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1. WO2020181257 - COLLABORATIVE DETERMINATION OF A LOAD FOOTPRINT OF A ROBOTIC VEHICLE

Publication Number WO/2020/181257
Publication Date 10.09.2020
International Application No. PCT/US2020/021555
International Filing Date 06.03.2020
IPC
G05D 1/00 2006.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
G08G 1/16 2006.01
GPHYSICS
08SIGNALLING
GTRAFFIC CONTROL SYSTEMS
1Traffic control systems for road vehicles
16Anti-collision systems
CPC
B25J 5/007
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
5Manipulators mounted on wheels or on carriages
007mounted on wheels
B25J 9/1676
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
1674characterised by safety, monitoring, diagnostic
1676Avoiding collision or forbidden zones
G05B 19/4183
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
4183characterised by data acquisition, e.g. workpiece identification
G05B 19/41895
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
418Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS], computer integrated manufacturing [CIM]
4189characterised by the transport system
41895using automatic guided vehicles [AGV]
G05B 2219/37208
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
2219Program-control systems
30Nc systems
37Measurements
37208Vision, visual inspection of workpiece
G05D 1/0246
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0231using optical position detecting means
0246using a video camera in combination with image processing means
Applicants
  • SKYLLA TECHNOLOGIES, INC. [US]/[US]
Inventors
  • WEAVER, Kota
Agents
  • SPANO, Joseph, S.
Priority Data
16/296,19207.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) COLLABORATIVE DETERMINATION OF A LOAD FOOTPRINT OF A ROBOTIC VEHICLE
(FR) DÉTERMINATION COLLABORATIVE D'UNE EMPREINTE DE CHARGE D'UN VÉHICULE ROBOTISÉ
Abstract
(EN)
Methods and systems for collaboration between two robotic vehicle systems to accurately determine a geometric model of the footprint of a loaded robotic vehicle are described herein. A scanning robot is employed to scan a robotic vehicle loaded with a payload. The scanning robot measures the geometric information required to determine a geometric model of the loaded robotic vehicle. The scanning robot traverses a trajectory around the payload robot, while one or more distance sensors repeatedly measure the distance between the scanning robot and the payload robot and one or more image capture devices repeatedly image the payload robot. A geometric model of it the footprint of the payload robot is generated based on the collected image and distance information. In some examples, virtual boundaries are defined around the payload robot based on the geometric model to navigate with obstacle avoidance.
(FR)
L'invention concerne des procédés et des systèmes de collaboration entre deux systèmes de véhicule robotisé permettant de déterminer avec précision un modèle géométrique de l'empreinte d'un véhicule robotisé chargé. Un robot de balayage est utilisé pour balayer un véhicule robotisé chargé avec une charge utile. Le robot de balayage mesure les informations géométriques requises pour déterminer un modèle géométrique du véhicule robotisé chargé. Le robot de balayage parcourt une trajectoire autour du robot de charge utile, pendant qu'un ou plusieurs capteurs de distance mesurent de manière répétée la distance entre le robot de balayage et le robot de charge utile et qu'un ou plusieurs dispositifs de capture d'image imagent de manière répétée le robot de charge utile. Un modèle géométrique de l'empreinte du robot de charge utile est généré en fonction des informations d'image et de distance collectées. Dans certains exemples, des limites virtuelles sont définies autour du robot de charge utile sur la base du modèle géométrique pour naviguer avec un évitement d'obstacle.
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