Validating the pose of a robotic vehicle that allows it to interact with an object on fixed infrastructure
AssigneeSeegrid Corporation
InventorsBenjamin G. Schmidt, Erich L. Foster
Life of this patent
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Abstract
A robotic vehicle comprising a chassis and a manipulatable payload engagement portion, at least one sensor configured to acquire real-time sensor data, a pose validation system comprising computer program code executable by at least one processor to evaluate the sensor data to: determine if a goal pose of the robotic vehicle will result in a collision with infrastructure upon which the object is located when the engagement portion engages the object. If a potential collision is detected, the pose validation system can generate a signal to adjust the robotic vehicle's pose to avoid the collision. A corresponding method is also provided.
Claims24
An autonomous mobile robot (AMR), comprising:
- a chassis and a manipulatable payload engagement portion;
- sensors configured to acquire real-time sensor data;
- a pose validation system comprising computer program code executable by at least one processor to evaluate the sensor data to:
- determine a pose of an object located on an infrastructure;
- process at least some of the sensor data to generate at least one exclusion region and/or volume;
- and
- exclude sensor data from the at least one exclusion region and/or volume to determine whether the AMR will collide with the infrastructure if a pose of the AMR matches the goal pose.
A pose validation method, comprising:
- providing an autonomous mobile robot (AMR) having a chassis and a manipulatable payload engagement portion, sensors configured to acquire real-time sensor data, and a pose validation system comprising computer program code executable by at least one processor;
- and
- the pose validation system evaluating at least some of the sensor data to validate a pose of the AMR, including:
- determining a pose of an object located on or near an infrastructure;
- processing at least some of the sensor data to generate at least one exclusion region and/or volume;
- and
- excluding sensor data from the at least one exclusion region and/or volume to determine whether the AMR will collide with the infrastructure if a pose of the AMR matches the goal pose.
Dependencies are inferred from the claim text.