Systems and methods for relative pose determination and field enforcement of materials handling vehicles using ultra-wideband radio technology
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 respectively 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.
1. A relative pose determination system comprising a first materials handling vehicle, and an ultra-wideband (UWB) anchor, the first materials handling vehicle comprising a vehicle body and a vehicle position processor, wherein:
the first materials handling vehicle is configured to navigate a vehicle transit surface in a warehouse environment;
the first materials handling vehicle comprises a first ultra-wideband (UWB) antenna array mounted to the vehicle body;
the UWB anchor comprises a second UWB antenna array mounted to fixed location within the warehouse environment; and
the vehicle position processor is configured to:
transmit a first UWB signal from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the UWB anchor;
receive the transmitted first UWB signal at the second UWB antenna array of the UWB anchor;
determine a UWB anchor set of information based on the received first UWB signal, the UWB anchor set of information comprising a first angle of arrival (θ 1 ) and first associated timing information based on the first UWB signal received at the second UWB antenna array;
determine a first distance (d 1 ) between the first materials handling vehicle and the UWB anchor vehicle based on the transmitted first UWB signal;
transmit a second UWB signal comprising the first angle of arrival (θ 1 ), the first associated timing information, and the determined first distance (d 1 ) from the second UWB antenna array of the UWB anchor to the first UWB antenna array of the first materials handling vehicle;
determine a first materials handling vehicle set of information based on the transmitted second UWB signal, the first materials handling vehicle set of information comprising a second angle of arrival (θ 2 ) and second associated timing information received at the first UWB antenna array;
determine a second distance (d 2 ) between the first materials handling vehicle and the UWB anchor based on the transmitted second UWB signal;
transmit a third UWB signal comprising the second angle of arrival (θ 2 ), the second associated timing information, and the second distance (d 2 ) from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the UWB anchor, such that the first materials handling vehicle and the UWB anchor receive mutual angle of arrival and distance information;
determine a relative pose of the first materials handling vehicle with respect to the UWB anchor based on the mutually received angle of arrival and distance information from the second UWB signal and the third UWB signal; and
operate the first materials handling vehicle based on the determined relative pose.
2. The relative pose determination system of claim 1 , wherein the determined first distance (d 1 ) is based on the first associated timing information and comprises a distance between a pair of nodes of the UWB anchor and the first materials handling vehicle.
3. The relative pose determination system of claim 1 , wherein the determined second distance (d 2 ) is based on the second associated timing information and comprises a distance between a pair of nodes of the first materials handling vehicle and the UWB anchor.
4. The relative pose determination system of claim 1 , each UWB antenna array further comprising four nodes on each of the UWB anchor and the first materials handling vehicle.
5. A relative pose determination system comprising a first materials handling vehicle comprising a first vehicle body and a first vehicle position processor, and a second materials handling vehicle comprising a second vehicle body and a second vehicle position processor, wherein:
the first and second materials handling vehicles are configured to navigate a vehicle transit surface in a warehouse environment;
the first materials handling vehicle comprises a first ultra-wideband (UWB) antenna array mounted to the first vehicle body;
the second materials handling vehicle comprises a second UWB antenna array mounted to the second vehicle body; and
each vehicle position processor is configured to:
transmit a first UWB signal from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle;
receive the transmitted first UWB signal at the second UWB antenna array of the second materials handling vehicle;
determine a second materials handling vehicle set of information based on the received first UWB signal, the second materials handling vehicle set of information comprising a first angle of arrival (θ 1 ) based on the first UWB signal received at the second UWB antenna array;
transmit a second UWB signal comprising the first angle of arrival (θ 1 ) from the second UWB antenna array of the second materials handling vehicle to the first UWB antenna array of the first materials handling vehicle;
determine a first materials handling vehicle set of information based on the transmitted second UWB signal, the first materials handling vehicle set of information comprising a second angle of arrival (θ 2 ) received at the first UWB antenna array;
transmit a third UWB signal comprising the second angle of arrival (θ 2 ) from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle, such that the first materials handling vehicle and the second materials handling vehicle receive mutual angle of arrival measured from the other vehicle;
determine a relative pose of each of the first and second materials handling vehicles with respect to each other based on the mutually received angles of arrival from the second UWB signal and the third UWB signal; and
operate at least one of the first and second materials handling vehicles based on the determined relative pose.
6. The relative pose determination system of claim 5 , each UWB antenna array further comprising four nodes on each of the second materials handling vehicle and the first materials handling vehicle.
7. The relative pose determination system of claim 6 , wherein each node of the first UWB antenna array and the second UWB antenna array comprises a UWB antenna arranged and positioned in the respective UWB antenna array and mounted on each vehicle body such that a center of the respective UWB antenna array is calibrated with respect to a center of the respective materials handling vehicle on which the respective UWB antenna array is mounted and a relative offset of each UWB antenna to the center of the respective materials handling vehicle.
8. The relative pose determination system of claim 5 , wherein the first and second UWB antenna arrays comprise one or more nodes, each node comprising a UWB antenna arranged and positioned in the respective UWB antenna array and mounted on each vehicle body such that a center of the respective UWB antenna array is calibrated with respect to a center of the respective materials handling vehicle on which the respective UWB antenna array is mounted.
9. The relative pose determination system of claim 5 , the relative pose comprising a first vehicle pose and a second vehicle pose, the first vehicle pose comprising a pose of the first materials handling vehicle relative to the second materials handling vehicle based on at least the first materials handling vehicle set of information and relative coordinates of transmitting nodes of the each UWB antenna array of each vehicle, and the second vehicle pose comprising a pose of the second materials handling vehicle relative to the first materials handling vehicle based on at least the second materials handling vehicle set of information and the relative coordinates of transmitting nodes of the each UWB antenna array of each vehicle.
10. The relative pose determination system of claim 9 , wherein the first materials handling vehicle is configured to determine the second vehicle pose comprising the pose of the second materials handling vehicle relative to the first materials handling vehicle based on the second materials handling vehicle set of information transmitted with the second UWB signal, and the second materials handling vehicle is configured to determine the first vehicle pose comprising the pose of the first materials handling vehicle relative to the second materials handling vehicle based on the first materials handling vehicle set of information transmitted with the third UWB signal.
11. The relative pose determination system of claim 9 , wherein when each of the first and second materials handling vehicles are sensed to be constrained within an aisle, each vehicle position processor is configured to independently determine an angle offset from a shared parallel structure and adjust a relative angle based on the angle offset and relative pose between the vehicles to a closest angle configured to place the vehicles in parallel.
12. A relative pose determination system comprising a first materials handling vehicle comprising a first vehicle body and a first vehicle position processor, and a second materials handling vehicle comprising a second vehicle body and a second vehicle position processor, wherein:
the first and second materials handling vehicles are configured to navigate a vehicle transit surface in a warehouse environment;
the first materials handling vehicle comprises a first ultra-wideband (UWB) antenna array mounted to the first vehicle body;
the second materials handling vehicle comprises a second UWB antenna array mounted to the second vehicle body; and
each vehicle position processor is configured to:
transmit a first UWB signal from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle;
receive the transmitted first UWB signal at the second UWB antenna array of the second materials handling vehicle;
determine a second materials handling vehicle set of information based on the received first UWB signal, the second materials handling vehicle set of information comprising first associated timing information based on the first UWB signal received at the second UWB antenna array;
determine a first distance (d 1 ) between the first materials handling vehicle and the second materials handling vehicle based on the transmitted first UWB signal;
transmit a second UWB signal comprising the first associated timing information and the determined first distance (d 1 ) from the second UWB antenna array of the second materials handling vehicle to the first UWB antenna array of the first materials handling vehicle;
determine a first materials handling vehicle set of information based on the transmitted second UWB signal, the first materials handling vehicle set of information comprising second associated timing information received at the first UWB antenna array;
determine a second distance (d 2 ) between the first materials handling vehicle and the second materials handling vehicle based on the transmitted second UWB signal;
transmit a third UWB signal comprising the second associated timing information and the second distance (d 2 ) from the first UWB antenna array of the first materials handling vehicle to the second UWB antenna array of the second materials handling vehicle, such that the first materials handling vehicle and the second materials handling vehicle receive mutual angle of arrival and distance information measured from the other vehicle;
determine a relative pose of each of the first and second materials handling vehicles with respect to each other based on the mutually received distance information from the second UWB signal and the third UWB signal; and
operate at least one of the first and second materials handling vehicles based on the determined relative pose.
13. The relative pose determination system of claim 12 , wherein the determined first distance (d 1 ) is based on the first associated timing information and comprises a distance between a pair of nodes of the second materials handling vehicle and the first materials handling vehicle.
14. The relative pose determination system of claim 12 , wherein the determined second distance (d 2 ) is based on the second associated timing information and comprises a distance between a pair of nodes of the first materials handling vehicle and the second materials handling vehicle.
15. The relative pose determination system of claim 12 , each UWB antenna array further comprising four nodes on each of the second materials handling vehicle and the first materials handling vehicle.
16. The relative pose determination system of claim 15 , wherein each node of the first UWB antenna array and the second UWB antenna array comprises a UWB antenna arranged and positioned in the respective UWB antenna array and mounted on each vehicle body such that a center of the respective UWB antenna array is calibrated with respect to a center of the respective materials handling vehicle on which the respective UWB antenna array is mounted and a relative offset of each UWB antenna to the center of the respective materials handling vehicle.
17. The relative pose determination system of claim 12 , wherein the first and second UWB antenna arrays comprise one or more nodes, each node comprising a UWB antenna arranged and positioned in the respective UWB antenna array and mounted on each vehicle body such that a center of the respective UWB antenna array is calibrated with respect to a center of the respective materials handling vehicle on which the respective UWB antenna array is mounted.
18. The relative pose determination system of claim 12 , the relative pose comprising a first vehicle pose and a second vehicle pose, the first vehicle pose comprising a pose of the first materials handling vehicle relative to the second materials handling vehicle based on at least the first materials handling vehicle set of information and relative coordinates of transmitting nodes of the each UWB antenna array of each vehicle, and the second vehicle pose comprising a pose of the second materials handling vehicle relative to the first materials handling vehicle based on at least the second materials handling vehicle set of information and the relative coordinates of transmitting nodes of the each UWB antenna array of each vehicle.
19. The relative pose determination system of claim 18 , wherein the first materials handling vehicle is configured to determine the second vehicle pose comprising the pose of the second materials handling vehicle relative to the first materials handling vehicle based on the second materials handling vehicle set of information transmitted with the second UWB signal, and the second materials handling vehicle is configured to determine the first vehicle pose comprising the pose of the first materials handling vehicle relative to the second materials handling vehicle based on the first materials handling vehicle set of information transmitted with the third UWB signal.
20. The relative pose determination system of claim 18 , wherein when each of the first and second materials handling vehicles are sensed to be constrained within an aisle, each vehicle position processor is configured to independently determine an angle offset from a shared parallel structure and adjust a relative angle based on the angle offset and relative pose between the vehicles to a closest angle configured to place the vehicles in parallel.