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    VARIABLE REFERENCE FRAMES IN UNMANNED VEHICLES
    53.
    发明申请
    VARIABLE REFERENCE FRAMES IN UNMANNED VEHICLES 有权
    在不同车辆中的可变参考框架

    公开(公告)号：US20170038776A1

    公开(公告)日：2017-02-09

    申请号：US14883698

    申请日：2015-10-15

    Applicant: CLEARPATH ROBOTICS, INC.

    Inventor： Ryan Christopher Gariepy ,  Yan Ma ,  Alex Bencz

    IPC: G05D1/02 ,  G05D1/00

    CPC classification number: G05D1/0278 ,  G05D1/0022 ,  G05D1/0274 ,  G05D2201/0201 ,  G05D2201/0216

    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.

    Abstract translation: 提供了一种用于在无人驾驶车辆中实现可变参考帧的系统，方法和装置，其包括：无人驾驶车辆，包括：底盘; 配置成移动所述底盘的推进系统; 传感器被配置为感测机箱周围的特征; 存储与所述底盘要移动的环境相关联的全局参考帧的存储器; 通信接口; 以及处理器，被配置为：使用所述接口接收移动到所述全局参考帧中的给定坐标的命令; 控制推进系统将底盘移动到给定坐标; 当底盘处于给定坐标时，使用传感器确定检测到给定特征; 并且如果这样：根据全局参考框架自动停止对推进系统的控制; 根据参考与给定特征相关联的点定义的本地参考框架自动移动机箱。

    METHOD, SYSTEM AND APPARATUS FOR HANDLING OPERATIONAL CONSTRAINTS FOR CONTROL OF UNMANNED VEHICLES
    54.
    发明申请
    METHOD, SYSTEM AND APPARATUS FOR HANDLING OPERATIONAL CONSTRAINTS FOR CONTROL OF UNMANNED VEHICLES 审中-公开
    用于处理无人驾驶车辆操作约束的方法，系统和装置

    公开(公告)号：US20160349749A1

    公开(公告)日：2016-12-01

    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

    CPC classification number: G05D1/0088 ,  B66F9/063 ,  G01C21/3407 ,  G05D1/0212 ,  G05D1/0223 ,  G05D1/0274 ,  G05D1/0297 ,  G05D2201/0216

    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.

    Abstract translation: 提供了用于处理无人驾驶车辆的操作限制的系统，方法和装置。 该系统包括：用于在环境中部署的多个移动无人车; 经由网络连接到所述多个无人车辆的计算设备，所述计算设备在存储器中存储多个操作约束; 每个操作约束包括（i）类型标识符，（ii）环境区域的指示，以及（iii）定义对该区域内的无人驾驶车辆的操作的约束的属性。 所述计算设备被配置为：从所述移动无人车辆之一接收请求，所述请求标识操作约束; 响应于接收到所述请求，基于所述请求从所述存储器检索操作约束; 并将检索到的操作约束发送到移动无人车中的一个。

    SELF-CALIBRATING SENSORS AND ACTUATORS FOR UNMANNED VEHICLES
    55.
    发明申请
    SELF-CALIBRATING SENSORS AND ACTUATORS FOR UNMANNED VEHICLES 有权
    自动校准传感器和执行器用于无人驾驶的车辆

    公开(公告)号：US20160129917A1

    公开(公告)日：2016-05-12

    申请号：US14879210

    申请日：2015-10-09

    Applicant: CLEARPATH ROBOTICS, INC.

    Inventor： Ryan Christopher GARIEPY ,  Kareem SHEHATA ,  Prasenjit MUKHERJEE ,  Anthony TOD ,  Teyvonia THOMAS ,  Yan MA

    IPC: B60W50/04 ,  B60W50/00 ,  B60W30/182 ,  G05D1/00

    CPC classification number: G05D1/0011 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0216

    Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

    Abstract translation: 提供了一种用于无人驾驶车辆的自校准传感器和致动器的装置，方法和系统，其包括无人驾驶车辆，包括：底盘; 推进系统; 一个或多个传感器被配置为感测机架周围的特征; 记忆 通信接口; 以及处理器，其被配置为：以引导校准模式操作所述推进系统; 当在一个或多个传感器数据和底盘的位置的校准上的确定度高于与自主式中的推进系统的安全操作相关联的第一阈值时，将推进系统的操作自动切换到自主校准模式 校准模式; 此后，在自主校准模式下操作推进系统; 并且当确定度大于高于第一阈值的第二阈值时，将推进系统的操作自动切换到操作模式。

    VARIABLE GEOMETRY WATER VESSEL
    56.
    发明申请
    VARIABLE GEOMETRY WATER VESSEL 有权
    可变几何水船

    公开(公告)号：US20140080367A1

    公开(公告)日：2014-03-20

    申请号：US14027790

    申请日：2013-09-16

    Applicant: CLEARPATH ROBOTICS, INC.

    Inventor： Ryan Christopher GARIEPY ,  Patrick William MARTINSON ,  Mark Julian PODBEVSEK ,  Matthew Allen RENDALL ,  Todd WILLICK

    IPC: B63B7/00 ,  B63H11/00 ,  B63H21/17 ,  B63H11/01

    CPC classification number: B63B7/00 ,  B63B5/24 ,  B63B7/02 ,  B63B2003/085 ,  B63B2007/003 ,  B63B2035/008 ,  B63H11/00 ,  B63H11/01 ,  B63H21/17 ,  B63H2011/008

    Abstract: A water vessel having variable geometry is described. The water vessel comprises: a frame; a plurality of hulls coupled to the frame, each one of the plurality of hulls coupled to the frame by a folding mechanism and configured to move, relative to the frame, between a deployed configuration and a stowed configuration in which at least one dimension of the water vessel is reduced in respect of the deployed configuration; a plurality of thruster assemblies configured to provide thrust to the water vessel, each one of the plurality of thruster assemblies being coupled to a respective one of the plurality of hulls; and a protective device coupled to a respective one of the plurality of thruster assemblies, the protective device for preventing intake of foreign objects into the respective one of the plurality of thruster assemblies.

    Abstract translation: 描述了具有可变几何形状的水容器。 水箱包括：框架; 耦合到所述框架的多个船体，所述多个船体中的每一个通过折叠机构联接到所述框架并且被配置成相对于所述框架在展开构型和收起构型之间移动，其中， 关于部署配置，水箱减少; 多个推进器组件，其构造成向水槽提供推力，多个推进器组件中的每一个联接到多个船体中的相应一个; 以及联接到所述多个推进器组件中的相应一个的保护装置，所述保护装置用于防止异物进入所述多个推进器组件中的相应一个。

    SYSTEMS AND METHODS FOR OPERATING ONE OR MORE SELF-DRIVING VEHICLES
    59.
    发明申请
    SYSTEMS AND METHODS FOR OPERATING ONE OR MORE SELF-DRIVING VEHICLES 有权

    公开(公告)号：US20250018938A1

    公开(公告)日：2025-01-16

    申请号：US18898757

    申请日：2024-09-27

    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 ,  G01C21/34 ,  G01C21/36

    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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