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1.发明申请Method and apparatus for managing and controlling manned and automated utility vehicles 有权用于管理和控制载人和自动化多用途车辆的方法和装置公开(公告)号：US20110010023A1
公开(公告)日：2011-01-13
申请号：US12807325
申请日：2010-09-02
CPC分类号： G01S5/16 , G01S5/163 , G05D1/0234 , G05D1/0274 , G05D1/0291 , G05D2201/0216
摘要： A method and apparatus for managing manned and automated utility vehicles, and for picking up and delivering objects by automated vehicles. A machine vision image acquisition apparatus determines the position and the rotational orientation of vehicles in a predefined coordinate space by acquiring an image of one or more position markers and processing the acquired image to calculate the vehicle's position and rotational orientation based on processed image data. The position of the vehicle is determined in two dimensions. Rotational orientation (heading) is determined in the plane of motion. An improved method of position and rotational orientation is presented. Based upon the determined position and rotational orientation of the vehicles stored in a map of the coordinate space, a vehicle controller, implemented as part of a computer, controls the automated vehicles through motion and steering commands, and communicates with the manned vehicle operators by transmitting control messages to each operator.
摘要翻译： 用于管理载人和自动化多用途车辆的方法和装置，以及用于通过自动车辆拾取和传送物体。 机器视觉图像获取装置通过获取一个或多个位置标记的图像并且处理所获取的图像以基于处理的图像数据来计算车辆的位置和旋转方向，来确定车辆在预定坐标空间中的位置和旋转方位。 车辆的位置由二维确定。 在运动平面中确定旋转方向（航向）。 提出了一种改进的位置和旋转取向方法。 基于存储在坐标空间的地图中的车辆的确定的位置和旋转方位，作为计算机的一部分实现的车辆控制器通过运动和转向命令来控制自动车辆，并且通过发送 控制消息给每个操作员。
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2.发明授权Method and apparatus for determining position and rotational orientation of an object 有权用于确定物体的位置和旋转取向的方法和装置公开(公告)号：US07845560B2
公开(公告)日：2010-12-07
申请号：US11292463
申请日：2005-12-03
IPC分类号： G06K7/10
CPC分类号： G05D1/0234 , B66F9/0755 , B66F9/24 , G01S5/16 , G05D2201/0216 , G06F19/00
摘要： A method and apparatus for determining position and rotational orientation of an object within a predetermined area is disclosed. Position markers, encoded with their identity, are viewed with a camera, images are captured and processed, and the position and rotational orientation of the object are calculated. Three embodiments are disclosed; the first having a camera mounted on the movable object while position markers bearing linear bar codes are fixed in location, the second having a camera mounted on the movable object while position markers bearing two-dimensional bar codes are fixed in location, and the third having a position marker of either type affixed to the object while the camera is fixed in location.
摘要翻译： 公开了一种用于确定物体在预定区域内的位置和旋转取向的方法和装置。 使用相机查看使用其身份编码的位置标记，捕获并处理图像，并计算对象的位置和旋转方向。 公开了三个实施例; 第一个具有安装在可移动物体上的照相机，而位置标记轴承线性条形码位置固定，第二个摄像机安装在可移动物体上，而位置标记轴承二维条形码位置固定，第三个具有 当照相机固定在位置时，固定在物体上的任一种类型的位置标记。
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3.发明授权Method and apparatus for managing and controlling manned and automated utility vehicles 有权用于管理和控制载人和自动化多用途车辆的方法和装置公开(公告)号：US08381982B2
公开(公告)日：2013-02-26
申请号：US12807325
申请日：2010-09-02
IPC分类号： G06K7/10
CPC分类号： G01S5/16 , G01S5/163 , G05D1/0234 , G05D1/0274 , G05D1/0291 , G05D2201/0216
摘要： A method and apparatus for managing manned and automated utility vehicles, and for picking up and delivering objects by automated vehicles. A machine vision image acquisition apparatus determines the position and the rotational orientation of vehicles in a predefined coordinate space by acquiring an image of one or more position markers and processing the acquired image to calculate the vehicle's position and rotational orientation based on processed image data. The position of the vehicle is determined in two dimensions. Rotational orientation (heading) is determined in the plane of motion. An improved method of position and rotational orientation is presented. Based upon the determined position and rotational orientation of the vehicles stored in a map of the coordinate space, a vehicle controller, implemented as part of a computer, controls the automated vehicles through motion and steering commands, and communicates with the manned vehicle operators by transmitting control messages to each operator.
摘要翻译： 用于管理载人和自动化多用途车辆的方法和装置，以及用于通过自动车辆拾取和传送物体。 机器视觉图像获取装置通过获取一个或多个位置标记的图像并且处理所获取的图像以基于处理的图像数据来计算车辆的位置和旋转方向，来确定车辆在预定坐标空间中的位置和旋转方位。 车辆的位置由二维确定。 在运动平面中确定旋转方向（航向）。 提出了一种改进的位置和旋转取向方法。 基于存储在坐标空间的地图中的车辆的确定的位置和旋转方位，作为计算机的一部分实现的车辆控制器通过运动和转向命令来控制自动车辆，并且通过发送 控制消息给每个操作员。
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4.发明授权Method and apparatus for determining position and rotational orientation of an object 有权用于确定物体的位置和旋转取向的方法和装置公开(公告)号：US08196835B2
公开(公告)日：2012-06-12
申请号：US12960728
申请日：2010-12-06
IPC分类号： G06K7/10
CPC分类号： G05D1/0234 , B66F9/0755 , B66F9/24 , G01S5/16 , G05D2201/0216 , G06F19/00
摘要： A method and apparatus for determining position and rotational orientation of an object within a predetermined area is disclosed. Position markers, encoded with their identity, are viewed with a camera, images are captured and processed, and the position and rotational orientation of the object are calculated. Three embodiments are disclosed; the first having a camera mounted on the movable object while position markers bearing linear bar codes are fixed in location, the second having a camera mounted on the movable object while position markers bearing two-dimensional bar codes are fixed in location, and the third having a position marker of either type affixed to the object while the camera is fixed in location.
摘要翻译： 公开了一种用于确定物体在预定区域内的位置和旋转取向的方法和装置。 使用相机查看使用其身份编码的位置标记，捕获并处理图像，并计算对象的位置和旋转方向。 公开了三个实施例; 第一个具有安装在可移动物体上的照相机，而位置标记轴承线性条形码位置固定，第二个摄像机安装在可移动物体上，而位置标记轴承二维条形码位置固定，第三个具有 当照相机固定在位置时，固定在物体上的任一种类型的位置标记。
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公开(公告)号：US20090198371A1
公开(公告)日：2009-08-06
申请号：US12321836
申请日：2009-01-26
CPC分类号： G01S5/16 , B66F9/0755 , G06Q10/087
摘要： An apparatus and method for tracking the location of one or more assets, comprising an integrated system that identifies an asset, determines the time the asset is acquired by a conveying vehicle, determines the position, elevation and orientation of the asset at the moment it is acquired, determines the time the asset is deposited by the conveying vehicle, and determines the position, elevation and orientation of the asset at the time the asset is deposited, each position, elevation and orientation being relative to a reference plane. Mobile subsystems, each on a conveying vehicle, identify the location and orientation of that conveying vehicle using an optical position sensor unit viewing an array of optical position markers, determine the identity of the asset from a label, confirm acquisition of the asset, determine the elevation of the asset relative to the reference plane and communicate the tracking information to a fixed-base subsystem.
摘要翻译： 用于跟踪一个或多个资产的位置的装置和方法，包括识别资产的综合系统，确定资产被输送车辆获取的时间，确定资产在当时的位置，高程和方位 确定资产由运输车辆存放的时间，并确定资产在存放时的资产的位置，高程和方向，每个位置，高程和方向相对于参考平面。 移动子系统各自在传送车辆上，使用观察光学位置标记阵列的光学位置传感器单元识别该传送车辆的位置和方向，从标签确定资产的身份，确认资产的获取，确定 资产相对于参考平面的升高，并将跟踪信息传达到固定基础子系统。
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6.发明申请METHOD AND APPARATUS FOR DETERMINING POSITION AND ROTATIONAL ORIENTATION OF AN OBJECT 有权用于确定对象的位置和旋转方向的方法和装置公开(公告)号：US20110121068A1
公开(公告)日：2011-05-26
申请号：US12960728
申请日：2010-12-06
IPC分类号： G06F17/00
CPC分类号： G05D1/0234 , B66F9/0755 , B66F9/24 , G01S5/16 , G05D2201/0216 , G06F19/00
摘要： A method and apparatus for determining position and rotational orientation of an object within a predetermined area is disclosed. Position markers, encoded with their identity, are viewed with a camera, images are captured and processed, and the position and rotational orientation of the object are calculated. Three embodiments are disclosed; the first having a camera mounted on the movable object while position markers bearing linear bar codes are fixed in location, the second having a camera mounted on the movable object while position markers bearing two-dimensional bar codes are fixed in location, and the third having a position marker of either type affixed to the object while the camera is fixed in location.
摘要翻译： 公开了一种用于确定物体在预定区域内的位置和旋转取向的方法和装置。 使用相机查看使用其身份编码的位置标记，捕获并处理图像，并计算对象的位置和旋转方向。 公开了三个实施例; 第一个具有安装在可移动物体上的照相机，而位置标记轴承线性条形码位置固定，第二个摄像机安装在可移动物体上，而位置标记轴承二维条形码位置固定，第三个具有 当照相机固定在位置时，固定在物体上的任一种类型的位置标记。
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公开(公告)号：US20110093134A1
公开(公告)日：2011-04-21
申请号：US12459728
申请日：2009-07-07
IPC分类号： G06F7/00
CPC分类号： G05D1/0289 , B66F9/063 , B66F17/003 , G05D1/0297 , G05D2201/0216
摘要： A method and apparatus for avoiding collisions of moving vehicles in an environment that utilizes a position and rotational orientation system to track vehicle locations within a preconfigured operational zone, the method comprising using position tracking data to calculate a predicted trajectory and safety zone of each vehicle for a predetermined prediction time period and determining potential areas of intersection with vehicles to predict collisions.
摘要翻译： 一种用于避免在利用位置和旋转定向系统跟踪预配置的操作区域内的车辆位置的环境中的移动车辆的碰撞的方法和装置，所述方法包括使用位置跟踪数据来计算每个车辆的预测轨迹和安全区域， 预定预测时间段，并且确定与车辆的交叉点的潜在区域以预测碰撞。
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公开(公告)号：US08565913B2
公开(公告)日：2013-10-22
申请号：US12321836
申请日：2009-01-26
IPC分类号： G06F19/00
CPC分类号： G01S5/16 , B66F9/0755 , G06Q10/087
摘要： An apparatus and method for tracking the location of one or more assets, comprising an integrated system that identifies an asset, determines the time the asset is acquired by a conveying vehicle, determines the position, elevation and orientation of the asset at the moment it is acquired, determines the time the asset is deposited by the conveying vehicle, and determines the position, elevation and orientation of the asset at the time the asset is deposited, each position, elevation and orientation being relative to a reference plane. Mobile subsystems, each on a conveying vehicle, identify the location and orientation of that conveying vehicle using an optical position sensor unit viewing an array of optical position markers, determine the identity of the asset from a label, confirm acquisition of the asset, determine the elevation of the asset relative to the reference plane and communicate the tracking information to a fixed-base subsystem.
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公开(公告)号：US08346468B2
公开(公告)日：2013-01-01
申请号：US12459728
申请日：2009-07-07
CPC分类号： G05D1/0289 , B66F9/063 , B66F17/003 , G05D1/0297 , G05D2201/0216
摘要： A method and apparatus for avoiding collisions of moving vehicles in an environment that utilizes a position and rotational orientation system to track vehicle locations within a preconfigured operational zone, the method comprising using position tracking data to calculate a predicted trajectory and safety zone of each vehicle for a predetermined prediction time period and determining potential areas of intersection with vehicles to predict collisions.
摘要翻译： 一种用于避免在利用位置和旋转定向系统跟踪预配置的操作区域内的车辆位置的环境中的移动车辆的碰撞的方法和装置，所述方法包括使用位置跟踪数据来计算每个车辆的预测轨迹和安全区域， 预定预测时间段，并且确定与车辆的交叉点的潜在区域以预测碰撞。
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