Systems and methods for relative pose determination and field enforcement of materials handling vehicles using ultra-wideband radio technology
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Solution Overview
Problem
Existing systems for managing materials handling vehicles in industrial environments lack effective methods for determining relative pose and enforcing field boundaries, which can lead to collisions and inefficient navigation.
Innovation Solution
Implementing ultra-wideband (UWB) radio technology with antenna arrays on materials handling vehicles to transmit and receive signals, determining relative pose and overlapping fields, and enforcing virtual fields to prevent collisions and optimize navigation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional localization systems are used for materials handling vehicles, then the system complexity is low, but the measurement precision of relative pose is insufficient leading to collision risks
Solution Approach 1:
The patent replaces traditional mechanical or simple electronic localization systems with ultra-wideband (UWB) radio technology. The UWB system uses radio waves to determine relative pose between vehicles, achieving high measurement precision without complex mechanical sensors. The vehicular processors calculate relative position and orientation based on UWB signal time of flight and angle of arrival, substituting physical measurement mechanisms with electromagnetic wave-based detection.
Solution Approach 2:
The patent introduces UWB signals as an intermediary medium to enable precise relative pose determination between materials handling vehicles. The UWB radio waves serve as the mediator that carries information about vehicle positions and orientations, allowing processors to calculate accurate relative pose data without direct physical contact or complex sensor arrays on each vehicle.
2Reliability
If no field enforcement system is implemented, then the device complexity is low, but the safety of vehicle operation deteriorates due to collision risks
Solution Approach 1:
The patent implements preliminary action by establishing virtual fields around each materials handling vehicle before collisions can occur. The vehicular processors continuously calculate and enforce these virtual field boundaries based on real-time relative pose data from UWB signals. When another vehicle approaches the virtual field boundary, the system proactively generates control signals to prevent intrusion, rather than reacting after a collision risk is already present.
Solution Approach 2:
The patent employs feedback mechanisms where the virtual field enforcement system continuously monitors the relative positions of vehicles and adjusts control signals accordingly. The vehicular processors receive ongoing UWB signals, recalculate relative pose, update virtual field boundaries, and generate real-time control signals to maintain safe distances. This closed-loop feedback ensures continuous safety enforcement as vehicles move dynamically through the industrial environment.
3Measurement precision
If UWB technology with antenna arrays is implemented for relative pose determination, then the measurement precision improves, but the device complexity increases due to multiple antennas and signal processing
Solution Approach 1:
The patent applies multi-functionality by using the same UWB antenna array for multiple purposes: determining relative position, relative orientation, and enabling virtual field enforcement. The vehicular processors extract various parameters (time of flight, angle of arrival) from the UWB signals to simultaneously achieve different measurement goals, reducing the need for separate sensor systems for each function.
Solution Approach 2:
The patent merges the functions of multiple sensors into a single integrated UWB system. Instead of using separate devices for position detection, orientation detection, and collision avoidance, the system combines these functions into one UWB radio technology platform. The antenna arrays and vehicular processors work together to provide comprehensive relative pose determination and field enforcement in a unified system architecture.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enhances the safety and efficiency of materials handling vehicles by accurately determining their relative positions and enforcing virtual fields, reducing collisions and improving navigation in industrial environments.
Implementation Method 1
determine a relative pose of a materials handling vehicle with respect to the materials handling vehicle based on UWB signals transmitted from multi-antenna arrays on each of the materials handling vehicles
Data Source
AI summary
According to the embodiments described herein, system and methods for determining relative pose of materials handling vehicles in an industrial environment may include utilizing ultra-wideband (UWB) antenna array systems respective mounted on the materials handling vehicles to send mutually received information to determine the relative pose between the vehicles, determining one or more fields of each materials handling vehicle, and determining one or more overlapping fields between the materials handling vehicles based on the determined one or more fields and the relative pose. A vehicle control may be implemented based on the determined relative pose and the overlapping fields as a field enforcement, such as a control action to avoid collision between the vehicles.