REAL TIME EXPLOSIVE HAZARD INFORMATION SENSING, PROCESSING, AND COMMUNICATION FOR AUTONOMOUS OPERATION
First Claim
1. A method of explosive hazard detection, comprising:
- providing a robot intelligence kernel (RIK) including a dynamic autonomy structure with two or more autonomy levels between operator intervention in a teleoperation mode and robot initiative in an autonomous mode and for controlling operation of one or more locomotors and one or more subsurface perceptors;
providing an explosive hazard sensor and processing module (ESPM) operating separately from the robot intelligence kernel and for;
perceiving environmental variables indicative of a presence of an explosive hazard using the one or more subsurface perceptors;
processing information from the perceiving to determine a likelihood of a presence of the explosive hazard; and
communicating with the robot intelligence kernel to exchange information and commands;
autonomously modifying behavior of the robot, responsive to an indication of a detected explosive hazard from the explosive hazard sensor and processing module, between;
detection of explosive hazards as part of achievement of a goal assigned by the operator;
detailed scanning and characterization of the detected explosive hazard by adjusting operation of the one or more locomotors and the one or more subsurface perceptors and processing sensed information to develop explosive hazard indication parameters; and
resuming the detection of explosive hazards after the detailed scanning and characterization.
2 Assignments
0 Petitions
Accused Products
Abstract
Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.
82 Citations
34 Claims
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1. A method of explosive hazard detection, comprising:
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providing a robot intelligence kernel (RIK) including a dynamic autonomy structure with two or more autonomy levels between operator intervention in a teleoperation mode and robot initiative in an autonomous mode and for controlling operation of one or more locomotors and one or more subsurface perceptors; providing an explosive hazard sensor and processing module (ESPM) operating separately from the robot intelligence kernel and for; perceiving environmental variables indicative of a presence of an explosive hazard using the one or more subsurface perceptors; processing information from the perceiving to determine a likelihood of a presence of the explosive hazard; and communicating with the robot intelligence kernel to exchange information and commands; autonomously modifying behavior of the robot, responsive to an indication of a detected explosive hazard from the explosive hazard sensor and processing module, between; detection of explosive hazards as part of achievement of a goal assigned by the operator; detailed scanning and characterization of the detected explosive hazard by adjusting operation of the one or more locomotors and the one or more subsurface perceptors and processing sensed information to develop explosive hazard indication parameters; and resuming the detection of explosive hazards after the detailed scanning and characterization. - View Dependent Claims (2, 3, 4, 5)
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6. A robot platform, comprising:
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one or more subsurface perceptors configured for perceiving environmental variables indicative of a presence of an explosive hazard; one or more locomotors configured for providing mobility to the robot platform; and one or more controllers configured for executing; a robot intelligence kernel including a dynamic autonomy structure with two or more autonomy levels between operator intervention in a teleoperation mode and robot initiative in an autonomous mode and for controlling operation of one or more locomotors and one or more subsurface perceptors; and an explosive hazard sensor and processing module operating separately from the robot intelligence kernel and for; perceiving environmental variables indicative of a presence of an explosive hazard using the one or more subsurface perceptors; processing information from the perceiving to determine a likelihood of a presence of the explosive hazard; and communicating with the robot intelligence kernel to exchange information and commands; autonomous behavior modifications of the robot platform, responsive to an indication of a detected explosive hazard from the explosive hazard sensor and processing module, between; detection of explosive hazards as part of achievement of a goal assigned by the operator; detailed scanning and characterization of the detected explosive hazard by adjusting operation of the one or more locomotors and the one or more subsurface perceptors and processing sensed information to develop explosive hazard indication parameters; and resuming the detection of explosive hazards after the detailed scanning and characterization. - View Dependent Claims (7, 8, 9, 10, 11, 12)
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13. A method of communicating real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM), comprising:
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sending ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and sending RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM; wherein a combination of the ESPM bound messages and the RIK bound messages cause a robot platform to perform explosive hazard detection by switching between modes comprising; a calibration mode for calibrating one or more subsurface perceptors; an explosive hazard detection mode for operating one or more locomotors and the one or more subsurface perceptors in a detection configuration to determine an indication of an explosive hazard; and an explosive hazard characterization mode for real time processing of detailed explosive hazard information responsive to the indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information. - View Dependent Claims (14, 15, 16, 17, 18)
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19. A robot platform for communicating real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM), comprising:
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one or more subsurface perceptors configured for perceiving environmental variables indicative of a presence of the explosive hazard; one or more locomotors configured for providing mobility to the robot platform; and one or more controllers configured for; sending ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and sending RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM; wherein a combination of the ESPM bound messages and the RIK bound messages cause the robot platform to perform explosive hazard detection by switching between modes comprising; a calibration mode for calibrating the one or more subsurface perceptors; an explosive hazard detection mode for operating the one or more locomotors and the one or more subsurface perceptors in a detection configuration to determine an indication of an explosive hazard; and an explosive hazard characterization mode for real time processing of detailed explosive hazard information responsive to the indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26)
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27. Computer readable media including computer executable instructions, which when executed on a processor provide communication of real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM) to:
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send ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and send RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM; wherein a combination of the ESPM bound messages and the RIK bound messages cause a robot platform to perform explosive hazard detection by switching between modes comprising; a calibration mode for calibrating one or more subsurface perceptors; an explosive hazard detection mode for operating one or more locomotors and the one or more subsurface perceptors in a detection configuration to determine an indication of an explosive hazard; and an explosive hazard characterization mode for real time processing of detailed explosive hazard information responsive to the indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information. - View Dependent Claims (28, 29, 30, 31, 32, 33, 34)
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Specification