DRONE SYSTEMS FOR PRE-TRIP INSPECTION AND ASSISTED BACKING

• US 20160129999A1
• Filed: 11/07/2014
• Published: 05/12/2016
• Est. Priority Date: 11/07/2014
• Status: Active Grant

• Current Assignee: PACCAR Incorporated
• Original Assignee: PACCAR Incorporated
• Inventors: Mays, Wesley
• Granted Patent: US 9,371,133 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/101 using cameras with adjustable capturing direction
• CPC Class Codes: B60R 2300/107 using stereoscopic cameras
• CPC Class Codes: B60R 2300/406 using wireless transmission
• CPC Class Codes: B60R 2300/50 characterised by the display information being shared, e.g. external display, data transfer to other traffic participants or centralised traffic controller
• CPC Class Codes: B60R 2300/802 for monitoring and displaying vehicle exterior blind spot views
• CPC Class Codes: B60R 2300/806 for aiding parking
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/10 autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
• CPC Class Codes: B64U 2201/20 Remote controls
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target

Abstract

Embodiments relate to using a UAV for assisting drivers of large wheeled vehicles when backing up in reverse and for conducting pre-trip inspections of the wheeled vehicle prior to driving. The UAV can be a multirotor copter using simultaneous localization and mapping technology to maneuver autonomously. Alternatively, the driver of the wheeled vehicle may use remote control to maneuver the UAV.

Claims

1. A backup system for a wheeled vehicle, comprising:

a wheeled vehicle comprising a cab;

an unmanned aerial vehicle comprising a camera;

a controller configured to communicate to and from the unmanned aerial vehicle while in flight;

a human machine interface within the cab, wherein the human machine interface is configured to communicate with the controller, and

an electronic display device within the cab configured to display visual images sent from the unmanned aerial vehicle while in flight, and the controller is further configured to transmit input signals received via the human machine interface to the unmanned aerial vehicle; and

wherein the unmanned aerial vehicle is configured to maneuver autonomously or under driver remote control based on the input signals received from the human machine interface, and wherein the unmanned aerial vehicle is configured to send real-time video images while in flight from different viewing angles of a rear of the wheeled vehicle during a period when the wheeled vehicle is operating in reverse.

2. The system of claim 1, wherein the unmanned aerial vehicle comprises stereo vision cameras.

3. The system of claim 1, wherein the camera on the unmanned aerial vehicle is configured to be controlled via the human machine interface.

4. The system of claim 1, wherein the unmanned aerial vehicle is configured to maneuver autonomously while in flight.

5. The system of claim 1, wherein the unmanned aerial vehicle is configured to maneuver via driver remote control while in flight.

6. The system of claim 1, wherein the wheeled vehicle comprises a tractor and trailer.

7. A method of backing up a wheeled vehicle, comprising:

deploying an unmanned aerial vehicle to take flight;

maneuvering the unmanned aerial vehicle autonomously or under driver remote control to a rear of the wheeled vehicle;

directing a camera onboard the unmanned aerial vehicle to capture images of a rear of the wheeled vehicle; and

sending the images from the camera onboard the unmanned aerial vehicle to an electronic display device within a cab of the wheeled vehicle while the wheeled vehicle is operating in reverse.

8. The method of claim 7, further comprising displaying on the electronic display device, distances to objects that appear in the images.

9. The method of claim 7, further comprising maneuvering the unmanned aerial vehicle to maintain a constant distance to the wheeled vehicle.

10. The method of claim 7, further comprising maneuvering the unmanned aerial vehicle to different sides of the wheeled vehicle.

11. The method of claim 7, further comprising maintaining the unmanned aerial vehicle at a fixed position, and maneuvering the camera to maintain a rear of the wheeled vehicle within a field of view of the camera.

12. An inspection system for a wheeled vehicle, comprising:

a wheeled vehicle comprising a cab;

an unmanned aerial vehicle comprising a camera;

a controller configured to communicate to and from the unmanned aerial vehicle while in flight;

a human machine interface within the cab, wherein the human machine interface is configured to communicate with the controller; and

an electronic display device within the cab configured to display visual images sent from the unmanned aerial vehicle while in flight, and the controller is further configured to transmit input signals received via the human machine interface to the unmanned aerial vehicle; and

wherein the unmanned aerial vehicle is configured to maneuver autonomously or under driver remote control based on the input signals received from the human machine interface, and wherein the unmanned aerial vehicle is configured to send real-time video images while in flight of a plurality of inspection points located on the wheeled vehicle when the wheeled vehicle is in a parked condition, and wherein each inspection point relates to a condition affecting whether the wheeled vehicle is in a drivable condition.

13. The system of claim 12, wherein the wheeled vehicle comprises a tractor and trailer.

14. The system of claim 12, wherein the unmanned aerial vehicle comprises stereo vision cameras.

15. The system of claim 12, wherein the unmanned aerial vehicle comprises one or more instruments selected from infrared detectors, position-determining indicators, altimeters, gas detectors, global positioning systems, range detection lasers, ultrasonic range detectors, radio position detectors, and inertial measurement units.

16. The system of claim 12, wherein the unmanned aerial vehicle is configured to maneuver to the plurality of inspection points autonomously.

17. The system of claim 12, wherein the unmanned aerial vehicle is configured to maneuver to the plurality of inspection points under driver remote control.

18. A method for inspecting a wheeled vehicle prior to driving the wheeled vehicle, comprising:

deploying an unmanned aerial vehicle to take flight;

maneuvering the unmanned aerial vehicle autonomously or under driver remote control to a plurality of inspection points on the wheeled vehicle in sequence;

after maneuvering the unmanned aerial vehicle to an inspection point, testing whether the inspection point is operational or not operational; and

after testing whether the inspection point is operational or not operational, maneuvering the unmanned aerial vehicle to another inspection point.

19. The method of claim 18, further comprising autonomously maneuvering the unmanned aerial vehicle.

20. The method of claim 18, further comprising remotely maneuvering the unmanned aerial vehicle.

21. The method of claim 18, further comprising logging results after testing whether the inspection point is operational or not operational.

22. The method of claim 18, further comprising preventing ignition of the wheeled vehicle until each of the inspection points is confirmed to be operational.