公开(公告)号：US20210286351A1

公开(公告)日：2021-09-16

申请号：US17220111

申请日：2021-04-01

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：US20180004200A1

公开(公告)日：2018-01-04

申请号：US15691643

申请日：2017-08-30

Applicant: Clearpath Robotics Inc.

Inventor： Ryan Christopher GARIEPY ,  Kareem SHEHATA ,  Prasenjit MUKHERJEE ,  Anthony TOD ,  Teyvonia THOMAS ,  Yan MA

IPC: G05D1/00 ,  G05D1/02

CPC classification number: G05D1/0011 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0216

Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

公开(公告)号：US20170197643A1

公开(公告)日：2017-07-13

申请号：US15164280

申请日：2016-05-25

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Ryan Christopher GARIEPY ,  Alex BENCZ ,  Yan MA ,  Michael IRVINE ,  Shahab KAYNAMA ,  James SERVOS ,  Peiyi CHEN

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

CPC classification number: B61L3/006 ,  B61L3/008 ,  B61L15/0072 ,  G05D1/0066 ,  G05D1/0088 ,  G05D1/0238 ,  G05D2201/0212

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：US20180292818A1

公开(公告)日：2018-10-11

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：US20160129917A1

公开(公告)日：2016-05-12

申请号：US14879210

申请日：2015-10-09

Applicant: CLEARPATH ROBOTICS, INC.

Inventor： Ryan Christopher GARIEPY ,  Kareem SHEHATA ,  Prasenjit MUKHERJEE ,  Anthony TOD ,  Teyvonia THOMAS ,  Yan MA

IPC: B60W50/04 ,  B60W50/00 ,  B60W30/182 ,  G05D1/00

CPC classification number: G05D1/0011 ,  G05D1/024 ,  G05D1/0246 ,  G05D2201/0216

Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

Abstract translation: 提供了一种用于无人驾驶车辆的自校准传感器和致动器的装置，方法和系统，其包括无人驾驶车辆，包括：底盘; 推进系统; 一个或多个传感器被配置为感测机架周围的特征; 记忆 通信接口; 以及处理器，其被配置为：以引导校准模式操作所述推进系统; 当在一个或多个传感器数据和底盘的位置的校准上的确定度高于与自主式中的推进系统的安全操作相关联的第一阈值时，将推进系统的操作自动切换到自主校准模式 校准模式; 此后，在自主校准模式下操作推进系统; 并且当确定度大于高于第一阈值的第二阈值时，将推进系统的操作自动切换到操作模式。

公开(公告)号：US20180186391A1

公开(公告)日：2018-07-05

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

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.