Abstract: An autonomous vehicle is disclosed. The vehicle comprises a chassis, two or more drive wheels extending below the chassis, a drive motor housed within the chassis for driving the drive wheels, and a payload surface on top of the chassis for carrying a payload. An illumination system, for emitting light from at least one portion of the chassis, is mounted substantially around the entire perimeter of the chassis. The illumination system may be implemented using an array of light-emitting diodes (“LEDs”) that are arranged as segments. For example, there may be “headlight” segments on the front left and front right corners of the chassis.

Abstract: A mobile platform for materials transport is provided. The platform includes a pair of suspension devices that in turn include a pair of rocker beams which can be rotated between two positions: a first position where central wheels attached thereto can be used to drive the platform; and a second position where the central wheels are retracted and the platform can be rolled on end wheels without the friction of the central wheels, and an associated drive system, impeding movement of the platform. Furthermore, data from sensors and/or load cells can be used to control movement of the platform; specifically, shifts in load distribution and/or sensed forces at the suspension devices can indicate that a load (and/or materials) has shifted and/or is shifting and movement of the platform is adjusted accordingly, for example to prevent the platform and/or the load (and/or materials) from tipping.

Abstract: Systems, methods and apparatus are provided for handling operational constraints for unmanned vehicles. The system includes: a plurality of mobile unmanned vehicles for deployment in an environment; a computing device connected to the plurality of unmanned vehicles via a network, the computing device storing, in a memory, a plurality of operational constraints; each operational constraint including (i) a type identifier, (ii) an indication of a region of the environment, and (iii) a property defining a constraint on the operation of the unmanned vehicles within the region. The computing device is configured to: receive a request from one of the mobile unmanned vehicles, the request identifying an operational constraint; responsive to receiving the request, retrieve an operational constraint from the memory based on the request; and send the retrieved operational constraint to the one of the mobile unmanned vehicles.

Abstract: Methods and computer-readable media are provided herein for implementing custom application programming interfaces (API) for creating, managing, and provisioning packages of online applications. An offer management service API is implemented that provides methods for creating and modifying offers for packages of online applications. An offer provisioning API is implemented that provides methods enabling the provisioning of online applications for subscribers to offers. An application provider API is published and utilized to provision and maintain individual instances of online applications provided by application providers.

Abstract: Systems and methods for generating a mission for a self-driving material-transport vehicle are presented. The system comprises at least one self-driving material-transport vehicle, at least one programmable logic controller, at least one field instrument, and at least one non-transitory computer-readable medium in communication with at least one processor. An application signal is received from the programmable logic controller based on an activation signal from the field instrument. A mission is generated by the application signal and a mission template, and the mission is transmitted to the self-driving material-transport vehicle. In some cases, the application signal may be based on OPC-UA, and the mission and/or mission template may be based on a REST protocol.

Abstract: Apparatus, systems and methods for providing smart pick-up and drop-off are presented. The apparatus comprises at least one vertical support member and at least one storage shelf supported by the at least one vertical support member. A payload transfer surface, supported by the vertical support members, is located below the lowest storage shelf. The payload transfer surface has an access channel so that a self-driving material-transport vehicle equipped with a lift appliance can pick up or drop off a payload on the payload transfer surface. A sensor associated with the payload transfer surface senses the presence or absence of a payload on the payload transfer surface, and sends a signal to a fleet-management system in communication with the self-driving material-transport vehicle.

Abstract: A system, method and apparatus for implementation of variable references frames in unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing a global reference frame associated with an environment within which the chassis is to move; a communication interface; and a processor configured to: receive, using the interface, a command to move to a given coordinate in the global reference frame; control the propulsion system to move the chassis to the given coordinate; when the chassis is at the given coordinate, determine, using the sensor(s), that a given feature is detected; and, when so: automatically cease controlling the propulsion system according to the global reference frame; automatically move the chassis according to a local reference frame defined with reference to a point associated with the given feature.

Abstract: A system for controlling a fleet of unmanned vehicles includes a plurality of unmanned vehicles connected to a computing device. The computing device stores a dynamic attribute and a static attribute respective to each of the plurality of unmanned vehicles. The computing device is configured to: receive a task request including (i) an item identifier of an item, (ii) an action type defining an action to be performed respective to the item, and (iii) a location identifier of a location at which to perform the action; responsive to receiving the request, retrieve the stored dynamic attributes and static attributes; based on a comparison of the task request with the dynamic attributes and the static attributes, select one of the plurality of unmanned vehicles; and transmit, via the network, a command to the selected unmanned vehicle to perform the action respective to the item at the location.

Abstract: Systems and methods of unmanned vehicles having self-calibrating sensors and actuators are provided. The unmanned vehicle comprises a communication interface and a processor for controlling a propulsion system of the vehicle and receiving sensor data from one or more sensors of the vehicle. The processor is configured to operate in a guided calibration mode by controlling the propulsion system according to commands received from an external guided control system, while processing the sensor data to determine a degree of certainty on a calibration the sensor data and a position of the vehicle. The processor determines that the degree of certainty is above a threshold value associated with safe operation of the propulsion system in an autonomous calibration mode, and subsequently switch operation of the propulsion system to the autonomous calibration mode based on the determination that the degree of certainty is above the threshold value.

Abstract: Systems and methods for autonomous provision replenishment are disclosed. Parts used in a manufacturing process are stored in an intermediate stock queue. When the parts are consumed by the manufacturing process and the number of parts in the queue falls below a threshold, a provision-replenishment signal is generated. One or more self-driving material-transport vehicles, a fleet-management system, and a provision-notification device.

Abstract: Systems and methods for flexible conveyance in an assembly-line or manufacturing process are disclosed. A fleet of self-driving vehicles and a fleet-management system can be used to convey workpieces through a sequence of workstations at which operations are performed in order to produce a finished assembly. An assembly can be transported to a first workstation using a self-driving vehicle, where an operation is performed on the assembly. Subsequently, the assembly can be transported to a second workstation using the self-driving vehicle. The operation can be performed on the assembly while it is being conveyed by the self-driving vehicle.

Abstract: Systems and methods for autonomous lineside delivery to an assembly-line using a self-driving vehicle are disclosed, comprising receiving a part-supply schedule having a part identifier identifying a part to be supplied, an assembly-line location to be supplied with the part, and a delivery time for supplying the part to the assembly-line location. A mission is generated based on the schedule, and sent to a self-driving vehicle. The self-driving vehicle executes the mission such that the part is supplied to the assembly-line location in accordance with the part-supply schedule.

Abstract: Systems and methods for obstacle avoidance with a self-driving vehicle are provided. The system comprises a processor connected to the self-driving vehicle and a sensor in communication with the processor. The sensor is configured to detect objects. The processor is configured to receive a measurement of the self-driving vehicle's speed, and define a sensor region based on the speed. The processor can determine that an object detected by the sensor is within the sensor region, and then initiate a fail-safe routine. The sensor region may be defined based on a range parameter. The sensor region may be defined based on the stopping distance of the vehicle. The sensor region may be redefined when the vehicle's speed changes.

Abstract: A fabric conditioning active composition comprising an esterquat mixture of quaternized mono-, di-, and tri-esters of alkanolamine in which the tri-esterquat content of the quaternized esterquat mixture is greater than 25% by weight of the esterquat mixture, and the combined di-esterquat and tri-esterquat content in the esterquat mixture is greater than 78% by weight of the esterquat mixture. Additionally, the free fatty acid content of the composition is greater than 1% by weight based on the weight of the esterquat mixture. The fabric conditioning active composition provides high viscosity when dispersed into water at low concentrations of 0.5% to 12%, without the need for additional polymeric thickeners or other thickening additives.

Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

Abstract: A system for path control for a mobile unmanned vehicle in an environment is provided. The system includes: a sensor connected to the mobile unmanned vehicle; the mobile unmanned vehicle configured to initiate a first fail-safe routine responsive to detection of an object in a first sensor region adjacent to the sensor; and a processor connected to the mobile unmanned vehicle. The processor is configured to: generate a current path based on a map of the environment; based on the current path, issue velocity commands to cause the mobile unmanned vehicle to execute the current path; responsive to detection of an obstacle in a second sensor region, initiate a second fail-safe routine in the mobile unmanned vehicle to avoid entry of the obstacle into the first sensor region and initiation of the first fail-safe routine.

Abstract: A system, method and apparatus for implementation of variable references frames in unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing a global reference frame associated with an environment within which the chassis is to move; a communication interface; and a processor configured to: receive, using the interface, a command to move to a given coordinate in the global reference frame; control the propulsion system to move the chassis to the given coordinate; when the chassis is at the given coordinate, determine, using the sensor(s), that a given feature is detected; and, when so: automatically cease controlling the propulsion system according to the global reference frame; automatically move the chassis according to a local reference frame defined with reference to a point associated with the given feature.

Abstract: A system, method and apparatus for implementation of variable references frames in unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system configured to move the chassis; sensor(s) configured to sense features around the chassis; a memory storing a global reference frame associated with an environment within which the chassis is to move; a communication interface; and a processor configured to: receive, using the interface, a command to move to a given coordinate in the global reference frame; control the propulsion system to move the chassis to the given coordinate; when the chassis is at the given coordinate, determine, using the sensor(s), that a given feature is detected; and, when so: automatically cease controlling the propulsion system according to the global reference frame; automatically move the chassis according to a local reference frame defined with reference to a point associated with the given feature.

Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.

Abstract: An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.