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1. 发明申请

WO2020257948A1 SYSTEM AND METHOD FOR OPTICAL LOCALIZATION 审中-公开
公开(公告)号：WO2020257948A1
公开(公告)日：2020-12-30
申请号：PCT/CA2020/050903
申请日：2020-06-29
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , WROCK, Michael , ASAYESH, Salar , CHOW, Keith , POURAZADI, Shahram , GHASEMI, Amir Masoud , YAVARI, Mohammad
IPC分类号： G01C21/00 , B25J19/04 , B25B5/00 , B25J9/18
摘要： A system and method for optical localization of an autonomous mobile robot. The system includes a number of movable stationary landmarks defining an operating space for the robot. The robot includes a self-propelled mobile chassis, an optical sensor (a LiDAR sensor or optical camera) disposed on a raised portion and configured to detect the landmarks, and a controller configured to determine the position and orientation of the chassis based on information from the optical sensor. The landmarks have an elevated portion extending vertically to a height level which is equal to or higher than the horizontal plane of the optical sensor. Each landmark may have a cross-sectional feature and/or a visually distinct portion, to enable determining the orientation (of the optical sensor/mobile robot) relative to the landmark; as well as an identifier for uniquely identifying the landmark from others.

2. 发明申请

WO2020087159A1 METHOD AND APPARATUS FOR PERFORMING PRUNING OPERATIONS USING AN AUTONOMOUS VEHICLE 审中-公开
公开(公告)号：WO2020087159A1
公开(公告)日：2020-05-07
申请号：PCT/CA2019/051525
申请日：2019-10-29
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , MEHRABI, Vahid
IPC分类号： A01G3/08
摘要： An autonomous vehicle apparatus and method for performing pruning operations on a plant being cultivated in a container is disclosed. The apparatus includes a wheeled chassis operably configured to autonomously navigate to a location of the container within a workspace. The apparatus also includes a plant support operable to receive and secure the container in an upright condition for rotation about a vertical axis extending generally vertically through the container and the plant. The apparatus further includes a manipulator mounted to the vehicle and operable to grasp and load the container onto the plant support, and a pruning tool mounted on the vehicle and disposed to prune the plant while the container is rotated on the plant support.

3. 发明申请

WO2022027141A1 AUTOMATIC ACTUATED VEHICLE HITCH WITH MECHANICAL CATCH 审中-公开
公开(公告)号：WO2022027141A1
公开(公告)日：2022-02-10
申请号：PCT/CA2021/051094
申请日：2021-08-06
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： TARDIF, Alexandre David James , BIDRAM, Farhang
IPC分类号： B60D1/36 , B60D1/58 , B60T1/14 , B60T7/20
摘要： A method and apparatus for automated hitching of a trailer is disclosed. The apparatus includes a mounting plate, a pintle hitch mounted on the mounting plate having a portion movable between an open position and a closed position. The apparatus also includes an actuator that can move between a minimally actuated state and a maximally actuated state, a hitch linkage assembly connecting the moveable portion of the pintle hitch to the actuator, an actuator linkage connecting the actuator to the mounting plate, and a resilient member biased to hold the movable portion towards the closed position. The actuator holds the portion in the closed position when driven to one of the maximally or the minimally actuated states, and the actuator holds the portion in the open position when driven to the other of the maximally or minimally actuated states.

4. 发明申请

WO2020102900A1 SYSTEMS, METHODS, AND STORAGE UNITS FOR ARTICLE TRANSPORT AND STORAGE 审中-公开
公开(公告)号：WO2020102900A1
公开(公告)日：2020-05-28
申请号：PCT/CA2019/051662
申请日：2019-11-20
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , POURAZADI, Shahram , ZARRINDERAKHT, Milad
IPC分类号： A47B51/00 , A47B46/00 , A47B57/06 , B25J5/00 , B25J9/18 , B65G1/04 , B65G67/02 , B66F9/00 , B65G1/00 , B65G1/06 , B65G1/10 , B65G1/12
摘要： Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

5. 发明申请

WO2018045448A1 MOBILE WORK STATION FOR TRANSPORTING A PLURALITY OF ARTICLES 审中-公开
标题翻译：用于运输多个物品的移动工作站
公开(公告)号：WO2018045448A1
公开(公告)日：2018-03-15
申请号：PCT/CA2017/000057
申请日：2017-03-10
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang
IPC分类号： B25J5/00 , B25J19/02 , B25J9/00 , B60P1/48
摘要： An apparatus and method for transporting a plurality of articles is disclosed. The apparatus includes a wheeled chassis, and a platform disposed on the wheeled chassis. The apparatus also includes a manipulator coupled to the wheeled chassis and operably configured to load a first article of the plurality of articles at a first position on the platform, or unload the first article of the plurality of articles from the first position on the platform. The apparatus further includes at least one actuator operably configured to cause successive relative rotational movements between the manipulator and the platform to provide access to successive rotationally spaced apart positions on the platform for loading or unloading each subsequent article in the plurality of articles.
摘要翻译：公开了用于运输多个物品的设备和方法。该设备包括轮式底盘和设置在轮式底盘上的平台。该设备还包括耦合到轮式底盘并且可操作地构造成在平台上的第一位置处装载多个物品中的第一物品或者将多个物品中的第一物品从平台上的第一位置卸载的操纵器。所述设备还包括至少一个致动器，所述至少一个致动器可操作地配置成引起操纵器和平台之间的连续相对旋转运动，以提供对平台上的连续旋转间隔开的位置的访问，以装载或卸载多个物品中的每个后续物品。

6. 发明申请

WO2022087710A1 ULTRAVIOLET DISINFECTION ROBOT WITH ROTATING REFLECTOR 审中-公开
公开(公告)号：WO2022087710A1
公开(公告)日：2022-05-05
申请号：PCT/CA2021/050243
申请日：2021-02-26
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , BABAIE, Ashkan
IPC分类号： A61L2/10
摘要： An apparatus for ultraviolet disinfection is disclosed. The apparatus includes a mobile base, a UV irradiation tower including a support structure mounted on the base, the support structure being aligned with a vertical axis extending upwardly from the base. The apparatus also includes a UV light source attached to the support structure for providing a disinfecting dose of UV radiation, and a reflector disposed on the support structure for directing the UV radiation provided by the UV light source. The apparatus further includes a reflector actuator for rotating the reflector about a rotation axis orthogonal to the vertical axis, and a controller configured to cause the reflector to rotate in response to receiving signals from a surface sensor indicating location information for a target surface to be disinfected.

7. 发明申请

WO2021035354A1 DEPLOYABLE SYSTEM FOR ENVIRONMENTAL HOMOGENIZATION 审中-公开
公开(公告)号：WO2021035354A1
公开(公告)日：2021-03-04
申请号：PCT/CA2020/051170
申请日：2020-08-27
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： AHMADI, Hamed , BIDRAM, Farhang
IPC分类号： F24F5/00 , A01G9/20 , A01G9/24
摘要： A system, apparatus and method for environmental homogenization of an operating space is disclosed. The system includes a plurality of environmental sensors distributed within the operating space. The system also includes an environmental mapper operably configured to generate a map of environmental parameters within the operating space, the environmental parameters being generated by the plurality of environmental sensors. The system further includes at least one mobile robot, the mobile robot including a wheeled chassis including a plurality of motorized wheels, a navigation sensor disposed on the chassis, and a controller disposed on the chassis operably configured to autonomously navigate the chassis based on information from the navigation sensor. The mobile robot also includes an environmental control module disposed on the chassis and operably configured to modify at least one environmental parameter associated with the operating space.

8. 发明申请

WO2020178696A1 AGRICULTURAL ROBOT FOR A VERTICAL FARMING UNIT 审中-公开
公开(公告)号：WO2020178696A1
公开(公告)日：2020-09-10
申请号：PCT/IB2020/051729
申请日：2020-02-28
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , POURAZADI, Shahram , CHOW, Keith
IPC分类号： A01G9/00 , A01G9/14 , B25J5/00 , B25J9/18 , H02J7/00 , H04W4/38 , H04W88/02 , H05K7/14
摘要： An agricultural robot is disclosed, the agricultural robot comprising a chassis comprising a plurality of ground-engaging mechanisms for propelling the robot in a direction of travel; a supply module mounted on the chassis and comprising a fluid providing unit, a power providing unit, a supply interface operatively connected to the fluid providing unit and to the power providing unit and for providing at least one of fluid and power; and a controller for operating the plurality of ground-engaging mechanisms and the supply interface.

9. 发明申请

WO2020069604A1 MANIPULATOR APPARATUS FOR OPERATING ON ARTICLES 审中-公开
公开(公告)号：WO2020069604A1
公开(公告)日：2020-04-09
申请号：PCT/CA2019/051366
申请日：2019-09-24
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , GHASEMI TOUDESHKI, Amirmasoud
IPC分类号： B25J9/02 , B25J17/00 , B25J18/00 , B25J19/02 , B25J5/00 , B25J9/18
摘要： A manipulator apparatus for operating on articles is disclosed. The apparatus includes a column having a mounting portion for securing the manipulator to a base and an extensible portion that is moveable over an extension range with respect to the mounting portion in response to an actuation force provided by a column actuator. The apparatus also includes an arm mounted to the extensible portion of the column at an arm joint and rotatable about the arm joint in response to an actuation torque provided by an arm rotation actuator. The apparatus further includes an end effector operably configured to perform an operation on the articles, the end effector being mounted at an end effector joint disposed at an end of the arm distal to the arm joint, the end effector being rotatable about the end effector joint in response to an actuation torque provided by an end effector rotation actuator. The rotation of the end effector occurs within an end effector movement plane and the rotation of the arm occurs within an arm movement plane, the respective movement planes being substantially parallel to each other, and the extensible portion of the column is moveable in a direction normal to the respective movement planes and the extensible portion of the column causes the arm joint to be disposed to permit clearance for a full 360° rotation of the arm over at least a portion of the extension range of the extensible portion of the column to provide an operating range within which the end effector is able to move for operating on the articles..

10. 发明申请

WO2023004490A1 MOBILITY SYSTEM FOR RAILED FACILITIES 审中-公开
公开(公告)号：WO2023004490A1
公开(公告)日：2023-02-02
申请号：PCT/CA2022/000042
申请日：2022-07-22
申请人： ADVANCED INTELLIGENT SYSTEMS INC.
发明人： BIDRAM, Farhang , MEGAN, Patrick
IPC分类号： B60F1/02 , B60B19/02 , B60B19/12 , B60W60/00
摘要： A holonomic pipe rail transfer system is disclosed, which allows for a robot to transition from traveling on ground with holonomic motion to traveling on parallel rails with linear motion and vice-versa. In an aspect, a ground vehicle apparatus including at least four independently actuated omnidirectional wheels, a plurality of rail rollers and a plurality of actuators is provided. Each actuator is configured to independently drive one of the omnidirectional wheels and a corresponding rail roller co-axially coupled to the omnidirectional wheel. In another aspect, a method for transferring a ground vehicle apparatus to a rail system is provided, in which a controller detects a rail system and generates commands to holonomically drive the ground vehicle apparatus towards the detected rail system using a primary drive and engage an auxiliary drive, coupled to the primary drive, with the detected rail system.

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