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：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.

公开(公告)号：US10814891B2

公开(公告)日：2020-10-27

申请号：US15906654

申请日：2018-02-27

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: Systems and methods for obstacle avoidance with a self-driving vehicle are provided. The system comprises a processor connected to the self-driving vehicle and a sensor in communication with the processor. The sensor is configured to detect objects. The processor is configured to receive a measurement of the self-driving vehicle's speed, and define a sensor region based on the speed. The processor can determine that an object detected by the sensor is within the sensor region, and then initiate a fail-safe routine. The sensor region may be defined based on a range parameter. The sensor region may be defined based on the stopping distance of the vehicle. The sensor region may be redefined when the vehicle's speed changes.

公开(公告)号：US20200225664A1

公开(公告)日：2020-07-16

申请号：US16248944

申请日：2019-01-16

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Yan Ma ,  Alex Bencz

IPC: G05D1/02 ,  G05D1/00 ,  B60P1/38

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：US20200172096A1

公开(公告)日：2020-06-04

申请号：US16699015

申请日：2019-11-28

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.