Systems and methods for switching between autonomous and manual operation of a vehicle

• US 20070198145A1
• Filed: 10/20/2006
• Published: 08/23/2007
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Gilbertson, Seth, Allard, James, Filippov, Mikhail, Turner, Christopher, Norris, William, Norby, Andrew, Haun, Robert
• Granted Patent: US 7,894,951 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

Systems and methods for switching between autonomous and manual operation of a vehicle are described. In one embodiment, there is a mechanical control system that receives manual inputs from a mechanical operation member to operate the vehicle in manual mode. There is further an actuator that receives autonomous control signals generated by a controller. When the actuator is engaged, it operates the vehicle in an autonomous mode, and when disengaged, it operates the vehicle in manual mode. In another embodiment, there is an E-Stop system to disengage systems that cause the vehicle to move, such as the engine, while still leaving power in the systems that do not cause the vehicle to move. There is a method for autonomous mode starting of a vehicle, comprising receiving a signal indicating autonomous mode, determining that a parking brake lever is set and the brakes are engaged, disengaging the brakes while maintaining the lever in the set position, and engaging in autonomous mode. There is a safety system with a mechanical bias to suppress moveable systems of the vehicle, comprising a clutch that releases the mechanical bias to permit movement of the moveable system when the clutch is engaged. In another embodiment a system comprises a mechanical linkage with a restoration member that permits control of an operation system of the vehicle by a remote operation member when the restoration member is engaged. There is also an actuator that prohibits control of the operation system by the remote operation member when the actuator is engaged.

Claims

1. A robotically operable vehicle comprising:

a mechanical vehicle control system capable of receiving manual inputs from a mechanical operation member to operate the vehicle in a manual mode;

a controller capable of generating autonomous control signals; and

at least one actuator mated to the mechanical vehicle control system by at least one electrically actuated clutch, the actuator configured to receive the autonomous control signals and operate the mechanical vehicle control system in an autonomous mode.

2. The robotically operable vehicle of claim 1, wherein the controller is configured to send a mode switch signal to disengage the at least one actuator from the mechanical vehicle control system so that the vehicle operates in the manual mode.

3. The robotically operable vehicle of claim 1, further comprising an E-Stop system operable to remove power from the at least one electrically actuated clutch.

4. The robotically operable vehicle of claim 3, wherein the E-Stop system is not operable to remove power from the controller or from the mechanical vehicle control system.

5. The robotically operable vehicle of claim 1, further comprising an E-Stop system operable to remove power from one of a plurality of electrically actuated clutches.

6. The robotically operable vehicle of claim 1, wherein the mechanical vehicle control system comprises at least one of a braking system, a steering system, a throttle system, or a transmission system.

7. The robotically operable vehicle of claim 1, wherein the mechanical vehicle control system comprises a drive-by-wire system.

8. The robotically operable vehicle of claim 1, wherein the autonomous mode comprises a first autonomous mode and further comprising a mode changeover switch operable to switch between the first autonomous mode and a second autonomous mode.

9. The robotically operable vehicle of claim 1, further comprising a pull pin coupled to the mechanical vehicle control system, the pull pin configured to disengage the at least one actuator from the mechanical vehicle control system so that the vehicle operates in the manual mode.

10. A method for operating a robotically operable vehicle, comprising:

receiving a manual input;

operating the vehicle in a manual mode with a mechanical vehicle control system, at least in part through the manual input;

receiving a mode switch signal from a controller;

disabling the mechanical vehicle control system with an electric clutch; and

operating the vehicle in an autonomous mode, at least in part through an actuator.

11. The method as in claim 10, wherein the actuator operates the vehicle in response to autonomous control signals generated by the controller.

12. The method as in claim 10, further comprising providing an E-Stop system that removes power from the electric clutch but not from the actuator.

13. The method as in claim 10, further comprising providing at least one of a brake handle, a brake pedal, a throttle, a steering wheel, or a gearshift lever to receive the manual input.

14. The method as in claim 10, wherein the mechanical vehicle control system comprises at least one of a braking system, a steering system, a throttle system, or a transmission system.

15. A robotically operated vehicle, comprising:

at least one normally disengaged electrically actuated clutch that connects a mechanical vehicle control system and an autonomous control system;

the mechanical vehicle control system capable of receiving manual inputs from a mechanical operation member to operate the vehicle in a manual mode when the clutch is disengaged;

the autonomous control system configured to operate the mechanical vehicle control system in an autonomous mode when the clutch is engaged; and

an E-Stop system configured to remove power from the clutch, while leaving power in the autonomous control system.

16. The robotically controlled vehicle of claim 15, wherein the mechanical vehicle control system comprises a parking control element set in a predetermined setting when the vehicle is parked, the predetermined setting configured to enable the autonomous mode and signify that manual movement is disabled.

17. The robotically controlled vehicle of claim 15, wherein the E-Stop system is actuated by latching switches that require a mechanical reset to restore power to the clutch.

18. The robotically controlled vehicle of claim 15, wherein the E-Stop system is actuated by a self-latching push-button that mechanically latches before the E-Stop system removes power to the actuator.

19. The robotically controlled vehicle of claim 15, further comprising a safety stop to disengage the at least one clutch by a circuit other than a latching switch.

20. The robotically controlled vehicle of claim 19, wherein the mechanical operation member can actuate the safety stop.

21. The robotically controlled vehicle of claim 19, wherein the safety stop engages the clutch in response to a software reset.

22. The robotically controlled vehicle of claim 15, comprising at least a steering system clutch and a throttle system clutch.

23. The robotically controlled vehicle of claim 15, wherein the autonomous control system is capable of being controlled in a teleoperated mode according to remote commands.

24. A method for operating a robotically operable vehicle, comprising:

mating a mechanical vehicle control system and an autonomous control system with an electric clutch;

disengaging the clutch to allow the mechanical vehicle control system to operate the vehicle in response to manual inputs;

engaging the clutch to allow the autonomous control system to operate the vehicle in response to autonomous control signals; and

removing power in the clutch, while leaving power in the autonomous control system, at least in part through an E-Stop system.

25. The method as in claim 24, wherein the E-Stop system leaves power in the mechanical vehicle control system.

26. The method as in claim 24, wherein the E-Stop system is triggered upon receipt of manual inputs by at least one of a brake handle, a brake pedal, a throttle, a steering wheel, a gearshift lever, or an E-Stop switch.

27. A method for autonomous mode starting of a robotically operated vehicle comprising:

receiving a first mode signal indicating an autonomous mode selection;

determining that a parking brake lever has been placed in a set position, wherein a parking brake is engaged;

disengaging the parking brakes while maintaining the parking brake lever in the set position; and

engaging an autonomous mode controlled by a controller capable of generating autonomous control signals.

28. The method of claim 27, further comprising:

receiving a second mode switch signal indicating a manual mode selection;

disengaging the autonomous mode; and

engaging the parking brakes.

29. The method of claim 28, wherein the second mode switch signal comprises at least one of a signal indicating a movement of the parking brake lever or a signal indicating a movement of a mechanical operation member.

30. The method of claim 28, wherein the second mode switch signal comprises an E-Stop signal.

31. The method of claim 30, further comprising causing the vehicle to stop.

32. The method of claim 31, further comprising causing an engine of the vehicle to stop.

33. The method of claim 27, further comprising:

receiving an input signal indicative of the exercise of human judgment; and

prioritizing the input signal above the autonomous control signals.

34. The method of claim 27, wherein engaging an autonomous mode comprises engaging at least one normally disengaged electrical clutch incorporated in a mechanical linkage.

35. The method of claim 27, wherein the set position has mechanical bias.

36. The method of claim 35, further comprising an electrical actuator that overcomes the mechanical bias to disengage the parking brake so that the parking brake reengages with the mechanical bias if the electrical actuator loses power.

37. The method of claim 36, where the parking brake lever has an unset position that actuates a safety stop to remove power from the actuator.

38. The method of claim 37, where the controller resets the safety stop before the controller disengages the parking brake.

39. A system for autonomous mode starting, comprising:

a parking control element with a predetermined setting that disables movement in a manual mode;

a controller to generate a signal indicating autonomous mode; and

a disengaging mechanism to receive the signal and to enable movement in an autonomous mode, while leaving the parking control element in the predetermined position.

40. The system as in claim 39, wherein the disengaging mechanism disables movement in autonomous mode and engages the parking brakes if the parking control element moves out of the predetermined setting or if the controller generates an E-Stop signal.

41. The system as in claim 39, wherein enabling movement in an autonomous mode comprises engaging at least one normally disengaged electrical clutch incorporated in a mechanical linkage.

42. A robotic safety system for a robotically operable vehicle, comprising:

a mechanical vehicle control system capable of receiving manual inputs from a mechanical operation member to operate the vehicle in a manual mode;

a robotic controller capable of generating autonomous control signals;

at least one actuator configured to receive the autonomous control signals and operate the mechanical vehicle control system in an autonomous mode; and

at least one mechanically charged safety system that is mechanically biased to suppress movement of a movable system of the vehicle, comprising an electrically actuated clutch that releases the mechanical bias and permits movement of the movable system when the clutch is activated by the robotics controller.

43. The robotic safety system of claim 42, wherein when electrical power is removed from the robotic controller, the clutch deactivates and suppresses movement of the movable system.

44. The robotic safety system of claim 42, wherein the mechanically charged safety system comprises a parking brake system.

45. The robotic safety system of claim 42, wherein the moveable system comprises at least one of a wheel of the vehicle or a scanner.

46. A method for safely stopping a robotically operable vehicle, comprising:

operating the vehicle in an autonomous mode, at least in part through an autonomous control system;

receiving a manual input from a parking brake;

disengaging an electric clutch to prohibit control by the autonomous control system while leaving power in the autonomous control system; and

operating the vehicle in a manual mode, at least in part through a mechanical vehicle control system.

47. A robotic control system comprising:

at least one operation system of a vehicle;

at least one electrically controlled actuator and at least one remote operation member corresponding to each operation system;

a mechanical linkage comprising at least a restoration member that permits control of the operation system by the remote operation member when the restoration member is in an engaged state, and prohibits control when in a disengaged state; and

wherein the actuator prohibits control of the operation system by the remote operation member when the actuator is in an engaged state, and permits control of the operation system by the remote operation member when the actuator is in a disengaged state.

48. The system as in claim 47, where the actuator is disengaged when the restoration mechanism is engaged.

49. The system as in claim 47, where the actuator is engaged when the restoration mechanism is engaged, and the remote operation member controls the operation system.

50. The system as in claim 47, the operation system comprising at least one of a steering system, a throttle system, a braking system, or a transmission system.

51. The system as in claim 47, where the restoration mechanism is at least one of an electromagnetically actuated clutch or a mechanical device including at least one of pull-pin, a lever, a pedal, a push button, or a switch.

52. The system as in claim 47, where each operation system is backdrivable when the restoration mechanism is engaged.