David C Emanuel

US Patent:

8196835, Jun 12, 2012

Filed:

Dec 6, 2010

Appl. No.:

12/960728

Inventors:

David C. Emanuel - Newark DE, US
Larry G. Mahan - Newark DE, US
Richard H. Ungerbuehler - Middletown DE, US

Assignee:

Sky-Trax, Inc. - New Castle DE

International Classification:

G06K 7/10

US Classification:

23546208, 23547201

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.

US Patent:

8346468, Jan 1, 2013

Filed:

Jul 7, 2009

Appl. No.:

12/459728

Inventors:

David C. Emanuel - Newark DE, US
Robert S. Kunzig - Aston PA, US
Robert M. Taylor - Newark DE, US

Assignee:

Sky-Trax Incorporated - New Castle DE

International Classification:

G06F 17/10
G08G 1/16

US Classification:

701301, 701117, 701119, 235462, 340901

Abstract:

A method and apparatus for avoiding collisions of moving vehicles in an environment that utilizes a position and rotational orientation system to track vehicle locations within a preconfigured operational zone, the method comprising using position tracking data to calculate a predicted trajectory and safety zone of each vehicle for a predetermined prediction time period and determining potential areas of intersection with vehicles to predict collisions.

US Patent:

8381982, Feb 26, 2013

Filed:

Sep 2, 2010

Appl. No.:

12/807325

Inventors:

Robert S. Kunzig - Aston PA, US
Robert M. Taylor - Newark DE, US
David C. Emanuel - Newark DE, US
Leonard J. Maxwell - North East MD, US

Assignee:

Sky-Trax, Inc. - New Castle DE

International Classification:

G06K 7/10

US Classification:

23546208, 23547203

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.

US Patent:

8565913, Oct 22, 2013

Filed:

Jan 26, 2009

Appl. No.:

12/321836

Inventors:

David C. Emanuel - Newark DE, US
Larry G. Mahan - Newark DE, US
Richard H. Ungerbuehler - Middletown DE, US

Assignee:

Sky-Trax, Inc. - New Castle DE

International Classification:

G06F 19/00

US Classification:

700229, 700216, 700225, 600246, 3405721, 701 1

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.

US Patent:

20060184013, Aug 17, 2006

Filed:

Dec 3, 2005

Appl. No.:

11/292463

Inventors:

David Emanuel - Newark DE, US
Larry Mahan - Newark DE, US
Richard Ungerbuehler - Middletown DE, US

Assignee:

Sky-Trax Incorporated - New Castle DE

International Classification:

A61B 5/05

US Classification:

600426000

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.