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公开(公告)号：US10012981B2
公开(公告)日：2018-07-03
申请号：US15691643
申请日：2017-08-30
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: 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.
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公开(公告)号：US09891630B2
公开(公告)日：2018-02-13
申请号：US14883698
申请日：2015-10-15
Applicant: CLEARPATH ROBOTICS, INC.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
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.
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公开(公告)号：US09804594B2
公开(公告)日：2017-10-31
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
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.
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公开(公告)号：US12072709B2
公开(公告)日：2024-08-27
申请号：US18078150
申请日：2022-12-09
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
CPC classification number: G05D1/0212 , B60P1/38 , G05D1/0011
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：US20230185302A1
公开(公告)日：2023-06-15
申请号：US18078150
申请日：2022-12-09
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
CPC classification number: G05D1/0212 , B60P1/38 , G05D1/0011 , G05D2201/0216
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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Patent Agency Ranking
公开(公告)号：US11225275B2
公开(公告)日：2022-01-18
申请号：US17016478
申请日：2020-09-10
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.
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公开(公告)号：US20210061323A1
公开(公告)日：2021-03-04
申请号：US17016478
申请日：2020-09-10
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.
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公开(公告)号：US20180081373A1
公开(公告)日：2018-03-22
申请号：US15827391
申请日：2017-11-30
Applicant: Clearpath Robotics Inc.
Inventor： Ryan Christopher Gariepy , Yan Ma , Alex Bencz
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.
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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
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。
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公开(公告)号：US11586208B2
公开(公告)日：2023-02-21
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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