US 9,174,830 B1 · Industrial vehicles with point fix based localization

Abstract

According to the embodiments described herein, an industrial vehicle can include a camera and one or more processors. The camera can capture an input image of ceiling lights of the ceiling of the warehouse. The one or more processors can execute machine readable instructions to detect transversal edges from the ceiling lights of the input image. The machine readable instructions executed by the one or more processors can determine points of convergence between the transversal edges and a first edge line and a second edge line. The machine readable instructions executed by the one or more processors can select a set of point fixes from the points of convergence. The machine readable instructions executed by the one or more processors can navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.

Claims20

Dependent claims

An industrial vehicle comprising a camera and one or more processors, wherein:

the camera is communicatively coupled to the one or more processors;
the camera is mounted to the industrial vehicle and focused to a ceiling of a warehouse;
the camera captures an input image of ceiling lights of the ceiling of the warehouse;
the one or more processors execute machine readable instructions to:
provide a first edge line and a second edge line of the ceiling lights of the input image;
provide a centerline of the ceiling lights of the input image, wherein the centerline is disposed between the first edge line and the second edge line of the ceiling lights;
detect transversal edges from the ceiling lights of the input image;
determine points of convergence between the transversal edges and the first edge line and the second edge line;
select a set of point fixes from the points of convergence;
and
navigate the industrial vehicle through the warehouse utilizing the centerline and the set of point fixes.

8 more elements

A method for navigating an industrial vehicle comprising:

capturing an input image of skylights of a ceiling of a warehouse, wherein the input image is captured with a camera coupled to an industrial vehicle;
extracting a first edge line and a second edge line from the skylights of the input image;
determining a centerline of the skylights from the first edge line and the second edge line of the skylights, wherein the centerline is disposed between the first edge line and the second edge line of the skylights;
detecting transversal edges from the skylights of the input image;
determining points of convergence between the transversal edges and the first edge line and the second edge line of the skylights;
selecting a set of point fixes from the points of convergence;
determining a pose of the industrial vehicle, a position of the industrial vehicle, or both based upon the centerline and the set of point fixes;
and
navigating the industrial vehicle through the warehouse utilizing the pose, the position, or both.

6 more elements

Dependencies are inferred from the claim text.

Industrial vehicles with point fix based localization

Life of this patent

Industrial vehicles with point fix based localization

Life of this patent

Abstract

Claims20