Industrial vehicle (100) can include a camera (102) and one or more processors (104). The camera (102) can capture an input image (200, 240) of ceiling lights (114) of the ceiling (1 12, 204, 242, 342) of the warehouse (110). The one or more processors can execute machine readable instructions to detect transversal edges (270) from the ceiling lights (1 14) of the input image (200, 240). The machine readable instructions executed by the one or more processors (104) can determine points of convergence between the transversal edges (270, 370) and a first edge line (222, 246, 346) and a second edge line (224, 248, 348). The machine readable instructions executed by the one or more processors (104) can select a set of point fixes (280) for the points of convergence. The machine readable instructions executed by the one or more processors (104) can navigate the industrial vehicle (100) through the warehouse (110) utilizing the centerline (226, 250, 350) and the set of point fixes (280).
Industrial vehicles and method for localization using ceiling lights
2017-12-21
Patent
Electronic Resource
English
IPC: | B66F HOISTING, 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 , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL |
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