公开(公告)号：US11587033B2

公开(公告)日：2023-02-21

申请号：US17105816

申请日：2020-11-27

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Ryan Christopher Gariepy ,  Simon Drexler ,  Roydyn Clayton

IPC: G06F7/00 ,  G06Q10/087 ,  G05B19/418 ,  G05D1/02

Abstract: Systems and methods for autonomous provision replenishment are disclosed. Parts used in a manufacturing process are stored in an intermediate stock queue. When the parts are consumed by the manufacturing process and the number of parts in the queue falls below a threshold, a provision-replenishment signal is generated. One or more self-driving material-transport vehicles, a fleet-management system, and a provision-notification device.

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

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：US20220365533A1

公开(公告)日：2022-11-17

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：US20220214698A1

公开(公告)日：2022-07-07

申请号：US17574981

申请日：2022-01-13

Applicant: Clearpath Robotics Inc.

Inventor： Smriti Chopra ,  Ryan Christopher Gariepy ,  Shahab Kaynama ,  Pavel Bovbel ,  Andrei Petru Ionescu ,  Jason Mercer

IPC: G05D1/02 ,  G07C5/00 ,  H04W4/46 ,  H04W4/44

Abstract: Systems and methods for providing inter-vehicle communication are disclosed. The method includes receiving, at a fleet management system, operating data from one or more self-driving vehicles via a communication network, and operating the fleet management system to determine a characteristic of a set of vehicles of one or more self-driving vehicles satisfies at least one communication condition. In response to determining the set of vehicles satisfies the at least one communication condition, the fleet management system can operate to select a stored data portion from a manager storage unit based at least on the characteristic of the set of vehicles; and transmit the data portion to the set of vehicles via the communication network. A method of providing inter-vehicle communication between one or more self-driving vehicles is also disclosed.

公开(公告)号：US11167964B2

公开(公告)日：2021-11-09

申请号：US16855788

申请日：2020-04-22

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：US20210311475A1

公开(公告)日：2021-10-07

申请号：US17185503

申请日：2021-02-25

Applicant: CLEARPATH ROBOTICS INC.

Inventor： Ryan Christopher Gariepy ,  Alex Bencz ,  Andrew Clifford Blakey ,  Shahab Kaynama ,  James Servos

IPC: G05D1/00 ,  G01C21/34 ,  G05D1/02 ,  B66F9/06

Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.

公开(公告)号：US11119476B2

公开(公告)日：2021-09-14

申请号：US16044598

申请日：2018-07-25

Applicant: Clearpath Robotics Inc.

Inventor： Anthony William Tod ,  Ryan Christopher Gariepy

IPC: G05D1/00 ,  H04N7/18 ,  G05D1/02

Abstract: Systems and methods for monitoring a self-driving vehicle are presented. The system comprises a camera, a processor, a communications transceiver, a computer-readable medium, and a display device. The processor can be configured to receive an image of a self-driving vehicle from the camera, and vehicle information from the self-driving vehicle. A graphic comprising the image of the self-driving vehicle and a visual representation of the vehicle information is then displayed on the display device. The vehicle information may comprise any or all of vehicle-status information, vehicle-mission information, vehicle-metric information, and vehicle-environment information.

公开(公告)号：US11001446B2

公开(公告)日：2021-05-11

申请号：US16118594

申请日：2018-08-31

Applicant: Clearpath Robotics Inc.

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

IPC: B65G1/137 ,  G05B19/05 ,  G05D1/00 ,  G05D1/02 ,  G05B19/418

Abstract: Apparatus, systems and methods for providing smart pick-up and drop-off are presented. The apparatus comprises at least one vertical support member and at least one storage shelf supported by the at least one vertical support member. A payload transfer surface, supported by the vertical support members, is located below the lowest storage shelf. The payload transfer surface has an access channel so that a self-driving material-transport vehicle equipped with a lift appliance can pick up or drop off a payload on the payload transfer surface. A sensor associated with the payload transfer surface senses the presence or absence of a payload on the payload transfer surface, and sends a signal to a fleet-management system in communication with the self-driving material-transport vehicle.

公开(公告)号：US10990093B2

公开(公告)日：2021-04-27

申请号：US16011760

申请日：2018-06-19

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher Gariepy ,  Kareem Shehata ,  Prasenjit Mukherjee ,  Anthony Tod ,  Teyvonia Thomas ,  Yan Ma

IPC: G05D1/00 ,  G05D1/02

Abstract: Systems and methods of unmanned vehicles having self-calibrating sensors and actuators are provided. The unmanned vehicle comprises a communication interface and a processor for controlling a propulsion system of the vehicle and receiving sensor data from one or more sensors of the vehicle. The processor is configured to operate in a guided calibration mode by controlling the propulsion system according to commands received from an external guided control system, while processing the sensor data to determine a degree of certainty on a calibration the sensor data and a position of the vehicle. The processor determines that the degree of certainty is above a threshold value associated with safe operation of the propulsion system in an autonomous calibration mode, and subsequently switch operation of the propulsion system to the autonomous calibration mode based on the determination that the degree of certainty is above the threshold value.

公开(公告)号：US10974585B2

公开(公告)日：2021-04-13

申请号：US16808508

申请日：2020-03-04

Applicant: Clearpath Robotics Inc.

Inventor： Matthew Lord ,  Roydyn Clayton ,  Michael Irvine ,  Ryan Christopher Gariepy

IPC: B62D61/12 ,  B60K7/00 ,  B60K17/00 ,  B66F9/06 ,  B60B35/00 ,  B62D61/10

Abstract: A mobile platform for materials transport is provided. The platform includes a pair of suspension devices that in turn include a pair of rocker beams which can be rotated between two positions: a first position where central wheels attached thereto can be used to drive the platform; and a second position where the central wheels are retracted and the platform can be rolled on end wheels without the friction of the central wheels, and an associated drive system, impeding movement of the platform. Furthermore, data from sensors and/or load cells can be used to control movement of the platform; specifically shifts in load distribution and/or sensed forces at the suspension devices can indicate that a load (and/or materials) has shifted and/or is shifting and movement of the platform is adjusted accordingly, for example to prevent the platform and/or the load (and/or materials) from tipping.