US20190170524A9 - Method for Identifying Safe and Traversable Paths - Google Patents
Method for Identifying Safe and Traversable Paths Download PDFInfo
- Publication number
- US20190170524A9 US20190170524A9 US15/361,041 US201615361041A US2019170524A9 US 20190170524 A9 US20190170524 A9 US 20190170524A9 US 201615361041 A US201615361041 A US 201615361041A US 2019170524 A9 US2019170524 A9 US 2019170524A9
- Authority
- US
- United States
- Prior art keywords
- route
- safe
- traversable
- area
- person
- 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
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3848—Data obtained from both position sensors and additional sensors
-
- G06K9/00664—
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
Definitions
- the present invention relates generally to delivering cargo via transport routes, and more particularly to a system for mapping and generating a collection of routes that can be safely traversed.
- the most varied fields of use can be conceived for autonomously operating units. They are particularly suitable for use in danger areas, remote sensing, and for performing relatively simple tasks. They are also capable of highly varied transportation activities such as acting as an autonomous transport or delivery vehicle for the retail industry. In executing activities, an autonomous mobile unit is confronted, however, with the problem of having to draw up a map of surroundings which are at first unknown, and of being able to use this map to locate itself at any given instant in its working environment. To solve this problem, it is expeditious to pre-load the autonomous unit with known “safe” routes or paths of travel that have been deemed to be free from obstacles or dangers. To ensure continued safety to the unit and other people or structures in the environment, it is desirable to have the autonomous unit continuously gather data about the route during transit. The newly gathered data is used to ensure that a route remains safe.
- GIS Geographical or Global Information System
- GIS Global Information System
- Data include Earth topography and vegetation, as mostly gathered by satellite imagery.
- Other Features such as the centerline of a road, are gathered by driving a vehicle with a GPS (Global Positioning System) system and noting the location of intersections and waypoints.
- Utility locations are input by surveying with GPS.
- manual re-evaluation is time consuming, so most GIS data tends to be acquired once, and is updated rarely, if ever.
- GIS data updates are need for differential analyses in several different areas.
- change analysis may detect and locate intruders or re-locate moveable assets.
- changing levels of water, heat, smoke, radiation, or gases may initiate investigations.
- tree trunk sizes may indicate time to harvest.
- GIS data are often physical phenomena. Originally, GIS consisted of databases of satellite images of Earth, typically taken in multiple spectra. By comparing the various images over time, objects, changes, and patterns could be identified. While some features and their attributes can be imaged from satellites very efficiently, many physical objects are out of satellite view. Even where features are in view, it can be difficult to distinguish those features in a satellite view, and it is especially difficult to distinguish them automatically using software image analysis, for example. Thus, many features must be located manually, or local sensors must be placed at known locations to locate and/or track specific features. However, requiring humans to constantly re-evaluate safe routes or installing sensor systems along the safe route can be expensive and unsightly.
- Allowing an autonomous unit to orient itself while traveling and simultaneously build up a map of the unknown surroundings poses the problem that there is a mutual functional relationship between drawing up the map of the surroundings and correctly identifying hazards or non-traversable paths.
- An important role is played here by, in particular, the type and accuracy of the sensors which the robot uses to survey the path it has covered and to locate obstacles in the surroundings.
- the path covered from a starting point may be determined with the aid of a wheel sensor.
- the distance from obstacles which occur may be measured with the aid of distance sensors, and said obstacles are entered as landmarks in the map of the surroundings. Because of the mutual functional relationship between the measuring procedure for determining the distance of obstacles and the procedure for measuring the path distance covered in conjunction with drawing up the map and with the errors which the measuring sensors have, these errors accumulate as a function of the path distance covered by the robot.
- the autonomous mobile unit can therefore no longer operate sensibly beyond a specific distance.
- a further method for orientating self-propelled mobile units in unknown surroundings consists in the unit building up a two-dimensional grid of its surroundings and providing individual cells of this grid with occupancy values.
- the occupancy values assigned per grid cell represent the occurrence of obstacles in the surroundings.
- an autonomous mobile unit not to use too much time for orientation or hazard identification or location tasks when performing a task defined by the user.
- the unit can always maintain a defined measure of accuracy of orientation and hazard identification and location. This means, in other words, that the positional error of the autonomous unit, nor the probability of correctly identifying and mapping a tree across a sidewalk, should not overshoot a certain limit, otherwise said unit would no longer be able, for example, to deposit milk on the doorstep of a delivery customer.
- the present invention provides a solution to the shortcomings of the prior art by setting forth a method in which a route is traversed manually or partially autonomously by an entity, then evaluated to see if the route is safe and traversable, then finally stored in a memory and re-mapped to develop safe operating tolerances.
- the present invention provides for manually or semi-manually mapping an urban environment.
- a neighborhood is observed and recorded by a person that traverses sidewalks, ramps, driveways, crosswalks, and other terrain in the neighborhood to create a “memory” of usable paths to reach addressed destinations.
- a human operator possibly assisted by algorithm, approves routes that are considered safe. When a route is approved, it enters the database as new route and may be used for traversal. If a route is not approved, it is marked as unsafe and the operator finds an alternate route to get to the same location, such as by going around the block in the other direction.
- a mapping phase begins. During the mapping phase, each route is scanned using a plurality of sensors: GPS, video, laser, etc. and each sensor output is saved in high level, summary, form. Ideally each path is mapped more than once under differing conditions A maximum amount of deviation, or delta, can be determined for each sensor using empirical or Bayesian methods.
- FIG. 1 is a flowchart showing the steps in an algorithm for mapping a safe, traversable path as according to an embodiment of the present invention
- FIG. 2 is a map showing a city section where a safe, traversable path is to be mapped as according to an embodiment of the present invention
- FIG. 3 is a map showing a city section where a safe, traversable path is mapped as according to an embodiment of the present invention
- FIG. 4 is a block diagram showing a sensor array used to map a safe, traversable path as according to an embodiment of the present invention.
- FIG. 5 is a drawing showing objects to be mapped when determining a safe, traversable path as according to an embodiment of the present invention.
- the method starts ( 100 ) when a user, a person, identifies an area in which to work.
- the area in which to work is a given city or area within a city ( 101 ).
- the area can also be an entire small town, a neighborhood, a commercial area of a large town, or any selected area of an urban environment in which a user wishes to operate.
- a starting address hereinafter referred to as an “Origin” is determined.
- the Origin can be a warehouse, distribution center, office, or the like from which a safe and traversable route will begin.
- the delivery vehicle generally comprises a self-propelled vehicle capable of making at least one or more action decisions based on input received from its present environment. That is, the vehicle can decide how best to proceed, or whether not to proceed, when making deliveries given changing external conditions.
- the city or area within a city selected in step ( 101 ) forms the area in which the delivery vehicle will operate. Prior to the delivery vehicle beginning operation, some or all of the area is traversed ( 102 ) by a traversal entity.
- the traversal entity gathers data so that a determination can be made regarding whether to approve a path ( 103 ) as safe and traversable by the delivery vehicle.
- the traversal entity may be the same entity that makes the approval decision ( 103 ), or may be an entity that gathers data about the path while another entity or person decides whether to approve or not approve the path ( 103 ).
- the traversal entity may be a person that traverses and visually observes a proposed path from Origin to Destination.
- the person may operate an electronic device such as a video camera, lidar, or radar when traversing a proposed path.
- the recorded data can later be analyzed to determine whether to approve the path ( 103 ) from Origin to Destination. If less than the entire area is traversed ( 102 ), the person may travel only proposed paths from the Origin to one or more Destinations.
- the traversal entity may be an autonomous, semi-autonomous, or manually controlled vehicle device that can traverse an area ( 102 ) and proposed paths within that area.
- the path traversal vehicle may be a robot that utilizes one or more sensors to gather data about a path traversed ( 102 ) within the area.
- the path traversal vehicle records data about proposed paths within an area so that the determination whether to approve the path as safe ( 103 ) can be made.
- the path is approved as safe, it is marked as an approved path ( 106 ) and is stored in an electronic database as a new path ( 107 ). The newly approved path is then considered to be safe and traversable. Delivery vehicles that must traverse from Origin to Destination can use paths that are approved.
- a sensor array is used to gather data about the path ( 104 ).
- the sensor array comprises a plurality of sensors including, but not limited to: a Global Positioning System (GPS) sensor, video, laser, sonar, odometer, and lidar devices.
- GPS Global Positioning System
- the output from each sensor is saved in a high level or summary form.
- approved paths are mapped a plurality of times under differing conditions. These differing conditions include different weather conditions, different traffic conditions, different times of day, and the like.
- a maximum delta value is then determined for each sensor using empirical or Bayesian methods. The maximum delta value represents a threshold for use by the delivery vehicle when traversing the path. If the delta value is met or exceed, the delivery vehicle may create an alert, make a decision, or perform an action in response to meeting or exceeding the delta value.
- the traversal entity decides whether it has completed ( 109 ) traversing the area. If not, it continues to traverse the area ( 102 ). If it has completed traversing the area ( 109 ), then the process illustrated in this FIG. 1 ends ( 110 ).
- FIG. 2 there is shown a map of a city section where a safe, traversable path is to be mapped as according to an embodiment of the present invention.
- This map depicts an area that a user selects to operate in during step ( 101 ) of FIG. 1 .
- An area generally comprises a plurality of streets ( 111 ) and city blocks ( 114 ) as commonly found in an urban setting.
- the area chosen in FIG. 1 ( 101 ) is the area through which a delivery vehicle must pass. Before the delivery vehicle can safely traverse through the area, the traversal entity travels through the area and observes or records information about the area.
- the traversal entity collects visual or sensor data about the area so that a safe and traversable path from an Origin to a Destination can be mapped. It is important to note that potential Destinations can include residences ( 113 ) or non-residences ( 112 ) such as businesses.
- the traversal entity may traverse some or all of the area, some or all of the streets ( 111 ), or may pass by some or all of the buildings ( 112 , 113 ) in the area depending on the specific embodiment of the present invention.
- FIG. 3 there is shown a map of a city section where a safe, traversable path is mapped as according to an embodiment of the present invention. If a route ( 116 ) is approved as safe ( FIG. 1 ( 103 )) from an Origin ( 115 ) to a Destination ( 117 ) the route ( 116 ) is marked as approved ( FIG. 1 ( 106 )) and a sensor array gathers data ( FIG. 1 ( 104 )) about the path. Operation of the sensor array may occur manually, semi-autonomously, or autonomously.
- a sensor array is traversed along the route ( 116 ) from Origin ( 115 ) to Destination ( 117 ).
- the sensor array is mounted on a vehicle and driven along the route ( 116 ) that a delivery vehicle will later take from Origin ( 116 ) to destination ( 117 ).
- a sensor array is carried by a user walking the route ( 116 ) in reverse from Destination ( 117 ) to Origin ( 115 ).
- a sensor array is mounted to a vehicle and a portion of the route ( 116 ) is driven by a user, the user then deviates from the route ( 116 ), then later returns to traverse a different portion of the route ( 116 ).
- deviation then resumption from mapping the route ( 116 ) may be necessary because a delivery vehicle may be able to traverse portions of the route ( 116 ) in an order different from an automobile, such as by proceeding up a sidewalk against one-way traffic.
- a route ( 116 ) may be traversed a plurality of times to determine a range of operating conditions for a delivery vehicle.
- the range of operating conditions could include recording data from one or more type of sensor at different times of day, in different weather conditions, during rush hour or non-rush hour times, and the like.
- the purpose of traversing the route ( 116 ) a plurality of times is to develop a normal operating range for the delivery vehicle.
- a sensor on the delivery vehicle exceeds an operating range threshold, that occurrence would indicate a deviation from normal operating conditions. This occurrence would trigger an alarm, require the delivery vehicle to make a decision, or cause the delivery vehicle to notify a teleoperator.
- Some examples of events that would result in a sensor detecting a non-normal condition could include, but is not limited to; a radar sensor detecting a delivery vehicle blocking a sidewalk, a camera detecting a pedestrian standing in the path of the delivery vehicle, a loss of GPS signal, a sonar sensor detecting a telephone pole down across a road.
- Environmental conditions such as snow, heavy rain, flooding, ice, or excessive heat could result in the occurrence of a non-normal condition.
- FIG. 4 there is shown a block diagram of a sensor array ( 121 ) used to map a safe, traversable path as according to an embodiment of the present invention.
- the sensor array ( 121 ) comprises a plurality of sensors that are used to record data about a traversable path as illustrated in FIG. 3 ( 116 ).
- the array comprises at least one, but often more, sensors that each record a different type of data.
- a sensor array ( 121 ) comprises a laser ( 121 ), a GPS ( 119 ), a video recording device ( 120 ), a sonar ( 122 ), and an odometer ( 123 ).
- Other embodiments of the present invention may include different combinations of sensors or sensors not pictured in this FIG. 4 .
- an embodiment of the present invention may add a thermometer or altimeter to the sensor package depicted in FIG. 3 .
- a delivery vehicle traversing the route mapped by the sensor array ( 121 ) may contain some or all of the same sensors ( 118 - 120 , 122 , 123 ) as the array ( 121 ). The delivery vehicle could then monitor the same sensor data for out-of-normal conditions. The occurrence of which may require an action or decision to be taken or made by the delivery vehicle or a teleoperator.
- FIG. 5 there is shown a drawing with objects to be mapped when determining a safe, traversable path as according to an embodiment of the present invention.
- the drawing depicts an exemplary street scene, an intersection, as found in many urban environments.
- mapping or traversing a route the sensor array mapping the route and the delivery vehicle traversing the route must be aware of some or all of the objects within the environment.
- mapping sensor arrays and delivery vehicles may use sensors to locate and identify: street lamps ( 124 ), commercial buildings ( 112 ), bus stop shelters ( 125 ), sidewalks ( 126 ), crosswalk signals ( 127 ), crosswalk ramps ( 128 ), crosswalk islands ( 129 ), and streets ( 111 ).
- street lamps 124
- commercial buildings 112
- bus stop shelters 125
- sidewalks 126
- crosswalk signals 127
- crosswalk ramps 128
- crosswalk islands 129
- streets 111
- Each of the aforementioned urban features may be detectable by a different type of sensor included as part of the sensor array or delivery vehicle.
- a bus shelter ( 125 ) may be detectable by a radar sensor while a crosswalk ramp ( 128 ) may be detectable by a video camera.
- a crosswalk ramp ( 128 ) may be detectable by a video camera.
- Video data received from a video camera may be integrated with radar data to detect or refine the exact location of a building ( 112 ).
- each of the urban features may cause a delivery vehicle to behave in a different manner.
- the delivery vehicle may alter course to avoid collision. But upon detection of a sidewalk ramp ( 128 ), the delivery vehicle may alter course to make use of the ramp ( 128 ).
- the delivery vehicle may activate additional sensors to scan for approaching vehicles prior to crossing.
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Multimedia (AREA)
- Theoretical Computer Science (AREA)
- Navigation (AREA)
- Traffic Control Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
- This application claims priority to U.S. Provisional Patent Application Ser. No. 62/259,152 filed on Nov. 24, 2015 entitled “Product Delivery System and Apparatus”, the disclosure of which is hereby incorporated by reference.
- The present invention relates generally to delivering cargo via transport routes, and more particularly to a system for mapping and generating a collection of routes that can be safely traversed.
- The most varied fields of use can be conceived for autonomously operating units. They are particularly suitable for use in danger areas, remote sensing, and for performing relatively simple tasks. They are also capable of highly varied transportation activities such as acting as an autonomous transport or delivery vehicle for the retail industry. In executing activities, an autonomous mobile unit is confronted, however, with the problem of having to draw up a map of surroundings which are at first unknown, and of being able to use this map to locate itself at any given instant in its working environment. To solve this problem, it is expeditious to pre-load the autonomous unit with known “safe” routes or paths of travel that have been deemed to be free from obstacles or dangers. To ensure continued safety to the unit and other people or structures in the environment, it is desirable to have the autonomous unit continuously gather data about the route during transit. The newly gathered data is used to ensure that a route remains safe.
- Prior methods for developing known safe routes generally tend to rely on retrieving and utilizing data from the Geographical or Global Information System (GIS). GIS has allowed users to create spatial representations of the world for use in decision-making, navigation and many other applications that link natural and man-made features with their relative and unique 3-D positions on or near Earth. Data include Earth topography and vegetation, as mostly gathered by satellite imagery. Other Features, such as the centerline of a road, are gathered by driving a vehicle with a GPS (Global Positioning System) system and noting the location of intersections and waypoints. Utility locations are input by surveying with GPS. Collected into GIS databases, the data subsequently are used for vehicle navigation, building operations, emergency response, environmental health, and a wide variety of other applications. However, manual re-evaluation is time consuming, so most GIS data tends to be acquired once, and is updated rarely, if ever.
- GIS data updates, however, are need for differential analyses in several different areas. In a security application, for example, change analysis may detect and locate intruders or re-locate moveable assets. For hazard detection, changing levels of water, heat, smoke, radiation, or gases may initiate investigations. For foresters, tree trunk sizes may indicate time to harvest.
- GIS data are often physical phenomena. Originally, GIS consisted of databases of satellite images of Earth, typically taken in multiple spectra. By comparing the various images over time, objects, changes, and patterns could be identified. While some features and their attributes can be imaged from satellites very efficiently, many physical objects are out of satellite view. Even where features are in view, it can be difficult to distinguish those features in a satellite view, and it is especially difficult to distinguish them automatically using software image analysis, for example. Thus, many features must be located manually, or local sensors must be placed at known locations to locate and/or track specific features. However, requiring humans to constantly re-evaluate safe routes or installing sensor systems along the safe route can be expensive and unsightly.
- Allowing an autonomous unit to orient itself while traveling and simultaneously build up a map of the unknown surroundings poses the problem that there is a mutual functional relationship between drawing up the map of the surroundings and correctly identifying hazards or non-traversable paths. An important role is played here by, in particular, the type and accuracy of the sensors which the robot uses to survey the path it has covered and to locate obstacles in the surroundings. For example, the path covered from a starting point may be determined with the aid of a wheel sensor. On the other hand, the distance from obstacles which occur may be measured with the aid of distance sensors, and said obstacles are entered as landmarks in the map of the surroundings. Because of the mutual functional relationship between the measuring procedure for determining the distance of obstacles and the procedure for measuring the path distance covered in conjunction with drawing up the map and with the errors which the measuring sensors have, these errors accumulate as a function of the path distance covered by the robot.
- The autonomous mobile unit can therefore no longer operate sensibly beyond a specific distance.
- A method which addresses this problem and indicates a solution for it was advanced by W. D. Rencken in the article “Concurrent Localisation and Map Building for Mobile Robots Using Ultrasonic Sensors”, Proc. of the 1993 IEEE/RSJ. International Conference on Intelligent Robots and Systems, Yokohama, Jap. Jul. 26 to Jul. 30, 1993, pages 2192 to 2197. The known measuring errors of the sensors used are used there for correcting a predicted landmark position, found with the aid of the internal map, as a function of a path distance covered. The absolute measuring error which occurs during the movement of the autonomous mobile unit is thereby reduced.
- A further method for orientating self-propelled mobile units in unknown surroundings consists in the unit building up a two-dimensional grid of its surroundings and providing individual cells of this grid with occupancy values. The occupancy values assigned per grid cell represent the occurrence of obstacles in the surroundings.
- Such a method is specified by the published document “Histogrammic in-motion mapping for mobile robot obstacle avoidance”, IEEE Transactions on Robotics Automation, Vol. 7, No. 4, August 1991, by J. Borenstein and Yoram Koren. It is described there how ultrasonic sensors can be used to draw up a map of the surroundings of a self-propelled mobile unit.
- The process of drawing up a map while the robot is possibly continuing to travel and being repositioned is extremely hardware intensive, time consuming and requires a control computer to perform computations. This hampers the robot in carrying out an activity it has been assigned.
- It is therefore extremely desirable for an autonomous mobile unit not to use too much time for orientation or hazard identification or location tasks when performing a task defined by the user. However, it is also important in this case that within the context of the task which has been set the unit can always maintain a defined measure of accuracy of orientation and hazard identification and location. This means, in other words, that the positional error of the autonomous unit, nor the probability of correctly identifying and mapping a tree across a sidewalk, should not overshoot a certain limit, otherwise said unit would no longer be able, for example, to deposit milk on the doorstep of a delivery customer.
- The present invention provides a solution to the shortcomings of the prior art by setting forth a method in which a route is traversed manually or partially autonomously by an entity, then evaluated to see if the route is safe and traversable, then finally stored in a memory and re-mapped to develop safe operating tolerances.
- The present invention provides for manually or semi-manually mapping an urban environment. In an embodiment of the invention, a neighborhood is observed and recorded by a person that traverses sidewalks, ramps, driveways, crosswalks, and other terrain in the neighborhood to create a “memory” of usable paths to reach addressed destinations. A human operator, possibly assisted by algorithm, approves routes that are considered safe. When a route is approved, it enters the database as new route and may be used for traversal. If a route is not approved, it is marked as unsafe and the operator finds an alternate route to get to the same location, such as by going around the block in the other direction.
- If a route is approved, a mapping phase begins. During the mapping phase, each route is scanned using a plurality of sensors: GPS, video, laser, etc. and each sensor output is saved in high level, summary, form. Ideally each path is mapped more than once under differing conditions A maximum amount of deviation, or delta, can be determined for each sensor using empirical or Bayesian methods.
- Other novel features which are characteristics of the invention, as to organization and method of operation, together with further and advantages thereof will be better understood from the following description considered in connection with the accompanying figures, in which preferred embodiments of the invention are illustrated by way of example. It is to be expressly understood, however, that the figures are for illustration and description only and are not intended as a definition of the limits of the invention. The various features of novelty which characterize the invention are pointed out with particularity in the following description. The invention resides not in any one of these features taken alone, but rather in the particular combination of all its structures for the functions specified.
-
FIG. 1 is a flowchart showing the steps in an algorithm for mapping a safe, traversable path as according to an embodiment of the present invention; -
FIG. 2 is a map showing a city section where a safe, traversable path is to be mapped as according to an embodiment of the present invention; -
FIG. 3 is a map showing a city section where a safe, traversable path is mapped as according to an embodiment of the present invention; -
FIG. 4 is a block diagram showing a sensor array used to map a safe, traversable path as according to an embodiment of the present invention; and -
FIG. 5 is a drawing showing objects to be mapped when determining a safe, traversable path as according to an embodiment of the present invention. - A further understanding of the present invention can be obtained by reference to a preferred embodiment set forth in the accompanying description. Although the illustrated embodiments are merely exemplary of methods for carrying out the present invention, both the organization and method of operation of the invention, in general, together with further objectives and advantages thereof, may be more easily understood by reference to the illustrations and the following description. The figures are not intended to limit the scope of this invention, but merely to clarify and exemplify the invention.
- In the following detailed description, reference is made to specific embodiments in which the invention may be practiced. These embodiments are described in sufficient detail to enable those skilled in the art to practice the invention. It is to be understood that the various embodiments of the invention, although different, are not necessarily mutually exclusive. Furthermore, a particular feature, structure, or characteristic described herein in connection with one embodiment may be implemented within other embodiments without departing from the scope of the invention. In addition, it is to be understood that the location or arrangement of individual elements within each disclosed embodiment may be modified without departing from the scope of the invention. The following detailed description is, therefore, not to be taken in a limiting sense.
- The word “exemplary” is used herein to mean “serving as an example, instance, or illustration.” Any embodiment described herein as “exemplary” is not necessarily to be construed as preferred or advantageous over other embodiments. Likewise, the terms “embodiment(s) of the invention”, “alternative embodiment(s)”, and “exemplary embodiment(s)” do not require that all embodiments of the method(s) or apparatus include the discussed feature, advantage or mode of operation. The following description of the preferred embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or use.
- There has thus been broadly outlined the more important features of the invention in order that the detailed description thereof that follows may be better understood, and in order that the present contribution to the art may be better appreciated. There are, of course, additional features of the invention that will be described hereinafter and which will form additional subject matter. Those skilled in the art will appreciate that the conception upon which this disclosure is based may be readily utilized as a basis for the designing of other structures, methods and systems for carrying out the purposes of the present invention. It is important, therefore, that any embodiments of the present invention be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the present invention.
- Further, the purpose of the Abstract herein is to enable the U.S. Patent and Trademark Office and the public generally, and especially the scientists, engineers and practitioners in the art who are not familiar with patent or legal terms or phraseology, to determine quickly from a cursory inspection the nature and essence of the technical disclosure of the application. The Abstract is neither intended to define the invention of this application nor is it intended to be limiting as to the scope of the invention in any way.
- Referring now to the present invention, there is introduced a method for manually or semi-manually locating safe and traversable paths within an urban environment. For the purpose of clarity, all like elements mentioned in this description will have the same designations. The terms “method for manually or semi-manually locating safe and traversable paths in an urban environment”, “method for locating safe and traversable paths”, “method”, “invention”, and “present invention” may be used interchangeably. In addition to the functions, features, components, and abilities of the invention already discussed in this specification, the invention may also have, but not be limited to, the following features contained within the description below.
- Referring now to
FIG. 1 , there is shown a flowchart depicting the steps in an algorithm for mapping a safe, traversable path as according to an embodiment of the present invention. The method starts (100) when a user, a person, identifies an area in which to work. The area in which to work is a given city or area within a city (101). The area can also be an entire small town, a neighborhood, a commercial area of a large town, or any selected area of an urban environment in which a user wishes to operate. A starting address, hereinafter referred to as an “Origin” is determined. The Origin can be a warehouse, distribution center, office, or the like from which a safe and traversable route will begin. Addresses that could potentially be destinations for a delivery vehicle, hereinafter referred to as the “Destination”, within the given city or are listed (101). The purpose of the method is to determine a route that can be safely be traversed by an autonomous or semi-autonomous delivery vehicle. Such a vehicle can loosely be described as a “robot”. The delivery vehicle generally comprises a self-propelled vehicle capable of making at least one or more action decisions based on input received from its present environment. That is, the vehicle can decide how best to proceed, or whether not to proceed, when making deliveries given changing external conditions. - The city or area within a city selected in step (101) forms the area in which the delivery vehicle will operate. Prior to the delivery vehicle beginning operation, some or all of the area is traversed (102) by a traversal entity. The traversal entity gathers data so that a determination can be made regarding whether to approve a path (103) as safe and traversable by the delivery vehicle. The traversal entity may be the same entity that makes the approval decision (103), or may be an entity that gathers data about the path while another entity or person decides whether to approve or not approve the path (103).
- The traversal entity may be a person that traverses and visually observes a proposed path from Origin to Destination. Alternatively, the person may operate an electronic device such as a video camera, lidar, or radar when traversing a proposed path. The recorded data can later be analyzed to determine whether to approve the path (103) from Origin to Destination. If less than the entire area is traversed (102), the person may travel only proposed paths from the Origin to one or more Destinations.
- Alternatively, the traversal entity may be an autonomous, semi-autonomous, or manually controlled vehicle device that can traverse an area (102) and proposed paths within that area. The path traversal vehicle may be a robot that utilizes one or more sensors to gather data about a path traversed (102) within the area. When traversing a proposed path, the path traversal vehicle records data about proposed paths within an area so that the determination whether to approve the path as safe (103) can be made.
- If the path is approved as safe, it is marked as an approved path (106) and is stored in an electronic database as a new path (107). The newly approved path is then considered to be safe and traversable. Delivery vehicles that must traverse from Origin to Destination can use paths that are approved.
- Once a path is approved (103), a sensor array is used to gather data about the path (104). The sensor array comprises a plurality of sensors including, but not limited to: a Global Positioning System (GPS) sensor, video, laser, sonar, odometer, and lidar devices. The output from each sensor is saved in a high level or summary form. In an embodiment of the present invention, approved paths are mapped a plurality of times under differing conditions. These differing conditions include different weather conditions, different traffic conditions, different times of day, and the like. A maximum delta value is then determined for each sensor using empirical or Bayesian methods. The maximum delta value represents a threshold for use by the delivery vehicle when traversing the path. If the delta value is met or exceed, the delivery vehicle may create an alert, make a decision, or perform an action in response to meeting or exceeding the delta value.
- If the path is not approved, it is marked as an unapproved path (105). That path is deemed to be unusable by a delivery vehicle. The path may be unsafe, not traversable, or may contain one or more obstacles that the delivery vehicle cannot overcome. If a path is marked as unapproved (105), the traversal entity decides whether it has completed (109) traversing the area. If not, it continues to traverse the area (102). If it has completed traversing the area (109), then the process illustrated in this
FIG. 1 ends (110). - Referring now to
FIG. 2 , there is shown a map of a city section where a safe, traversable path is to be mapped as according to an embodiment of the present invention. This map depicts an area that a user selects to operate in during step (101) ofFIG. 1 . An area generally comprises a plurality of streets (111) and city blocks (114) as commonly found in an urban setting. The area chosen inFIG. 1 (101) is the area through which a delivery vehicle must pass. Before the delivery vehicle can safely traverse through the area, the traversal entity travels through the area and observes or records information about the area. The traversal entity collects visual or sensor data about the area so that a safe and traversable path from an Origin to a Destination can be mapped. It is important to note that potential Destinations can include residences (113) or non-residences (112) such as businesses. - The traversal entity may traverse some or all of the area, some or all of the streets (111), or may pass by some or all of the buildings (112, 113) in the area depending on the specific embodiment of the present invention.
- Referring now to
FIG. 3 there is shown a map of a city section where a safe, traversable path is mapped as according to an embodiment of the present invention. If a route (116) is approved as safe (FIG. 1 (103)) from an Origin (115) to a Destination (117) the route (116) is marked as approved (FIG. 1 (106)) and a sensor array gathers data (FIG. 1 (104)) about the path. Operation of the sensor array may occur manually, semi-autonomously, or autonomously. - The exact method by which the sensor array gathers information about the route (116) is embodiment specific. In one embodiment of the present invention, a sensor array is traversed along the route (116) from Origin (115) to Destination (117). The sensor array is mounted on a vehicle and driven along the route (116) that a delivery vehicle will later take from Origin (116) to destination (117). In another embodiment of the present invention, a sensor array is carried by a user walking the route (116) in reverse from Destination (117) to Origin (115). In still another embodiment of the present invention, a sensor array is mounted to a vehicle and a portion of the route (116) is driven by a user, the user then deviates from the route (116), then later returns to traverse a different portion of the route (116). In this embodiment of the present invention, deviation then resumption from mapping the route (116) may be necessary because a delivery vehicle may be able to traverse portions of the route (116) in an order different from an automobile, such as by proceeding up a sidewalk against one-way traffic.
- Furthermore, some or all of a route (116) may be traversed a plurality of times to determine a range of operating conditions for a delivery vehicle. The range of operating conditions could include recording data from one or more type of sensor at different times of day, in different weather conditions, during rush hour or non-rush hour times, and the like. The purpose of traversing the route (116) a plurality of times is to develop a normal operating range for the delivery vehicle. During delivery operations, if a sensor on the delivery vehicle exceeds an operating range threshold, that occurrence would indicate a deviation from normal operating conditions. This occurrence would trigger an alarm, require the delivery vehicle to make a decision, or cause the delivery vehicle to notify a teleoperator.
- Some examples of events that would result in a sensor detecting a non-normal condition could include, but is not limited to; a radar sensor detecting a delivery vehicle blocking a sidewalk, a camera detecting a pedestrian standing in the path of the delivery vehicle, a loss of GPS signal, a sonar sensor detecting a telephone pole down across a road. Environmental conditions such as snow, heavy rain, flooding, ice, or excessive heat could result in the occurrence of a non-normal condition.
- Referring now to
FIG. 4 , there is shown a block diagram of a sensor array (121) used to map a safe, traversable path as according to an embodiment of the present invention. The sensor array (121) comprises a plurality of sensors that are used to record data about a traversable path as illustrated inFIG. 3 (116). The array comprises at least one, but often more, sensors that each record a different type of data. In an embodiment of the present invention, a sensor array (121) comprises a laser (121), a GPS (119), a video recording device (120), a sonar (122), and an odometer (123). Other embodiments of the present invention may include different combinations of sensors or sensors not pictured in thisFIG. 4 . By way of example, an embodiment of the present invention may add a thermometer or altimeter to the sensor package depicted inFIG. 3 . - It should be noted that a delivery vehicle traversing the route mapped by the sensor array (121) may contain some or all of the same sensors (118-120, 122, 123) as the array (121). The delivery vehicle could then monitor the same sensor data for out-of-normal conditions. The occurrence of which may require an action or decision to be taken or made by the delivery vehicle or a teleoperator.
- Referring now to
FIG. 5 , there is shown a drawing with objects to be mapped when determining a safe, traversable path as according to an embodiment of the present invention. The drawing depicts an exemplary street scene, an intersection, as found in many urban environments. When mapping or traversing a route, the sensor array mapping the route and the delivery vehicle traversing the route must be aware of some or all of the objects within the environment. - At a common city intersection, mapping sensor arrays and delivery vehicles may use sensors to locate and identify: street lamps (124), commercial buildings (112), bus stop shelters (125), sidewalks (126), crosswalk signals (127), crosswalk ramps (128), crosswalk islands (129), and streets (111). Naturally, there may be many more objects that a sensor array must map and a delivery vehicle be aware of than those pictured in this
FIG. 5 . - Each of the aforementioned urban features (111, 112, 124-129) may be detectable by a different type of sensor included as part of the sensor array or delivery vehicle. By way of example, a bus shelter (125) may be detectable by a radar sensor while a crosswalk ramp (128) may be detectable by a video camera. However, some types of features may be detectable by two or more sensors. Video data received from a video camera may be integrated with radar data to detect or refine the exact location of a building (112).
- Proper mapping of the urban environment is required because each of the urban features (111, 112, 124-129) may cause a delivery vehicle to behave in a different manner. Upon detection of a street light (124), the delivery vehicle may alter course to avoid collision. But upon detection of a sidewalk ramp (128), the delivery vehicle may alter course to make use of the ramp (128). In addition, upon detection of a street (111), the delivery vehicle may activate additional sensors to scan for approaching vehicles prior to crossing.
- Those skilled in the art will appreciate that the conception, upon which this disclosure is based, may readily be utilized as a basis for designing other structures, methods, and systems for carrying out the several purposes of the present invention. It is important, therefore, that this description be regarded as including such equivalent constructions insofar as they do not depart from the spirit and scope of the present invention.
- Although certain example methods, apparatus, apparatus and articles of manufacture have been described herein, the scope of coverage of this application is not limited thereto. On the contrary, this application covers all methods, apparatus and articles of manufacture fairly falling within the scope of the invention either literally or under the doctrine of equivalents.
- Therefore, the foregoing is considered as illustrative only of the principles of a method for determining safe and traversable paths. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the method for determining safe and traversable paths to the exact construction and operation described, and accordingly, all suitable modifications and equivalents may be resorted to, falling within the scope of the present invention. While the above description describes various embodiments of the present invention, it will be clear that the present invention may be otherwise easily adapted to fit other configurations.
- As various changes could be made in the above constructions without departing from the scope of the invention, it is intended that all matter contained in the above description shall be interpreted as illustrative and not in a limiting sense.
Claims (20)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/361,041 US10578447B2 (en) | 2015-11-24 | 2016-11-24 | Method for identifying safe and traversable paths |
US16/782,469 US11624631B2 (en) | 2015-11-24 | 2020-02-05 | Autonomous robots and methods for determining, mapping, and traversing routes for autonomous robots |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562259152P | 2015-11-24 | 2015-11-24 | |
US15/361,041 US10578447B2 (en) | 2015-11-24 | 2016-11-24 | Method for identifying safe and traversable paths |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/361,042 Continuation-In-Part US10578443B2 (en) | 2015-11-24 | 2016-11-24 | Method for re-mapping safe and traversable routes |
Publications (3)
Publication Number | Publication Date |
---|---|
US20180299278A1 US20180299278A1 (en) | 2018-10-18 |
US20190170524A9 true US20190170524A9 (en) | 2019-06-06 |
US10578447B2 US10578447B2 (en) | 2020-03-03 |
Family
ID=63791808
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/361,041 Active US10578447B2 (en) | 2015-11-24 | 2016-11-24 | Method for identifying safe and traversable paths |
Country Status (1)
Country | Link |
---|---|
US (1) | US10578447B2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11483407B1 (en) | 2021-10-25 | 2022-10-25 | International Business Machines Corporation | Environment sharing |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
BR112019016646B1 (en) * | 2017-02-13 | 2023-10-17 | Vale S.A. | MULTI-GROUND ROBOTIC INSPECTION DEVICE AND METHOD FOR GUIDING THE MULTI-GROUND ROBOTIC INSPECTION DEVICE |
AU2020257165A1 (en) | 2019-10-28 | 2021-05-13 | The Raymond Corporation | Systems and methods for transferring routes between material handling devices |
Family Cites Families (14)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5058024A (en) | 1989-01-23 | 1991-10-15 | International Business Machines Corporation | Conflict detection and resolution between moving objects |
DE69333916T2 (en) | 1992-07-23 | 2006-07-06 | Aisin AW Co., Ltd., Anjo | Navigation device for vehicles for determining a new route when a vehicle deviates from its route |
US5889953A (en) | 1995-05-25 | 1999-03-30 | Cabletron Systems, Inc. | Policy management and conflict resolution in computer networks |
US5806074A (en) | 1996-03-19 | 1998-09-08 | Oracle Corporation | Configurable conflict resolution in a computer implemented distributed database |
US5787262A (en) | 1996-06-26 | 1998-07-28 | Microsoft Corporation | System and method for distributed conflict resolution between data objects replicated across a computer network |
US5884075A (en) | 1997-03-10 | 1999-03-16 | Compaq Computer Corporation | Conflict resolution using self-contained virtual devices |
US6205397B1 (en) | 1999-08-03 | 2001-03-20 | At&T Corp | Route engineering technique |
EP1282855B1 (en) | 2000-03-17 | 2011-10-12 | Microsoft Corporation | System and method for abstracting and visualizing a route map |
JP3727854B2 (en) | 2001-01-30 | 2005-12-21 | 株式会社東芝 | Road guide generation method, road guide device, server device, map information editing support device, and program |
ATE305197T1 (en) | 2002-04-16 | 2005-10-15 | Bosch Gmbh Robert | METHOD FOR DATA TRANSMISSION IN A COMMUNICATIONS SYSTEM |
US20030220966A1 (en) | 2002-05-24 | 2003-11-27 | International Business Machines Corporation | System and method for dynamic content dependent conflict resolution |
US7565419B1 (en) | 2002-11-22 | 2009-07-21 | Symantec Operating Corporation | Conflict resolution in a peer to peer network |
US9733097B2 (en) * | 2014-10-31 | 2017-08-15 | Toyota Jidosha Kabushiki Kaisha | Classifying routes of travel |
GB2537106B (en) | 2015-03-30 | 2018-02-14 | Rotam Agrochem Int Co Ltd | A novel form of rimsulfuron, a process for its preparation and use of the same |
-
2016
- 2016-11-24 US US15/361,041 patent/US10578447B2/en active Active
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11483407B1 (en) | 2021-10-25 | 2022-10-25 | International Business Machines Corporation | Environment sharing |
Also Published As
Publication number | Publication date |
---|---|
US20180299278A1 (en) | 2018-10-18 |
US10578447B2 (en) | 2020-03-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11624631B2 (en) | Autonomous robots and methods for determining, mapping, and traversing routes for autonomous robots | |
US8989972B2 (en) | Leader-follower fully-autonomous vehicle with operator on side | |
US8229618B2 (en) | Leader-follower fully autonomous vehicle with operator on side | |
Kümmerle et al. | A navigation system for robots operating in crowded urban environments | |
US8392065B2 (en) | Leader-follower semi-autonomous vehicle with operator on side | |
US8224500B2 (en) | Distributed knowledge base program for vehicular localization and work-site management | |
US8467928B2 (en) | Multi-vehicle high integrity perception | |
US8195342B2 (en) | Distributed knowledge base for vehicular localization and work-site management | |
US9188980B2 (en) | Vehicle with high integrity perception system | |
US8478493B2 (en) | High integrity perception program | |
US9235214B2 (en) | Distributed knowledge base method for vehicular localization and work-site management | |
US10578443B2 (en) | Method for re-mapping safe and traversable routes | |
US8818567B2 (en) | High integrity perception for machine localization and safeguarding | |
Einsiedler et al. | Vehicle indoor positioning: A survey | |
US10578447B2 (en) | Method for identifying safe and traversable paths | |
US20220269281A1 (en) | Method and system for generating a topological graph map | |
US20240219200A1 (en) | System and Method for Mapping and Routing for Robotic Last-Mile Delivery Infrastructure | |
Siedentop et al. | Autonomous parking using previous paths | |
Johnson | Autonomous Navigation on Urban Sidewalks Under Winter Conditions | |
CA3214999A1 (en) | Cloud-based platform for determining and generating optimized navigation instructions for autonomous vehicles | |
Dalton | Autonomous vehicle path planning with remote sensing data |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: NOVA DYNAMICS, LLC, WYOMING Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:SULLIVAN, JOSEPH LLOYD;REEL/FRAME:047080/0956 Effective date: 20181003 |
|
FEPP | Fee payment procedure |
Free format text: PETITION RELATED TO MAINTENANCE FEES GRANTED (ORIGINAL EVENT CODE: PTGR); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NON FINAL ACTION MAILED |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: RESPONSE TO NON-FINAL OFFICE ACTION ENTERED AND FORWARDED TO EXAMINER |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: NOTICE OF ALLOWANCE MAILED -- APPLICATION RECEIVED IN OFFICE OF PUBLICATIONS |
|
FEPP | Fee payment procedure |
Free format text: ENTITY STATUS SET TO UNDISCOUNTED (ORIGINAL EVENT CODE: BIG.); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY |
|
STPP | Information on status: patent application and granting procedure in general |
Free format text: PUBLICATIONS -- ISSUE FEE PAYMENT VERIFIED |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
FEPP | Fee payment procedure |
Free format text: ENTITY STATUS SET TO SMALL (ORIGINAL EVENT CODE: SMAL); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY |
|
AS | Assignment |
Owner name: DATBOX INC., OREGON Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:NOVA DYNAMICS, LLC;REEL/FRAME:057633/0246 Effective date: 20210813 |
|
AS | Assignment |
Owner name: DAXBOT INC., OREGON Free format text: CORRECTIVE ASSIGNMENT TO CORRECT THE RECEIVING PARTY NAME PREVIOUSLY RECORDED AT REEL: 057633 FRAME: 0246. ASSIGNOR(S) HEREBY CONFIRMS THE ASSIGNMENT;ASSIGNOR:NOVA DYNAMICS, LLC;REEL/FRAME:059989/0459 Effective date: 20210813 |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YR, SMALL ENTITY (ORIGINAL EVENT CODE: M2551); ENTITY STATUS OF PATENT OWNER: SMALL ENTITY Year of fee payment: 4 |