numérique (5'') d’une deuxième portion de la zone définie dans l’environnement du véhicule (4) est ensuite prise et la figure spécifique (6) est déterminée dans la deuxième photo numérique (5'') afin de pouvoir déterminer le mouvement relatif du véhicule (4) à partir du décalage de la figure spécifique (6) entre la première et la deuxième photo numérique (5', 5'').
PCT/AT2009/000278 2008-07-16 2009-07-16 Procédé et dispositif pour détecter la position d’un véhicule dans une zone définie WO2010006352A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
AT0110308A AT509118B1 (de) 2008-07-16 2008-07-16 Verfahren und vorrichtung zum erfassen der position eines fahrzeuges in einem definierten bereich
ATA1103/2008 2008-07-16

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WO2010006352A1 true WO2010006352A1 (fr) 2010-01-21

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AT (1) AT509118B1 (fr)
WO (1) WO2010006352A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9170581B2 (en) 2013-09-30 2015-10-27 Crown Equipment Limited Industrial vehicles with overhead light based localization
US9174830B1 (en) 2014-09-29 2015-11-03 Crown Equipment Limited Industrial vehicles with point fix based localization
CN106662451A (zh) * 2014-06-27 2017-05-10 克朗设备公司 使用关联特征对的丢失车辆恢复
DE102016117203A1 (de) 2016-09-13 2018-03-15 Linde Material Handling Gmbh Ortungssystem zum Erfassen der Position eines Fahrzeugs, insbesondere eines Flurförderzeugs, in einer Umgebung

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WO1998020399A2 (fr) * 1996-11-05 1998-05-14 Carnegie Mellon University Systeme de determination de position non base sur l'infrastructure
US20040221790A1 (en) * 2003-05-02 2004-11-11 Sinclair Kenneth H. Method and apparatus for optical odometry
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WO2009010421A1 (fr) * 2007-07-13 2009-01-22 Thorsten Mika Dispositif et procédé de détermination de position et d'orientation

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DE4429016A1 (de) * 1994-08-16 1996-02-22 Linde Ag Navigation für fahrerlose Fahrzeuge
KR100483548B1 (ko) * 2002-07-26 2005-04-15 삼성광주전자 주식회사 로봇 청소기와 그 시스템 및 제어 방법
KR100485696B1 (ko) * 2003-02-07 2005-04-28 삼성광주전자 주식회사 로봇청소기의 위치인식표지 검출방법 및 이 검출방법을적용한 로봇청소기
DE10342767B4 (de) * 2003-09-16 2008-09-18 Indyon Gmbh Transponderunterstütztes Positioniersystem
DE102006050850B4 (de) * 2006-10-27 2009-01-02 Locanis Ag Verfahren und Vorrichtung zur Wegmessung

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1998020399A2 (fr) * 1996-11-05 1998-05-14 Carnegie Mellon University Systeme de determination de position non base sur l'infrastructure
US20040221790A1 (en) * 2003-05-02 2004-11-11 Sinclair Kenneth H. Method and apparatus for optical odometry
US20050259240A1 (en) * 2003-09-18 2005-11-24 Goren David P Optical navigation of vehicles
WO2009010421A1 (fr) * 2007-07-13 2009-01-22 Thorsten Mika Dispositif et procédé de détermination de position et d'orientation

Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9170581B2 (en) 2013-09-30 2015-10-27 Crown Equipment Limited Industrial vehicles with overhead light based localization
US9606540B2 (en) 2013-09-30 2017-03-28 Crown Equipment Corporation Industrial vehicles with overhead light based localization
CN106662451A (zh) * 2014-06-27 2017-05-10 克朗设备公司 使用关联特征对的丢失车辆恢复
CN106662451B (zh) * 2014-06-27 2018-04-24 克朗设备公司 使用关联特征对的丢失车辆恢复
US9984467B2 (en) 2014-06-27 2018-05-29 Crown Equipment Corporation Vehicle positioning or navigation utilizing associated feature pairs
US10614588B2 (en) 2014-06-27 2020-04-07 Crown Equipment Corporation Vehicle positioning or navigation utilizing associated feature pairs
US9174830B1 (en) 2014-09-29 2015-11-03 Crown Equipment Limited Industrial vehicles with point fix based localization
US9340399B2 (en) 2014-09-29 2016-05-17 Crown Equipment Corporation Industrial vehicles with point fix based localization
DE102016117203A1 (de) 2016-09-13 2018-03-15 Linde Material Handling Gmbh Ortungssystem zum Erfassen der Position eines Fahrzeugs, insbesondere eines Flurförderzeugs, in einer Umgebung

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Publication number Publication date
AT509118B1 (de) 2011-12-15
AT509118A1 (de) 2011-06-15

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