Systems, methods, and computer programmable products are described herein for detecting a suspended load by an autonomous vehicle maneuvering about an environment. A scanning device mounted on and perpendicular to a top surface of the autonomous vehicle receives a plurality of data points surrounding the autonomous vehicle. A point detection module detects whether an object is present within a detection range of the autonomous vehicle by: clustering subsets of the plurality of data points and determining whether at least one clustered subset of the plurality of data points is within the detection range. Based on the object being present within the detection range, at least three features are extracted from the object to detect whether the object is a suspended load. The maneuvering of the autonomous vehicle is controlled based on detection of the suspended load.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G05D 1/242 - Means based on the reflection of waves generated by the vehicle
G05D 1/247 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
System, method, and computer program product are described herein for autonomously docking an autonomous vehicle. Data including (i) an indication that the autonomous vehicle is within a docking location and (ii) an adjustment distance to place the autonomous vehicle within a threshold distance of the docking location is received. An external reference point detection module identifies an external reference point to the autonomous vehicle. A docking module incrementally adjusts a position of the autonomous vehicle in a first axis based on a distance between the autonomous vehicle and the external reference point until either (i) the autonomous vehicle is within the threshold distance of the docking location or (ii) a number of adjustments exceeds an adjustment maximum.
Systems, methods, and non-transitory computer program product are described herein for detecting location aspects of an autonomous vehicle to avoid collisions. Data including a plurality of points characterizing a trailer of an autonomous vehicle are received from a first scanning device. A first plane associated with the trailer is defined based on the plurality of points exceeding a first predetermined threshold. It is determined whether the first plane is perpendicular to ground. Based on the first plane being perpendicular to the ground, an orientation of the trailer is determined based on the first plane. Maneuvering of the autonomous vehicle is controlled through one or more commands based on the orientation.
Systems, methods, and non-transitory computer program product are described herein for detecting location aspects of an autonomous vehicle to avoid collisions. Data including a plurality of points characterizing a trailer of an autonomous vehicle are received from a first scanning device. A first plane associated with the trailer is defined based on the plurality of points exceeding a first predetermined threshold. It is determined whether the first plane is perpendicular to ground. Based on the first plane being perpendicular to the ground, an orientation of the trailer is determined based on the first plane. Maneuvering of the autonomous vehicle is controlled through one or more commands based on the orientation.
Systems, methods, and computer programmable products are described herein for detecting a suspended load by an autonomous vehicle maneuvering about an environment. A scanning device mounted on and perpendicular to a top surface of the autonomous vehicle receives a plurality of data points surrounding the autonomous vehicle. A point detection module detects whether an object is present within a detection range of the autonomous vehicle by: clustering subsets of the plurality of data points and determining whether at least one clustered subset of the plurality of data points is within the detection range. Based on the object being present within the detection range, at least three features are extracted from the object to detect whether the object is a suspended load. The maneuvering of the autonomous vehicle is controlled based on detection of the suspended load.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G05D 1/247 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
Systems, methods, and computer programmable products are described herein for detecting a suspended load by an autonomous vehicle maneuvering about an environment. A scanning device mounted on and perpendicular to a top surface of the autonomous vehicle receives a plurality of data points surrounding the autonomous vehicle. A point detection module detects whether an object is present within a detection range of the autonomous vehicle by: clustering subsets of the plurality of data points and determining whether at least one clustered subset of the plurality of data points is within the detection range. Based on the object being present within the detection range, at least three features are extracted from the object to detect whether the object is a suspended load. The maneuvering of the autonomous vehicle is controlled based on detection of the suspended load.
Systems, methods, and computer program products are described herein for container misalignment detection for an autonomous vehicle. Misalignment of a container loaded onto an autonomous vehicle is detected by receiving data including an indication that the container is loaded onto the autonomous vehicle. A scanning device mounted on the autonomous vehicle captures a plurality of data points in the vicinity of the container. A misalignment detection module identifies a first data point of the plurality of data points and a second data point of the plurality of data points. The misalignment detection module evaluates a height difference between a height of the first data point and a height of the second data point. The misalignment detection module determines whether the container is misaligned on the autonomous vehicle based on the height difference. An indication of whether the container is misaligned is provided.
Systems, methods, and computer program products are described herein for container misalignment detection for an autonomous vehicle. Misalignment of a container loaded onto an autonomous vehicle is detected by receiving data including an indication that the container is loaded onto the autonomous vehicle. A scanning device mounted on the autonomous vehicle captures a plurality of data points in the vicinity of the container. A misalignment detection module identifies a first data point of the plurality of data points and a second data point of the plurality of data points. The misalignment detection module evaluates a height difference between a height of the first data point and a height of the second data point. The misalignment detection module determines whether the container is misaligned on the autonomous vehicle based on the height difference. An indication of whether the container is misaligned is provided.
B60Q 9/00 - Arrangement or adaptation of signal devices not provided for in one of main groups
B60P 1/54 - Vehicles predominantly for transporting loads and modified to facilitate loading, consolidating the load, or unloading using cranes for self-loading or self-unloading
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
9.
DOCKING SYSTEM AND METHOD FOR AUTONOMOUS TRANSPORT VEHICLES
System, method, and computer program product are described herein for autonomously docking an autonomous vehicle. Data including (i) an indication that the autonomous vehicle is within a docking location and (ii) an adjustment distance to place the autonomous vehicle within a threshold distance of the docking location is received. An external reference point detection module identifies an external reference point to the autonomous vehicle. A docking module incrementally adjusts a position of the autonomous vehicle in a first axis based on a distance between the autonomous vehicle and the external reference point until either (i) the autonomous vehicle is within the threshold distance of the docking location or (ii) a number of adjustments exceeds an adjustment maximum.
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