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    • 专利摘要:
    ENLARGED MOBILE PLATFORM LOCATION. The present invention relates to a system that includes a transformation module (402), an alignment module (406) and an aligned location module (408). The transformation module (402) is configured to receive first and second pose estimates (502, 602) from a mobile vehicle (102) in an environment. The first and second pose estimates (502, 602) are relative to respective different first and second digital maps (500, 600) of the environment in different first and second respective different coordinate systems. The transformation module (402) can then be configured to calculate a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602). The alignment module (406) can be configured to align the first and second digital maps (500, 600) based on the geometric transform and thereby generate an aligned digital map. And the aligned location module (408) can be configured for the location of the mobile vehicle (102) in relation to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile vehicle (102).
    公开号:BR102014000091B1
    申请号:R102014000091-7
    申请日:2014-01-03
    公开日:2020-12-22
    发明作者:Charles A. Erignac；Hui Li
    申请人:The Boeing Company；
    IPC主号:
    专利说明:

    TECHNOLOGICAL FIELD
    [001] The present invention generally relates to mobile platforms and, in particular, the location of a mobile platform in relation to an environment within which the mobile platform is configured to move. BACKGROUND
    [002] Large-scale structural manufacturing and / or service operations in various industries often involve a large number of systems. Several of these operations include tasks that are increasingly being carried out by machines and robots. And several of these machines and robots are positioned on mobile platforms that move in an environment, such as a building or other facility, to allow machines and robots to perform their tasks.
    [003] The effective use of these mobile platforms often depends on their accurate location in the environment within which they move, which is often an internal environment. Several localization solutions have been developed, which can be used for this purpose, but each suffers from problems. For example, current solutions developed for automated guided vehicles are based on the presence of researched physical landmarks, such as paint, tape, magnets or similar on the floor, and laser reflectors on the walls. These milestones are time consuming and expensive to install. Furthermore, except for the laser reflectors, the landmarks restrict the mobile platform to follow predefined routes.
    [004] Location solutions based on laser reflectors, sometimes referred to as laser tracking, require the installation of reflectors at regular intervals at the perimeter of the indoor environment, and ensure that the platform has a line of sight for those reflectors. Naturally located laser location solutions require a static environment, for which a map is created offline and used online to locate the platform by comparing it with laser scans acquired by the platform. These solutions, however, may not be suitable for confusing and dynamic environments.
    [005] Therefore, it may be desirable to have a system and method that takes into account at least some of the problems discussed above, as well as possibly other issues. BRIEF SUMMARY
    [006] The example implementations of the present description are generally directed to a system, apparatus and method for an increased location of a mobile vehicle in relation to an environment in which the mobile vehicle is mobile. The system can be configured to calculate the position and orientation of the mobile vehicle (sometimes referred to as pose estimation) in a coordinate system recorded on an environment map. This pose estimate can be continuously updated and communicated to the mobile vehicle to support functions such as route planning, planning follow-up and collision avoidance. In an example, some of these functions may be additionally supported by an onboard navigation database that stores the position of one or more destinations, waypoints or the like, and / or data defining one or more navigation routes, zones of exclusion or similar, in the environment. The example implementations of the present exhibition are not based on static landmarks, and therefore can effectively operate in dynamic and confusing environments.
    [007] According to an example of implementations of example, the system includes a transformation module, an alignment module and an aligned location module. The transformation module is configured to receive first and second pose estimates from a mobile vehicle in an environment. The first and second pose estimates are in relation to different respective first and second digital maps of the environment and different respective first and second coordinate systems. The transformation module can then be configured to calculate a geometric transform (for example, homographic, the like) between the first and second digital maps, based on the first and second pose estimates.
    [008] The alignment module can be configured to align the first and second digital maps based on the geometric transform, and, thus, for the generation of an aligned digital map. And the aligned location module can be configured for the location of the mobile vehicle in relation to the aligned digital map, and, thus, for the calculation of an aligned pose estimate of the mobile vehicle.
    [009] In one example, the transformation module can be configured to receive the first pose estimate from a mapping and location system on board the mobile vehicle, which can be configured to build the first digital map of the environment, and to calculate the first pose estimate of the mobile vehicle in relation to the first digital map. In this example, the alignment module can be configured to receive the first digital map from the mapping and location system. In one example, the mapping and location system can be configured for the construction of the first digital map and the calculation of the first pose estimate according to a simultaneous location and mapping (SLAM) technique.
    [010] In one example, the transformation module can be configured to receive the second pose estimate from a wireless location system configured to calculate the second pose estimate of the mobile vehicle in relation to the second digital map accessible from storage. In this example, the transformation module can be configured to receive the second pose estimate from the wireless location system comprising an indoor or local positioning system.
    [011] In one example, the system can also include a communication interface configured to communicate the pose estimate in line with the mobile vehicle, to assist in the navigation of the mobile vehicle as it moves in the environment.
    [012] According to another aspect of the present description, a system can comprise an apparatus that includes a processor and a memory storing portions of a program code that can be read on a computer. In response to execution by the processor, the program code that can be read on a computer causes the transformation module, the alignment module and the aligned location module: at least to receive the first and second pose estimates from a mobile vehicle that is mobile in an environment; calculate a geometric transform between the first and second digital maps based on the first and second pose estimates; align the first and second digital maps based on the geometric transform, and thereby generate an aligned digital map; and locate the mobile vehicle in relation to the digitally aligned map, and thereby calculate an aligned pose estimate of the mobile vehicle.
    [013] In one example, the device can be made to receive the first digital map from the mapping and location system, and it is made to receive the first pose estimate from a mapping and location system on board the mobile vehicle, and the mapping and location system is configured to build the first digital map of the environment, and to calculate the first pose estimate of the mobile vehicle in relation to the first digital map.
    [014] In another example, the device is made to receive the first digital map from the mapping and location system. The device is made to receive the first pose estimate from the mapping and location system configured for the construction of the first digital map and the calculation of the first pose estimate according to a simultaneous location and mapping technique. The device can also be made to receive the second pose estimate from a wireless location system configured to calculate the second pose estimate of the mobile vehicle in relation to the second digital map accessible from storage. The second pose estimate can be received from a wireless location system comprising an indoor or local positioning system.
    [015] In another aspect of the present description, a method for increased location of a mobile vehicle is provided. The method comprises receiving first and second pose estimates from a mobile vehicle that is mobile in an environment, the first and second pose estimates being in relation to different respective first and second digital maps of the environment in different respective first and second coordinate systems. , the calculation of a geometric transform between the first and second digital maps based on the first and second pose estimates; the alignment of the first and second digital maps based on the geometric transform, and, thus, the generation of an aligned digital map; and the location of the mobile vehicle in relation to the aligned digital map, and thereby the calculation of an aligned pose estimate of the mobile vehicle.
    [016] In an example of a method, the first depose estimate is received from a mapping and location system on board the mobile vehicle, the mapping and location system being configured for the construction of the first digital map of the environment, and for the calculation of the first pose estimate of the mobile vehicle in relation to the first digital map, in which the alignment of the first and second digital maps includes the receipt of the first digital map from the mapping and location system.
    [017] In another example of a method, the first pose estimate is received from the mapping and location system configured for the construction of the first digital map and the calculation of the first pose estimate according to a location and mapping technique. simultaneous. A second pose estimate can be received from a wireless location system configured to calculate the mobile vehicle's second pose estimate in relation to the second digital map accessible from storage. The second pose estimate can be received from the monophonic signal comprising an indoor or local positioning system. The method can also comprise the communication of the aligned pose estimate for the mobile vehicle to help the navigation of the mobile vehicle, as it moves in the environment.
    [018] In other aspects of example implementations, a device and a method are provided for increased location of a mobile vehicle. The features, functions and advantages discussed here can be obtained independently in several example implementations, or can be combined in still other example implementations, whose additional details can be seen with reference to the following description and drawings. BRIEF DESCRIPTION OF THE DRAWINGS
    [019] Having thus described the example implementations of the exhibition in general terms, a reference will now be made to the associated drawings, which are not necessarily drawn to scale, and in which:
    [020] FIG. 1 illustrates an augmented location system according to an example implementation of the present description;
    [021] FIG. 2 illustrates an example of a suitable mapping and location system according to an example implementation;
    [022] FIG. 3 illustrates an example of a suitable wireless location system, according to an example implementation;
    [023] FIG. 4 illustrates an example of an adequate registration system, according to an example implementation;
    [024] FIG. 5 graphically illustrates an example of a suitable first digital map and a first pose estimate, according to an example implementation;
    [025] FIG. 6 graphically illustrates an example of a second digital map and a second suitable pose estimate, according to an example implementation;
    [026] FIG. 7 is a flow chart that illustrates various operations in an aircraft service production and execution methodology according to an example implementation; and
    [027] FIG. 8 is a block diagram of an aircraft according to an example implementation. DETAILED DESCRIPTION
    [028] Some implementations of the present description will now be more fully described from this point on, with reference to the associated drawings, in which some, but not all, of the exhibition's implementations are shown. In fact, several implementations of the description can be realized in many different ways and should not be construed as limited to the implementations set out here; instead, these example implementations are provided, so that this exhibition is comprehensive and complete, and will fully extend the scope of the exhibition to those skilled in the art. For example, unless otherwise stated, a reference to something as a first, second, or similar should not be construed as implying a particular order. Like reference numbers refer to like elements throughout.
    [029] With reference now to FIG. 1, an augmented location system 100 is illustrated in accordance with example implementations of the present description. The system can include any one of several different subsystems (each being an individual system) for the performance of one or more functions or operations with respect to a mobile platform or a mobile vehicle 102. The mobile vehicle can be mobile in an environment indoors or even outdoors. To support this movement, the mobile vehicle may include a motion control system 104 configured to control and effect a movement of the mobile vehicle. To support the motion control system, the mobile vehicle may include a navigation system 106 and, perhaps, one or more other components, such as a collision avoidance system, configured to assist navigation of the mobile vehicle as it moves. move in the environment.
    [030] In one example, mobile vehicle 102 includes an on-board machine or robot, and can be mobile in an environment to allow the machine / robot to perform one or more tasks in one or more structural fabrication operations and / or performing services. In this example, the mobile vehicle can include one or more components, such as a mission management system configured to support specific machine / robot mission tasks. It should be understood, however, that the example implementations can be useful in the context of mobile vehicles that do not include an onboard machine or robot, or that include an onboard machine or robot for other types of tasks.
    [031] For additional support of this movement, the mobile vehicle 102 may require a location in its environment, which may support an operation of the navigation system 106. This location may include the acquisition of the position and orientation of the mobile vehicle (sometimes referred to as its possession) on a model or digital map of your environment. The digital map of an environment can be a two-dimensional (2D) or three-dimensional (3D) geometric description of the environment. The digital format of the map can include a description of the environment using coordinates and numerical descriptions of the positions of landmarks in the environment, such as objects, surfaces or other distinguishable features. According to example implementations, the milestones in an environment can differ from environment to environment, and can change in an environment over time, as in the case of a dynamic environment. On a 2D digital map, the position can be described in terms of orthogonal X, Y coordinates and on a 3D digital map, the position can be described in terms of orthogonal X, Y and Z coordinates.
    [032] For a mobile vehicle 102 capable of three degrees of deliberation (3-DOF), its position can be described in terms of X, Y coordinates, and its orientation can be described in terms of yaw. In another example of a mobile vehicle capable of six degrees of freedom (6-DOF), its position can be described in terms of X, Y, Z coordinates and its orientation can be described in terms of rolling, pitching, yawing. A wheeled vehicle, for example, can be mobile on the ground with 3-DOF, while a portable platform can be mobile with 6-DOF.
    [033] An environment and a position of the mobile vehicle 102 in that environment can be geographically described from different perspectives or frames of reference (each with reference to a respective coordinate system). The same position and orientation of a mobile vehicle in the environment can therefore be described by different poses in relation to different digital maps of the environment in different coordinate systems. As shown in FIG. 1, the augmented location system 100 may include the mapping and location system 108 configured for the construction of a first digital map of a mobile vehicle environment and for the location of the vehicle and in relation to the first digital map for the calculation of a first pose estimate of the mobile vehicle. The augmented location system may include a wireless location system 110 configured for the location of the vehicle in relation to a second digital map other than the environment for the calculation of a second pose estimate of the mobile vehicle. The augmented location system may also include a registration system 112 coupled to the other systems and configured to automatically register or align the first digital map with the second digital map, based on the first and second pose estimates. The registration system in this way can generate an aligned digital map on which the mobile vehicle can be located. The pose of the mobile vehicle in relation to the aligned digital map can then be communicated to the navigation system 106 to aid navigation of the mobile vehicle as it moves in the environment.
    [034] While being shown as part of the augmented location system 100, one or more of the mapping and location system 108, the wireless location system 110 and / or the registration system 112 can instead be separated, but be in communication with the augmented location system. Also, although the registration system is shown to be outside the mobile vehicle 102, in other instances the registration system can be carried on board the mobile vehicle, similar to the mapping and location system. It should also be understood that one or more of the subsystems may function or operate as a separate system, without regard to other subsystems. Furthermore, it should be understood that the augmented location system may include one or more additional or alternative subsystems in addition to those shown in FIG. 1.
    [035] A reference will now be made to FIGURES 2, 3 and 4, which illustrate more particular examples of a suitable mapping and location system, a wireless location system and / or a registration system, respectively, according to with example implementations of the present description.
    [036] FIG. 2 illustrates a mapping and location system200 according to an example implementation. The mapping and location system 200 can be an example of the mapping and location system 108 of the augmented location system 100 of FIG. 1. In one example, the mapping and location system may be located on board a mobile vehicle 202, which in one example may correspond to mobile vehicle 102 of FIG. 1. The mapping and location system can generally be configured for the construction of a first digital map of the mobile vehicle environment and for the location of the mobile vehicle in relation to the first digital map. In one example, the mapping and location system can be configured for the construction of the first digital map and for the location of the mobile vehicle in relation to it according to any of several robotic mapping techniques.
    [037] The mapping and location system 200 may include one or more distance sensors 204 and / or odometric sensors 206 coupled to a mapping and location module 208. The distance sensor (s) on board the mobile vehicle 202 it can be configured to scan your environment and provide distance measurements between the mobile vehicle and landmarks around the mobile vehicle in your environment. The odometer sensor (s) on board the mobile vehicle can be configured to provide odometry data, as the mobile vehicle moves in its environment. Examples of suitable distance sensors include rangefinders, LiDAR sensors (light distance detection and calculation), sonar sensors, cameras or other visual sensors, or the like. Odometer sensors can be any of several different types of sensors, and can include not only odometric sensors, but visual odometric sensors, inertia measurement units (IMUs) or the like.
    [038] The mapping and location module 208 can be configured to receive and process distance measurements and odometry data for the spatial mapping of the environment in relation to the mobile vehicle 202, and for the location of the mobile vehicle in relation to that map. The mapping and location module can spatially map the environment and locate the mobile vehicle in any of several different ways. An example of a suitable way is the well-known technique of simultaneous location and mapping (SLAM), although it should be understood that mapping and location do not need to be performed simultaneously. Regardless of the exact way in which the mapping and location module spatially maps the environment and locates the mobile vehicle, the mapping and location module can extract a spatial map (first digital map) of the environment, and the position and orientation of the mobile vehicle (first digital map) in relation to the first digital map. FIG. 5 graphically illustrates an example of a suitable first digital map 500 and a first pose estimate 502 that can be extracted by the mapping and location module according to an example implementation of the present description.
    [039] The mapping and location module 208 can construct and continuously update the first digital map, and continuously calculate and update the first pose estimate of the mobile vehicle 202. The mapping and location module can handle the first digital map and the first estimate of pose in any number of different ways. In one example, the mapping and location system 200 may still include a communication interface 210 coupled to the mapping and location module. In this example, the mapping and location module can be configured to communicate the first digital map and the first pose estimate to the communication interface, which in turn can be configured to communicate the first digital map and the first pose estimate. for a registration system, such as registration system 112 of FIG. 1.
    [040] Returning briefly to FIG. 1, the wireless location system 110 can generally be configured for the location of the mobile vehicle 102 with respect to a second digital map of the environment for the calculation of a second pose estimate of the mobile vehicle. The wireless location system can be any one of several suitable positioning systems capable of locating the mobile vehicle indoors or outdoors, or in an environment that is partially indoor and partially outdoor. In one example, in an external environment, the speech signal may include a satellite navigation receiver (for example, GPS) located on board the mobile vehicle and configured to receive signals from several satellites. The wireless location system can then include a location module configured for calculating the second pose estimate of the mobile vehicle on the second digital map based on the signals. In this example, the second digital map can be accessed from appropriate storage, such as file storage, database storage, cloud storage or the like.
    [041] In one example, the wireless location system 110 can be configured additionally or alternatively to locate the mobile vehicle 102 in an indoor environment. In this example, the wireless location system can include any one of several different indoor or local positioning systems, such as an indoor GPS, a real-time location system (RTLS) or similar.
    [042] FIG. 3 illustrates a wireless location system 300 according to an example implementation. The wireless location system 300 can be an example of the wireless location system 110 of the augmented location system 100 of FIG. 1. In one example, the wireless location system may be located in the mobile vehicle environment 302, which in one example may correspond to mobile vehicle 102 of FIG. 1. As shown, the wireless location system can include a transmitter 304 and a plurality of receivers 306 coupled to a wireless location system (WLS) location module 308 by wire or wirelessly. The processor can be configured to control the transmitter to broadcast a signal that is received by a 310 beacon located on board the mobile vehicle. In one example, the radio beacon can be a transponder or a radio frequency (RF) tag, such as an active tag (with its own power) or a passive tag (which can be activated by the energy received from the transmitter).
    [043] The beacon 310 can be configured to receive the signal from transmitter 304 and respond to the signal by transmitting a transponder signal that includes information identifying the beacon, and thus the mobile vehicle 302. Receivers 306 located by the entire environment can receive the transponder signal and provide the respective versions of the transponder signal for the WLS 308 location module. The WLS location module can process the information in the versions of the received transponder signal for the identification of the beacon and to locate the mobile vehicle in relation to a second digital map of the environment. This can be accomplished in any one of several different ways, such as by triangulation using the time of arrival of the version of the transponder signal received through each of the receivers. In one example, the second digital map can be stored in appropriate storage 312, such as file storage, database storage, cloud storage or the like. The WLS location module can thus calculate a second pose estimate of the mobile vehicle in relation to the second digital map. FIG. 6 graphically illustrates an example of a second suitable digital map 600 and a second pose estimate 602 that can be extracted for the WLS location module according to an example implementation of the present description.
    [044] The WLS 308 location module can calculate and continuously update a second pose estimate of the mobile vehicle 302 relative to the second digital map. The WLS location module can manipulate the second digital map and the second pose estimate in any number of different ways. In one example, the wireless location system 300 may additionally include a communication interface 314 coupled to the WLS location module. In this example, the WLS location module can be configured to communicate the second digital map and the second pose estimate to the communication interface, which in turn can be configured to communicate the second digital map and the second pose estimate. for a registration system, such as registration system 112 of FIG. 1. In another example, storage 312 including the second digital map can be accessed via the registration system. In this example, the WLS location module can be configured to communicate the second pose estimate to the registration system via the communication interface, and the registration system can access the second digital map from its storage.
    [045] FIG. 4 illustrates a registration system 400 according to an example implementation. The registration system 400 can be an example of the registration system 112 of the augmented location system 100 of FIG. 1. The registration system can be configured to register or align first and second digital maps of a mobile vehicle environment, such as mobile vehicle 102 of FIG. 1, and locate the mobile vehicle in relation to the resulting aligned digital map. As shown, the registration system may include a transformation module 402 configured to receive first pose estimates from the mobile vehicle with respect to a first digital map, and second pose estimates from the mobile vehicle with respect to a second digital map. In one example, the transformation module can be coupled to a communication interface 404 configured to receive the first pose estimates from a mapping and location system (for example, the mapping and location system 108), when or after the mapping and location system calculates the first pose estimates. Similarly, the communication interface can be configured to receive second pose estimates from a wireless location system (for example, wireless location system 110), when or after the wireless location system calculates the second pose estimates.
    [046] Transformation module 402 can be configured to calculate a geometric transform between the first and second digital maps based on the first and second pose estimates. Examples of suitable geometric transforms include a homographic transform, an affine transform or the like. The transformation module can calculate the geometric transform in any of several different ways. In one example, the transformation module can calculate the geometric transform according to an iterative method, such as the random sample consensus method (RANSAC). In this sense, the transformation module can continuously calculate and update the geometric transform as it receives the first pose estimates and the second pose estimates, so that these estimates can be continuously calculated by respective systems.
    [047] The registration system 400 may include an alignment module 406 configured to receive the geometric transform, and the first and second digital maps of the mobile vehicle environment. The alignment module can be coupled to and receive the geometric transform from transformation module 402. In one example, the alignment module can also be coupled to the communication interface 404 configured to receive the first digital map from the mapping system. and location (for example, the mapping and location system 108), when or after the mapping and location system builds or updates the first digital map. Similarly, for example, the communication interface can be configured to receive the second digital map from a wireless location system (for example, wireless location system 110). In another example, storage 312 that includes the second digital map can be accessed by the alignment module.
    [048] Regardless of the exact way in which the 406 alignment module receives the geometric transform, and the first and second digital maps, the alignment module can be configured to register or align the first digital map with the second digital map based on the transform geometric, as in any of several known ways. The alignment module can thus generate an aligned digital map. The alignment module can communicate the aligned digital map to a 408 aligned location module, to which the alignment module can be attached. The aligned location module can then be configured for the location of the mobile vehicle in relation to the aligned digital map, and in this way can calculate an estimate of the mobile vehicle's aligned pose. This can be done in any one of several different ways.
    [049] As explained above, the first digital map and first pose estimate can be constructed or calculated and continuously updated. Similarly, the second pose estimate and the geometric transform can be calculated and updated continuously. In one example, then, the alignment module 406 can continuously update the aligned digital map, and the aligned location module 408 can continuously update the aligned pose estimate. When or after calculating or updating the in-line pose estimate, the in-line location module can report the in-line pose estimate, such as back to the mobile vehicle (for example, the navigation system 106 of the mobile vehicle 102) to assist in the navigation of the mobile vehicle as it moves in the environment. In one example, this can be done via the communication interface 404 to which the aligned location module can be attached.
    [050] Returning to FIG. 1, in a more particular example, the mobile vehicle 102 can perform navigation tasks in the first coordinate system of the first digital map. In this example, the aligned digital map can be in the same first coordinate system as the first digital map. This may be because the first digital map contains a dynamic description of the environment, as constructed by the mapping and location system 108. The second digital map used by the wireless location system 110 can be expressed in a different second coordinate system. This second digital map can describe, for example, destinations, travel routes, exclusion zones and the like. The registration system 112 (for example, transformation module 402) can calculate a geometric transform (for example, homographic, the like) between the first and second digital maps.
    [051] The registration system 112 (for example, the alignment module 406) can use the geometric transform to generate an aligned digital map that merges the contents of the first and second digital maps. In one example, real obstacles in the first digital map built can be combined in the first digital map with elements from the second digital map, such as virtual obstacles (for example, exclusion zones), destinations, course paths and the like. The navigation system 106 or another system (for example, a route planner) in communication with the navigation system can then produce a route for movement of the mobile vehicle. This path can be sent to the motion control system 104 expressed in the first coordinate system. In one example, the route can also be sent to another system, such as a control station to be superimposed on the second digital map in the second coordinate system, such as for display purposes.
    [052] Example implementations of the exhibition can find use in a variety of potential applications, particularly in the transportation industry, including, for example, aerospace, marine and automotive applications. Thus, with reference now to FIGURES 7 and 8, the example implementations can be used in the context of an aircraft service manufacturing and execution method 700, as shown in FIG. 7, and an aircraft 800, as shown in FIG. 8. During pre-production, the sample method may include aircraft specification and design 702, manufacturing sequence and production planning 704 and search for material 706. During production, manufacture of component and subset 708 and integration of system 710 from aircraft occur. The exposed system and method can be specified for use, for example, during component and subset manufacturing and / or system integration.
    [053] In several examples, the exposed system and method can be used during any one or more of the 706 material search process, the 708 component and subset manufacturing process or the 710 system integration. After that, the aircraft 800 can pass through certification and delivery 712, in order to be put into service 714. While in service with a consumer, the aircraft can be programmed for routine maintenance and service execution 716 (which can also include any modification, reconfiguration, reconditioning or similar). The system and method of example implementations can be used while the aircraft is in service and, in one example, during the maintenance and servicing of each aircraft.
    [054] Each of the processes of the example method 700 may be executed or carried out by a system member, by third parties and / or by an operator (for example, a consumer). For the purposes of this description, a system member may include, for example, any number of aircraft manufacturers and main system subcontractors; third parties may include, for example, any number of vendors, subcontractors and suppliers; and an operator may include, for example, an airline, a leasing company, a military entity, a service organization or the like.
    [055] As shown in FIG. 8, an example aircraft 800 produced by example method 700 may include an airplane structure 802 with a plurality of systems 804 and an interior 806. Examples of high level systems 804 include one or more of a propulsion system 808, a electrical system 810, hydraulic system 812, environmental system 814 or similar. Any number of other 804 systems can be included. Although the aerospace example is shown, the principles of the description can be applied to other industries, such as the maritime and automotive industries.
    [056] The systems and methods implemented here can be used during any one or more of the stages of the example 700 production and service execution method. For example, system implementations, method implementations and a combination of them can be used during the production stages 708 and 710, which in one example can allow an effective use of machines and robots for the execution of various production tasks. Similarly, for example, system implementations, method implementations or a combination thereof can be used while aircraft 800 is in service 714 and / or during maintenance and service execution 716, in order to allow effective use of machines or robots to perform appropriate tasks. This in turn can substantially speed up assembly or reduce the cost of an 800 aircraft and / or its maintenance and services.
    [057] According to example implementations of the present description, the augmented location system 100 and its subsystems including the mapping and location system 108, the wireless location system 110 and the registration system 112 can be implemented by various means. Similarly, the examples of a mapping and location system 200, a wireless location system 300 and a registration system 400, including each of their respective elements, can be implemented by various means according to example implementations. The means for implementing the systems, subsystems and their respective elements may include hardware, alone or in the direction of one or more instructions for computer program code, program instructions or executable instructions for program code that can be read at computer from a storage medium that can be read on a computer.
    [058] In one example, one or more devices may be provided, which are configured to function as or otherwise implement the systems, subsystems and respective elements, including the transformation module, the alignment module and the aligned location module shown and described here. In examples involving more than one device, the respective devices can be connected to or otherwise communicate with each other in a number of different ways, such as directly or indirectly over a wired line or a wireless network or similar .
    [059] Generally, an apparatus of exemplary implementations of the present description may comprise, include or be embodied in one or more fixed or portable electronic devices. Examples of suitable electronic devices include a smartphone, a tablet computer, a laptop computer, a desktop computer, a workstation computer, a server computer, or the like. The apparatus may include one or more of each of several components, such as, for example, a processor connected to a memory.
    [060] The processor is usually any piece of hardware that is capable of processing information, such as, for example, data, a program code that can be read on a computer, instructions or the like (generally, “computer programs”, for example software, firmware, etc.) and / or other appropriate electronic information. More particularly, for example, the processor can be configured to run computer programs, which can be stored embedded in the processor or otherwise stored in memory (from the same device or another). The processor can be a number of processors, a processor, a multiple processor core, or some other type of processor, depending on the particular implementation. In addition, the processor can be implemented using several heterogeneous processor systems, in which a main processor is present with one or more secondary processors on a single chip. As another illustrative example, the processor may be a symmetric multiple processor system containing multiple processors of the same type. In yet another example, the processor can be realized as or otherwise including one or more application-specific integrated circuits (ASICs), field programmable port arrangements (FPGAs) or the like. Thus, although the processor may be able to execute a computer program to perform one or more functions, the processor of several examples may be able to execute one or more functions without the aid of a computer program.
    [061] Memory is usually any piece of hardware that is capable of storing information, such as, for example, data, computer programs and / or other suitable information on a temporary basis and / or on a permanent basis. The memory may include volatile and / or non-volatile memory, and may be fixed or removable. Examples of suitable memory include random access memory (RAM), read-only memory (ROM), a hard disk, a flash memory, a flash drive, a removable computer diskette, an optical disk, a magnetic tape, or some combination of these above. Optical discs may include a compact disc - read-only memory (CD-ROM), a compact disc - read / write (CD-R / W), a DVD or similar. In several cases, memory can be referred to as a storage medium that can be read on a computer, which, as a non-transitory device capable of storing information, can be distinguishable from transmission media that can be read on a computer , such as electronic transient signals capable of taking information from one location to another. The medium that can be read on a computer as described here can generally refer to a storage medium that can be read on a computer or a transmission medium that can be read on a computer.
    [062] In addition to memory, the processor can also be connected to one or more interfaces for displaying, transmitting and / or receiving information. The interfaces can include a communications interface and / or one or more user interfaces. The communications interface can be configured to transmit and / or receive information, such as to and / or from other devices, networks, or the like. The communications interface can be configured for transmitting and / or receiving information over physical (wired line) and / or wireless communications links. Examples of communication interfaces include a network interface controller (NIC), a wireless NIC (WNIC) or similar.
    [063] User interfaces can include a display and / or one or more user interfaces. The display can be configured to present or otherwise display information to a user, suitable examples of which include a liquid crystal display (LCD), a light emitting diode (LED) display, a plasma display panel ( PDP) or similar. User input interfaces can be wired or wireless, and can be configured to receive information from a user to the device, such as for processing, storage and / or display. Suitable examples of user input interfaces include a microphone, an image or video capture device, a keyboard or mini keyboard, a joystick, a touch sensitive surface (separate from or integrated into a touch screen), a biometric sensor or similar. User interfaces can also include one or more interfaces for communicating with peripherals, such as printers, scanners or the like.
    [064] As indicated above, the program code instructions can be stored in a memory and executed by a processor, for the implementation of functions of the systems, subsystems and their respective elements described here. As will be appreciated, any appropriate program code instructions can be loaded onto a computer or other programmable device from a storage medium that can be read on a computer to produce a particular machine, so that the particular machine become a means for implementing the functions specified here. These program code instructions can also be stored on a storage medium that can be read on a computer that can run a computer, processor or other programmable device to function in a particular way to generate a particular machine in this way or a particular article of manufacture. The instructions stored in the computer-readable storage medium can produce an article of manufacture, in which the article of manufacture becomes a means for implementing the functions described here. Program code instructions can be retrieved from a storage medium that can be read on a computer and loaded onto a computer, processor, or other programmable device for configuring the computer, processor, or other programmable device for executing the instructions. operations to be performed on or by the computer, processor or other programmable device.
    [065] Retrieval, loading and execution of program code instructions can be performed sequentially, so that an instruction is retrieved, loaded and executed in a moment. In some example implementations, retrieval, loading and / or execution can be performed in parallel, so that multiple instructions are retrieved, loaded and / or executed together. The execution of the program code instructions can produce a computer-implemented process so that the instructions executed by the computer, processor or other programmable device provide operations for the implementation of functions described here.
    [066] The execution of instructions by a processor or the storage of instructions in a storage medium that can be read on a computer supports combinations of operations for the execution of specific functions. It will also be understood that one or more functions and combinations of functions can be implemented by computer systems based on special purpose hardware and / or processors which perform the specified functions or special purpose hardware combinations and program code instructions.
    [067] Many modifications and other implementations of the description set forth here will come to the mind of someone skilled in the technique to which this description refers, having the benefit of the teachings presented in the preceding descriptions and in the associated drawings. Therefore, it is to be understood that the description is not limited to the specific implementations exposed, and that modifications and other implementations are intended to be included in the scope of the appended claims. Furthermore, although the preceding descriptions and associated drawings describe example implementations in the context of certain sample combinations of elements and / or functions, it should be appreciated that different combinations of elements and / or functions can be provided by alternative implementations, without deviate from the scope of the appended claims. In this sense, for example, different combinations of elements and / or functions in addition to those explicitly described above are also contemplated as being able to be established in some of the attached claims. Although specific terms are used here, they are used in a generic and descriptive sense only and not for the purpose of limitation.
    权利要求:
    Claims (9)
    [0001]
    1. System (100) comprising: a transformation module (402) configured to receive first and second pose estimates (502, 602) from a mobile vehicle that is mobile in an environment, the first and second pose estimates (502 , 602) being related to different respective first and second digital maps (500, 600) of the environment in different respective first and second coordinate systems, the transformation module (402) being configured to calculate a geometric transform between the first and second maps digital (500, 600) based on the first and second pose estimates (502, 602); an alignment module (406) configured to align the first and second digital maps (500, 600) based on the geometric transform, and thereby generate an aligned digital map; and an inline location module (408) configured to locate the mobile vehicle in relation to the inline digital map, and thereby calculate an inline pose estimate from the mobile vehicle, and further configured to communicate the inline pose estimate to the vehicle mobile (102) to aid navigation of the mobile vehicle (102), where the transformation module (402) is configured to receive the first pose estimate (502) from an on-board mapping and location system (108) of the mobile vehicle, the mapping and location system (108) being configured for the construction of the first digital map (500) of the environment, and to calculate the first pose estimate (502) of the mobile vehicle in relation to the first digital map (500) , characterized by the fact that the transformation module (402) is configured to receive the first pose estimate (502) from the mapping and location system (108) configured to build the first digital map (500) and calculate the first pose estimate (502) according to a simultaneous location and mapping technique, and the transformation module (402) is configured to receive the second pose estimate (602) from a wireless location system ( 110) configured to calculate the second pose estimate (602) of the mobile vehicle (102) in relation to the second digital map (600) accessible from the storage (312).
    [0002]
    2. System (100), according to claim 1, characterized by the fact that the alignment module (406) is configured to receive the first digital map (500) from the mapping and location system (108).
    [0003]
    3. System (100) according to claim 1, characterized by the fact that the transformation module (402) is configured to receive the second pose estimate (602) from the wireless location system (110) comprising an internal or local environment positioning system.
    [0004]
    4. System (100), according to claim 1, characterized by the fact that it still comprises: a communication interface (210) configured for communicating the aligned pose estimate to the mobile vehicle (102) to aid navigation (106 ) of the mobile vehicle (102) as it moves in the environment.
    [0005]
    5. System (100), according to claim 1, characterized by the fact that it still comprises a device that includes a processor and a memory that stores portions of program code that can be read on a computer that, in response to execution by the processor, make the transformation module, the alignment module and the aligned location module at least: receive first and second pose estimates (502, 602) from a mobile vehicle (102) in a mobile environment, the first and second second pose estimates (502, 602) being in relation to different respective first and second digital maps (500, 600) of the environment in different respective first and second coordinate systems; calculate a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602); align the first and second digital maps (500, 600) based on the geometric transform and thereby generate an aligned digital map; and locate the mobile vehicle (102) in relation to the aligned digital map, and thereby calculate an aligned pose estimate of the mobile vehicle (102).
    [0006]
    6. System according to claim 5, characterized by the fact that it still comprises: a communication interface (210) configured for communicating the aligned pose estimate to the mobile vehicle (102) to aid navigation (106) of the mobile vehicle (102), as it moves in the environment.
    [0007]
    7. Method comprising: receiving the first and second pose estimates (502, 602) from a mobile vehicle (102) mobile in an environment, the first and second pose estimates (502, 602) being in relation to the respective first and according to different digital maps (500, 600) of the environment in respective first and second different coordinate systems; calculating a geometric transform between the first and second digital maps (500, 600) based on the first and second pose estimates (502, 602); the alignment of the first and second digital maps (500, 600) based on the geometric transform, and, thus, the generation of an aligned digital map; the location of the mobile vehicle (102) in relation to the aligned digital map, and, thus, the calculation of an aligned pose estimate for the mobile vehicle (102); and communicating the aligned pose estimate to the mobile vehicle (102) to aid navigation of the mobile vehicle (102), where the first pose estimate (502) is received from an on-board mapping and location system (108) of the mobile vehicle (102), the mapping and location system (108) being configured for the construction of the first digital map (500) of the environment, and to calculate the first pose estimate (502) of the mobile vehicle (102) in relation to the first digital map (500), characterized by the fact that the first pose estimate (502) is received from the mapping and location system (108) configured to build the first digital map (500) and calculate the first pose estimate (502) according to a simultaneous location and mapping technique, and the second pose estimate (602) is received from a wireless location system (110) configured to calculate the second pose estimate (602) of the mobile vehicle (102) with respect to s second digital map (600) accessible from storage (312).
    [0008]
    8. Method according to claim 7, characterized by the fact that the alignment of the first and second digital maps (500, 600) includes receiving the first digital map (500) of the mapping and location system (108).
    [0009]
    9. Method according to claim 7, characterized by the fact that it additionally comprises: communicating the pose estimate in line with the mobile vehicle (102) to assist navigation (106) of the mobile vehicle (102) as it moves in. of the environment.
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    同族专利:
    公开号 | 公开日
    EP2752725A3|2017-10-04|
    EP2752725B1|2019-04-24|
    JP6433122B2|2018-12-05|
    BR102014000091A2|2015-10-06|
    AU2013251208A1|2014-07-24|
    US8880340B2|2014-11-04|
    US20140195148A1|2014-07-10|
    CA2830730C|2016-12-20|
    JP2014139780A|2014-07-31|
    EP2752725A2|2014-07-09|
    AU2013251208B2|2019-01-31|
    CN103913162A|2014-07-09|
    CN103913162B|2019-03-22|
    CA2830730A1|2014-07-04|
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    法律状态:
    2015-10-06| B03A| Publication of an application: publication of a patent application or of a certificate of addition of invention|
    2018-11-13| B06F| Objections, documents and/or translations needed after an examination request according art. 34 industrial property law|
    2020-03-31| B06U| Preliminary requirement: requests with searches performed by other patent offices: suspension of the patent application procedure|
    2020-09-08| B09A| Decision: intention to grant|
    2020-12-22| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 03/01/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US13/734,707|2013-01-04|
    US13/734,707|US8880340B2|2013-01-04|2013-01-04|Augmented mobile platform localization|
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