US 12,306,620 B2
Object handling in an absolute coordinate system
Péter Hága, Budapest (HU); Zsófia Kallus, Budapest (HU); and Zsolt Kenesi, Budapest (HU)
Assigned to Telefonaktiebolaget LM Ericsson (publ), Stockholm (SE)
Appl. No. 17/772,668
Filed by Telefonaktiebolaget LM Ericsson (PUBL), Stockholm (SE)
PCT Filed Oct. 31, 2019, PCT No. PCT/EP2019/079903
§ 371(c)(1), (2) Date Apr. 28, 2022,
PCT Pub. No. WO2021/083529, PCT Pub. Date May 6, 2021.
Prior Publication US 2022/0390931 A1, Dec. 8, 2022
Int. Cl. G05B 19/00 (2006.01); G01C 21/20 (2006.01); G05B 19/418 (2006.01)
CPC G05B 19/41895 (2013.01) [G01C 21/206 (2013.01); G05B 2219/31286 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling a handling of a further object which is handled at a site by at least two different workstations and which is moved between the at least two different workstations,
determining a site plan of the site, the site plan indicating the at least two workstations at predefined positions in the site plan,
determining a trajectory of a first object moving in the site in an absolute coordinate system of the site,
deducing absolute positions of the at least two workstations in the absolute coordinate system from the determined trajectory of the first object,
using the absolute positions of the at least two workstations for controlling the handling of the at least one further object handled by the at least two workstations,
wherein a conveyer is provided to move the first object from one of the at least two workstations to another of the at least two workstations, wherein determining a trajectory comprises determining an absolute conveyor trajectory comprising positions of the first object moving between the two workstations in the absolute coordinate system and comprises determining an absolute workstation trajectory for each of the at least two workstations comprising positions of the first object during manipulation at the corresponding workstation in the absolute coordinate system, wherein the conveyer trajectory and the absolute workstation trajectory are used for controlling the handling of the at least one further object.