Object moving system

Patent metadata

Field	Value
Publication number	US-12287209-B2
Application number	US-202017642404-A
Country	US
Kind code	B2
Filing date	Sep 10, 2020
Priority date	Sep 12, 2019
Publication date	Apr 29, 2025
Grant date	Apr 29, 2025

Abstract

A system for moving an object within an environment, wherein the system includes at least one modular wheel configured to move the object. The modular wheel includes a body configured to be attached to the object, a wheel, a drive configured to rotate the wheel and a controller configured to control the drive. One or more processing devices configured are provided to receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment, analyse the images to determine an object location within the environment, generate control instructions at least in part using the determined object location and provide the control instructions to the controller, the controller being responsive to the control instructions to control the drive and thereby move the object.

First claim

The invention claimed is:

1. A system for moving an object within an environment, wherein the system includes:
a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes:
i) a body configured to be attached to the object;
ii) a wheel;
iii) a drive configured to rotate the wheel; and,
iv) a controller configured to control the drive; and,

b) one or more processing devices configured to:
i) receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment;
ii) analyse images from each image stream to identify object images the object images being images including objects;
iii) identify overlapping images as object images that include the same object;
iv) analyse the object images to determine an object location within the environment;
v) generate control instructions at least in part using the determined object location; and,
vi) provide the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.

2. A system according to claim 1 , wherein the system at least one of:
a) includes one or more passive wheels mounted to the object, and,
b) is configured to steer the object by at least one of:
i) differentially rotating the plurality of modular wheels; and,
ii) changing an orientation of one or more modular wheels of the plurality of modular wheels.

3. A system according to claim 2 , wherein the one or more processing devices are at least one of:
a) configured to provide respective control instructions to each controller to thereby independently control each modular wheel;
b) configured to provide control instructions to the controllers and wherein the controllers communicate to independently control each modular wheel;
c) configured to:
i) determine an object configuration;
generate the control instructions at least partially in accordance with an object extent;

d) configured to:
i) determine a wheel configuration indicative of a position of each wheel relative to the object;
ii) generate the control instructions at least partially in accordance with the wheel configuration;

e) configured to:
i) determine an identity of at least one of:
(1) each modular wheel; and,
(2) the object;

(ii) generate control instructions in accordance with the identity;

f) configured to:
i) determine routing data indicative of at least one of:
(1) a travel path; and,
(2) a destination;

ii) generate control instructions in accordance with the routing data and the object location;

g) configured to:
i) determine an identity for at least one of:
(1) the object; and,
(2) for at least one modular wheel attached to the object;

ii) determine the routing data at least in part using an object identity; and,

h) configured to determine an object location using at least one of:
i) a visual hull technique;
ii) detection of fiducial markings in the images; and,
iii) detection of fiducial markings in multiple triangulated images.

4. A system according to claim 3 , wherein the object configuration is indicative of at least one of:
a) a physical extent of the object; and,
b) movement parameters associated with the object.

5. A system according to claim 3 , wherein the routing data is indicative of at least one of:
a) a permitted object travel path,
b) permitted object movements;
c) permitted proximity limits for different objects;
d) permitted zones for objects;
e) denied zones for objects.

6. A system according to claim 1 , wherein each of the plurality of modular wheels at least one of:
a) includes a steering drive configured to adjust an orientation of the wheel, and wherein the controller is configured to control a steering drive to thereby change an orientation of the wheel;
b) includes a transceiver configured to communicate wirelessly with the one or more processing devices;
c) includes a power supply configured to power at least one of:
i) the drive;
ii) the controller;
iii) a transceiver; and,
iv) a steering drive; and,

d) are each attached to the object at known locations.

7. A system according to claim 1 , wherein the object includes at least one of:
a) a platform and wherein the plurality of modular wheels are attached to the platform; and,
b) an item supported by the platform.

8. A system according to claim 7 , wherein the one or more processing devices are configured to at least one of:
a) determine an object identity at least in part using a network identifier; and,
b) determine an object identity using machine readable coded data.

9. A system according to claim 8 , wherein the machine readable coded data is at least one of:
a) visible data, and wherein the one or more processing devices are configured to analyse the images to detect the machine readable coded data; and,
b) encoded on a tag, and wherein the one or more processing devices are configured to receive signals indicative of the machine readable coded data from a tag reader;
wherein the tags at least one of:
i) short range wireless communications protocol tags;
ii RFID tags; and,
iii) Bluetooth tags.

10. A system according to claim 1 , wherein the plurality of imaging devices are at least one of:
a) positioned within the environment at fixed locations;
b) static relative to the environment;
c) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to:
i. identify overlapping images in different image streams, the overlapping images being images captured by imaging devices having overlapping fields of view; and,
ii. analyse the overlapping images to determine object locations within the environment;

d) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to:
i. analyse changes in the object locations over time to determine object movements within the environment;
ii. compare the object movements to situational awareness rules; and,
iii. use results of the comparison to identify situational awareness events; and,

e) are at least one of:
i. security imaging devices;
ii. monoscopic imaging devices;
iii. non-computer vision based imaging devices; and,
iv. imaging devices that do not have associated intrinsic calibration information.

11. A system according to claim 10 , wherein the overlapping images are synchronous overlapping images captured at approximately the same time;
optionally, wherein the one or more processing devices are configured to at least one of:
a) determine a capture time of each captured image;
b) identify synchronous images using the captured time;
c) a capture time generated by the plurality of imaging devices;
d) a receipt time associated with each overlapping image, the receipt time being indicative of a time of receipt by the one or more processing devices; and,
e) a comparison of image content in the images.

12. A system according to claim 1 , wherein the one or more processing devices are configured to:
a) analyse images from each image stream to identify object images, the object images being images including objects; and,
b) identify overlapping images as object images that include the same object; wherein optionally the one or more processing devices are configured to identify overlapping images based at least in part on

Assignees

• Commw Scient Ind Res Org

Inventors

• Flick Paul
• Panitz Nicholas
• Dean Peter
• Elmouttie Marc
• Liang Sisi
• Steindl Ryan
• Cordie Troy
• Bandyopadhyay Tirthankar

Classifications

• G05D1/221

  Remote-control arrangements · CPC title

• G05D1/243

  Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals (using passive navigation aids external to the vehicle G05D1/244; using signals from positioning sensors located off-board the vehicle G05D1/249) · CPC title

• G05D1/43

  Control of position or course in two dimensions [2D] · CPC title

• B60K7/0007

  the motor being electric · CPC title

• G05D1/249 Primary

  from positioning sensors located off-board the vehicle, e.g. from cameras · CPC title