Method and apparatus for intelligent highway traffic control devices

• US 20060037528A1
• Filed: 06/30/2005
• Published: 02/23/2006
• Est. Priority Date: 06/30/2004
• Status: Abandoned Application

• Current Assignee: Board of Regents of the University of Nebraska
• Original Assignee: Board of Regents of the University of Nebraska
• Inventors: Farritor, Shane M., Shen, Xiangrong, Dumpert, Jason
• Application Number:
  US11/172,148
• Publication Number:
  US 20060037528A1
• Time in Patent Office: Days
• US Class Current: 116/200
• CPC Class Codes: E01F 9/654 in the form of three-dimensional bodies, e.g. cones; capable of assuming three-dimensional form, e.g. by inflation or erection to form a geometric body
• CPC Class Codes: E01F 9/662 mounted on vehicles, e.g. service vehicles; Warning vehicles travelling along with road-maintenance, e.g. remotely controlled
• CPC Class Codes: E01F 9/688 Free-standing bodies
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/0293 Convoy travelling
• CPC Class Codes: G05D 1/0295 by at least one leading vehicle of the fleet

Abstract

A method and system is disclosed for the deployment, reconfiguration and retrieval of robotic highway safety markers. The system includes one or more robotic safety markers, a base station or lead robot having a range-finder module for robotic safety marker localization, a communication module for master-slave communication with each robotic safety marker and means for path planning for the robotic safety markers. The system is controlled by a hierarchical control system having both global and local control.

Claims

1. A robotic highway safety marker system comprising:

(a) a base station having means for localization, a communication module and means for path planning;

(b) one or more robotic safety markers, each robotic safety marker comprising a motorized set of wheels, and a safety marker communication module;

(c) whereby the base station locates each safety marker and communicates a marker specific wireless signal to each safety marker to control a path of the safety marker.

2. The system of claim 1, wherein the base station is an autonomous mobile master robot and further includes a processor.

3. The system of claim 1, wherein the means for localization comprises a range finder module.

4. The system of claim 3 wherein the range finder module is a non-contact laser measurement system that locates the distance from the base station for each of the one or more robotic safety markers.

5. The system of claim 4 wherein the means for localization further comprises a compass module mounted in each of the one or more robotic safety markers.

6. The system of claim 1, wherein the means for localization comprises a first global positioning receiver mounted to the base station and one or more second global positioning receivers mounted in each of the one or more robotic safety markers.

7. The system of claim 2, wherein the communication module for the master robot is a frequency hopping spread spectrum wireless module and wherein the module enables communication between the master robot and the safety marker communication module for each of the one or more robotic safety markers.

8. A method for controlling one or more robotic highway safety markers from a base station comprising the steps of:

(a) localizing each of the one or more robotic highway markers;

(b) inputting a final position for each of the one or more robotic highway markers;

(c) planning a path for each of the one or more robotic safety highway markers;

(d) sending a command consisting of a waypoint to a first robotic safety marker from the base station; and

(e) executing the movement for the first robotic safety marker to the way point.

9. The method of claim 8 wherein the step of localizing each of the one or more robotic highway markers comprises calculating the location of each of the one or more robotic highway markers relative to the base station using a laser measurement device mounted on the base station and further comprises determining the orientation of each of the one or more robotic safety markers.

10. The method of claim 9 wherein the step of localizing each of the one or more robotic highway markers further comprises the steps of scanning a range for each of the one or more robotic highway markers using the laser measurement device of the base station, applying a Hough transform to the data from the scan, extracting circles from the data to determine the location of the one or more robotic highway markers relative to the base station.

11. The method of claim 8 wherein the base station is an autonomous mobile robot.

12. The method of claim 9 wherein the step of planning a path for each of the one or more robotic safety highway markers comprises the steps of:

(a) providing a central processing unit for the base station;

(b) providing the central processing unit with the location and orientation of each of the one or more robotic highway markers;

(c) inputting a final position for each of the one or more robotic highway markers; and

(d) determining a path for each of the one or more robotic highway markers.

13. The method of claim 12 wherein the step of executing the movement for the first robotic safety marker to the way point further comprises the steps of:

(i) determining the first robotic markers heading information from a compass module;

(ii) calculating the movements for the robotic safety marker to guide the robot to the waypoint; and

(iii) generating commands to a pair of motors, each operating a wheel of the first robotic safety marker to move the first robotic safety marker to the waypoint.

14. The method of claim 8 wherein the step of sending a signal consisting of a waypoint to a first robotic safety marker from the base station comprises the steps of:

(i) assembling points from a serial port buffer of the first robotic safety marker into a message;

(ii) validating the message to determine if the message was intended for the first robotic marker; and

(iii) processing the message.

15. A method for controlling one or more robotic highway safety markers from a lead station comprising the steps of:

(a) localizing each of the one or more robotic highway markers;

(b) assigning a virtual destination for each robotic highway safety marker;

(c) defining a trajectory between each robotic highway safety marker and the virtual destination corresponding to the highway safety marker;

(d) updating this trajectory in real time as the lead station moves; and

(e) communicating data related to the Bezier trajectory and the velocity of the lead station from the lead station to each robotic highway safety marker.

16. The method of claim 15 wherein the step of localizing each of the one or more robotic highway markers comprises calculating the distance of each of the one or more robotic highway markers using a laser measurement device mounted on the lead station.

17. The method of claim 15 wherein the step of localizing each of the one or more robotic highway markers comprises the steps of:

(i) providing each robotic highway marker with a global positioning receiver;

(ii) providing the lead station with a global positioning receiver;

(iii) communicating to the lead station each robotic highway marker'"'"'s global position; and

(iv) calculating the location of each of the one or more robotic highway markers.

18. The method of claim 15 wherein each robotic safety marker includes a pair of wheels driven by a pair of motors and the method further comprises the step of:

(f) providing a PID velocity controller for each robotic safety marker to control wheel angular velocity for each robotic safety marker, the controller being responsive to commands from the lead station.

19. The method of claim 15 wherein the trajectory is a Bezier trajectory.

20. A robotic safety marker system comprising:

(a) one or more follower safety markers, each robotic safety marker comprising a motorized set of wheels, a compass module, and a safety marker communication module;

(b) an intelligent lead station having a processor, a means for localization of each of the one or more robotic safety markers, a communication module for master-slave communication with each of the robotic safety markers and means for path planning; and

(c) whereby the lead station localizes each follower safety marker and communicates a command to each safety marker to control a path of the safety marker such that each of the one or more follower safety markers follow the lead station along a path.

21. The system of claim 20, wherein the lead station is an autonomous mobile robot and wherein means for localization of each follower safety marker comprises a range finder module to determine the distance data from the lead station of each of the one or more follower safety markers and the processor applying a Hough transform analysis of the distance data to localize each safety marker.

22. The system of claim 20, wherein the lead station is an autonomous mobile robot and wherein means for localization of each follower safety marker comprises a global positioning receiver module for each follower safety marker and the lead station, and whereby the follower safety markers communicate their location and orientation to the lead station for localization of each follower safety marker.

23. The system of claim 20 wherein each follower safety marker further includes proportional-integral-derivative velocity controller.

24. The system of claim 20 wherein the means for path planning comprises the processor determining a virtual destination for each robotic highway safety marker and defining a Bezier trajectory between each robotic highway safety marker and the virtual destination corresponding to the highway safety marker.