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公开(公告)号：US20210397196A1
公开(公告)日：2021-12-23
申请号：US17466033
申请日：2021-09-03
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： Reuben F. Burch, V , Sherif Abelwahed , John E. Ball , Matt Doude , James R. Gafford , Tyler J. Hannis , Yucheng Liu , Michael S. Mazzola , Howard McKinney
Abstract: An improved retrofit assembly for ground support equipment providing autonomous operation of the logistics ground support equipment (GSE). The assembly has a refit control system attached to the GSE (with a vehicle dynamics control processor and a data preprocessing control processor), retrofitted proprioceptive sensors coupled to the vehicle dynamics control processor monitoring operating parameters and characteristics of the GSE, retrofitted exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the GSE, and refit actuators for different control elements on the GSE and to autonomously alter motion of the GSE. The refit control system programmatically receives sensor data from the proprioceptive sensors and exteroceptive sensors; optimizes a path for the GSE based upon the different sensor data; and activates at least one of the actuators according to the optimized path for the GSE.
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Patent Agency Ranking
2.发明申请公开(公告)号：US20190265714A1
公开(公告)日：2019-08-29
申请号：US16285542
申请日：2019-02-26
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： John E. Ball , Reuben F. Burch, V , Lucas D. Cagle , Collin S. Davenport , James R. Gafford , Tyler J. Hannis , Andrew R. Hegman , Andrew M. LeClair , Yucheng Liu , Michael S. Mazzola , Howard G. McKinney , Tasmia Reza , Jian Shi , Pan Wei , Dennison W. Iacomini
Abstract: Enhanced systems and methods for collision avoidance of a high value asset with reflective beacons around it using multi-sensor data fusion on a mobile industrial vehicle. The system has a sensing processing system with a LiDAR and camera sensors, and a multi-processor module responsive to the different sensors. The sensing processing system fuses the different sensor data to locate the reflective beacons. A model predictive controller on the vehicle determines possible control solutions where each defines a threshold allowable speed for the vehicle at discrete moments based upon an estimated path to a breaching point projected from the reflective beacons, and then identifies an optimal one of the control solutions based upon a performance cost function and associated with an optimal threshold allowable speed. The system has a vehicle actuator configured to respond and alter vehicle movement to avoid a collision when the vehicle exceeds the optimal threshold allowable speed.
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公开(公告)号：US11157011B2
公开(公告)日：2021-10-26
申请号：US16524723
申请日：2019-07-29
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： Reuben F. Burch, V , Sherif Abelwahed , John E. Ball , Matt Doude , James R. Gafford , Tyler J. Hannis , Yucheng Liu , Michael S. Mazzola , Howard McKinney
Abstract: An improved retrofit assembly for ground support equipment providing autonomous operation of the logistics ground support equipment (GSE). The assembly has a refit control system attached to the GSE (with a vehicle dynamics control processor and a data preprocessing control processor), retrofitted proprioceptive sensors coupled to the vehicle dynamics control processor monitoring operating parameters and characteristics of the GSE, retrofitted exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the GSE, and refit actuators for different control elements on the GSE and to autonomously alter motion of the GSE. The refit control system programmatically receives sensor data from the proprioceptive sensors and exteroceptive sensors; optimizes a path for the GSE based upon the different sensor data; and activates at least one of the actuators according to the optimized path for the GSE.
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公开(公告)号：US11747820B2
公开(公告)日：2023-09-05
申请号：US17466033
申请日：2021-09-03
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： Reuben F. Burch, V , Sherif Abelwahed , John E. Ball , Matt Doude , James R. Gafford , Tyler J. Hannis , Yucheng Liu , Michael S. Mazzola , Howard McKinney
CPC classification number: G05D1/0223 , G05D1/0027 , G05D1/0088 , G05D1/0289 , G06V20/58
Abstract: An improved retrofit assembly for ground support equipment providing autonomous operation of the logistics ground support equipment (GSE). The assembly has a refit control system attached to the GSE (with a vehicle dynamics control processor and a data preprocessing control processor), retrofitted proprioceptive sensors coupled to the vehicle dynamics control processor monitoring operating parameters and characteristics of the GSE, retrofitted exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the GSE, and refit actuators for different control elements on the GSE and to autonomously alter motion of the GSE. The refit control system programmatically receives sensor data from the proprioceptive sensors and exteroceptive sensors; optimizes a path for the GSE based upon the different sensor data; and activates at least one of the actuators according to the optimized path for the GSE.
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公开(公告)号：US10761538B2
公开(公告)日：2020-09-01
申请号：US16285542
申请日：2019-02-26
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： John E. Ball , Reuben F. Burch, V , Lucas D. Cagle , Collin S. Davenport , James R. Gafford , Tyler J. Hannis , Andrew R. Hegman , Andrew M. LeClair , Yucheng Liu , Michael S. Mazzola , Howard G. McKinney , Tasmia Reza , Jian Shi , Pan Wei , Dennison W. Iacomini
IPC: G06F7/70 , G05D1/02 , G06N3/08 , G06N5/04 , G01S17/931
Abstract: Enhanced systems and methods for collision avoidance of a high value asset with reflective beacons around it using multi-sensor data fusion on a mobile industrial vehicle. The system has a sensing processing system with a LiDAR and camera sensors, and a multi-processor module responsive to the different sensors. The sensing processing system fuses the different sensor data to locate the reflective beacons. A model predictive controller on the vehicle determines possible control solutions where each defines a threshold allowable speed for the vehicle at discrete moments based upon an estimated path to a breaching point projected from the reflective beacons, and then identifies an optimal one of the control solutions based upon a performance cost function and associated with an optimal threshold allowable speed. The system has a vehicle actuator configured to respond and alter vehicle movement to avoid a collision when the vehicle exceeds the optimal threshold allowable speed.
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6.发明申请公开(公告)号：US20200033872A1
公开(公告)日：2020-01-30
申请号：US16524723
申请日：2019-07-29
Applicant: FEDEX CORPORATE SERVICES, INC.
Inventor： Reuben F. Burch, V , Sherif Abelwahed , John E. Ball , Matt Doude , James R. Gafford , Tyler J. Hannis , Yucheng Liu , Michael S. Mazzola , Howard McKinney
Abstract: An improved retrofit assembly for ground support equipment providing autonomous operation of the logistics ground support equipment (GSE). The assembly has a refit control system attached to the GSE (with a vehicle dynamics control processor and a data preprocessing control processor), retrofitted proprioceptive sensors coupled to the vehicle dynamics control processor monitoring operating parameters and characteristics of the GSE, retrofitted exteroceptive sensors coupled to the data preprocessing control processor that monitor an exterior environment of the GSE, and refit actuators for different control elements on the GSE and to autonomously alter motion of the GSE. The refit control system programmatically receives sensor data from the proprioceptive sensors and exteroceptive sensors; optimizes a path for the GSE based upon the different sensor data; and activates at least one of the actuators according to the optimized path for the GSE.
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