公开(公告)号：US11520333B1

公开(公告)日：2022-12-06

申请号：US17835420

申请日：2022-06-08

Applicant: Clearpath Robotics Inc.

Inventor： Simon Drexler ,  Ryan Christopher Gariepy

IPC: G05D1/00 ,  G05D1/02 ,  B25J5/00 ,  B25J9/16 ,  G01C21/32

Abstract: Systems and methods for operating robotic equipment in a controlled zone are presented. The system comprises one or more self-driving material-transport vehicles having at least one sensor, non-transitory computer-readable media, and a processor in communication with the at least one sensor and media. The media stores computer instructions that configure the processor to move the vehicle towards the controlled zone in a normal mode of operation, capture environmental data associated with the controlled zone using the at least one sensor, determine environmental-change data based on comparing the captured environmental data with known-good environmental data, and operating the vehicle in a safe mode of operation based on the environmental-change data.

公开(公告)号：US11422569B2

公开(公告)日：2022-08-23

申请号：US16118590

申请日：2018-08-31

Applicant: Clearpath Robotics Inc.

Inventor： Utsav Pardasani ,  Daniel Cantor ,  David William Bergsma ,  Kenneth James Sherk ,  Matthew Kingston Bedard ,  Matthew Allen Rendall ,  Ryan Christopher Gariepy

IPC: G05D1/02 ,  G05D1/00 ,  G05B19/418

Abstract: Systems and methods for generating a mission for a self-driving material-transport vehicle are presented. The system comprises at least one self-driving material-transport vehicle, at least one programmable logic controller, at least one field instrument, and at least one non-transitory computer-readable medium in communication with at least one processor. An application signal is received from the programmable logic controller based on an activation signal from the field instrument. A mission is generated by the application signal and a mission template, and the mission is transmitted to the self-driving material-transport vehicle. In some cases, the application signal may be based on OPC-UA, and the mission and/or mission template may be based on a REST protocol.

公开(公告)号：US20220194441A1

公开(公告)日：2022-06-23

申请号：US17540362

申请日：2021-12-02

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.

公开(公告)号：US20220073062A1

公开(公告)日：2022-03-10

申请号：US17470087

申请日：2021-09-09

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

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.

公开(公告)号：US20220055877A1

公开(公告)日：2022-02-24

申请号：US17462956

申请日：2021-08-31

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Ryan Christopher Gariepy ,  Andrew Dobson ,  Jesse Tebbs ,  Robert Dam ,  Roydyn Clayton

IPC: B66F9/06 ,  G05D1/02 ,  B66F9/075

Abstract: An augmentation module is described for an automated guided vehicle (AGV) deployed in a facility and including a control module for controlling a drive mechanism based on navigational data received from a navigation sensor. The module includes a inter-module communications interface connected to the control module; a memory; and a processor connected to the communications interface and the memory. The processor is configured to: obtain an operational command; generate control data to execute the operational command; convert the control data to simulated sensor data; and send the simulated sensor data to the control module.

公开(公告)号：US20220055626A1

公开(公告)日：2022-02-24

申请号：US17375265

申请日：2021-07-14

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Ryan Christopher Gariepy ,  Shahab Kaynama

IPC: B60W30/18

Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.

公开(公告)号：US20210370960A1

公开(公告)日：2021-12-02

申请号：US17162481

申请日：2021-01-29

Applicant: Clearpath Robotics Inc.

Inventor： Guillaume Michel Autran ,  Jin-Myung Won ,  James Servos ,  Ryan Christopher Gariepy ,  Shahab Kaynama

IPC: B60W50/035 ,  G07C5/02 ,  G07C5/00 ,  B60W50/02 ,  G07C5/08

Abstract: The various embodiments described herein generally relate to systems and methods for monitoring an operation of one or more self-driving vehicles. The method involves operating a vehicle processor of a self-driving vehicle to: collect, during operation, operation data associated with the operation of the self-driving vehicle; detect, from the operation data, a trigger condition is satisfied during the operation; determine, for the trigger condition, a pre-condition period and a post-condition period, the pre-condition period defining a time period before the trigger condition occurred and the post-condition period defining a time period following the trigger condition; retrieve, from a vehicle data storage, the subset of the operation data collected by the self-driving vehicle during the pre-condition period and the post-condition period; and transmit the subset of the operation data to the data analysis system.

公开(公告)号：US11148698B2

公开(公告)日：2021-10-19

申请号：US16546765

申请日：2019-08-21

Applicant: Clearpath Robotics Inc.

Inventor： Matthew Allen Rendall ,  Daniel Cantor ,  David William Bergsma ,  Scott Waters

IPC: B62B5/06 ,  B62B3/14 ,  B62B5/04

Abstract: Systems and methods for transporting objects using a cart that is driven by human action or self-driving vehicle is disclosed. The cart system and method comprises a chassis portion supporting a payload to be moved by the cart. The cart system further comprises of a first side rail and a second side rail. A first front wheel and first rear wheel is attached to the first side rail and a second front wheel and second rear wheel is attached to the second rail. The handle portion pushes the cart which comprises of a handle bar supported by vertical support members. The brake actuator is used to engage and release the brakes on the rear wheel. A horizontal engagement bar is used which comprises of a plurality of engagement pads. A payload-bearing surface bears payload such that the payload can be transported by the cart.

公开(公告)号：US11142118B2

公开(公告)日：2021-10-12

申请号：US16870151

申请日：2020-05-08

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Simon Drexler ,  Matthew Allen Rendall ,  Ryan Christopher Gariepy ,  Mike Hanuschik ,  Paul Mohr

IPC: B60Q1/26 ,  H05B45/10 ,  B60Q1/50 ,  B60Q1/08 ,  B60Q1/14 ,  H05B47/115 ,  H05B47/165 ,  H05B47/17 ,  B60K1/00 ,  H05B47/19

Abstract: An autonomous vehicle is disclosed. The vehicle comprises a chassis, two or more drive wheels extending below the chassis, a drive motor housed within the chassis for driving the drive wheels, and a payload surface on top of the chassis for carrying a payload. An illumination system, for emitting light from at least one portion of the chassis, is mounted substantially around the entire perimeter of the chassis. The illumination system may be implemented using an array of light-emitting diodes (“LEDs”) that are arranged as segments. For example, there may be “headlight” segments on the front left and front right corners of the chassis.

公开(公告)号：US11097736B2

公开(公告)日：2021-08-24

申请号：US15904592

申请日：2018-02-26

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Shahab Kaynama

IPC: B60W30/18 ,  G05D1/02 ,  B60K7/00

Abstract: Methods and systems are provided for traction detection and control of a self-driving vehicle. The self-driving vehicle has drive motors that drive drive-wheels according to a drive-motor speed. Traction detection and control can be obtained by measuring the vehicle speed with a sensor such as a LiDAR or video camera, and measuring the wheel speed of the drive wheels with a sensor such as a rotary encoder. The difference between the measured vehicle speed and the measured wheel speeds can be used to determine if a loss of traction has occurred in any of the wheels. If a loss of traction is detected, then a recovery strategy can be selected from a list of recovery strategies in order to reduce the effects of the loss of traction.