Systems and methods for managing multiple autonomous vehicles

Abstract

Control system and method for managing transport of vehicles in a warehouse. A network of cameras provide coverage over the route way network by capturing images and sending image data to a central control unit which processes the images and generates signals to control the movement of robot slaves. The control system also includes a calibration mechanism to calibrate a map of the network of routes and an obstruction matrix function. The robot slaves include a safety override mechanism to control the robot slaves autonomously and independently in case of detecting an obstacle or an unexpected hazard in a path of its movement along a route of the warehouse network.

1 . A system for managing a 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, each of the image capturing devices comprising:
 a pre-processor unit which processes the captured images and creates one or more delta files for each captured image; 
   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 plurality of 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 an 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 
 
   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 processing unit to enable controlling the object to identify and alternate moving path.   
     
     
         2 . The system of  claim 1 , wherein the first and the second communication network comprises a Wired LAN connection, a Wireless LAN connection, a wireless radio frequency (RF) internet connection, a short-range wireless connection, a low-power wireless machine-to-machine connection, a source-routed mesh network connection or an Ethernet connection. 
     
     
         3 . The system of  claim 1 , wherein the object comprises a semi-autonomous vehicle, an autonomous vehicle, a robotic device or a shopping cart. 
     
     
         4 . 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. 
     
     
         5 . The system of  claim 1 , wherein the plurality of image capturing devices capture the images of the area, the object and the marked known points at regular interval of time. 
     
     
         6 . The system of  claim 1 , further comprising 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 or more known points along the network of routes, and wherein the plurality of image capturing devices capture the images of marked known points, create one or more additional delta files and transmit the additional delta files to the central control unit, and wherein the calibration mechanism comprises one or more mirror galvanometers which enable the points to be marked along the network of routes using directional laser beams. 
     
     
         7 . The system of  claim 6 , wherein the calibration mechanism comprises projected tracer beams of electromagnetic radiation selected from a list consisting: visible light beams, infrared beams, and ultraviolet beams, which enable the points to be marked along the network of routes. 
     
     
         8 . The system of  claim 6 , wherein the calibration mechanism comprises ultrasonic beacons which enable the points to be marked along the network of routes. 
     
     
         9 . The system of  claim 6 , wherein the calibration mechanism comprises sign markers including bar codes or QR codes provided along the network of routes. 
     
     
         10 . The system of  claim 6 , wherein the calibration mechanism comprises 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.   
     
     
         11 . The system of  claim 1 , wherein the image capturing devices comprise 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. 
     
     
         12 . A method for controlling a 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;   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 an availability and obstruction of various routes of the network at different points of time;   calibrating the map of the network of routes and the obstruction matrix function using an internal position tracking system;   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,   
       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 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. 
 
     
     
         13 . A method for controlling a 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;   marking one or more known points along the network of routes;   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 an 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   wherein the image capturing devices capture the images of one or more marked known points, create one or more additional delta files and transmit the additional delta files to the central control unit.   
     
     
         14 . The method of  claim 13  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. 
     
     
         15 . The method of  claim 13 , 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. 
     
     
         16 . The method of  claim 13 , 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.