US 11,886,200 B2Granted

System for monitoring stability of operation of autonomous robots

AssigneeTopcon Positioning Systems, Inc.

InventorsIvan Giovanni Di Federico, Lev Borisovich Rapoport, Alexey Anatolievich Generalov

Life of this patent

Estimating the term…

Loading patent…

Abstract

System for monitoring stability of autonomous robot, including a GNSS navigation receiver including antenna, analog front end, plurality of channels, inertial measurement unit (IMU) and a processor, all generating navigation and orientation data for the robot; based on the navigation and orientation data, calculating position and direction of movement for the robot; calculating spatial and orientation coordinates z1, z2 of the robot, relating to the position and direction of movement; continuing with programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain, where a measure V(z) of distance from zero in z1, z2 plane are defined by Lurie-Postnikov functions and is less than 1; for spatial and orientation coordinates outside the attraction domain with V(z)>1, terminating the programmed path and generating notification.

Claims11

Dependent claims

A system for monitoring stability of an autonomous robot, the system comprising:

a Global Navigation Satellite System (GNSS navigation receiver including an antenna, an analog front end, a plurality of channels, an inertial measurement unit (IMU) and a processor programmed with a path for the autonomous robot, all generating navigation and orientation data for the autonomous robot;
based on the navigation and the orientation data, the system calculating a position and a direction of movement for the autonomous robot;
the system calculating spatial and orientation coordinates z1, z2 of the robot, which relate to the position and the direction of movement;
the system continuing with a programmed path for the robot for any spatial and orientation coordinates z1, z2 within an attraction domain, such that a measure V(z) of distance from zero in a z1, z2 plane defined by
V
⁡
(
z
)
=
z
T
⁢
Pz
+
θ
⁢
∫
0
c
T
⁢
z
Φ
⁡
(
z
2
,
σ
)
⁢
d
⁢
σ
,
where P is a 2 by 2 matrix
zT is (z1, z2)T, T stands for transposition,
θ is a scalar coefficient,
Φ is a control function defined by
Φ
⁡
(
z
2
,
σ
)
=
s
u
_
(
σ
(
1
+
z
2
2
)
3
2
)
⁢
(
1
+
z
2
2
)
3
2
,
s
u
_
(
u
)
=
{
-
u
_
⁢
for
⁢
u
≤
-
u
_
,
u
⁢
for
⁢
❘
"\[LeftBracketingBar]"
u
❘
"\[RightBracketingBar]"
<
u
,
u
_
⁢
for
⁢
u
≥
u
_
,
σ
=
λ
2
⁢
z
1
+
2
⁢
λ
⁢
z
2
,
λ is a desired rate of exponential decrease of lateral displacement;
and
for any spatial and orientation coordinates outside the attraction domain, the system terminating the programmed path.

132 more elements

A system for monitoring stability of an autonomous robot, the system comprising:

a Global Navigation Satellite System (GNSS}navigation receiver including an antenna, an analog front end, a plurality of channels, an inertial measurement unit (IMU) and a processor programmed with a path for the autonomous robot, all generating navigation and orientation data for the autonomous robot;
based on the navigation and the orientation data, the system calculating a position and a direction of movement for the autonomous robot;
the system calculating spatial and orientation coordinates zi, z2 of the autonomous robot, which relate to the position and the direction of movement;
the system continuing with a programmed path for any spatial and orientation coordinates z1, z2 within an attraction domain, such that a measure V(z) of distance from zero in a z1, z2 plane are defined by Lurie-Postnikov functions and is less than 1;
and
for any spatial and orientation coordinates outside the attraction domain with V(z)>1, the system terminating the programmed.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/284,506Filed 19 Aug 2020
Published: US 2022/0300006 A122 Sep 2022
Granted: 30 Jan 2024
Term ends: Not estimatedThe source records don’t support an estimate.

Classification7 codes

G05D 1/0214
With means for defining a desired trajectory: in accordance with safety or protection criteria, e.g. avoiding hazardous areas
G05D 1/228
Command input arrangements: command input arrangements located on-board unmanned vehicles
G05D 1/247
Arrangements for determining position or orientation: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
G05D 1/646
Intended control result: following a predefined trajectory, e.g. a line marked on the floor or a flight path