Abstract: An apparatus and method for tracking the location of one or more assets, comprising an integrated system that identifies an asset, determines the time the asset is acquired by a conveying vehicle, determines the position, elevation and orientation of the asset at the moment it is acquired, determines the time the asset is deposited by the conveying vehicle, and determines the position, elevation and orientation of the asset at the time the asset is deposited, each position, elevation and orientation being relative to a reference plane. Mobile subsystems, each on a conveying vehicle, identify the location and orientation of that conveying vehicle using an optical position sensor unit viewing an array of optical position markers, determine the identity of the asset from a label, confirm acquisition of the asset, determine the elevation of the asset relative to the reference plane and communicate the tracking information to a fixed-base subsystem.

Abstract: Methods and apparatus for determining the location of one or more unit loads in a coordinate space in a facility, comprising an integrated system that identifies a load by reading indicia on the load, determines the position of the indicia in the coordinate space, and stores the indicia position and load identity in a Label Map. A mobile subsystem on each conveying vehicle identifies the location and orientation of that vehicle using a position/orientation sensor, determines the identity of the load, establishes a Target Cube to discriminate the desired load from nearby loads, confirms acquisition of the load, and communicates the information to a fixed-base subsystem. Load identity and the location and orientation of the vehicle when a load is deposited are used to create a Load Map that contains the identity, position and orientation of all identified loads in the coordinate space.

Abstract: A method and apparatus for managing manned and automated utility vehicles, and for picking up and delivering objects by automated vehicles. A machine vision image acquisition apparatus determines the position and the rotational orientation of vehicles in a predefined coordinate space by acquiring an image of one or more position markers and processing the acquired image to calculate the vehicle's position and rotational orientation based on processed image data. The position of the vehicle is determined in two dimensions. Rotational orientation (heading) is determined in the plane of motion. An improved method of position and rotational orientation is presented. Based upon the determined position and rotational orientation of the vehicles stored in a map of the coordinate space, a vehicle controller, implemented as part of a computer, controls the automated vehicles through motion and steering commands, and communicates with the manned vehicle operators by transmitting control messages to each operator.

Abstract: Methods and apparatus for tracking the location of one or more unit loads in a coordinate space in a facility, comprising an integrated system that identifies a load by communicating with a host computer, determines the position of the load in the coordinate space, and stores the position and load identity in a Load Map. A mobile subsystem on each conveying vehicle identifies the location and orientation of that vehicle using a position/orientation sensor, confirms acquisition of the load, and communicates the information to a fixed-base subsystem when the load is deposited on an automated conveying device. A conveyor controller tracks the load as it is conveyed on the automated conveying device and identifies the load to a subsequent conveying vehicle based upon its position on the conveying device. Loads that are not initially identified are assigned a pseudo-identification for tracking until they can be positively identified.

Abstract: An apparatus for marking predetermined known overhead positional locations within a coordinate space, for viewing by an image acquisition system. The apparatus comprises a plurality of marker tags, grouped in one or more rows, each row having an axis, each row being supported by a row support. Each marker tag comprises an optically opaque, dark colored corrugated substrate, substantially rectangular in shape. A label having a unique machine-readable barcode symbology printed thereon is positioned centrally on the substrate so that a dark colored border of the substrate surrounds the label. Each row support comprises a first support cord and a second support cord. The first support cord supports a first lateral edge of the marker tags in a row group in a fixed, spaced-apart positional arrangement. The second support cord supports the second lateral edge of the marker tags in the row in a slidable support arrangement.

Abstract: A method and apparatus for determining position and rotational orientation of an object within a predetermined area is disclosed. Position markers, encoded with their identity, are viewed with a camera, images are captured and processed, and the position and rotational orientation of the object are calculated. Three embodiments are disclosed; the first having a camera mounted on the movable object while position markers bearing linear bar codes are fixed in location, the second having a camera mounted on the movable object while position markers bearing two-dimensional bar codes are fixed in location, and the third having a position marker of either type affixed to the object while the camera is fixed in location.

Abstract: Methods and apparatus for determining the location of one or more unit loads in a coordinate space in a facility, comprising an integrated system that identifies a load by reading indicia on the load, determines the position of the indicia in the coordinate space, and stores the indicia position and load identity in a Label Map. A mobile subsystem on each conveying vehicle identifies the location and orientation of that vehicle using a position/orientation sensor, determines the identity of the load, establishes a Target Cube to discriminate the desired load from nearby loads, confirms acquisition of the load, and communicates the information to a fixed-base subsystem. Load identity and the location and orientation of the vehicle when a load is deposited are used to create a Load Map that contains the identity, position and orientation of all identified loads in the coordinate space.

Abstract: A method and apparatus for determining position and rotational orientation of an object within a predetermined area is disclosed. Position markers, encoded with their identity, are viewed with a camera, images are captured and processed, and the position and rotational orientation of the object are calculated. Three embodiments are disclosed; the first having a camera mounted on the movable object while position markers bearing linear bar codes are fixed in location, the second having a camera mounted on the movable object while position markers bearing two-dimensional bar codes are fixed in location, and the third having a position marker of either type affixed to the object while the camera is fixed in location.