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1. WO2020165638 - SYSTÈMES ET PROCÉDÉS DE GESTION DE MULTIPLES VÉHICULES AUTONOMES

Note: Texte fondé sur des processus automatiques de reconnaissance optique de caractères. Seule la version PDF a une valeur juridique

[ EN ]

CLAIMS

1. A system for managing the movement of an object within an area, wherein the area comprises a network of routes in a first topology, the system comprising:

a plurality of image capturing devices located at multiple locations along the network of routes, wherein images of each route of the network and the object being captured by two or more image capturing devices, each of the image capturing devices comprising:

a pre-processor unit which processes the captured images and create one or more delta files for each captured image; and

a transmit unit for transmitting the delta files;

a central control unit, the central control unit comprising:

a first communication interface for communicating with the plurality of image capturing devices through a first communication network, wherein the central control unit receives the delta files from the image capturing devices;

a second communication interface for communicating with the object through a second communication network, wherein the central control unit communicates with the object to control its movement along the network of routes; and

a processing unit for:

constructing a map of the network of routes and an obstruction matrix function, wherein the obstruction matrix function indicates the availability and obstruction of various routes of the network at different points of time; and

generating control signals for controlling the movement of the object within the network of routes; and

a calibration mechanism, wherein the calibration mechanism enables the central control unit to calibrate the map of the network of routes and the obstruction matrix function by marking one of more known points along the network of routes, and wherein the image capturing devices capture the images of the marked known points, create one or more additional delta files and transmit the additional delta files to the central control unit,

wherein the object includes a safety override mechanism which enables the object to control itself autonomously and independently in case of detecting an obstacle or an unexpected hazard in a path of the object movement along a route of the network, the safety override mechanism comprising:

a sensing device which enables the object to detect the obstacle or the unexpected hazard in the path; and

an additional controlling device which enables the object to identify an alternate movement path.

2. The system of claim 1 , wherein the first and the second communication network comprises of a Wired LAN connection, a Wireless LAN connection, a WiFi connection, a Bluetooth connection, a Zigbee connection, a Z-Wave connection or an Ethernet connection.

3. The system of claim 1 , wherein the first communication network and the second communication network are the same network.

4. The system of claim 1 , wherein the first communication network and the second communication network are different networks.

5. The system of claim 1 , wherein the object comprises a semi-autonomous vehicle, an autonomous vehicle, a robotic device or a shopping cart.

6. The system of claim 1 , wherein the area comprises a warehouse, a shopping mall, a factory, a manufacturing unit, an assembling unit, a distribution unit or a cargo unit.

7. The system of claim 1 , wherein the image capturing devices captures the images of the area, the object and the marked known points at regular interval of time.

8. The system of claim 1 , wherein the image capturing devices captures the images of the area, the object and the marked known points on receiving a user input.

9. The system of claim 1 , wherein the calibration mechanism comprises of one or more mirror galvanometers which enable the points to be marked along the network of routes using directional laser beams.

10. The system of claim 1 , wherein the calibration mechanism comprises of projected tracer beams of electromagnetic radiation such as visible light beams, infrared beams or ultraviolet beams which enable the points to be marked along the network of routes.

1 1. The system of claim 1 , wherein the calibration mechanism comprises of ultrasonic beacons which enable the points to be marked along the network of routes.

12. The system of claim 1 , wherein the calibration mechanism comprises of sign markers including bar codes or QR codes provided along the network of routes.

13. The system of claim 1 , wherein the calibration mechanism comprises of an internal position tracking system to track one or more reference objects at known positions along various routes of the network, wherein the calibration mechanism is operable to:

capture images of the one or more reference objects;

transmit the captured images to the central control unit;

associate the captured images at a given time with the known positions of reference objects;

prepare map segments for a field of view of each camera, identify overlapping parts from the map segments and stitch the map segments to prepare a map of the area.

14. The system of claim 13, wherein the internal position tracking system comprises of one or more autonomous robots, semi-autonomous robots or the image capturing devices.

15. The system of claim 1 , wherein the calibration mechanism comprises of RFID tagged items placed along various routes of the network.

16. The system of claim 1 , wherein the first topology comprises of a grid topology, a mesh topology, a linear topology or a ring topology.

17. The system of claim 1 , wherein the image capturing devices comprises of one or more of an analog still image camera, a digital still image camera, a video camera, an optical camera, a laser camera, a laser or a 3D image scanner.

18. A system for managing the movement of an object within an area, wherein the area is partitioned into a plurality of regions, the system comprising:

a plurality of image capturing devices located at multiple locations within the area, wherein images of each region of the area and the object being captured by two or more image capturing devices;

a central control unit, the central control unit comprising:

a first communication interface for communicating with the plurality of image capturing devices through a first communication network, wherein the central control unit receives the captured images of the regions and the object from the image capturing devices; and

a second communication interface for communicating with the object through a second communication network, wherein the central control unit communicates with the object to control its movement within the area; and

a calibration mechanism to mark one of more known points within the area, wherein the image capturing devices capture the images of the marked known points,

wherein the object includes a safety override mechanism which enables the object to control itself autonomously and independently in case of an event.

19. The system of claim 18, wherein the first and the second communication network comprises of a Wired LAN connection, a Wireless LAN connection, a WiFi connection, a Bluetooth connection, a Zigbee connection, a Z-Wave connection or an Ethernet connection.

20. The system of claim 18, wherein the first communication network and the second communication network are the same network.

21. The system of claim 18, wherein the first communication network and the second communication network are different networks.

22. The system of claim 18, wherein the object comprises a semi-autonomous vehicle, an autonomous vehicle, a robotic device or a shopping cart.

23. The system of claim 18, wherein the area comprises a warehouse, a shopping mall, a factory, a manufacturing unit, an assembling unit, a distribution unit or a cargo unit.

24. The system of claim 18, wherein the event comprises detecting an obstacle or an unexpected hazard in a path of the object movement within the area.

25. The system of claim 24, wherein the safety override mechanism comprises of a sensing device and an additional controlling device, wherein the sensing device enables the object to detect the obstacle or the unexpected hazard in the movement path and the additional controlling device enables the object to identify an alternate movement path.

26. The system of claim 18, wherein the image capturing devices captures the images of the area, the object and the marked known points at regular interval of time.

27. The system of claim 18, wherein the image capturing devices captures the images of the area, the object and the marked known points on receiving a user input.

28. The system of claim 18, wherein each of the image capturing devices comprises a pre-processor unit operable to create one or more delta files for each captured image.

29. The system of claim 28, wherein the central control unit receives the one or more delta files from the image capturing devices and processes the delta files to generate control signals for controlling the movement of the object within the area.

30. The system of claim 29, wherein the central control unit, using the received one or more delta files, further constructs a map of a route way network of the area and an obstruction matrix function, wherein the obstruction matrix function indicates the availability and obstruction of various routes of the route way network at different points of time.

31. The system of claim 30, wherein the calibration mechanism enables the central control unit to calibrate the map of the route way network of the area and the obstruction matrix function.

32. The system of claim 30, wherein the calibration mechanism comprises of one or more mirror galvanometers which enable the points to be marked along the various routes of the route way network using directional laser beams.

33. The system of claim 30, wherein the calibration mechanism comprises of projected tracer beams of electromagnetic radiation such as visible light beams, infrared beams or ultraviolet beams which enable the points to be marked along the various routes of the route way network.

34. The system of claim 30, wherein the calibration mechanism comprises of ultrasonic beacons which enable the points to be marked along the various routes of the route way network.

35. The system of claim 30, wherein the calibration mechanism comprises of sign markers including bar codes or QR codes provided along the various routes of the route way network.

36. The system of claim 30, wherein the calibration mechanism comprises of RFID tagged items placed along various routes of the route way network.

37. The system of claim 30, wherein the calibration mechanism comprises of an internal position tracking system to track one or more reference objects placed at known positions along various routes of the route way network, wherein the calibration mechanism is operable to:

capture images of the one or more reference objects;

transmit the captured images to the central control unit;

associate the captured images at a given time with the known positions of reference objects;

prepare map segments for a field of view of each camera, identify overlapping parts from the map segments and stitch the map segments to prepare a map of the area.

38. The system of claim 27, wherein the internal position tracking system comprises of one or more autonomous robots, semi-autonomous robots or the image capturing devices.

39. The system of claim 18, wherein the first topology comprises of a grid topology, a mesh topology, a linear topology or a ring topology.

40. The system of claim 18, wherein the image capturing devices comprises of one or more of an analog still image camera, a digital still image camera, a video camera, an optical camera, a laser camera, a laser or a 3D image scanner.

41. A method for controlling the movement of an object within an area, wherein the area comprises a network of routes in a first topology, the method comprising:

capturing a plurality of images of each route of the network and the object by a plurality of image capturing devices, wherein the images of each route of the network and the object are captured by two or more image capturing devices;

processing the captured images by the plurality of image capturing devices to create one or more delta files;

sending the one or more delta files to a central control unit;

constructing a map of the network of routes and an obstruction matrix function by the central control unit, wherein the obstruction matrix function indicates the availability and obstruction of various routes of the network at different points of time;

generating control signals by the central control unit for controlling the movement of the object within the network of routes; and

sending the control signals by the central control unit to the object.

42. The method of claim 41 further comprising marking one or more known points along the network of routes.

43. The method of claim 42, wherein the image capturing devices capture the images of the marked known points, create one or more additional delta files and transmit the additional delta files to the central control unit.

44. The method of claim 43 further comprising calibrating, by the central control unit, the map of the network of routes and the obstruction matrix function using the additional delta files.

45. The method of claim 42, wherein marking of the one or more known points along the network of routes is done using directional laser beams emitted from one or more mirror galvanometers.

46. The method of claim 42, wherein marking of the one or more known points along the network of routes is done using projected tracer beams of electromagnetic radiation such as visible light beams, infrared beams or ultraviolet beams.

47. The method of claim 42, wherein marking of the one or more known points along the network of routes is done using ultrasonic beacons.

48. The method of claim 42, wherein marking of the one or more known points along the network of routes is done using sign markers including bar codes or QR codes provided along the network of routes.

49. The method of claim 42, wherein marking of the one or more known points along the network of routes is done using RFID tagged items placed along various routes of the network.

50. The method of claim 41 further comprising calibrating the map of the network of routes and the obstruction matrix function using an internal position tracking system, wherein the internal position tracking system performs the steps of:

capturing images of one or more reference objects placed at known positions along various routes of the network;

transmitting the captured images to the central control unit;

associating the captured images at a given time with the known positions;

preparing map segments for a field of view of each internal position tracking system;

identifying overlapping parts from the map segments; and

stitching the map segments to prepare a map of the area.

51. The method of claim 50, wherein the internal position tracking system comprises of one or more autonomous robots, semi-autonomous robots or the image capturing devices.

52. The method of claim 41 further comprising controlling the movement of an object within an area using a safety override mechanism in-built within the object, wherein the safety override mechanism performs the steps of:

sensing an obstacle or an unexpected hazard in the movement path of the object; and

identifying an alternative movement path for the object.

53. The method of claim 41 , wherein the first topology comprises of a grid topology, a mesh topology, a linear topology or a ring topology.