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WO2014026843A3 - Transport vehicle and image-based method for determining its position within a container compound - Google Patents

Transport vehicle and image-based method for determining its position within a container compound Download PDF

Info

Publication number
WO2014026843A3
WO2014026843A3 PCT/EP2013/065817 EP2013065817W WO2014026843A3 WO 2014026843 A3 WO2014026843 A3 WO 2014026843A3 EP 2013065817 W EP2013065817 W EP 2013065817W WO 2014026843 A3 WO2014026843 A3 WO 2014026843A3
Authority
WO
WIPO (PCT)
Prior art keywords
determining
transport vehicle
image
based method
container compound
Prior art date
Application number
PCT/EP2013/065817
Other languages
German (de)
French (fr)
Other versions
WO2014026843A2 (en
Inventor
Jürgen HATZL
Stefan Kluckner
Josef Alois Birchbauer
Claudia Windisch
Original Assignee
Siemens Aktiengesellschaft
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Siemens Aktiengesellschaft filed Critical Siemens Aktiengesellschaft
Publication of WO2014026843A2 publication Critical patent/WO2014026843A2/en
Publication of WO2014026843A3 publication Critical patent/WO2014026843A3/en

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/005—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 with correlation of navigation data from several sources, e.g. map or contour matching
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0027—Transmission from mobile station to base station of actual mobile position, i.e. position determined on mobile

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control And Safety Of Cranes (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Traffic Control Systems (AREA)

Abstract

The invention relates among other things to a method for determining the position of a transport vehicle (60) within a container compound (10), images being captured by at least one camera (30-33, 80-82) and being evaluated by a computer and the position being determined by means of the captured images.
PCT/EP2013/065817 2012-08-16 2013-07-26 Container compound and operation thereof WO2014026843A2 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102012214579.6 2012-08-16
DE201210214579 DE102012214579A1 (en) 2012-08-16 2012-08-16 Container plant and its operation

Publications (2)

Publication Number Publication Date
WO2014026843A2 WO2014026843A2 (en) 2014-02-20
WO2014026843A3 true WO2014026843A3 (en) 2014-04-10

Family

ID=48917514

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2013/065817 WO2014026843A2 (en) 2012-08-16 2013-07-26 Container compound and operation thereof

Country Status (2)

Country Link
DE (1) DE102012214579A1 (en)
WO (1) WO2014026843A2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015004330A1 (en) 2015-04-09 2016-10-13 Eisenmann Se Position and position recognition for a conveyor
DE102017011768A1 (en) * 2017-12-19 2019-06-19 Kuka Deutschland Gmbh Navigate a robot assembly using a sensor assembly
CN113353072A (en) * 2020-03-04 2021-09-07 青岛海尔工业智能研究院有限公司 Driving control method, device, server and medium

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (en) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Arrangement for automatically sensing the position of a container transport vehicle
DE102006054083A1 (en) * 2006-11-16 2008-05-29 Siemens Ag Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods
DE102007021693A1 (en) * 2007-05-09 2008-11-13 Götting jun., Hans-Heinrich, Dipl.-Ing. (FH) Auxiliary system for determining position of fork-lift truck in parking space, has unit for coupling and/or fixing position of vehicle, where determined position is corrected by relative positioning of vehicle relative to object

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10234730A1 (en) * 2002-07-30 2004-02-19 Josef Schreiner Position determination method for use with industrial trucks, e.g. forklift trucks, within a defined area, wherein the positions of transport and reference fixed objects are known and truck positions are determined from them
US7162338B2 (en) * 2002-12-17 2007-01-09 Evolution Robotics, Inc. Systems and methods for computing a relative pose for global localization in a visual simultaneous localization and mapping system
US7845560B2 (en) * 2004-12-14 2010-12-07 Sky-Trax Incorporated Method and apparatus for determining position and rotational orientation of an object

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO1996007929A1 (en) * 1994-09-09 1996-03-14 Siemens Aktiengesellschaft Arrangement for automatically sensing the position of a container transport vehicle
DE102006054083A1 (en) * 2006-11-16 2008-05-29 Siemens Ag Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods
DE102007021693A1 (en) * 2007-05-09 2008-11-13 Götting jun., Hans-Heinrich, Dipl.-Ing. (FH) Auxiliary system for determining position of fork-lift truck in parking space, has unit for coupling and/or fixing position of vehicle, where determined position is corrected by relative positioning of vehicle relative to object

Also Published As

Publication number Publication date
DE102012214579A1 (en) 2014-02-20
WO2014026843A2 (en) 2014-02-20

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