MLchartDataset catalogue

Patent · US12287209B2 · B2 · US

Object moving system

(11) Publication number
US12287209B2
(21) Application number
17/642,404
(22) Filing date
2020-09-10
(30) Priority date
2019-09-12
(43) Publication date
2025-04-29
(45) Date of grant
2025-04-29
(51) IPC
B65G 1/04; G01C 21/16; G06T 7/70; G06V 10/10; G06V 20/10; G06V 20/52
(52) CPC
  • G01C Measuring distances, levels or bearings; surveying; navigation; gyroscopic instruments; photogrammetry or videogrammetry: 21/1656, 23/00
  • B60K Arrangement or mounting of propulsion units or of transmissions in vehicles; arrangement or mounting of plural diverse prime-movers in vehicles; auxiliary drives for vehicles; instrumentation or dashboards for vehicles; arrangements in connection with cooling, air intake, gas exhaust or fuel supply of propulsion units in vehicles: 2007/0092, 7/0007
  • B60Y Indexing scheme relating to aspects cross-cutting vehicle technology: 2200/45
  • B62D Motor vehicles; trailers: 7/026, 7/1509
  • B65G Transport or storage devices, e.g. conveyors for loading or tipping, shop conveyor systems or pneumatic tube conveyors: 1/0492
  • G05B Control or regulating systems in general; functional elements of such systems; monitoring or testing arrangements for such systems or elements: 2219/40425
  • G05D Systems for controlling or regulating non-electric variables: 1/0282, 1/221, 1/243, 1/249, 1/43
  • G06K Graphical data reading; presentation of data; record carriers; handling record carriers: 19/0723
  • G06T Image data processing or generation, in general: 7/70
  • G06V Image or video recognition or understanding: 10/16, 20/10, 20/44, 20/52, 2201/06, 2201/10
  • H04N Pictorial communication, e.g. television: 13/243, 7/181
  • Y02P Climate change mitigation technologies in the production or processing of goods: 90/02
(73) Assignee
Commonwealth Scientific and Industrial Research Organization CSIRO
(72) Inventors
Paul FLICK; Nicholas Panitz; Peter Dean; Marc ELMOUTTIE; Sisi LIANG; Ryan STEINDL; Troy CORDIE; Tirthankar Bandyopadhyay
(54) Title
Object moving system
(57) Abstract

A system for moving an object within an environment, wherein the system includes at least one modular wheel configured to move the object. The modular wheel includes a body configured to be attached to the object, a wheel, a drive configured to rotate the wheel and a controller configured to control the drive. One or more processing devices configured are provided to receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment, analyse the images to determine an object location within the environment, generate control instructions at least in part using the determined object location and provide the control instructions to the controller, the controller being responsive to the control instructions to control the drive and thereby move the object.

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Claims (18)

  1. A system for moving an object within an environment, wherein the system includes: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices configured to: i) receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analyse images from each image stream to identify object images the object images being images including objects; iii) identify overlapping images as object images that include the same object; iv) analyse the object images to determine an object location within the environment; v) generate control instructions at least in part using the determined object location; and, vi) provide the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.
  2. A system according to claim 1, wherein the system at least one of: a) includes one or more passive wheels mounted to the object, and, b) is configured to steer the object by at least one of: i) differentially rotating the plurality of modular wheels; and, ii) changing an orientation of one or more modular wheels of the plurality of modular wheels.
  3. A system according to claim 2, wherein the one or more processing devices are at least one of: a) configured to provide respective control instructions to each controller to thereby independently control each modular wheel; b) configured to provide control instructions to the controllers and wherein the controllers communicate to independently control each modular wheel; c) configured to: i) determine an object configuration; generate the control instructions at least partially in accordance with an object extent; d) configured to: i) determine a wheel configuration indicative of a position of each wheel relative to the object; ii) generate the control instructions at least partially in accordance with the wheel configuration; e) configured to: i) determine an identity of at least one of: (1) each modular wheel; and, (2) the object; (ii) generate control instructions in accordance with the identity; f) configured to: i) determine routing data indicative of at least one of: (1) a travel path; and, (2) a destination; ii) generate control instructions in accordance with the routing data and the object location; g) configured to: i) determine an identity for at least one of: (1) the object; and, (2) for at least one modular wheel attached to the object; ii) determine the routing data at least in part using an object identity; and, h) configured to determine an object location using at least one of: i) a visual hull technique; ii) detection of fiducial markings in the images; and, iii) detection of fiducial markings in multiple triangulated images.
  4. A system according to claim 3, wherein the object configuration is indicative of at least one of: a) a physical extent of the object; and, b) movement parameters associated with the object.
  5. A system according to claim 3, wherein the routing data is indicative of at least one of: a) a permitted object travel path, b) permitted object movements; c) permitted proximity limits for different objects; d) permitted zones for objects; e) denied zones for objects.
  6. A system according to claim 1, wherein each of the plurality of modular wheels at least one of: a) includes a steering drive configured to adjust an orientation of the wheel, and wherein the controller is configured to control a steering drive to thereby change an orientation of the wheel; b) includes a transceiver configured to communicate wirelessly with the one or more processing devices; c) includes a power supply configured to power at least one of: i) the drive; ii) the controller; iii) a transceiver; and, iv) a steering drive; and, d) are each attached to the object at known locations.
  7. A system according to claim 1, wherein the object includes at least one of: a) a platform and wherein the plurality of modular wheels are attached to the platform; and, b) an item supported by the platform.
  8. A system according to claim 7, wherein the one or more processing devices are configured to at least one of: a) determine an object identity at least in part using a network identifier; and, b) determine an object identity using machine readable coded data.
  9. A system according to claim 8, wherein the machine readable coded data is at least one of: a) visible data, and wherein the one or more processing devices are configured to analyse the images to detect the machine readable coded data; and, b) encoded on a tag, and wherein the one or more processing devices are configured to receive signals indicative of the machine readable coded data from a tag reader; wherein the tags at least one of: i) short range wireless communications protocol tags; ii RFID tags; and, iii) Bluetooth tags.
  10. A system according to claim 1, wherein the plurality of imaging devices are at least one of: a) positioned within the environment at fixed locations; b) static relative to the environment; c) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to: i. identify overlapping images in different image streams, the overlapping images being images captured by imaging devices having overlapping fields of view; and, ii. analyse the overlapping images to determine object locations within the environment; d) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to: i. analyse changes in the object locations over time to determine object movements within the environment; ii. compare the object movements to situational awareness rules; and, iii. use results of the comparison to identify situational awareness events; and, e) are at least one of: i. security imaging devices; ii. monoscopic imaging devices; iii. non-computer vision based imaging devices; and, iv. imaging devices that do not have associated intrinsic calibration information.
  11. A system according to claim 10, wherein the overlapping images are synchronous overlapping images captured at approximately the same time; optionally, wherein the one or more processing devices are configured to at least one of: a) determine a capture time of each captured image; b) identify synchronous images using the captured time; c) a capture time generated by the plurality of imaging devices; d) a receipt time associated with each overlapping image, the receipt time being indicative of a time of receipt by the one or more processing devices; and, e) a comparison of image content in the images.
  12. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse images from each image stream to identify object images, the object images being images including objects; and, b) identify overlapping images as object images that include the same object; wherein optionally the one or more processing devices are configured to identify overlapping images based at least in part on a positioning of the plurality of imaging devices.
  13. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse a number of images from the image stream to identify static image regions; and, b) identifying object images as images including non-static image regions, wherein optionally at least one of the images is a background reference image.
  14. A system according to claim 1, wherein the one or more processing devices are configured to at least one of: a) interpret the images in accordance with calibration data; b) generate calibration data during a calibration process by: i) receiving images of defined patterns captured from different positions using an imaging device; and, ii) analysing the images to generate calibration data indicative of a image capture properties of the plurality of imaging devices; and, c) generate calibration data during a calibration process by: i) receiving captured images of targets within the environment; ii) analysing the captured images to identify images captured by a different imaging device which shows the same target; and, iii) analysing the identified images to generate calibration data indicative of a relative position and orientation of the imaging devices, wherein optionally the calibration data includes at least one of: (1) intrinsic calibration data indicative of imaging properties of each of the plurality of imaging devices; and, (2) extrinsic calibration data indicative of relative positioning of the plurality of imaging devices within the environment.
  15. A system according to claim 1, wherein the one or more processing devices are configured to generate an environment model, the environment model being indicative of at least one of: a) the environment; b) a location of imaging devices in the environment; c) current object locations; d) object movements; e) predicted obstacles; f) predicted object locations; and, g) predicted object movements.
  16. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse changes in object locations over time to determine object movements within the environment; b) compare the object movements to situational awareness rules; and, c) use results of the comparison to identify situational awareness events, wherein optionally in response to identification of a situational awareness event, the one or more processing devices are configured to perform an action including at least one of: i) record an indication of the situational awareness event; ii) generate a notification indicative of the situational awareness event; iii) cause an output device to generate an output indicative of the situational awareness event; iv) activate an alarm; and, v) cause operation of an object to be controlled and wherein the one or more processing devices are optionally configured to: (1) identify the situational awareness event substantially in real time; and, (2) perform an action substantially in real time.
  17. A method for moving an object within an environment, the method being performed using a system including: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices, wherein the method includes, in the one or more processing devices: i) receiving an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analysing images from each image stream to identify object images, the object images being images including objects; iii) identifying overlapping images as object images that include the same object; iv) analysing the object images to determine an object location within the environment; v) generating control instructions at least in part using the determined object location; and, vi) providing the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.
  18. A computer program product for moving an object within an environment using a system including: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices, wherein the computer program product includes computer executable code, which when executed by the one or more processing devices causes the one or more processing devices to: i) receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analyse images from each image stream to identify object images, the object images being images including objects; iii) identify overlapping images as object images that include the same object; iv) analyse the object images to determine an object location within the environment; iv) generate control instructions at least in part using the determined object location; and, vi) provide the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.

Description

The present invention relates to a system and method for moving an object in within an environment, and in one particular example, to a system and method for moving an object using one or more modular wheels attached to the object.

The reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.

“Enabling rapid field deployments using modular mobility units” by Troy Cordie, Tirthankar Bandyopadhyay, Jonathan Roberts, Ryan Steindl, Ross Dungavell and Kelly Greenop, Australasian Conference on Robotics and Automation 2016, ACRA 2016 P 107-115, describes a set of modular wheels that enable bespoke platform development for rapid field deployments. The modular wheel is influenced by existing modular and inspection robots but provides a simple-to-operate solution to exploring various environments. Each wheel provides two degrees of freedom allowing any continuous orientation to be achieved within a plane. Onboard computing and a wi-fi connection enable the modular wheels to operate individually or collaboratively. Heterogeneous robot platforms can be created as required through the use of adaptors. With robots of differing shapes, sizes and configurations able to be created at run time as demonstrated within the laboratory and in the field.

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Record as JSON 
{
  "publication_number": "US12287209B2",
  "country": "US",
  "kind": "B2",
  "title": "Object moving system",
  "abstract": "A system for moving an object within an environment, wherein the system includes at least one modular wheel configured to move the object. The modular wheel includes a body configured to be attached to the object, a wheel, a drive configured to rotate the wheel and a controller configured to control the drive. One or more processing devices configured are provided to receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment, analyse the images to determine an object location within the environment, generate control instructions at least in part using the determined object location and provide the control instructions to the controller, the controller being responsive to the control instructions to control the drive and thereby move the object.",
  "claims": [
    "1. A system for moving an object within an environment, wherein the system includes: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices configured to: i) receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analyse images from each image stream to identify object images the object images being images including objects; iii) identify overlapping images as object images that include the same object; iv) analyse the object images to determine an object location within the environment; v) generate control instructions at least in part using the determined object location; and, vi) provide the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.",
    "2. A system according to claim 1, wherein the system at least one of: a) includes one or more passive wheels mounted to the object, and, b) is configured to steer the object by at least one of: i) differentially rotating the plurality of modular wheels; and, ii) changing an orientation of one or more modular wheels of the plurality of modular wheels.",
    "3. A system according to claim 2, wherein the one or more processing devices are at least one of: a) configured to provide respective control instructions to each controller to thereby independently control each modular wheel; b) configured to provide control instructions to the controllers and wherein the controllers communicate to independently control each modular wheel; c) configured to: i) determine an object configuration; generate the control instructions at least partially in accordance with an object extent; d) configured to: i) determine a wheel configuration indicative of a position of each wheel relative to the object; ii) generate the control instructions at least partially in accordance with the wheel configuration; e) configured to: i) determine an identity of at least one of: (1) each modular wheel; and, (2) the object; (ii) generate control instructions in accordance with the identity; f) configured to: i) determine routing data indicative of at least one of: (1) a travel path; and, (2) a destination; ii) generate control instructions in accordance with the routing data and the object location; g) configured to: i) determine an identity for at least one of: (1) the object; and, (2) for at least one modular wheel attached to the object; ii) determine the routing data at least in part using an object identity; and, h) configured to determine an object location using at least one of: i) a visual hull technique; ii) detection of fiducial markings in the images; and, iii) detection of fiducial markings in multiple triangulated images.",
    "4. A system according to claim 3, wherein the object configuration is indicative of at least one of: a) a physical extent of the object; and, b) movement parameters associated with the object.",
    "5. A system according to claim 3, wherein the routing data is indicative of at least one of: a) a permitted object travel path, b) permitted object movements; c) permitted proximity limits for different objects; d) permitted zones for objects; e) denied zones for objects.",
    "6. A system according to claim 1, wherein each of the plurality of modular wheels at least one of: a) includes a steering drive configured to adjust an orientation of the wheel, and wherein the controller is configured to control a steering drive to thereby change an orientation of the wheel; b) includes a transceiver configured to communicate wirelessly with the one or more processing devices; c) includes a power supply configured to power at least one of: i) the drive; ii) the controller; iii) a transceiver; and, iv) a steering drive; and, d) are each attached to the object at known locations.",
    "7. A system according to claim 1, wherein the object includes at least one of: a) a platform and wherein the plurality of modular wheels are attached to the platform; and, b) an item supported by the platform.",
    "8. A system according to claim 7, wherein the one or more processing devices are configured to at least one of: a) determine an object identity at least in part using a network identifier; and, b) determine an object identity using machine readable coded data.",
    "9. A system according to claim 8, wherein the machine readable coded data is at least one of: a) visible data, and wherein the one or more processing devices are configured to analyse the images to detect the machine readable coded data; and, b) encoded on a tag, and wherein the one or more processing devices are configured to receive signals indicative of the machine readable coded data from a tag reader; wherein the tags at least one of: i) short range wireless communications protocol tags; ii RFID tags; and, iii) Bluetooth tags.",
    "10. A system according to claim 1, wherein the plurality of imaging devices are at least one of: a) positioned within the environment at fixed locations; b) static relative to the environment; c) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to: i. identify overlapping images in different image streams, the overlapping images being images captured by imaging devices having overlapping fields of view; and, ii. analyse the overlapping images to determine object locations within the environment; d) positioned within the environment to have at least partially overlapping fields of view and wherein the one or more processing devices are configured to: i. analyse changes in the object locations over time to determine object movements within the environment; ii. compare the object movements to situational awareness rules; and, iii. use results of the comparison to identify situational awareness events; and, e) are at least one of: i. security imaging devices; ii. monoscopic imaging devices; iii. non-computer vision based imaging devices; and, iv. imaging devices that do not have associated intrinsic calibration information.",
    "11. A system according to claim 10, wherein the overlapping images are synchronous overlapping images captured at approximately the same time; optionally, wherein the one or more processing devices are configured to at least one of: a) determine a capture time of each captured image; b) identify synchronous images using the captured time; c) a capture time generated by the plurality of imaging devices; d) a receipt time associated with each overlapping image, the receipt time being indicative of a time of receipt by the one or more processing devices; and, e) a comparison of image content in the images.",
    "12. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse images from each image stream to identify object images, the object images being images including objects; and, b) identify overlapping images as object images that include the same object; wherein optionally the one or more processing devices are configured to identify overlapping images based at least in part on a positioning of the plurality of imaging devices.",
    "13. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse a number of images from the image stream to identify static image regions; and, b) identifying object images as images including non-static image regions, wherein optionally at least one of the images is a background reference image.",
    "14. A system according to claim 1, wherein the one or more processing devices are configured to at least one of: a) interpret the images in accordance with calibration data; b) generate calibration data during a calibration process by: i) receiving images of defined patterns captured from different positions using an imaging device; and, ii) analysing the images to generate calibration data indicative of a image capture properties of the plurality of imaging devices; and, c) generate calibration data during a calibration process by: i) receiving captured images of targets within the environment; ii) analysing the captured images to identify images captured by a different imaging device which shows the same target; and, iii) analysing the identified images to generate calibration data indicative of a relative position and orientation of the imaging devices, wherein optionally the calibration data includes at least one of: (1) intrinsic calibration data indicative of imaging properties of each of the plurality of imaging devices; and, (2) extrinsic calibration data indicative of relative positioning of the plurality of imaging devices within the environment.",
    "15. A system according to claim 1, wherein the one or more processing devices are configured to generate an environment model, the environment model being indicative of at least one of: a) the environment; b) a location of imaging devices in the environment; c) current object locations; d) object movements; e) predicted obstacles; f) predicted object locations; and, g) predicted object movements.",
    "16. A system according to claim 1, wherein the one or more processing devices are configured to: a) analyse changes in object locations over time to determine object movements within the environment; b) compare the object movements to situational awareness rules; and, c) use results of the comparison to identify situational awareness events, wherein optionally in response to identification of a situational awareness event, the one or more processing devices are configured to perform an action including at least one of: i) record an indication of the situational awareness event; ii) generate a notification indicative of the situational awareness event; iii) cause an output device to generate an output indicative of the situational awareness event; iv) activate an alarm; and, v) cause operation of an object to be controlled and wherein the one or more processing devices are optionally configured to: (1) identify the situational awareness event substantially in real time; and, (2) perform an action substantially in real time.",
    "17. A method for moving an object within an environment, the method being performed using a system including: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices, wherein the method includes, in the one or more processing devices: i) receiving an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analysing images from each image stream to identify object images, the object images being images including objects; iii) identifying overlapping images as object images that include the same object; iv) analysing the object images to determine an object location within the environment; v) generating control instructions at least in part using the determined object location; and, vi) providing the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object.",
    "18. A computer program product for moving an object within an environment using a system including: a) a plurality of modular wheels configured to move the object, wherein each of the plurality of modular wheels includes: i) a body configured to be attached to the object; ii) a wheel; iii) a drive configured to rotate the wheel; and, iv) a controller configured to control the drive; and, b) one or more processing devices, wherein the computer program product includes computer executable code, which when executed by the one or more processing devices causes the one or more processing devices to: i) receive an image stream including a plurality of captured images from each of a plurality of imaging devices, the plurality of imaging devices being configured to capture images of the object within the environment; ii) analyse images from each image stream to identify object images, the object images being images including objects; iii) identify overlapping images as object images that include the same object; iv) analyse the object images to determine an object location within the environment; iv) generate control instructions at least in part using the determined object location; and, vi) provide the control instructions to each controller, each controller being responsive to the control instructions to control the drive and thereby independently control each modular wheel to move the object."
  ],
  "description_excerpt": "The present invention relates to a system and method for moving an object in within an environment, and in one particular example, to a system and method for moving an object using one or more modular wheels attached to the object.\n\nThe reference in this specification to any prior publication (or information derived from it), or to any matter which is known, is not, and should not be taken as an acknowledgment or admission or any form of suggestion that the prior publication (or information derived from it) or known matter forms part of the common general knowledge in the field of endeavour to which this specification relates.\n\n“Enabling rapid field deployments using modular mobility units” by Troy Cordie, Tirthankar Bandyopadhyay, Jonathan Roberts, Ryan Steindl, Ross Dungavell and Kelly Greenop, Australasian Conference on Robotics and Automation 2016, ACRA 2016 P 107-115, describes a set of modular wheels that enable bespoke platform development for rapid field deployments. The modular wheel is influenced by existing modular and inspection robots but provides a simple-to-operate solution to exploring various environments. Each wheel provides two degrees of freedom allowing any continuous orientation to be achieved within a plane. Onboard computing and a wi-fi connection enable the modular wheels to operate individually or collaboratively. Heterogeneous robot platforms can be created as required through the use of adaptors. With robots of differing shapes, sizes and configurations able to be created at run time as demonstrated within the laboratory and in the field.",
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  "assignees": [
    "Commonwealth Scientific and Industrial Research Organization CSIRO"
  ],
  "inventors": [
    "Paul FLICK",
    "Nicholas Panitz",
    "Peter Dean",
    "Marc ELMOUTTIE",
    "Sisi LIANG",
    "Ryan STEINDL",
    "Troy CORDIE",
    "Tirthankar Bandyopadhyay"
  ],
  "filing_date": "2020-09-10",
  "publication_date": "2025-04-29",
  "grant_date": "2025-04-29",
  "priority_date": "2019-09-12",
  "application_number": "US-202017642404-A",
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Record 204 of 8,000 in Patents full text (MLC-0201). Request the full dataset.