Gas operated vehicular control system

• US 5,016,004 A
• Filed: 12/23/1988
• Issued: 05/14/1991
• Est. Priority Date: 12/24/1987
• Status: Expired due to Fees

• Current Assignee: Her Majesty The Queen In Right of Canada As Represented By The Minister of National Defence
• Original Assignee: Her Majesty The Queen In Right of Canada As Represented By The Minister of National Defence
• Inventors: Saint, David H., Funk, John W.
• Primary Examiner(s): Yusko, Donald J.
• Assistant Examiner(s): Magistre, Dervis
• Application Number:
  US07/289,044
• Time in Patent Office: 872 Days
• Field of Search: 180/167, 180/6.48, 180/6.7, 273/359, 273/348.1, 273/86 R, 273/86 B, 434/16, 434/63, 434/69, 358/103, 340/825.69
• US Class Current: 340/12.22
• 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

Abstract

A remotely controlled mobile target for weapons training involves a commercially available all-terrain-vehicle carrying a 1/2 scale target shell (e.g. a tank). The vehicle has a motor and a brake-generated skid steering system. A video camera mounted on the vehicle provides the operator at the remote station with a visual image of the vehicle'"'"'s progress and in response thereto the operator, using a joystick controller, can send command signals to the vehicle to control operation of the steering system and the motor. Three-way solenoid valves, connected to the hydraulic brake system, a source of compressed gas and the electronic controller operate in response to the command signals to effect operation of the brakes for steering or braking. The target is inexpensive, easy to operate and closely simulates the operation of a highly maneuverable, fast vehicle, such as a tank.

Claims

1. A system for controlling, from a remote station, the operation of a vehicle having a body, a suspension system, an hydraulic brake-operated skid steering system, and a drive motor, comprising:

on the vehicle

a video transmission system,

an electronic command reception system including electronic control means for accepting electronic command signals and operating said steering system in response to said signals,

a source of compress gas,

a source of electrical energy connected to said electronic control means, and

a pair of three-way solenoid-operated first valves on said vehicle, each valve being connected to said source of compressed gas, to said electronic control means and hydraulically to brakes of the vehicle on an appropriate side thereof; and

at the remote station

a video monitoring system, and

an electronic transmission system for sending said electronic command signals to said electronic command reception system on said vehicle;

whereby an operator at said station can monitor the progress of said vehicle via said video systems and control the movements of said vehicle via said electronic systems.

2. The control system of claim 1 wherein said video transmission system includes a forward-looking video camera and a video transmission antenna mounted on said vehicle, and wherein said video monitoring system includes a video reception antenna and a video monitor connected thereto at said remote station.

3. The control system of claim 1 wherein said vehicle includes manual control levers connected hydraulically to said brakes by way of a pair of second three-way valves, said second valves being switchable to accept input via said manual levers or via said first three-way valves.

4. The control system of claim 3 including a reservoir of hydraulic fluid connected to corresponding first and second three-way valves whereby compressed gas admitted to a reservoir by an opened first valve will pressurize the reservoir and cause the hydraulic fluid therein to pass by the corresponding second valve to operate the rakes connected thereto, closure of the first valve serving to vent the reservoir to atmosphere to release the previously operated brakes.

5. The control system of claim 4, including a restricting orifice positioned between the source of compressed gas and each solenoid valve and a pressure regulator connected to said source of compressed gas.

6. The control system of claim 5, including a throttle servo and an engine kill means connected to said drive motor and to said electronic control means for controlling the operation of said motor.

8. The control system of claim 2, wherein said video monitor at said remote station will display terrain ahead of said vehicle so that said operator can have visual input on the basis of which he can remotely steer said vehicle, and wherein said monitor will also reproduce sounds emanating from said motor, reported via said microphone, whereby said operator can have audio input on the basis of which he can control the speed of said vehicle.

9. The control system of claim 8 wherein said electronic transmission system includes a command transmission antenna and command controller means which provides said command signals in response to manipulation by said operator.

7. The control system of claim , including a reception antenna mounted on said vehicle and connected to said electronic control means, and a microphone positioned adjacent said motor and connected to the audio input of said video camera.

10. A vehicle adapted for control from a remote station, said vehicle including a body, a suspension system, an hydraulic brake-operated skid steering system, and a drive motor, comprising:

a forward looking video camera mounted on said body;

a source of compressed gas;

a source of electrical energy;

video transmission and command reception antennas mounted on said body;

electronic control means connected to said camera and said antennas; and

a pair of solenoid-operated first valves connected to said control means, said source of compressed gas and said brake-operated steering system, there being one valve for the brake-operated steering system on each side of the vehicle, the operation of said steering system being controlled hydraulically by gas passing through the appropriate one of said valves.

11. The vehicle of claim 10 including manual control means connected hydraulically to brakes of said brake-operated steering system by way of a pair of second valves, said second valves being switchable to accept input via manual control means or via said first valves.

12. The vehicle of claim 11 including a reservoir of hydraulic fluid connected to corresponding first and second valves whereby compressed gas admitted to a reservoir by an opened first valve will pressurize the reservoir and cause the hydraulic fluid therein to pass by the corresponding second valve to operate the brakes connected thereto, closure of the first valve serving to vent the reservoir to atmosphere to release the previously operated brakes.

13. The vehicle of claim 12 including restricting orifice means positioned between the source of compressed gas and each first valve to provide a ramp pressure increase to the appropriate brakes upon operation of the corresponding one of said first valves.

14. The vehicle of claim 13 wherein said electronic control means is connected to said drive motor to control the speed thereof and a microphone positioned adjacent said motor is connected to an audio input jack of said camera.

15. The vehicle of claim 14 including pressure regulator means connected to said source of compressed gas.

16. The vehicle of claim 10 wherein said body is adapted to carry a body shell thereon, which shell is shaped to simulate a vehicular target.

17. The vehicle of claim 16 wherein said shell is in the shape of a tank.

18. A remotely controllable vehicle intended for use as a mobile target comprising:

a vehicular body carrying a drive motor, a suspension system, a plurality of drive wheels on each side thereof, and a hydraulic brake-operated skid steering system;

a shell simulating a selected target carried by said body;

a forward-looking video camera mounted on said body;

a source of compressed gas;

a source of electrical energy;

video transmission and command reception antennas;

electronic control means connected to said video camera and said antennas; and

a solenoid-operated three-way first valve for each plurality of drive wheels, each valve being connected to said electronic control means, said source of compressed gas and a respective hydraulic brake system, each valve being operable in response to a command signal received by said reception antenna and transmitted thereto by said control means to, in turn, cause operation of the steering system connected thereto by gas passing therethrough.

19. The vehicle of claim 18 including manual control means connected hydraulically to the brakes of said brake-operated steering s stem by way of a pair of second valves, said second valves being switchable to accept input via said manual control means or via said first valves.

20. The vehicle of claim 19 including a reservoir of hydraulic fluid connected to corresponding first and second valves whereby compressed gas admitted to a reservoir by an opened first valve will pressurize the reservoir and cause the hydraulic fluid therein to pass by the corresponding second valve to operate the brakes connected thereto, closure of the first valve serving to vent the reservoir to atmosphere to release the previously operated brakes.

21. The vehicle of claim 20 including restricting orifice means positioned between the source of compressed gas and each first valve provide a ramp pressure increase to the hydraulic brake systems upon operation of the corresponding one of said first valves.

22. The vehicle of claim 21, wherein said electronic control means is connected to said drive motor to control the speed thereof and a microphone positioned adjacent said motor is connected to an audio input jack of said camera.

23. The vehicle of claim 22, including pressure regulator means connected to said source of compressed gas.

24. A system for remotely controlling, from a remote station, the operation of a vehicle having a body, a suspension system, a hydraulic brake-operated skid steering system, and a drive motor, comprising:

(A) on the vehicle;

(a) a source of compressed gas;

(b) a source of electrical energy;

(c) a forward-looking video camera positioned above said body;

(d) a video transmission antenna;

(e) a pair of three-way solenoid valves, each being connected to said source of compressed gas and each being connected hydraulically to brakes of the vehicle on an appropriate side thereof;

(f) electronic control means connected to said valves, said antenna, said camera, and said source of electrical energy;

(g) throttle servo connected between said electronic control means said drive motor; and

(h) a command reception antenna connected to said electronic control means; and

(B) at the remote station;

(i) a video reception antenna;

(ii) a command signal transmission antenna;

(iii) a video monitor connected to said video reception antenna; and

(iv) a command controller connected to said command signal transmission antenna;

whereby an operator at the remote station can control the operation of said vehicle by observing the progress thereof via a video link extending from said camera to said monitor and by operating said steering system and drive motor via a command link extending from said controller to said electronic control means.

25. The system of claim 24 wherein said vehicle body is adapted to carry thereon a three-dimensional shell simulating a selected target, such as a tank.

26. The system of claim 25, wherein said shell may be reduced in size relative to a full size version of said selected target.

27. The system of claim 24, including a restricting orifice between the source of compressed gas and each valve to provide a ramp pressure increase for proportional control of said steering system.

28. The system of claim 27, including microphone means positioned adjacent said motor and connected to an audio input of said camera for transmission of an audio signal back to the operator at the remote station.

29. A system for remotely controlling a vehicle having an hydraulically-operated skid-steering system including manual control means normally connected hydraulically to respective brakes on each side of the vehicle, said remote control system comprising:

(a) control signal receiving means;

(b) a source of compressed gas;

(c) a pair of normally closed solenoid-operated first valves connected to said signal receiving means and to said source of compressed gas;

(d) a pair of hydraulic fluid reservoirs each being connected to a corresponding one of said first valves; and

(e) a pair of second valves, each being connected between the manual control means and the corresponding brakes and also being connected a corresponding one of said reservoirs, each second valve being switchable to accept hydraulic input from either the manual control means or the corresponding reservoir;

whereby for remote operation opening of a first valve in response to a control signal will permit pressurized gas to pressurize the corresponding reservoir and the hydraulic fluid therein is pressurized and passes by the corresponding second valve to operate the brakes connected thereto, closure of the first valve serving to vent the reservoir to atmosphere to thereby release the brakes.

30. The system of claim 29 including restricting orifice means positioned between the source of compressed gas and each first valve to provide a ramp pressure increase to the appropriate brakes upon actuation of the corresponding first valve.

31. The system of claim 30 including pressure regulator means connected to said source of compressed gas.