公开(公告)号：US20190265704A1

公开(公告)日：2019-08-29

申请号：US16290380

申请日：2019-03-01

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Ryan Christopher Gariepy ,  Alex Bencz ,  Andrew Clifford Blakey ,  Shahab Kaynama ,  James Servos

IPC: G05D1/00 ,  B66F9/06 ,  G05D1/02 ,  G01C21/34

Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.

公开(公告)号：US10241515B2

公开(公告)日：2019-03-26

申请号：US15167002

申请日：2016-05-27

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Ryan Christopher Gariepy ,  Alex Bencz ,  Andrew Clifford Blakey ,  Shahab Kaynama ,  James Servos

IPC: G05D1/00 ,  G01C21/34 ,  G05D1/02 ,  B66F9/06

Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.

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

IPC: G05D1/02 ,  G05D1/00

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.

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

IPC: B61L3/00 ,  G05D1/00 ,  B61L15/00

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.

公开(公告)号：US09606544B2

公开(公告)日：2017-03-28

申请号：US14927930

申请日：2015-10-30

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Ryan Christopher Gariepy ,  Alex Bencz

IPC: G05D1/00 ,  G06F19/00 ,  B65G1/00 ,  G05D1/02

CPC classification number: G05D1/0297 ,  G05D2201/0216

Abstract: A system for controlling a fleet of unmanned vehicles includes a plurality of unmanned vehicles connected to a computing device. The computing device stores a dynamic attribute and a static attribute respective to each of the plurality of unmanned vehicles. The computing device is configured to: receive a task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action; responsive to receiving the request, retrieve the stored dynamic attributes and static attributes; based on a comparison of the task request with the dynamic attributes and the static attributes, select one of the plurality of unmanned vehicles; and transmit, via the network, a command to the selected unmanned vehicle to perform the action respective to the item at the location.