公开(公告)号：US20170080846A1

公开(公告)日：2017-03-23

申请号：US15257233

申请日：2016-09-06

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Matthew Lord ,  Roydyn Clayton ,  Michael Irvine ,  Ryan Christopher Gariepy

IPC: B60P9/00 ,  B62D21/11 ,  B60G17/015 ,  B62D11/02 ,  B60K17/00 ,  B60K7/00 ,  G05D1/00 ,  G05D1/02 ,  B60G5/04 ,  B60B33/00

CPC classification number: B60K7/00 ,  B60B35/006 ,  B60K7/0007 ,  B60K17/00 ,  B60K2007/0046 ,  B60K2007/0092 ,  B60Y2200/62 ,  B62D61/10 ,  B62D61/12 ,  B66F9/063

Abstract: A mobile platform for materials transport is provided. The platform includes a pair of suspension devices that in turn include a pair of rocker beams which can be rotated between two positions: a first position where central wheels attached thereto can be used to drive the platform; and a second position where the central wheels are retracted and the platform can be rolled on end wheels without the friction of the central wheels, and an associated drive system, impeding movement of the platform. Furthermore, data from sensors and/or load cells can be used to control movement of the platform; specifically, shifts in load distribution and/or sensed forces at the suspension devices can indicate that a load (and/or materials) has shifted and/or is shifting and movement of the platform is adjusted accordingly, for example to prevent the platform and/or the load (and/or materials) from tipping.

公开(公告)号：US12172319B2

公开(公告)日：2024-12-24

申请号：US18534005

申请日：2023-12-08

Applicant: Clearpath Robotics Inc.

Inventor： Daniel Cantor ,  Ryan Christopher Gariepy ,  Roydyn Clayton ,  Yvan Geoffrey Rodrigues ,  Anthony William Tod ,  Bryce William Vondervoort

IPC: B25J9/16 ,  B25J5/00 ,  G05B15/00 ,  G05B15/02 ,  G05D1/00 ,  G05D1/43

Abstract: Systems and methods for process tending with a robot arm are presented. The system comprises a robot arm and robot arm control system mounted on a self-driving vehicle, and a server in communication with the vehicle and/or robot arm control system. The vehicle has a vehicle control system for storing a map and receiving a waypoint based on a process location provided by the server. The robot arm control system stores at programs that is executable by the robot arm. The vehicle control system autonomously navigates the vehicle to the waypoint based on the map, and the robot arm control system selects a target program from the stored programs based on the process location and/or a process identifier.

公开(公告)号：US20240094737A1

公开(公告)日：2024-03-21

申请号：US18462060

申请日：2023-09-06

Applicant: Clearpath Robotics Inc.

Inventor： Jason MERCER ,  Ivor Wanders ,  Ryan Christopher Gariepy ,  Peiyi Chen ,  Krispin Alexander Davies ,  Farwa Khan

IPC: G05D1/02

CPC classification number: G05D1/0223 ,  G05D1/0214 ,  G05D1/0225 ,  G05D2201/0216

Abstract: Systems and methods for operating a mobile robot is disclosed. The system can include a processor and a plurality of sensors mounted on the mobile robot. The method includes operating the mobile robot to autonomously navigate along a trajectory. While the mobile robot autonomously navigates along the trajectory, the method involves operating the processor to: monitor an angular velocity and a linear velocity of the mobile robot; determine one or more critical sensor regions defined with reference to the mobile robot based at least on the angular velocity and the linear velocity of the mobile robot; and adapt the operation of the plurality of sensors to prioritize capture of sensor data within the one or more critical sensor regions. Each sensor can be operable to capture the sensor data for an adjustable detection region defined with respect to the sensor and the mobile robot.

公开(公告)号：US11796999B2

公开(公告)日：2023-10-24

申请号：US17400433

申请日：2021-08-12

Applicant: Clearpath Robotics Inc.

Inventor： Anthony William Tod ,  Ryan Christopher Gariepy

IPC: H04N7/18 ,  G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0038 ,  G05D1/0016 ,  G05D1/0291 ,  H04N7/183

Abstract: Systems and methods for monitoring a self-driving vehicle are presented. The system comprises a camera, a processor, a communications transceiver, a computer-readable medium, and a display device. The processor can be configured to receive an image of a self-driving vehicle from the camera, and vehicle information from the self-driving vehicle. A graphic comprising the image of the self-driving vehicle and a visual representation of the vehicle information is then displayed on the display device. The vehicle information may comprise any or all of vehicle-status information, vehicle-mission information, vehicle-metric information, and vehicle-environment information.

公开(公告)号：US11687096B1

公开(公告)日：2023-06-27

申请号：US18079442

申请日：2022-12-12

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 ,  G05B2219/50393 ,  G05D2201/0216 ,  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.

公开(公告)号：US11555704B2

公开(公告)日：2023-01-17

申请号：US16185077

申请日：2018-11-09

Applicant: Clearpath Robotics Inc.

Inventor： James Dustin Servos ,  Ryan Christopher Gariepy

IPC: G01C21/20 ,  G05D1/02 ,  G01C21/00 ,  G06V20/56 ,  G01C21/32

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.

公开(公告)号：US11256270B2

公开(公告)日：2022-02-22

申请号：US16268555

申请日：2019-02-06

Applicant: Clearpath Robotics Inc.

Inventor： Smriti Chopra ,  Ryan Christopher Gariepy ,  Shahab Kaynama ,  Pavel Bovbel ,  Andrei Petru Ionescu ,  Jason Mercer

IPC: G05D1/02 ,  G07C5/00 ,  H04W4/46 ,  H04W4/44 ,  H04W4/02 ,  H04L67/12

Abstract: Systems and methods for providing inter-vehicle communication are disclosed. The method includes receiving, at a fleet management system, operating data from one or more self-driving vehicles via a communication network, and operating the fleet management system to determine a characteristic of a set of vehicles of one or more self-driving vehicles satisfies at least one communication condition. In response to determining the set of vehicles satisfies the at least one communication condition, the fleet management system can operate to select a stored data portion from a manager storage unit based at least on the characteristic of the set of vehicles; and transmit the data portion to the set of vehicles via the communication network. A method of providing inter-vehicle communication between one or more self-driving vehicles is also disclosed.

公开(公告)号：US11235778B2

公开(公告)日：2022-02-01

申请号：US16253308

申请日：2019-01-22

Applicant: Clearpath Robotics Inc.

Inventor： Anthony William Tod ,  David Andrew Brown ,  Guillaume Autran ,  Ryan Christopher Gariepy ,  Bryan Webb ,  Matthew Allen Rendall

IPC: B60W50/02 ,  G05D1/02 ,  G05D1/00 ,  G07C5/00 ,  G07C5/08

Abstract: Systems and methods for monitoring a fleet of self-driving vehicles are disclosed. The system comprises one or more self-driving vehicles having at least one sensor for collecting current state information, a fleet-management system, and computer-readable media for storing reference data. The method comprises autonomously navigating a self-driving vehicle in an environment, collecting current state information using the vehicle's sensor, comparing the current state information with the reference data, identifying outlier data in the current state information, and generating an alert based on the outlier data. A notification based on the alert may be sent to one or more monitoring devices according to the type and severity of the outlier.

公开(公告)号：US11200760B2

公开(公告)日：2021-12-14

申请号：US16253305

申请日：2019-01-22

Applicant: Clearpath Robotics Inc.

Inventor： David Andrew Brown ,  Anthony William Tod ,  Guillaume Autran ,  Roydyn Clayton ,  Ryan Christopher Gariepy

IPC: G07C5/00 ,  G05D1/00 ,  G05D1/02 ,  G07C5/08

Abstract: Systems and methods for measuring a fleet of self-driving vehicles are disclosed. The system comprises one or more self-driving vehicles, non-transitory computer-readable media in communication with the vehicles, a fleet-management system in communication with the media and vehicles, and a server in communication with the media. The fleet-management system is configured to store vehicle status records comprising a vehicle status pertaining to each of the one or more vehicles, and a timestamp in a vehicle status log on the media. The server has a processor that is configured to generate a fleet-performance report based on the vehicle status log.

公开(公告)号：US20210382500A1

公开(公告)日：2021-12-09

申请号：US17325298

申请日：2021-05-20

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Matthew Allen Rendall ,  Simon Drexler ,  Roydyn Clayton ,  Shahab Kaynama

IPC: G05D1/02 ,  G05B19/418 ,  B66F9/075

Abstract: There is provided a driver-support system for use with a human-operated material-transport vehicle, and methods for using the same. The system has at least one sensor, a human-vehicle interface, and a transceiver for communicating with a fleet-management system. The system also has a processor that is configured to provide a mapping application and a localization application based on information received from the sensor. The mapping application and localization application may be provided in a single localization-and-mapping (“SLAM”) application, which may obtain input from the sensor, for example, when the sensor is an optical sensor such as a LiDAR or video camera.