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1. WO2020223313 - INDUSTRIAL VEHICLE WITH FEATURE-BASED LOCALIZATION AND NAVIGATION

Publication Number WO/2020/223313
Publication Date 05.11.2020
International Application No. PCT/US2020/030414
International Filing Date 29.04.2020
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G06K 9/00 2006.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
KRECOGNITION OF DATA; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
9Methods or arrangements for reading or recognising printed or written characters or for recognising patterns, e.g. fingerprints
G06T 7/162 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
10Segmentation; Edge detection
162involving graph-based methods
CPC
B62D 15/0265
BPERFORMING OPERATIONS; TRANSPORTING
62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
DMOTOR VEHICLES; TRAILERS
15Steering not otherwise provided for
02Steering position indicators ; ; Steering position determination; Steering aids
025Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
0265Automatic obstacle avoidance by steering
B66F 9/24
BPERFORMING OPERATIONS; TRANSPORTING
66HOISTING; LIFTING; HAULING
FHOISTING, 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
9Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
06movable, with their loads, on wheels or the like, e.g. fork-lift trucks
075Constructional features or details
20Means for actuating or controlling masts, platforms, or forks
24Electrical devices or systems
G05D 1/0212
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
G05D 1/0274
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0268using internal positioning means
0274using mapping information stored in a memory device
G05D 2201/0216
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0216Vehicle for transporting goods in a warehouse, factory or similar
Applicants
  • CROWN EQUIPMENT CORPORATION [US]/[US]
Inventors
  • TAO, Junli
  • BELL, Mark
Agents
  • SINGH, Ritu
  • ALFORD, Carolyn S.
  • BEYER, James E.
  • FANE, Brian M.
  • THARP, Amy M.
  • REED, John D.
  • MOLLOY, Matthew A.
  • MCNEELY, Richard J.
  • MEYER, Christopher I.
  • JIVIDEN, William A.
Priority Data
62/842,03202.05.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) INDUSTRIAL VEHICLE WITH FEATURE-BASED LOCALIZATION AND NAVIGATION
(FR) VÉHICULE INDUSTRIEL DOTÉ DE LOCALISATION ET DE NAVIGATION BASÉES SUR DES CARACTÉRISTIQUES
Abstract
(EN)
An industrial vehicle is provided comprising a drive mechanism, a steering mechanism, a vehicle controller, a camera, and a navigation module. The camera is communicatively coupled to the navigation module, the vehicle controller is responsive to commands from the navigation module, and the drive mechanism and the steering mechanism are responsive to commands from the vehicle controller. The camera is configured to capture an input image of a warehouse ceiling comprising elongated skylights, isolated ceiling lights, and/or active optical targets. The navigation module is configured to distinguish between the ceiling lights and the skylights and send commands to the vehicle controller for localization, or to navigate the industrial vehicle through the warehouse based upon valid ceiling light identification, valid skylight identification, valid active target identification, or combinations thereof.
(FR)
La présente invention concerne un véhicule industriel comprenant un mécanisme d'entraînement, un mécanisme de direction, un dispositif de commande de véhicule, un dispositif de capture d'images et un module de navigation. Le dispositif de capture d'images est couplé de manière à communiquer avec le module de navigation, le dispositif de commande de véhicule répond aux commandes provenant du module de navigation, le mécanisme d'entraînement et le mécanisme de direction répondent aux commandes provenant du dispositif de commande de véhicule. Le dispositif de capture d'images est configuré pour capturer une image d'entrée d'un plafond d'entrepôt comprenant des lucarnes allongées, des lumières de plafond isolées et/ou des cibles optiques actives. Le module de navigation est conçu de manière à pouvoir faire la différence entre les lumières de plafond et les lucarnes, et d'envoyer des commandes au dispositif de commande de véhicule pour permettre la localisation, ou pour faire naviguer le véhicule industriel dans l'entrepôt sur la base d'une identification valide de lumières de plafond, d'une identification valide de lucarnes, d'une identification valide de cibles actives, ou d'une combinaison de celles-ci.
Latest bibliographic data on file with the International Bureau