Autonomous Approach and Object Pickup

Abstract

An example method includes receiving instructions to pick up an object with one or more lift elements of an autonomous vehicle. Based on a current positioning of the vehicle, the method further includes identifying the object to be picked up and a particular side of the object under which to place the one or more lift elements of the vehicle. The method additionally includes determining an approach path toward the object for the vehicle to follow to place the lift elements of the vehicle under the particular side of the object. The method further includes causing the vehicle to move along the determined approach path toward the object. The method additionally includes determining that the lift elements of the vehicle are placed under the particular side of the object. The method also includes causing the vehicle to lift the object with the lift elements.

What is claimed is: 
     
         1 . A vehicle, comprising:
 one or more lift elements;   a local control system configured to:
 receive, from a remote control system of the vehicle, instructions for the vehicle to autonomously approach and lift an object with the one or more lift elements; 
 determine an intended pickup point on the object to position the one or more lift elements; 
 determine that an area to be traversed by the vehicle to reach the intended pickup point on the object overlaps an obstructing object; and 
 send, to the remote control system of the vehicle, a signal identifying the obstructing object and a proposed alternative pickup point on the object. 
   
     
     
         2 . The vehicle of  claim 1 , wherein the local control system is further configured to:
 determine an area of swept space to be covered by the vehicle when moving along an approach path toward the intended pickup point on the object; and   use the determined area of swept space to determine that the area to be traversed by the vehicle to reach the intended pickup point on the object overlaps the obstructing object.   
     
     
         3 . The vehicle of  claim 1 , further comprising at least one optical sensor coupled to the vehicle, wherein the local control system is further configured to determine, based on sensor data from the at least one optical sensor, a center point of a side of the object to be the intended pickup point on the object. 
     
     
         4 . The vehicle of  claim 3 , wherein the local control system is further configured to determine the alternative pickup point to be an off-center point on the side of the object. 
     
     
         5 . The vehicle of  claim 3 , wherein the local control system is further configured to determine the alternative pickup point to be on an alternative side of the object. 
     
     
         6 . The vehicle of  claim 1 , wherein the local control system is further configured to:
 receive a confirmation signal confirming pickup of the object at the proposed alternative pickup point on the object; and   in response to receiving the confirmation signal, cause the vehicle to move along an alternative approach path toward the proposed alternative pickup point on the object, wherein the alternative approach path avoids the obstructing object.   
     
     
         7 . The vehicle of  claim 1 , wherein the local control system is further configured to:
 determine a target dropoff location for the object; and   determine the proposed alternative pickup point on the object based on one or more characteristics of the target dropoff location for the object.   
     
     
         8 . The vehicle of  claim 7 , wherein the one or more characteristics comprise at least one of a shape, size, or current capacity of the target dropoff location for the object. 
     
     
         9 . The vehicle of  claim 1 , wherein the local control system is further configured to determine the intended pickup point on the object based on a position of the vehicle when the instructions to autonomously approach and lift the object are received. 
     
     
         10 . The vehicle of  claim 1 , further comprising at least one horizontal force sensor configured to detect a horizontal force in a direction toward the vehicle, wherein the local control system is further configured to:
 receive a confirmation signal confirming pickup of the object at the proposed alternative pickup point on the object;   in response to receiving the confirmation signal, cause the vehicle to move along an alternative approach path toward the proposed alternative pickup point on the object, wherein the alternative approach path avoids the obstructing object;   based on sensor data from the at least one horizontal force sensor indicating a horizontal force from the object on the vehicle, determine that the one or more lift elements are positioned under the object; and   after determining that the one or more lift elements are positioned under the object, cause the one or more lift elements to raise the object.   
     
     
         11 . The vehicle of  claim 1 , further comprising at least one vertical force sensor configured to detect a downward force on the one or more lift elements, wherein the local control system is further configured to:
 receive a confirmation signal confirming pickup of the object at the proposed alternative pickup point on the object;   in response to receiving the confirmation signal, cause the vehicle to move along an alternative approach path toward the proposed alternative pickup point on the object, wherein the alternative approach path avoids the obstructing object;   determine that the one or more lift elements are positioned under the object;   after determining that the one or more lift elements are positioned under the object, cause the one or more lift elements to raise the object;   based on sensor data from the at least one vertical force sensor indicating a stable downward force from the object on the one or more lift elements, determine that the object is lifted off of a ground surface; and   after determining that the object is lifted off of the ground surface, return control of the vehicle to the remote control system.   
     
     
         12 . The vehicle of  claim 1 , wherein the local control system is further configured to cause the vehicle to hold position until a response to the signal is received from the remote control system of the vehicle. 
     
     
         13 . A method comprising:
 receiving, from a remote control system of a vehicle, instructions for the vehicle to autonomously approach and lift an object with one or more lift elements;   determining an intended pickup point on the object to position the one or more lift elements;   determining that an area to be traversed by the vehicle to reach the intended pickup point on the object overlaps an obstructing object; and   sending, to the remote control system of the vehicle, a signal identifying the obstructing object and a proposed alternative pickup point on the object.   
     
     
         14 . The method of  claim 13 , further comprising:
 determining an area of swept space to be covered by the vehicle when moving along an approach path toward the intended pickup point on the object; and   using the determined area of swept space to determine that the area to be traversed by the vehicle to reach the intended pickup point on the object overlaps the obstructing object.   
     
     
         15 . The method of  claim 13 , further comprising:
 receiving a confirmation signal confirming pickup of the object at the proposed alternative pickup point on the object; and   in response to receiving the confirmation signal, causing the vehicle to move along an alternative approach path toward the proposed alternative pickup point on the object, wherein the alternative approach path avoids the obstructing object.   
     
     
         16 . The method of  claim 13 , further comprising:
 determining a target dropoff location for the object; and   determining the proposed alternative pickup point on the object based on one or more characteristics of the target dropoff location for the object.   
     
     
         17 . The method of  claim 13 , further comprising:
 determining the intended pickup point on the object based on a position of the vehicle when the instructions to autonomously approach and lift the object are received.   
     
     
         18 . A non-transitory computer readable medium having stored therein instructions, that when executed by a local control system of a vehicle, cause the local control system to perform functions comprising:
 receiving, from a remote control system of the vehicle, instructions for the vehicle to autonomously approach and lift an object with one or more lift elements;   determining an intended pickup point on the object to position the one or more lift elements;   determining that an area to be traversed by the vehicle to reach the intended pickup point on the object overlaps an obstructing object; and   sending, to the remote control system of the vehicle, a signal identifying the obstructing object and a proposed alternative pickup point on the object.   
     
     
         19 . The non-transitory computer readable medium of  claim 18 , wherein the functions further comprise:
 receiving a confirmation signal confirming pickup of the object at the proposed alternative pickup point on the object; and   in response to receiving the confirmation signal, causing the vehicle to move along an alternative approach path toward the proposed alternative pickup point on the object, wherein the alternative approach path avoids the obstructing object.   
     
     
         20 . The non-transitory computer readable medium of  claim 18 , wherein the functions further comprise:
 determining the intended pickup point on the object based on a position of the vehicle when the instructions to autonomously approach and lift the object are received.