Systems and methods for executing a task with an unmanned vehicle

Patent metadata

Field	Value
Publication number	US-12072709-B2
Application number	US-202218078150-A
Country	US
Kind code	B2
Filing date	Dec 9, 2022
Priority date	Oct 24, 2014
Publication date	Aug 27, 2024
Grant date	Aug 27, 2024

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.

First claim

What is claimed is:

1. An unmanned land vehicle for autonomously navigating an indoor environment, the unmanned vehicle comprising:
a chassis;
a propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory storing feature reference data, wherein the feature reference data is expressed relative to a global reference frame with respect to the indoor environment;
a communication interface; and
a processor configured to:
receive, using the communication interface, a command to move to a feature coordinate associated with a target feature defined with respect to the global reference frame;
control the propulsion system to move the chassis to the feature coordinate using the global reference frame based on the command;
while the chassis is moving to the feature coordinate, monitor for the target feature using sensor data generated by the one or more sensors;
in response to determining a match between at least a portion of the target feature based on the sensor data and the feature reference data:
retrieve, from the memory, one or more local reference frames defined with reference to the target feature;
select a local reference frame from the one or more local reference frames based on an orientation of the unmanned land vehicle relative to the target feature;
determine an operation mode for operating the chassis based on the feature reference data associated with the target feature; and
automatically control the propulsion system to operate the chassis relative to the target feature in the local reference frame according to the operation mode.

2. The unmanned vehicle of claim 1 , wherein the operation mode comprises a pre-defined path, and the processor is configured to control the propulsion system to operate the chassis relative to the target feature according to the predefined path.

3. The unmanned vehicle of claim 1 , wherein the operation mode comprises a pre-defined speed, and the processor is configured to control the propulsion system to operate the chassis relative to the target feature according to the predefined speed.

4. The unmanned vehicle of claim 1 , wherein the operation mode comprises a pre-defined acceleration, and the processor is configured to control the propulsion system to operate the chassis relative to the target feature according to the predefined acceleration.

5. The unmanned vehicle of claim 1 , wherein the operation mode comprises a reactive mode, and the processor is configured to control the propulsion system to operate the chassis relative to the target feature based on one or more features unique to the target feature.

6. The unmanned vehicle of claim 5 , wherein the processor is configured to control the propulsion system to operate the chassis at a predefined distance from the one or more features unique to the target feature.

7. The unmanned vehicle of claim 5 , wherein the processor is configured to control the propulsion system to operate the chassis according to a set of predefined navigation commands with respect to the one or more features unique to the target feature.

8. The unmanned vehicle of claim 1 , wherein the processor is configured to control the propulsion system to operate the chassis to execute a task relative to the target feature.

9. The unmanned vehicle of claim 1 , wherein the processor is configured to change from a first set of control parameters to a second set of control parameters when automatically controlling the propulsion system to move the chassis according to the local reference frame.

10. A method of operating an unmanned land vehicle for autonomously navigating an indoor environment, the method comprising operating a processor of the unmanned land vehicle to:
receive, using a communication interface of the unmanned land vehicle, a command to move to a feature coordinate associated with a target feature defined with respect to a global reference frame;
control a propulsion system of the unmanned land vehicle to move a chassis of the unmanned land vehicle to the feature coordinate using the global reference frame based on the command;
while the chassis is moving to the feature coordinate, monitor for the target feature using sensor data generated by one or more sensors configured to sense features around the chassis; and
in response to determining a match between at least a portion of the target feature based on the sensor data and feature reference data stored in a memory of the unmanned land vehicle, the feature reference data being expressed relative to the global reference frame with respect to the indoor environment:
retrieve, from the memory, one or more local reference frames defined with reference to the target feature;
select a local reference frame from the one or more local reference frames based on an orientation of the unmanned land vehicle relative to the target feature;
determine an operation mode for operating the chassis based on the feature reference data associated with the target feature; and
automatically control the propulsion system to operate the chassis relative to the target feature in the local reference frame according to the operation mode.

11. The method of claim 10 , wherein the operation mode comprises a pre-defined path, and the method further comprises operating the processor to control the propulsion system to operate the chassis relative to the target feature according to the predefined path.

12. The method of claim 10 , wherein the operation mode comprises a pre-defined speed, and the method further comprises operating the processor to control the propulsion system to operate the chassis relative to the target feature according to the predefined speed.

13. The method of claim 10 , wherein the operation mode comprises a pre-defined acceleration, and the method further comprises operating the processor to control the propulsion system to operate the chassis relative to the target feature according to the predefined acceleration.

14. The method of claim 10 , wherein the operation mode comprises a reactive mode, and the method further comprises operating the processor to control the propulsion system to operate the chassis relative to the target feature based on one or more features unique to the target feature.

15. The method of claim 14 further comprises operating the processor to control the propulsion system to operate the chassis at a predefined distance from the one or more features unique to the target feature.

16. The method of claim 14 further comprises operating the processor to control the propulsion system to operate the chassis according to a set of predefined navigation commands with respect to the one or more features unique to the target feature.

17. The method of claim 10 further comprises operating the processor to control the propulsion system to operate the chassis to execute a task relative to the target feature.

18. The method of claim 10 further comprises operating the processor to change from a first set of control parameters to a second set of control parameters when automatically controlling the propulsion system to move the chassis according to the local reference frame.

Assignees

• Clearpath Robotics Inc
• Rockwell Automation Tech Inc

Inventors

• Gariepy Ryan Christopher
• Ma Yan
• Bencz Alex

Classifications

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/646

  Following a predefined trajectory, e.g. a line marked on the floor or a flight path · CPC title

• B60P1/38

  forming the main load-transporting element or part thereof {(B60P1/365 takes precedence)} · CPC title

• G05D1/0011

  associated with a remote control arrangement · CPC title

• G05D1/0274

  using mapping information stored in a memory device (navigation using map-matching G01C21/30) · CPC title