System, computing device and method for unmanned vehicle fleet control

Patent metadata

Field	Value
Publication number	US-9606544-B2
Application number	US-201514927930-A
Country	US
Kind code	B2
Filing date	Oct 30, 2015
Priority date	Oct 31, 2014
Publication date	Mar 28, 2017
Grant date	Mar 28, 2017

Abstract

A system for controlling a fleet of unmanned vehicles includes a plurality of unmanned vehicles connected to a computing device. The computing device stores a dynamic attribute and a static attribute respective to each of the plurality of unmanned vehicles. The computing device is configured to: receive a task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action; responsive to receiving the request, retrieve the stored dynamic attributes and static attributes; based on a comparison of the task request with the dynamic attributes and the static attributes, select one of the plurality of unmanned vehicles; and transmit, via the network, a command to the selected unmanned vehicle to perform the action respective to the item at the location.

First claim

We claim:

1. A system, comprising:
a plurality of unmanned vehicles;
a computing device for connection to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, (i) a dynamic attribute respective to each of the plurality of unmanned vehicles, the dynamic attribute defining an operational capability of the respective vehicle that is variable during vehicle operation and (ii) a static attribute respective to each of the plurality of unmanned vehicles, the static attribute defining an operational capability of the respective vehicle that is invariable during vehicle operation;
the computing device configured to:
receive a task request, the task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action;
responsive to receiving the request, retrieve the stored dynamic attributes and static attributes from the memory;
based on a comparison of the task request with the dynamic attributes and the static attributes, select one of the plurality of unmanned vehicles; and
transmit, via the network, a command to the selected unmanned vehicle to perform the action respective to the item at the location.

2. The system of claim 1 , each of the unmanned vehicles having a motor coupled to an energy storage device; wherein the dynamic attribute respective to each unmanned vehicle includes at least one of a location of the unmanned vehicle, an availability indicator for the unmanned vehicle, and a remaining capacity of the energy storage device.

3. The system of claim 1 , wherein the static attribute respective to each of the unmanned vehicles includes at least a maximum payload of the unmanned vehicle.

4. The system of claim 1 , the computing device further configured to:
prior to selecting one of the plurality of unmanned vehicles, retrieve, from the memory, an item attribute corresponding to the item and a location attribute corresponding to the location.

5. The system of claim 4 , wherein the item attribute includes at least one of a mass of the item and a dimension of the item; and wherein the location attribute includes a set of coordinates of the location.

6. The system of claim 5 , the computing device further configured to select one of the plurality of unmanned vehicles by:
for each unmanned vehicle, evaluating the dynamic attribute and the static attribute against at least one criterion; and
when the at least one criterion is satisfied, adding the unmanned vehicle to a selection set.

7. The system of claim 6 , the computing device further configured to optimize the selection set to identify the one of the unmanned vehicles that best matches the task request.

8. The system of claim 1 , the computing device further configured to:
responsive to transmitting the command to the selected unmanned vehicle, update the dynamic attribute respective to the selected unmanned vehicle.

9. The system of claim 8 , wherein the action type is a pick up action; wherein the command is a command to pick up the item at the location; and wherein the update includes adding the item identifier to the dynamic attribute.

10. The system of claim 9 , wherein the action type is an in-process action; wherein the command is a command to machine the item at the location.

11. The system of claim 10 , wherein the update includes replacing the item identifier in the dynamic attribute with another item identifier.

12. The system of claim 8 , wherein the action type is a drop off action; wherein the command is a command to drop off the item at the location; and wherein the update includes removing the item identifier from the dynamic attribute.

13. The system of claim 1 , the computing device further configured to receive the task request from a second computing device via the network.

14. The system of claim 8 , the computing device further configured to:
subsequent to transmitting the command, receive a status message from the selected unmanned vehicle via the network;
determine whether the status message indicates completion of the action respective to the item at the location; and
when the status message indicates completion, send a confirmation message to the second computing device.

15. The system of claim 8 , the computing device further configured to:
determine whether the status message indicates a failure to complete the action respective to the item at the location;
when the status message indicates a failure, send an alert to the second computing device.

16. A computing device, comprising:
a communications interface for connection to a plurality of unmanned vehicles via a network;
memory storing (i) a dynamic attribute respective to each of the plurality of unmanned vehicles, the dynamic attribute defining an operational capability of the respective vehicle that is variable during vehicle operation and (ii) a static attribute respective to each of the plurality of unmanned vehicles, the static attribute defining an operational capability of the respective vehicle that is invariable during vehicle operation; and
a processor connected to the communications interface and the memory, the processor configured to:
receive a task request, the task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action;
responsive to receiving the request, retrieve the stored dynamic attributes and static attributes from the memory;
based on a comparison of the task request with the dynamic attributes and the static attributes, select one of the plurality of unmanned vehicles; and
transmit, via the communications interface, a command to the selected unmanned vehicle to perform the action respective to the item at the location.

17. A method, comprising:
storing, in a memory, (i) a dynamic attribute respective to each of the plurality of unmanned vehicles, the dynamic attribute defining an operational capability of the respective vehicle that is variable during vehicle operation and (ii) a static attribute respective to each of a plurality of unmanned vehicles, the static attribute defining an operational capability of the respective vehicle that is invariable during vehicle operation;
receiving, at a processor connected to the memory, a task request, the task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action;
responsive to receiving the request, retrieving the stored dynamic attributes and static attributes from the memory;
based on a comparison of the task request with the dynamic attributes and the static attributes, selecting one of the plurality of unmanned vehicles; and
transmitting, via a communications interface connected to the processor, a command to the selected unmanned vehicle to perform the action respective to the item at the location.

18. The system of claim 1 , the dynamic attribute defining at least one of: a current location of the unmanned vehicle, a remaining energy supply of the unmanned vehicle, an indication of availability for the unmanned vehicle, and a current payload identifier for the unmanned vehicle.

19. The system of claim 1 , the static attribute defining at least one of: a maximum speed of the unmanned vehicle, a curb weight of the unma

Assignees

• Clearpath Robotics Inc

Inventors

• Gariepy Ryan Christopher
• Bencz Alex

Classifications

• G05D1/0297 Primary

  by controlling means in a control room · CPC title

• G05D2201/0216

  Physics · mapped topic