公开(公告)号：US20230185313A1

公开(公告)日：2023-06-15

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 ,  G05D2201/0216 ,  G05B2219/50393 ,  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：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

IPC: G05D1/02 ,  B60P1/38 ,  G05D1/00

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.

公开(公告)号：US11649147B2

公开(公告)日：2023-05-16

申请号：US17021406

申请日：2020-09-15

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Nolan Lunscher ,  Enrique Fernandez Perdomo ,  James Servos ,  Ryan Christopher Gariepy

IPC: B66F9/06 ,  B66F9/075 ,  G05D1/02 ,  G06T7/10 ,  G06N3/08

CPC classification number: B66F9/063 ,  B66F9/0755 ,  G05D1/0223 ,  G05D1/0238 ,  G06N3/08 ,  G06T7/10 ,  G05D2201/0216

Abstract: The various embodiments described herein generally relate to an autonomous material transport vehicle, and systems and methods for operating an autonomous material transport vehicle. The autonomous material transport vehicle comprises: a sensing system operable to monitor an environment of the vehicle; a drive system for operating the vehicle; a processor operable to: receive a location of a load; initiate the drive system to navigate the vehicle to the location; following initiation of the drive system, operate the sensing system to monitor for one or more objects within a detection range; and in response to the sensing system detecting the one or more objects within the detection range, determine whether the load is within the detection range; and when the load is within the detection range, operate the drive system to position the vehicle for transporting the load, otherwise, determine a collision avoidance operation to avoid the one or more objects.

公开(公告)号：US11648953B2

公开(公告)日：2023-05-16

申请号：US17553662

申请日：2021-12-16

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

CPC classification number: B60W50/0205 ,  G05D1/0088 ,  G05D1/0297 ,  G07C5/006 ,  G07C5/008 ,  G07C5/085 ,  B60W2050/0215 ,  G05D2201/0213

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：US20230001921A1

公开(公告)日：2023-01-05

申请号：US17840915

申请日：2022-06-15

Applicant: Clearpath Robotics Inc.

Inventor： Matthew Lord ,  Ryan Christopher Gariepy ,  Peiyi Chen ,  Michael Irvine ,  Alex Bencz

IPC: B60W30/095 ,  B60W40/105 ,  G05D1/00

Abstract: Systems and methods for self-driving collision prevention are presented. The system comprises a self-driving vehicle safety system, having one or more sensors in communication with a control system. The control system is configured determine safety fields and instruct the sensors to scan a region corresponding to the safety fields. The control system determines exclusion regions, and omits the exclusion regions from the safety field. The safety system may also include capability reduction parameters that can be used to constrain the drive system of the vehicle, for example, by restricting turning radius and speed in accordance with the safety fields.

公开(公告)号：US11518029B2

公开(公告)日：2022-12-06

申请号：US16561519

申请日：2019-09-05

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 ,  G05B15/02

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：US11460863B2

公开(公告)日：2022-10-04

申请号：US17065152

申请日：2020-10-07

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Alex Bencz

IPC: G05D1/02 ,  G08G1/00 ,  G05D1/00 ,  B60L58/12

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.

公开(公告)号：US11287831B2

公开(公告)日：2022-03-29

申请号：US16447163

申请日：2019-06-20

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Matthew Allen Rendall ,  John Duncan Edwards ,  Aaron Wilson ,  Simon Drexler ,  Scott Waters ,  Aaron Gerlach ,  Mark Podbevsek ,  Michael Irvine ,  Vaibhav Kumar Mehta ,  Peiyi Chen ,  Amritpal Saini ,  Robert Dam ,  Michael O'Driscoll ,  Arsalan Alim

IPC: G05D1/02 ,  B60L53/66 ,  B60P1/02 ,  B60L50/60

Abstract: There is provided an electrically-powered material-transport vehicle having a vehicle-charging contact on one side of the vehicle, and a second vehicle-charging contact on the opposite side of the vehicle. The vehicle has a load-bearing cap that covers the top of the vehicle, and a cap elevator for raising and lowering the cap. The cap can be raised and lowered to a transit position, a payload-engagement position, a charging position, and a maintenance position. In the transit position and payload-engagement position, the cap covers the vehicle-charging contacts so that they are not exposed. In the charging position, the cap is raised so that the vehicle-charging contacts are exposed. The vehicle can enter a charging-dock with the cap in the charging position in order to recharge the vehicle's battery.

公开(公告)号：US20220075371A1

公开(公告)日：2022-03-10

申请号：US17475684

申请日：2021-09-15

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher GARIEPY

IPC: G05D1/00 ,  H04N7/18 ,  G05D1/02 ,  H04N5/272

Abstract: A system for remote viewing and control of self-driving vehicles includes: an execution subsystem for deployment at an execution location containing a self-driving vehicle. The execution subsystem includes: a capture assembly to capture multimedia data depicting the execution location, and a server to receive the multimedia data and transmit the multimedia data for presentation at an operator location remote from the execution location. The server relays operational commands and operational status data between the self-driving vehicle and the operator location. The system includes an operator subsystem for deployment at the operator location, including: a display assembly, and a computing device to: (a) establish a connection with the server; (b) receive the multimedia data from the server and control the display assembly to present the multimedia data; and (c) receive control commands and transmit the control commands to the server for execution by the self-driving vehicle.

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

IPC: B61L3/00 ,  G05D1/00 ,  B61L15/00 ,  G05D1/02

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.