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101.发明授权公开(公告)号：US11906961B2
公开(公告)日：2024-02-20
申请号：US17220111
申请日：2021-04-01
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Kareem Shehata , Prasenjit Mukherjee , Anthony Tod , Teyvonia Thomas , Yan Ma
CPC classification number: G05D1/0011 , G05D1/024 , G05D1/0246 , G05D2201/0216
Abstract: Systems and methods of unmanned vehicles having self-calibrating sensors and actuators are provided. The unmanned vehicle comprises a communication interface and a processor for controlling a propulsion system of the vehicle and receiving sensor data from one or more sensors of the vehicle. The processor is configured to operate in a guided calibration mode by controlling the propulsion system according to commands received from an external guided control system, while processing the sensor data to determine a degree of certainty on a calibration the sensor data and a position of the vehicle. The processor determines that the degree of certainty is above a threshold value associated with safe operation of the propulsion system in an autonomous calibration mode, and subsequently switch operation of the propulsion system to the autonomous calibration mode based on the determination that the degree of certainty is above the threshold value.
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公开(公告)号：US11898849B2
公开(公告)日：2024-02-13
申请号：US18066629
申请日：2022-12-15
Applicant: Clearpath Robotics Inc.
Inventor： James Dustin Servos , Ryan Christopher Gariepy
CPC classification number: G01C21/206 , G01C21/32 , G01C21/3837 , G05D1/0246 , G06V20/56 , G05D1/0274
Abstract: Systems and methods for updating an electronic map of a facility are disclosed. The electronic map includes a set of map nodes. Each map node has a stored image data associated with a position within the facility. The method includes collecting image data at a current position of a self-driving material-transport vehicle; searching the electronic map for at least one of a map node associated with the current position and one or more neighboring map nodes within a neighbor threshold to the current position; comparing the collected image data with the stored image data of the at least one of the map node and the one or more neighboring map nodes to determine a dissimilarity level. The electronic map may be updated based at least on the collected image data and the dissimilarity level. The image data represents one or more features observable from the current position.
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公开(公告)号：US20240044652A1
公开(公告)日：2024-02-08
申请号：US18450655
申请日：2023-08-16
Applicant: Clearpath Robotics Inc.
Inventor： James Dustin SERVOS , Ryan Christopher GARIEPY
CPC classification number: G01C21/206 , G05D1/0246 , G01C21/3837 , G06V20/56 , G01C21/32 , G05D1/0274
Abstract: Systems and methods for updating an electronic map of a facility are disclosed. The electronic map includes a set of map nodes. Each map node has a stored image data associated with a position within the facility. The method includes collecting image data at a current position of a self-driving material-transport vehicle; searching the electronic map for at least one of a map node associated with the current position and one or more neighboring map nodes within a neighbor threshold to the current position; comparing the collected image data with the stored image data of the at least one of the map node and the one or more neighboring map nodes to determine a dissimilarity level. The electronic map may be updated based at least on the collected image data and the dissimilarity level. The image data represents one or more features observable from the current position.
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公开(公告)号：US20230393587A1
公开(公告)日：2023-12-07
申请号：US18316724
申请日：2023-05-12
Applicant: CLEARPATH ROBOTICS INC.
Inventor： Ryan Christopher GARIEPY , Andrew DOBSON , Nir RIKOVITCH , William John Alexander TORRENS , Roydyn CLAYTON
IPC: G05D1/02 , G05B19/418
CPC classification number: G05D1/0291 , G05B19/41895 , G05D1/0297 , G05D2201/0216 , G05B2219/50393 , Y02P90/02
Abstract: Systems and methods for flexible conveyance in an assembly-line or manufacturing process are disclosed. A fleet of self-driving vehicles and a fleet-management system can be used to convey workpieces through a sequence of workstations at which operations are performed in order to produce a finished assembly. An assembly can be transported to a first workstation using a self-driving vehicle, where an operation is performed on the assembly. Subsequently, the assembly can be transported to a second workstation using the self-driving vehicle. The operation can be performed on the assembly while it is being conveyed by the self-driving vehicle.
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公开(公告)号：US20230194267A1
公开(公告)日：2023-06-22
申请号：US18066629
申请日：2022-12-15
Applicant: Clearpath Robotics Inc.
Inventor： James Dustin SERVOS , Ryan Christopher GARIEPY
CPC classification number: G01C21/206 , G05D1/0246 , G01C21/3837 , G06V20/56 , G01C21/32 , G05D1/0274
Abstract: Systems and methods for updating an electronic map of a facility are disclosed. The electronic map includes a set of map nodes. Each map node has a stored image data associated with a position within the facility. The method includes collecting image data at a current position of a self-driving material-transport vehicle; searching the electronic map for at least one of a map node associated with the current position and one or more neighboring map nodes within a neighbor threshold to the current position; comparing the collected image data with the stored image data of the at least one of the map node and the one or more neighboring map nodes to determine a dissimilarity level. The electronic map may be updated based at least on the collected image data and the dissimilarity level. The image data represents one or more features observable from the current position.
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Patent Agency Ranking
公开(公告)号：US11556136B2
公开(公告)日：2023-01-17
申请号：US17153133
申请日：2021-01-20
Applicant: CLEARPATH ROBOTICS INC.
Inventor： Ryan Christopher Gariepy , Andrew Dobson , Nir Rikovitch , William John Alexander Torrens , Roydyn Clayton
IPC: G05D1/02 , G05B19/418
Abstract: Systems and methods for flexible conveyance in an assembly-line or manufacturing process are disclosed. A fleet of self-driving vehicles and a fleet-management system can be used to convey workpieces through a sequence of workstations at which operations are performed in order to produce a finished assembly. An assembly can be transported to a first workstation using a self-driving vehicle, where an operation is performed on the assembly. Subsequently, the assembly can be transported to a second workstation using the self-driving vehicle. The operation can be performed on the assembly while it is being conveyed by the self-driving vehicle.
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公开(公告)号：US11520333B1
公开(公告)日：2022-12-06
申请号：US17835420
申请日：2022-06-08
Applicant: Clearpath Robotics Inc.
Inventor： Simon Drexler , Ryan Christopher Gariepy
Abstract: Systems and methods for operating robotic equipment in a controlled zone are presented. The system comprises one or more self-driving material-transport vehicles having at least one sensor, non-transitory computer-readable media, and a processor in communication with the at least one sensor and media. The media stores computer instructions that configure the processor to move the vehicle towards the controlled zone in a normal mode of operation, capture environmental data associated with the controlled zone using the at least one sensor, determine environmental-change data based on comparing the captured environmental data with known-good environmental data, and operating the vehicle in a safe mode of operation based on the environmental-change data.
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108.发明授权公开(公告)号：US11422569B2
公开(公告)日：2022-08-23
申请号：US16118590
申请日：2018-08-31
Applicant: Clearpath Robotics Inc.
Inventor： Utsav Pardasani , Daniel Cantor , David William Bergsma , Kenneth James Sherk , Matthew Kingston Bedard , Matthew Allen Rendall , Ryan Christopher Gariepy
IPC: G05D1/02 , G05D1/00 , G05B19/418
Abstract: Systems and methods for generating a mission for a self-driving material-transport vehicle are presented. The system comprises at least one self-driving material-transport vehicle, at least one programmable logic controller, at least one field instrument, and at least one non-transitory computer-readable medium in communication with at least one processor. An application signal is received from the programmable logic controller based on an activation signal from the field instrument. A mission is generated by the application signal and a mission template, and the mission is transmitted to the self-driving material-transport vehicle. In some cases, the application signal may be based on OPC-UA, and the mission and/or mission template may be based on a REST protocol.
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公开(公告)号：US20220194441A1
公开(公告)日：2022-06-23
申请号：US17540362
申请日：2021-12-02
Applicant: CLEARPATH ROBOTICS INC.
Inventor： Ryan Christopher Gariepy , Alex Bencz , Yan Ma , Michael Irvine , Shahab Kaynama , James Servos , Peiyi Chen
Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor;
and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.-
公开(公告)号：US20220073062A1
公开(公告)日：2022-03-10
申请号：US17470087
申请日：2021-09-09
Applicant: CLEARPATH ROBOTICS INC.
Inventor： Ryan Christopher Gariepy , Yvan Geoffrey Rodrigues , Matthew Lord , Ivor Wanders , Jason Mercer , James Servos , Roydyn Clayton
IPC: B60W30/09 , B60W30/165
Abstract: The various embodiments described herein generally relate to systems and methods for operating one or more self-driving vehicles. In some embodiments, the self-driving vehicles may include a vehicle processor being operable to: control the vehicle to navigate an operating environment in an initial vehicle navigation mode; monitor for one or more trigger conditions indicating a possible change for the vehicle navigation mode; detect a trigger condition; determine a prospective vehicle navigation mode associated with the detected trigger condition; determine whether to change from the initial vehicle navigation mode to the prospective vehicle navigation mode; and in response to determining to change from the initial vehicle navigation mode to the prospective vehicle navigation mode, adjust one or more vehicle attributes corresponding to the prospective vehicle navigation mode, otherwise continue to operate the vehicle in the initial vehicle navigation mode.
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