GB2583604A - Collision prevention for autonomous vehicles - Google Patents
Collision prevention for autonomous vehicles Download PDFInfo
- Publication number
- GB2583604A GB2583604A GB2009803.4A GB202009803A GB2583604A GB 2583604 A GB2583604 A GB 2583604A GB 202009803 A GB202009803 A GB 202009803A GB 2583604 A GB2583604 A GB 2583604A
- Authority
- GB
- United Kingdom
- Prior art keywords
- mobile robot
- autonomous mobile
- computer
- sensor data
- bounded area
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000002265 prevention Effects 0.000 title 1
- 238000000034 method Methods 0.000 claims 9
- 230000007246 mechanism Effects 0.000 claims 5
- 238000012795 verification Methods 0.000 claims 5
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Aviation & Aerospace Engineering (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Disclosed autonomous mobile robot systems can be used to safely and efficiently navigate through a facility while avoiding objects in the path of the autonomous mobile robot during completion of a task. Specifically, a safety zone of a first size may be generated around an autonomous mobile robot based at least in part on first data from a first set of sensors associated with the autonomous mobile robot that are configured to identify an object within the safety zone. Information indicating a current speed of the autonomous mobile robot from associated propulsion components may be received and utilized to update the first size and a shape of the safety zone. Instructions to cease propulsion of the autonomous mobile robot may be transmitted to the propulsion components based on first data identifying the object within the updated first size of the safety zone.
Claims (15)
1. An autonomous mobile robot, comprising: a navigation computer configured to generate a local travel path for navigating, by the autonomous mobile robot, a facility to complete a task based at least in part on first sensor data from a first set of sensors associated with the autonomous mobile robot, the first set of sensors configured to detect an obstruction in the local travel path and within a first bounded area in a first direction with respect to a first facing of the autonomous mobile robot; a safety verification computer configured to generate a second bounded area around the autonomous mobile robot based at least in part on second sensor data from a second set of sensors associated with the autonomous mobile robot and speed information from one or more propulsion mechanisms associated with the autonomous mobile robot, and instruct the one or more propulsion mechanisms to cease propulsion of the autonomous mobile robot based at least in part on the second sensor data identifying the obstruction within the second bounded area, the safety verification computer separate from the navigation computer; a motor controller configured to control propulsion of the autonomous mobile robot via the one or more propulsion mechanisms associated with the autonomous mobile robot; and a computing device configured to: maintain a facility map of the facility; receive, from a server computer and via a wireless network, a facility path for completing a particular task; generate, by the navigation computer, the local travel path for completing the particular task based at least in part on the first sensor data from first set of sensors and the facility map; detect, by the navigation computer, the obstruction within the first bounded area based at least in part on updated first sensor data from the first set of sensors; modify, by the navigation computer, the local travel path based at least in part on detecting the obstruction and the updated first sensor data; modify, by the navigation computer, a current speed of the autonomous mobile robot by instructing the motor controller to update a propulsion of the one or more propulsion mechanisms for navigating the modified local travel path; receive, by the safety verification computer and via the motor controller, propulsion speed information of the one or more propulsion mechanisms; and update, by the safety verification computer, a first size of the second bounded area around the autonomous mobile robot based at least in part on the propulsion speed information and the first direction with respect to the first facing of the autonomous mobile robot.
2. The autonomous mobile robot of claim 1, wherein modifying the local travel path includes updating the first direction with respect to the first facing of the autonomous mobile robot to a second direction with respect to the first facing of the autonomous mobile robot.
3. The autonomous mobile robot of claims 1 or 2, wherein the computing device is further configured to update, by the safety verification computer, a shape of the second bounded area based at least in part on the second direction with respect to the first facing of the autonomous mobile robot.
4. The autonomous mobile robot of any preceding claim, wherein the computing device is further configured to generate and maintain a third bounded area around the autonomous mobile robot based at least in part on third sensor data from a third set of sensors associated with the autonomous mobile robot.
5. The autonomous mobile robot of claims 1 or 4, wherein the computing device is further configured to generate a signal based at least in part on the third sensor data identifying the obstruction in the third bounded area around the autonomous mobile robot.
6. The autonomous mobile robot of claims 1 or 4, wherein a second size of the third bounded area is determined based at least in part on information identifying a size of an object being moved by the autonomous mobile robot.
7. A computer-implemented method comprising: receiving, by a computer system of an autonomous mobile robot and from a server computer, instructions for completing a task within a facility; generating, by the computer system, a local travel path for completing the particular task based at least in part on generating a first bounded area around the autonomous mobile robot using first sensor data from a first set of sensors associated with the autonomous mobile robot, and generating a second bounded area of a size around the autonomous mobile robot using second sensor data from a second set of sensors associated with the autonomous mobile robot, the first set of sensors configured to detect an object within the first bounded area and the second set of sensors configured to detect the object within the second bounded area; generating, by the computer system and during movement of the autonomous mobile robot within the facility according to the local travel path, a new local travel path based at least in part on detecting the object within the first bounded area using updated first sensor data from the first set of sensors, the new local travel path comprising instructions for modifying a current direction and current speed of the autonomous mobile robot to navigate within the facility; updating, by the computer system, the size of the second bounded area based at least in part the modified current direction and the modified current speed of the autonomous mobile robot; and instructing, by the computer system, one or more propulsion components of the autonomous mobile robot to cease propulsion of the autonomous mobile robot while utilizing the new local travel path based at least in part on the second sensor data of the second sensors identifying the object within the updated size of the second bounded area.
8. The computer-implemented method of claim 7, wherein updating the size of the second bounded area is further based at least in part on physical dimensions of an item being moved by the autonomous mobile robot.
9. The computer-implemented method of any preceding claim, wherein the first sensor data from the first set of sensors identifies a directionality and speed of the object within the first bounded area.
10. The computer-implemented method of claims 7 or 9, wherein generating the new local travel path is further based at least in part on the directionality and the speed of the object within the first bounded area.
11. The computer-implemented method of any preceding claim, wherein instructing the one or more propulsion components to cease propulsion of the autonomous mobile robot is further based at least in part on not receiving the first sensor data from the first set of sensors within a certain time period.
12. The computer-implemented method of any preceding claim, further comprising receiving, by the computer system, external sensor data from one or more external sensors associated with the facility.
13. The computer-implemented method of claims 7 or 12, wherein updating the size of the second bounded area is further based at least in part on the external sensor data from the one or more external sensors.
14. The computer-implemented method of any preceding claim, further comprising maintaining, by the computer system, a buffer zone around the autonomous mobile robot that enforces a certain speed for the autonomous mobile robot upon identifying that the object is within the buffer zone based at least in part on the second sensor data, the certain speed enforced by instructing the one or more propulsion components to maintain the certain speed while the object is within the buffer zone.
15. The computer-implemented method of any preceding claim, further comprising instructing, by the computer system, the autonomous mobile robot to maintain a certain speed in response to interacting with a storage object of the facility, wherein maintaining the certain speed includes ignoring the first sensor data from the first set of sensors while interacting with the storage object of the facility.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US15/823,069 US11014238B2 (en) | 2017-11-27 | 2017-11-27 | Dynamic navigation of autonomous vehicle with safety infrastructure |
| US15/822,993 US11130630B2 (en) | 2017-11-27 | 2017-11-27 | Collision prevention for autonomous vehicles |
| PCT/US2018/062030 WO2019104045A1 (en) | 2017-11-27 | 2018-11-20 | Collision prevention for autonomous vehicles |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| GB202009803D0 GB202009803D0 (en) | 2020-08-12 |
| GB2583604A true GB2583604A (en) | 2020-11-04 |
| GB2583604B GB2583604B (en) | 2022-02-16 |
Family
ID=64746640
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| GB2009803.4A Active GB2583604B (en) | 2017-11-27 | 2018-11-20 | Collision prevention for autonomous vehicles |
Country Status (3)
| Country | Link |
|---|---|
| DE (1) | DE112018006030T5 (en) |
| GB (1) | GB2583604B (en) |
| WO (1) | WO2019104045A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018213931A1 (en) * | 2017-05-25 | 2018-11-29 | Clearpath Robotics Inc. | Systems and methods for process tending with a robot arm |
| TWI738215B (en) * | 2020-02-14 | 2021-09-01 | 國立中央大學 | Map-based traffic situation detecting method with adaptively variable detecting scope, and device and computer product thereof |
| WO2022229677A1 (en) * | 2021-04-29 | 2022-11-03 | Siemens Industry Software Ltd. | Method and system for allocating an agv vehicle in a plant location |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050240317A1 (en) * | 2004-04-16 | 2005-10-27 | Kienzle-Lietl Kathleen G | Material transport in-motion product dimensioning system and method |
| US20160335892A1 (en) * | 2014-03-10 | 2016-11-17 | Hitachi Automotive Systems, Ltd. | System for Avoiding Collision with Multiple Moving Bodies |
| WO2017050358A1 (en) * | 2015-09-22 | 2017-03-30 | Bluebotics Sa | Dynamic navigation for autonomous vehicles |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7826919B2 (en) | 2006-06-09 | 2010-11-02 | Kiva Systems, Inc. | Method and system for transporting inventory items |
| US8220710B2 (en) | 2006-06-19 | 2012-07-17 | Kiva Systems, Inc. | System and method for positioning a mobile drive unit |
-
2018
- 2018-11-20 WO PCT/US2018/062030 patent/WO2019104045A1/en active Application Filing
- 2018-11-20 DE DE112018006030.6T patent/DE112018006030T5/en active Pending
- 2018-11-20 GB GB2009803.4A patent/GB2583604B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050240317A1 (en) * | 2004-04-16 | 2005-10-27 | Kienzle-Lietl Kathleen G | Material transport in-motion product dimensioning system and method |
| US20160335892A1 (en) * | 2014-03-10 | 2016-11-17 | Hitachi Automotive Systems, Ltd. | System for Avoiding Collision with Multiple Moving Bodies |
| WO2017050358A1 (en) * | 2015-09-22 | 2017-03-30 | Bluebotics Sa | Dynamic navigation for autonomous vehicles |
Non-Patent Citations (1)
| Title |
|---|
| Operating instructions S300, 17 fEBRUARY 2016, XP055555707 * |
Also Published As
| Publication number | Publication date |
|---|---|
| GB2583604B (en) | 2022-02-16 |
| WO2019104045A1 (en) | 2019-05-31 |
| DE112018006030T5 (en) | 2020-09-17 |
| GB202009803D0 (en) | 2020-08-12 |
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