Unmanned land vehicle having universal interfaces for attachments and autonomous operation capabilities and method of operation thereof

• US 20100106344A1
• Filed: 10/27/2008
• Published: 04/29/2010
• Est. Priority Date: 10/27/2008
• Status: Abandoned Application

• Current Assignee: Dean B. Edwards, John R. Canning
• Original Assignee: Dean B. Edwards, John R. Canning
• Inventors: Edwards, Dean B., Canning, John R.
• Application Number:
  US12/290,040
• Publication Number:
  US 20100106344A1
• Time in Patent Office: Days
• US Class Current: 701/2
• CPC Class Codes: A01G 23/006 Log skidders
• CPC Class Codes: E02F 9/205 Remotely operated machines, e.g. unmanned vehicles E02F3/8866 takes precedence
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• 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

Abstract

An apparatus and method is disclosed for a wireless remotely operable unmanned compact vehicle platform for use in land management comprising a frame and providing a pair of ground engageable endless drive tracks powered by a hydraulic fluid power source. The vehicle supports working attachments on the front end by utilizing a universal working attachment coupling interface carried on a pair of loader boom structures, and the vehicle supports working attachments on the rear end by utilizing a three point hitch apparatus. Working attachments coupled to the vehicle may be powered by the hydraulic fluid power source carried on the frame. A wireless remote control apparatus allows an operator to control the vehicle at a safe distance and a wireless video system allows an operator to control the vehicle accurately. A system of autonomous operation is integrated with the vehicle for travel in complex, unstructured environments. The claimed invention also utilizes a method of operation for the wirelessly operable unmanned vehicle control system which comprises a system wherein one or more mobile transmitters can be used to control one or more vehicles individually.

Claims

1. A remote operating system consisting essentially of:

(a) a vehicle to be controlled;

(b) a network of embedded processors carried on said vehicle for sensing and control tasks;

(c) multiple sensors including Global Position System (GPS), Inertial Navigation System (INS), compasses for magnetic direction, and an acoustic range sensing array;

(d) a proximity detecting device utilizing a sensor carried by the operator and a sensing device carried on said vehicle whereby said power source is disabled when operator arrives at a predetermined proximity from said vehicle.

(e) optical dual stereo short baseline cameras;

(f) multiple video cameras carried on said vehicle;

(g) a high performance embedded processor for vision computing;

(h) a signal transmission and receiving system for wirelessly transferring images captured by cameras to said remote control;

(i) an autonomous navigation system for navigational control and hazard avoidance of said vehicle through unstructured environments using a computer-based control scheme with sensors for acoustic ranging, inertial and global position, and stereo ranging;

(j) a remote control receiving and transmitting apparatus onboard and powered by said vehicle with the ability to receive and transmit wireless control signals at various individually coded signals, said receiver having the ability to receive and process signals from a plurality of portable remote control transmitters thereby providing related signals to system electronics apparatus;

(k) said remote control signal receiver provides corresponding signals to respective elements on the vehicle, including but not limited to a hydraulic valve block, ignition switch, navigation systems, and emergency safety shutoff device;

(l) a “

local” and

“

remote”

function state of computerized controller units carried on said vehicle that is controllable by said mobile remote control transmitter apparatus and determines the state of said vehicle when transitioning between a remotely controlled “

remote”

state and an autonomous “

local”

state or a hybrid combination thereof where basic navigation of the vehicle is “

local” and

control of complex vehicle operations remains “

remote.”

(m) a hand-operable and portable remote control transmitter that receives input commands from an operator and visual data transmitted from said video cameras and wirelessly transmits data signals correlating to input commands;

(n) a system for receiving images from said video cameras and displaying images to an operator wherein the image receiving and displaying unit may be carried on said remote control transmitter or may be a separate, portable unit.

(o) a status indicator on said remote control signal receiver indicating the identification of vehicles within proximity of any given operator and the state of control the operator may have over any vehicle;

2. A wireless remotely operable unmanned vehicle platform comprising:

(a) The remote operating system of claim 1;

(b) an unmanned frame;

(c) a power source in connection with the frame;

(d) a traction system in connection with the frame for propelling said vehicle;

(e) working attachment interfaces in connection with the frame on the front end and the rear end;

(f) a hydraulic power system.

3. The vehicle of claim 2, wherein said frame comprises:

(a) a central support structure wherein a pair on the left side and a pair on the right side of laterally spaced uprights are joined by a horizontal plate rigidly attached on top of the uprights further improving the strength and durability of said central support structure thereby providing rollover protection for said vehicle;

(b) a protective hood or shroud in connection with said central support structure;

(c) a traction system in connection with said frame;

(d) a pair of boom structures pivotally attached to upper end of said central support structure on the left end and right end, respectively, with each respective free end of said pair of booms extending beyond the front of said frame; and

(e) a three point hitch mechanism mounted to said central support.

4. The vehicle of claim 2, wherein said traction system comprises:

(a) left and right endless drive tracks carried on the frame, wherein each track is actuated independently by said hydraulic source to propel said frame in forward and reverse directions;

(b) left and right endless drive tracks each actuated independently by its own separate drive motor;

(c) said proportional control device wherein each track is controlled by a hydraulic valve, said valves receiving separate signals relayed from said receiver, and each valve having the ability to control hydraulic fluid flow in substantially infinite increments from zero flow to a maximum flow;

(d) four wheels, one pair on the left side of said vehicle and one pair on the right side of said vehicle whereby each pair of wheels are actuated independently by their own drive motor;

(e) four wheels, one pair on the left side of said vehicle and one pair on the right side of said vehicle wherein each pair of wheels may drive endless, removable tracks.

5. The vehicle of claim 2, wherein a working attachment interface on the front end of said vehicle comprises:

(a) a pair of boom structures pivotally secured to the upper end of the left and right sides of said central support structure, respectively, whereby each free end of said pair of booms extending beyond the front end of said rigid frame;

(b) a left and right hydraulic actuator pivotally connected at one end to said central support structure at the left end and right end, respectively, and at the opposite end pivotally connected to said left and right boom structures, respectively, whereby said hydraulic actuator actuates said boom structure pair upwardly and downwardly;

(c) a universal working attachment coupling interface pivotally attached to free end of said pair of boom structures, with a hydraulic actuator pivotally connected at one end to said boom structure and at the opposite end pivotally connected to said working attachment coupling interface whereby said working attachment coupling interface is actuated in a substantially sweeping motion relative to said boom structures;

(d) a universal working attachment coupling interface that can be coupled to plurality of working attachments including, but not limited to;

a dozer blade, auger, backhoe, bucket, bucket with grapple, cement bowl, breaker, pallet forks, ground preparation equipment, snow blower, angled brush sweeper, stump grinder, trencher, vibratory plow, borer, brush cutter, and the like.

6. The vehicle of claim 2, wherein a three point hitch working attachment interface on the rear end of said vehicle comprises:

(a) left and right lower lift arms that are pivotally attached to said central support structure at one end and extend past the rear end of said rigid frame;

(b) a working attachment that is pivotally attached to the end of the left and the right lower lift arm, respectively, that is opposite the frame, with an attachment device whereby the working attachment is movable upwardly and downwardly and is laterally fixed respective to said rigid frame;

(c) said lower lift arms adjustable in length;

(d) a three point hitch working attachment interface that can be coupled to a plurality of working attachments including, but not limited to;

mower deck, brush cutter, flail mower, box blade, auger, rototiller, tine rake, angle blade, disc harrow, power take-off generator, power take-off log splitter, and the like.

7. The vehicle of claim 2, wherein a hydraulic power system carried on the frame comprises:

(a) a hydraulic fluid pump for providing hydraulic fluid power to hydraulic devices on said vehicle that is actuated by said power source;

(b) a hydraulic valve block and accompanying hydraulic hoses and fittings for distributing fluid power in correspondence with the input of an operator.

8. The vehicle of claim 2, specifically modified for use in land management, said vehicle comprising:

(a) multiple hydraulic hoses connected at one end of each hose to said hydraulic valve block and at the free end of each hose connected to a coupling device wherein each free end of the individual hydraulic hoses may be connected to a complimentary coupling device interface on said working attachments whereby fluid energy is transferred from said vehicle to said working attachment;

(b) multiple hydraulic hoses that may be coupled to said working attachment on the front end, or the back end, or a device carried on the frame such as a winch or power take-off, or any combination thereof;

(c) working attachment releasable couplers carried on the frame on the front end and the rear end of said vehicle;

(d) said pair of boom structures carried on the front of the vehicle coupled to said working attachments appropriate to said front working attachment coupler;

(e) said three point hitch apparatus carried on the rear of the vehicle coupled to said working attachments appropriate to said three point hitch;

(f) a hydraulic power source powering said working attachments.

9. The vehicle of claims 2 through 8, specifically modified for use in remote areas, wherein said power source comprises:

(a) an engine combustion system utilizing fuel selected from a group of at least one of a;

diesel, gasoline, propane, biodiesel, ethanol, methanol, or the like, whereby a tank for storage of the appropriate fuel is carried on said vehicle.

10. A method of operation for a wireless remotely operable unmanned vehicle platform for use in land management, said method comprising a shared control of said vehicle through the use of said means in claim 1 for remotely operating the vehicle by one operator at one location and another operator at another location wherein one operator maintains control of the operations of the vehicle within a designated proximity of control and, as the vehicle approaches the subjective operating proximity of another operator, the second operator may obtain control of the vehicle.

11. A method of operation for a wireless remotely operable unmanned vehicle platform for use in land management, said method comprising a shared control of a plurality of said vehicles through the use of said means for remotely operating the vehicle by one or more operators within each operator'"'"'s respective proximity of control, said method comprising:

(a) The remote operating system of claim 1;

(b) a status indicator indicating the identification of vehicles within proximity of any given operator and the state of control the operator may have over any vehicle;

(c) A mount enabling the remote operating system device to be carried on an all terrain vehicle whereby an operator may operate said unmanned vehicle using said mounted remote operating system while riding on said all terrain vehicle with minimal fatigue.

12. A method of operation for a wireless remotely operable unmanned vehicle platform for use in land management, said method comprising a heterogeneous group of two or more vehicles comprising:

(a) individual vehicles carrying working attachment configurations whereby each respective vehicle is optimized for different specialized functions within a job site;

(b) multiple vehicles utilizing specific respective working attachment configurations to perform multiple functions within a job site;

(c) one or more operators controlling the functions of each respective vehicle through said system for remote operation of claim 1;

(d) one or more operators utilizing said autonomous system of claim 1 on said vehicles when appropriate.