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公开(公告)号：US10990093B2
公开(公告)日：2021-04-27
申请号：US16011760
申请日：2018-06-19
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Kareem Shehata , Prasenjit Mukherjee , Anthony Tod , Teyvonia Thomas , Yan Ma
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：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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Patent Agency Ranking
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：US10814891B2
公开(公告)日：2020-10-27
申请号：US15906654
申请日：2018-02-27
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Alex Bencz , Yan Ma , Michael Irvine , Shahab Kaynama , James Servos , Peiyi Chen
Abstract: Systems and methods for obstacle avoidance with a self-driving vehicle are provided. The system comprises a processor connected to the self-driving vehicle and a sensor in communication with the processor. The sensor is configured to detect objects. The processor is configured to receive a measurement of the self-driving vehicle's speed, and define a sensor region based on the speed. The processor can determine that an object detected by the sensor is within the sensor region, and then initiate a fail-safe routine. The sensor region may be defined based on a range parameter. The sensor region may be defined based on the stopping distance of the vehicle. The sensor region may be redefined when the vehicle's speed changes.
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公开(公告)号：US20200225664A1
公开(公告)日：2020-07-16
申请号：US16248944
申请日：2019-01-16
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
Abstract: A system, method and apparatus for executing tasks with unmanned vehicles is provided. The system includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing feature reference data; a communication interface; and a processor configured to: receive, using the interface, a command having task data and a location associated with a given feature; control the propulsion system to move the chassis to the location; while the chassis is moving to the location, determine, using the sensor(s), that the given feature is detected based on the feature reference data; and, responsive to the given feature being detected, control the propulsion system to execute a task based on the task data.
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公开(公告)号：US10191494B2
公开(公告)日：2019-01-29
申请号：US15827391
申请日：2017-11-30
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
Abstract: A system, method and apparatus for implementation of variable references frames in unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing a global reference frame associated with an environment within which the chassis is to move; a communication interface; and a processor configured to: receive, using the interface, a command to move to a given coordinate in the global reference frame; control the propulsion system to move the chassis to the given coordinate; when the chassis is at the given coordinate, determine, using the sensor(s), that a given feature is detected; and, when so: automatically cease controlling the propulsion system according to the global reference frame; automatically move the chassis according to a local reference frame defined with reference to a point associated with the given feature.
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公开(公告)号：US09963155B2
公开(公告)日：2018-05-08
申请号：US15164280
申请日：2016-05-25
Applicant: CLEARPATH ROBOTICS, INC.
Inventor： Ryan Christopher Gariepy , Alex Bencz , Yan Ma , Michael Irvine , Shahab Kaynama , James Servos , Peiyi Chen
CPC classification number: B61L3/006 , B61L3/008 , B61L15/0072 , G05D1/0066 , G05D1/0088 , G05D1/0238 , G05D2201/0212
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.
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