3885 results about "Laser rangefinder" patented technology

The invention is related to methods and apparatus that use a visual sensor and dead reckoning sensors to process Simultaneous Localization and Mapping (SLAM). These techniques can be used in robot navigation. Advantageously, such visual techniques can be used to autonomously generate and update a map. Unlike with laser rangefinders, the visual techniques are economically practical in a wide range of applications and can be used in relatively dynamic environments, such as environments in which people move. One embodiment further advantageously uses multiple particles to maintain multiple hypotheses with respect to localization and mapping. Further advantageously, one embodiment maintains the particles in a relatively computationally-efficient manner, thereby permitting the SLAM processes to be performed in software using relatively inexpensive microprocessor-based computer system.

The present invention provides a guidance, navigation, and control method and system for an underground mining vehicle that allow said vehicle to be taught a route by a human operator and then have it automatically drive the route with no human intervention. The method works in three steps: teaching, route profiling, and playback. In the teaching step the vehicle is manually driven by a operator (or using tele-operation whereby the operator views a screen displaying live views from vehicle-mounted cameras and using remote controls) along a route which can consist of an arbitrary sequence of maneuvers including tramming forwards, switching directions, tramming backwards, turning, or pausing movement. During this phase raw data from vehicle-mounted sensors including odometric sensors and rangefinders are logged to a file throughout teaching for later processing. During the (offline) route profiling step, the raw data in the log file are processed into a route profile including a vehicle path, a sequence of local metric submaps located along the path, and a profile of desired speed as a function of distance along the path. During the playback step, the vehicle automatically repeats the route that was taught during the teaching phase, as represented by the route profile. This is accomplished by first determining where the vehicle is on the route using a localization method which uses the odometric and laser rangefinder sensors and the local metric maps to determine the vehicle location. A steering control method adjusts the vehicle's steering to ensure it tracks the intended path. A drive control method adjusts the vehicle's speed accordingly and safety method ensures the vehicle stops in the event that an obstruction is on the vehicle's intended path.

An integrated digital mapping device contains a personal pen tablet computer (PC), GPS receiver, tilt meter (liquid filled or accelerometer-based), compass and laser range finder integrated into a single housing. The laser range finder is combined with a visible laser to provide convenient aiming. The device also includes a trigger to initiate a measurement cycle. In response to activation of a measurement cycle, the GPS receiver determines the precise location of the measurement device while the other components provide a measurement of tilt angle (up or down inclination pitch), azimuth, and distance an object or area of interest. The roll (left or right sideways tilt) of the tilt meter also provides information when the tablet is aligned with planar objects. The data from a measurement cycle is converted into a predetermined data format for use with the conventional digital mapping software application program operating within the PC.