Systems and methods for characterizing a vehicle motion of an autonomous mobile robot

Patent metadata

Field	Value
Publication number	US-12498732-B2
Application number	US-202418415338-A
Country	US
Kind code	B2
Filing date	Jan 17, 2024
Priority date	Jan 17, 2024
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A method and system are provided for characterizing a vehicle motion of an autonomous mobile robot in response to a triggering event. The method and system involve an autonomous mobile robot and a vehicle processor operable to navigate the autonomous mobile robot. The system further includes a motion characterization system coupled to the autonomous mobile robot, the motion characterization system comprising an odometry system operable to collect vehicle motion data associated with the vehicle motion; a triggering component; a storage component for storing an event start time, an event end time and the vehicle motion data between the event start time and the event end time; and a motion characterization processor operable to: receive an initialization input to initiate the triggering event; generate a trigger signal to cause the triggering component to cause the triggering event; and identify the event start time and an event end time.

First claim

We claim:

1 . A system for characterizing a vehicle motion of an autonomous mobile robot in response to a triggering event, the system comprising:
the autonomous mobile robot comprising: a vehicle sensor operable to detect the triggering event and generate an operational signal in response to detecting the triggering event; and a vehicle processor operable to navigate the autonomous mobile robot in response to one or more of: a navigation command and the operational signal; and a motion characterization system coupled to the autonomous mobile robot, the motion characterization system comprising: an odometry system operable to collect vehicle motion data associated with the vehicle motion; a triggering component coupled with respect to the vehicle sensor, and operable to cause the triggering event; a storage component for storing an event start time, an event end time and the vehicle motion data between the event start time and the event end time; and
a motion characterization processor operable to:
receive an initialization input to initiate the triggering event; generate a trigger signal to cause the triggering component to cause the triggering event; and identify the event start time as a time when the triggering signal is sent to the triggering component, and the event end time as a time when the autonomous mobile robot completes a response to the triggering event.

2 . The system of claim 1 , wherein the motion characterization processor is further operable to: receive a reset input; and cause the triggering event to reset upon receiving the reset input.

3 . The system of claim 1 , wherein the motion characterization processor is further operable to monitor at least one motion parameter associated with the autonomous mobile robot and wherein the at least one monitored motion parameter is within a tolerance range before the characterization processor generates the triggering signal.

4 . The system of claim 3 , wherein the motion characterization processor is further operable to determine that the autonomous mobile robot is no longer in motion and in response to determining that the autonomous mobile robot is no longer in motion, determine that the autonomous mobile robot completed the response to the triggering event.

5 . The system of claim 4 , wherein the motion characterization processor is further operable to continuously record the vehicle motion data from a predefined start time to a predefined end time.

6 . The system of claim 1 , wherein the odometry system is operationally independent from a vehicle odometry system of the autonomous mobile robot.

7 . A method for characterizing a vehicle motion of an autonomous mobile robot in response to a triggering event, the method comprising operating a motion characterization system coupled to the autonomous mobile robot to:
receive an initialization input to initiate the triggering event; generate a trigger signal to cause a triggering component to cause the triggering event; operate the triggering component to cause the triggering event; receive an operational signal from a vehicle processor in response to a vehicle sensor detecting the triggering event; identify an event start time as a time when the triggering signal is sent to the triggering component, and an event end time as a time when the autonomous mobile robot completes a response to the triggering event; and store vehicle motion data associated with the vehicle motion at least during operation of the autonomous mobile robot between the event start time and the event end time.

8 . The method of claim 7 , further comprising operating the motion characterization system to receive a reset input and cause the triggering event to reset upon receiving the reset input.

9 . The method of claim 7 , further comprising operating the motion characterization system to:
monitor at least one motion parameter associated with the vehicle and determine that the motion parameter is within a tolerance range before causing the triggering event.

10 . The method of claim 9 , further comprising operating the motion characterization system to:
determine that the vehicle is no longer in motion; and in response to determining that the vehicle is no longer in motion, determining that the vehicle completed a response to the triggering event.

11 . The method of claim 10 , further comprising operating the motion characterization system to:
record the vehicle motion data continuously from a predefined start time to a predefined end time.

12 . The method of claim 7 , further comprising operating the motion characterization system to send an indication to an external component at the time that the triggering signal is generated.

13 . A motion characterization system for an autonomous mobile robot, the motion characterization system comprising:
an odometry system operable to collect vehicle motion data associated with a motion of the autonomous mobile robot; a triggering component coupled with respect to a vehicle sensor of the autonomous mobile robot, and operable to cause a triggering event; a storage component for storing an event start time, an event end time and vehicle motion data between the event start time and the event end time; and
a motion characterization processor operable to:
receive an initialization input to initiate the triggering event; generate a triggering signal to cause the triggering component to cause the triggering event; and identify the event start time as a time when the triggering signal is sent to the triggering component, and the event end time as a time when the autonomous mobile robot completes a response to the triggering event.

14 . The system of claim 13 , wherein the motion characterization processor is further operable to: receive a reset input; and cause the triggering event to reset upon receiving the reset input.

15 . The system of claim 13 , wherein the motion characterization processor is further operable to monitor at least one motion parameter associated with the autonomous mobile robot, and wherein the at least one motion parameter is within a tolerance range before the motion characterization processor generates the triggering signal.

16 . The system of claim 15 , wherein the motion characterization processor is further operable to determine that the autonomous mobile robot is no longer in motion and in response to determining that the autonomous mobile robot is no longer in motion, determine that the autonomous mobile robot completed the response to the triggering event.

17 . The system of claim 16 , wherein the motion characterization processor is further operable to continuously record the vehicle motion data from a predefined start time to a predefined end time.

18 . The system of claim 13 , wherein the odometry system is operationally independent from vehicle odometry system of the autonomous mobile robot.

Assignees

• Clearpath Robotics Inc
• Rockwell Automation Tech Inc

Inventors

• Dam Robert
• Jou Alex
• Keblawi Amer
• Gariepy Ryan Christopher
• Mercer Jason

Classifications

• G05D2111/54

  for measuring the travel distances, e.g. by counting the revolutions of wheels · CPC title

• G05D2111/52

  generated by inertial navigation means, e.g. gyroscopes or accelerometers · CPC title

• B60W40/105

  Speed · CPC title

• B60W60/0025

  specially adapted for specific operations · CPC title

• B60T2201/022

  Collision avoidance systems · CPC title