Autonomous material transport vehicles, and systems and methods of operating thereof

Patent metadata

Field	Value
Publication number	US-11649147-B2
Application number	US-202017021406-A
Country	US
Kind code	B2
Filing date	Sep 15, 2020
Priority date	Sep 20, 2019
Publication date	May 16, 2023
Grant date	May 16, 2023

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.

First claim

The invention claimed is:

1. An autonomous material transport vehicle comprising:
a sensing system operable to monitor an environment of the vehicle, the sensing system comprising a sensing processor and one or more sensors;
a drive system for operating the vehicle;
a vehicle processor in communication with the sensing system and the drive system, the vehicle processor being operationally independent from the sensing processor, the vehicle 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 processor to monitor for one or more objects within a detection range; and
automatically operate the drive system to position the vehicle for transporting the load in response to receiving an alert from the sensing processor indicating the one or more objects comprises the load; and

the sensing processor operable to:
determine whether the one or more objects within the detection range comprises the load; and
in response to determining the one or more objects comprises the load, alerting the vehicle processor of the load and ceasing operation of the sensing system, otherwise,
receive one or more sensor inputs from the one or more sensors; and
generate a collision avoidance control signal based on the one or more sensor inputs to control the drive system to avoid the one or more objects, the collision avoidance control signal overriding control of the drive system by the vehicle processor.

2. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to terminate power supply to the drive system to avoid the one or more objects.

3. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to stop the drive system from navigating the vehicle in order to avoid the one or more objects.

4. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to determine an avoidance maneuver that avoids the one or more object.

5. The vehicle of claim 4 , wherein the avoidance maneuver comprises an alternative path to the location.

6. The vehicle of claim 4 , wherein the one or more of the vehicle processor and the sensing processor is operable to adjust an operating speed of the vehicle to accommodate the determination of the avoidance maneuver.

7. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to:
determine a depth and an angular sweep for the detection range.

8. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to:
determine an operating speed of the vehicle; and
define the detection range based at least on the operating speed of the vehicle.

9. The vehicle of claim 1 , wherein the detection range comprises two or more regions.

10. The vehicle of claim 1 , wherein the vehicle processor is operable to:
initiate the sensing system to collect image data of the environment of the vehicle following initiation of the drive system, and to determine from the collected image data whether the load is within the detection range.

11. The vehicle of claim 10 , wherein the sensing processor is operable to:
conduct image segmentation to the collected image data to determine whether the load is within the detection range.

12. The vehicle of claim 11 , wherein the sensing processor is operable to:
conduct the image segmentation based on a load dataset developed from applying a neural network to a load training dataset related to the load, the load dataset being stored in a data storage accessible by the one or more of the vehicle processor and the sensing processor.

13. The vehicle of claim 1 , wherein the one or more of the vehicle processor and the sensing processor is operable to:
determine the load is within the detection range based on a location of the vehicle.

14. The vehicle of claim 1 , wherein the vehicle processor is operable to position the vehicle for transporting the load by:
operating the sensing system to collect image data of the environment of the vehicle;
conducting image segmentation on the collected image data to identify the load; and
determining a load receiving maneuver for positioning the vehicle into a load receiving position based on the segmented image data of the load.

15. The vehicle of claim 14 , wherein the vehicle processor is operable to:
conduct the image segmentation based on a load dataset developed from applying a neural network to a load training dataset related to the load, the load dataset being stored in a data storage accessible by the one or more of the vehicle processor and the sensing processor.

16. The vehicle of claim 1 , wherein the sensing processor is operable to control the drive system when determining a collision avoidance operation, and to return control of the drive system to the vehicle processor when the collision avoidance operation is complete.

17. The vehicle of claim 1 , wherein the sensing system comprises at least one optical sensor.

18. The vehicle of claim 1 , wherein the sensing system comprises at least one time of flight sensor.

19. The vehicle of claim 1 , wherein the sensing system is operable to generate the collision avoidance control signal based on a sensitivity of a current load being carried by the vehicle.

20. The vehicle of claim 1 , wherein the sensing processor comprises a low-level processor operable to receive the one or more sensor inputs and generate the collision avoidance control signal for controlling the drive system.

Assignees

• Clearpath Robotics Inc

Inventors

• Lunscher Nolan
• Perdomo Enrique Fernandez
• Servos James
• Gariepy Ryan Christopher

Classifications

• G06N3/09

  Supervised learning · CPC title

• G06N3/0464

  Convolutional networks [CNN, ConvNet] · CPC title

• G06T7/10

  Segmentation; Edge detection (motion-based segmentation G06T7/215) · CPC title

• G06N3/045

  Combinations of networks · CPC title

• B66F9/063 Primary

  Automatically guided · CPC title