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1. 发明申请

WO2013036709A1 METHOD AND APPARATUS FOR USING PRE-POSITIONED OBJECTS TO LOCALIZE AN INDUSTRIAL VEHICLE 审中-公开
标题翻译：使用预定对象来定位工业车辆的方法和装置
公开(公告)号：WO2013036709A1
公开(公告)日：2013-03-14
申请号：PCT/US2012/054062
申请日：2012-09-07
申请人： CROWN EQUIPMENT LIMITED , WONG, Lisa , GRAHAM, Andrew, Evan , GOODE, Christopher, W. , WALTZ, Lucas, B.
发明人： WONG, Lisa , GRAHAM, Andrew, Evan , GOODE, Christopher, W. , WALTZ, Lucas, B.
IPC分类号： G05D1/02 , B66F9/06 , G01C21/00
CPC分类号： G05D1/0274 , B66F9/063 , G01C21/20 , G05D1/0234 , G05D2201/0216
摘要： According to one embodiment of the present disclosure, a method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises (i) transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment; (ii) updating a map of the physical environment by adding placed object data representing the dynamically placed pre- positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data; (iii) storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and (iv) operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.
摘要翻译：根据本公开的一个实施例，提供了一种使用动态放置的预定位对象作为操作工业车辆的地标的方法。该方法包括（i）沿着物理环境中的路径传送对象并将物体放置在物理环境内的位置，使得放置的物体成为物理环境中动态放置的预定位物体; （ii）通过将表示动态放置的预定位对象的放置对象数据添加到物理环境的映射来更新物理环境的映射，以创建更新的地图数据，使得放置的对象在添加到映射时用作具有可观察特征的地标，并可用于具有访问更新的地图数据的工业车辆的导航中; （iii）将更新的地图数据存储在连接到工业车辆的移动计算机上或通过网络耦合到工业车辆的中央计算机上; 以及（iv）基于从传感器数据确定的导航位置和通过沿着物理环境中的路径导航工业车辆来更新的地图数据来操作工业车辆。

2. 发明申请

WO2012173496A8 METHOD AND APPARATUS FOR FACILITATING MAP DATA PROCESSING FOR INDUSTRIAL VEHICLE NAVIGATION 审中-公开
标题翻译：用于促进工业车辆导航的地图数据处理的方法和装置
公开(公告)号：WO2012173496A8
公开(公告)日：2013-02-21
申请号：PCT/NZ2012000091
申请日：2012-06-08
申请人： CROWN EQUIPMENT LTD , WONG LISA , GOODE CHRISTOPHER W , GRAHAM ANDREW EVAN
发明人： WONG LISA , GOODE CHRISTOPHER W , GRAHAM ANDREW EVAN
IPC分类号： G01C21/32 , G01C21/20 , G05D1/02 , G09B29/10
CPC分类号： G01C21/32 , B66F9/063 , G01C21/206 , G05D1/024 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G09B29/006
摘要： A method and apparatus for facilitating map data processing for industrial vehicle navigation is described. In one embodiment, the method of partitioning map data for industrial vehicle navigation includes segmenting map data associated with a physical environment into a plurality of sub area maps, identifying a sub-area map that corresponds with a current vehicle location and navigating an industrial vehicle using the identified sub area map.
摘要翻译：描述了一种便于工业车辆导航的地图数据处理的方法和装置。在一个实施例中，用于分配用于工业车辆导航的地图数据的方法包括将与物理环境相关联的地图数据分割成多个子区域图，识别与当前车辆位置对应的子区域地图，并使用识别的子区域图。

3. 发明申请

WO2012169903A2 METHOD AND APPARATUS FOR AUTOMATICALLY CALIBRATING VEHICLE PARAMETERS 审中-公开
标题翻译：用于自动校准车辆参数的方法和装置
公开(公告)号：WO2012169903A2
公开(公告)日：2012-12-13
申请号：PCT/NZ2012/000084
申请日：2012-06-06
申请人： CROWN EQUIPMENT LIMITED , WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew, Evan
发明人： WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew, Evan
CPC分类号： G01C25/00 , G01C21/00
摘要： A method and apparatus for automatically calibrating vehicle parameters is described. In one embodiment, the method includes measuring a parameter value during vehicle operation; comparing the measured parameter value to an actual parameter value to identify at least one vehicle parameter bias as an actual measurement error; and modifying at least one vehicle parameter based on the at least one vehicle parameter bias.
摘要翻译：描述用于自动校准车辆参数的方法和装置。在一个实施例中，该方法包括在车辆操作期间测量参数值; 将测量的参数值与实际参数值进行比较，以将至少一个车辆参数偏差识别为实际测量误差; 以及基于所述至少一个车辆参数偏差来修改至少一个车辆参数。

4. 发明申请

WO2012161597A3 METHOD AND APPARATUS FOR PROVIDING ACCURATE LOCALIZATION FOR AN INDUSTRIAL VEHICLE 审中-公开
公开(公告)号：WO2012161597A3
公开(公告)日：2012-11-29
申请号：PCT/NZ2012/000075
申请日：2012-05-22
申请人： CROWN EQUIPMENT LIMITED , GRAHAM, Andrew Evan , GOODE, Christopher W. , WONG, Lisa
发明人： GRAHAM, Andrew Evan , GOODE, Christopher W. , WONG, Lisa
IPC分类号： G01S5/02
摘要： A method and apparatus for providing accurate localization for an industrial vehicle is described; including processing at least one sensor input message from a plurality of sensor devices, wherein the at least one sensor input message includes information regarding observed environmental features; determining position measurements associated with the industrial vehicle in response to at least one sensor input message, wherein the plurality of sensor devices comprises a two-dimensional laser scanner, and at least one other sensor device selected from an odometer, an ultrasonic sensor, a compass, an accelerometer, a gyroscope, an inertial measurement unit, or an imaging sensor; and updating a vehicle state using the position measurements.

5. 发明申请

WO2011108944A3 METHOD AND APPARATUS FOR SENSING OBJECT LOAD ENGAGEMENT, TRANSPORTATION AND DISENGAGEMENT BY AUTOMATED VEHICLES 审中-公开
标题翻译：用于感应物体载荷的自动车辆的运输和运输的解决方法和装置
公开(公告)号：WO2011108944A3
公开(公告)日：2012-02-02
申请号：PCT/NZ2011000024
申请日：2011-02-17
申请人： INRO TECHNOLOGIES LTD , BELL JAMIE , CHANDRASEKAR KASHYAP , GRAHAM ANDREW EVAN , HOWSE DAVID CHARLES
发明人： BELL JAMIE , CHANDRASEKAR KASHYAP , GRAHAM ANDREW EVAN , HOWSE DAVID CHARLES
IPC分类号： B66F9/20 , B66C13/18 , B66C13/40
CPC分类号： B66F9/20 , B66F9/0755 , G05D1/0246 , G05D2201/0216
摘要： A method and apparatus for sensing object load engagement, transportation and disengagement by automated vehicles is described. In one embodiment, the method includes processing data that is transmitted from a sensor array comprising at least one device for analyzing a plurality of objects that are placed throughout a physical environment, executing an object recognition process on the sensor array data using model information to identify at least one object, determining orientation information associated with the at least one object, wherein the orientation information is relative to the lift carriage and positioning at least one lifting element based on the orientation information.
摘要翻译：描述了一种通过自动化车辆检测物体载荷接合，运输和脱离接触的方法和装置。在一个实施例中，该方法包括处理从传感器阵列发送的数据，该传感器阵列包括用于分析整个物理环境中放置的多个对象的至少一个设备，使用模型信息来对传感器阵列数据执行对象识别处理以识别至少一个对象，确定与所述至少一个对象相关联的方向信息，其中所述取向信息相对于所述提升托架，并且基于所述取向信息来定位至少一个提升元件。

6. 发明申请

WO2011108945A2 METHOD AND APPARATUS FOR SIMULATING A PHYSICAL ENVIRONMENT TO FACILITATE VEHICLE OPERATION AND TASK COMPLETION 审中-公开
标题翻译：用于模拟物理环境以方便车辆操作和任务完成的方法和装置
公开(公告)号：WO2011108945A2
公开(公告)日：2011-09-09
申请号：PCT/NZ2011/000025
申请日：2011-02-17
申请人： INRO TECHNOLOGIES LIMITED , LAWS, Matthew, Edwin , GOODE, Christopher, W , COLLETT, Toby, Hartnoll, Joshua , GRAHAM, Andrew, Evan
发明人： LAWS, Matthew, Edwin , GOODE, Christopher, W , COLLETT, Toby, Hartnoll, Joshua , GRAHAM, Andrew, Evan
CPC分类号： H04N7/18 , B66F9/063 , B66F9/20
摘要： A method and apparatus for simulating a physical environment to facilitate vehicle operation and task completion is described. In one embodiment, the method includes processing data that is transmitted from a sensor array comprising a plurality of devices, wherein the plurality of devices are placed throughout a physical environment that comprises a plurality of objects, accessing model information associated with the plurality of objects, wherein the model information indicates at least one physical attribute associated with each of the plurality of objects, correlating the model information with the transmitted data from the sensor array to produce a correlation result, generating at least one visual representation of the physical environment from at least one viewpoint based on the correlation result and identifying at least one obstruction, within the physical environment, using the at least one visual representation.
摘要翻译：描述了用于模拟物理环境以促进车辆操作和任务完成的方法和装置。在一个实施例中，该方法包括处理从包括多个设备的传感器阵列发送的数据，其中多个设备被放置在包括多个对象的物理环境中，访问与多个对象相关联的模型信息，其中，所述模型信息指示与所述多个对象中的每一个相关联的至少一个物理属性，将所述模型信息与来自所述传感器阵列的所传送的数据相关联，以产生相关结果，至少从至少一个生成所述物理环境的视觉表示基于相关结果的一个观点，并且在物理环境中使用至少一个视觉表示来识别至少一个障碍物。

7. 发明申请

WO2013036709A8 METHOD AND APPARATUS FOR USING PRE-POSITIONED OBJECTS TO LOCALIZE AN INDUSTRIAL VEHICLE 审中-公开
标题翻译：使用预定对象来定位工业车辆的方法和装置
公开(公告)号：WO2013036709A8
公开(公告)日：2015-05-14
申请号：PCT/US2012054062
申请日：2012-09-07
申请人： CROWN EQUIPMENT LTD , WONG LISA , GRAHAM ANDREW EVAN , GOODE CHRISTOPHER W , WALTZ LUCAS B
发明人： WONG LISA , GRAHAM ANDREW EVAN , GOODE CHRISTOPHER W , WALTZ LUCAS B
IPC分类号： G05D1/02 , B66F9/06 , G01C21/00
CPC分类号： G05D1/0274 , B66F9/063 , G01C21/20 , G05D1/0234 , G05D2201/0216
摘要： According to one embodiment of the present disclosure, a method of using dynamically placed pre-positioned objects as landmarks to operate an industrial vehicle is provided. The method comprises (i) transporting an object along a path within the physical environment and placing the object at a location within the physical environment such that the placed object becomes a dynamically placed pre-positioned object in the physical environment; (ii) updating a map of the physical environment by adding placed object data representing the dynamically placed pre- positioned object to the map of the physical environment to create updated map data such that the placed object, when added to the map, serves as a landmark with observable features and can be used in the navigation of an industrial vehicle with access to the updated map data; (iii) storing the updated map data on a mobile computer attached to the industrial vehicle or on a central computer coupled to the industrial vehicle via a network; and (iv) operating the industrial vehicle based on a navigational position determined from sensor data and the updated map data by navigating the industrial vehicle along a path within the physical environment.
摘要翻译：根据本公开的一个实施例，提供了一种使用动态放置的预定位对象作为操作工业车辆的地标的方法。该方法包括（i）沿着物理环境中的路径传送对象并将物体放置在物理环境内的位置，使得放置的物体成为物理环境中动态放置的预定位物体; （ii）通过将表示动态放置的预定位对象的放置的对象数据添加到物理环境的映射来更新物理环境的映射，以创建更新的地图数据，使得放置的对象在添加到地图时用作具有可观察特征的地标，并可用于具有访问更新的地图数据的工业车辆的导航中; （iii）将更新的地图数据存储在连接到工业车辆的移动计算机上或通过网络耦合到工业车辆的中央计算机上; 以及（iv）基于从传感器数据确定的导航位置和通过沿着物理环境中的路径导航工业车辆来更新的地图数据来操作工业车辆。

8. 发明申请

WO2012173497A1 METHOD AND APPARATUS FOR SHARING MAP DATA ASSOCIATED WITH AUTOMATED INDUSTRIAL VEHICLES 审中-公开
标题翻译：用于与自动化工业车辆相关的地图数据的方法和装置
公开(公告)号：WO2012173497A1
公开(公告)日：2012-12-20
申请号：PCT/NZ2012/000092
申请日：2012-06-08
申请人： CROWN EQUIPMENT LIMITED , WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew Evan
发明人： WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew Evan
IPC分类号： G01C21/32 , G01C21/20 , G01S5/16 , G05D1/02
CPC分类号： G01C21/206 , B66F9/063 , G01C21/32 , G01S13/89 , G05D1/024 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216
摘要： A method and apparatus for sharing map data between industrial vehicles in a physical environment is described. In one embodiment, the method includes processing local map data associated with a plurality of industrial vehicles, wherein the local map data comprises feature information generated by the plurality of industrial vehicles regarding features observed by industrial vehicles in the plurality of vehicles; combining the feature information associated with local map data to generate global map data for the physical environment; and navigating an industrial vehicle of the plurality of industrial vehicles using at least a portion of the global map data.
摘要翻译：描述了用于在物理环境中在工业车辆之间共享地图数据的方法和装置。在一个实施例中，所述方法包括处理与多个工业车辆相关联的局部地图数据，其中所述局部地图数据包括由所述多个工业车辆产生的关于由所述多个车辆中的工业车辆观察到的特征的特征信息; 组合与本地地图数据相关联的特征信息以产生物理环境的全局地图数据; 以及使用全球地图数据的至少一部分来导航多个工业车辆的工业车辆。

9. 发明申请

WO2012173496A1 METHOD AND APPARATUS FOR FACILITATING MAP DATA PROCESSING FOR INDUSTRIAL VEHICLE NAVIGATION 审中-公开
标题翻译：用于促进工业车辆导航的地图数据处理的方法和装置
公开(公告)号：WO2012173496A1
公开(公告)日：2012-12-20
申请号：PCT/NZ2012/000091
申请日：2012-06-08
申请人： CROWN EQUIPMENT LIMITED , WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew, Evan
发明人： WONG, Lisa , GOODE, Christopher, W. , GRAHAM, Andrew, Evan
IPC分类号： G01C21/32 , G01C21/20 , G05D1/02 , G09B29/10
CPC分类号： G01C21/32 , B66F9/063 , G01C21/206 , G05D1/024 , G05D1/0246 , G05D1/0255 , G05D1/0272 , G05D1/0274 , G05D1/0297 , G05D2201/0216 , G09B29/006
摘要： A method and apparatus for facilitating map data processing for industrial vehicle navigation is described. In one embodiment, the method of partitioning map data for industrial vehicle navigation includes segmenting map data associated with a physical environment into a plurality of sub area maps, identifying a sub-area map that corresponds with a current vehicle location and navigating an industrial vehicle using the identified sub area map.
摘要翻译：描述了一种便于工业车辆导航的地图数据处理的方法和装置。在一个实施例中，用于分配用于工业车辆导航的地图数据的方法包括将与物理环境相关联的地图数据分割成多个子区域图，识别与当前车辆位置对应的子区域地图，并使用识别的子区域图。

10. 发明申请

WO2012161597A2 METHOD AND APPARATUS FOR PROVIDING ACCURATE LOCALIZATION FOR AN INDUSTRIAL VEHICLE 审中-公开
标题翻译：为工业车辆提供精确定位的方法和装置
公开(公告)号：WO2012161597A2
公开(公告)日：2012-11-29
申请号：PCT/NZ2012000075
申请日：2012-05-22
申请人： CROWN EQUIPMENT LTD , GRAHAM ANDREW EVAN , GOODE CHRISTOPHER W , WONG LISA
发明人： GRAHAM ANDREW EVAN , GOODE CHRISTOPHER W , WONG LISA
IPC分类号： G01S5/02
CPC分类号： G01S17/023 , G01C21/165 , G01S17/89
摘要： A method and apparatus for providing accurate localization for an industrial vehicle is described; including processing at least one sensor input message from a plurality of sensor devices, wherein the at least one sensor input message includes information regarding observed environmental features; determining position measurements associated with the industrial vehicle in response to at least one sensor input message, wherein the plurality of sensor devices comprises a two-dimensional laser scanner, and at least one other sensor device selected from an odometer, an ultrasonic sensor, a compass, an accelerometer, a gyroscope, an inertial measurement unit, or an imaging sensor; and updating a vehicle state using the position measurements.
摘要翻译：描述了一种用于为工业车辆提供精确定位的方法和装置; 包括处理来自多个传感器装置的至少一个传感器输入消息，其中所述至少一个传感器输入消息包括关于观察到的环境特征的信息; 响应于至少一个传感器输入消息来确定与所述工业车辆相关联的位置测量，其中所述多个传感器装置包括二维激光扫描器，以及从里程表，超声波传感器，罗盘中选择的至少一个其它传感器装置，加速度计，陀螺仪，惯性测量单元或成像传感器; 以及使用位置测量来更新车辆状态。

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