Wireless control system for ground-mobile robotic vehicles
First Claim
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1. A ground-mobile robotic system comprising:
- an operator control unit (OCU) comprising;
a first coded orthogonal frequency division multiplexing (COFDM) receiver,a first OCU transmitter,a second OCU transmitter configured to receive analog audio data from an OCU audio source, modulate an audio data radio frequency (RF) carrier, and transmit the modulated audio data RF carrier via a first simplex RF channel, andan OCU processing element configured to provide control data to the first OCU transmitter via a first serial communication link; and
an unmanned ground vehicle (UGV) comprising;
a first COFDM transmitter configured to receive analog video data from a video source and to receive analog audio data from a UGV audio source,a first UGV receiver,a second UGV receiver, anda UGV processing element configured to provide feedback data to the first COFDM transmitter via a second serial communication link;
wherein the first OCU transmitter is configured to modulate a control data RF carrier and transmit the modulated control data RF carrier to the UGV via a second simplex RF channel such that the transmitted control data RF carrier is received by the first UGV receiver,wherein the first COFDM transmitter of the UGV is configured to multiplex the feedback data, the video data and the audio data, modulate multiplexed data RF carriers using a COFDM scheme and transmit the modulated multiplexed data RF carriers to the OCU via a third simplex RF channel,wherein the first COFDM receiver of the OCU is configured to receive the modulated multiplexed data RF carrier from the UGV, demodulate the received data RF carrier to extract the multiplexed data, and de-multiplex the extracted data into separate video data, audio data, and feedback data, andwherein the first COFDM receiver is further configured to provide the video data to a video display element, provide the audio data to an OCU loudspeaker, and provide the feedback data to the OCU processing element.
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Accused Products
Abstract
A wireless control system for ground-mobile robotic systems in which communication between the operator control unit and the unmanned ground vehicle is transmitted via a plurality of spectrally efficient simplex communication links.
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Citations
27 Claims
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1. A ground-mobile robotic system comprising:
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an operator control unit (OCU) comprising; a first coded orthogonal frequency division multiplexing (COFDM) receiver, a first OCU transmitter, a second OCU transmitter configured to receive analog audio data from an OCU audio source, modulate an audio data radio frequency (RF) carrier, and transmit the modulated audio data RF carrier via a first simplex RF channel, and an OCU processing element configured to provide control data to the first OCU transmitter via a first serial communication link; and an unmanned ground vehicle (UGV) comprising; a first COFDM transmitter configured to receive analog video data from a video source and to receive analog audio data from a UGV audio source, a first UGV receiver, a second UGV receiver, and a UGV processing element configured to provide feedback data to the first COFDM transmitter via a second serial communication link; wherein the first OCU transmitter is configured to modulate a control data RF carrier and transmit the modulated control data RF carrier to the UGV via a second simplex RF channel such that the transmitted control data RF carrier is received by the first UGV receiver, wherein the first COFDM transmitter of the UGV is configured to multiplex the feedback data, the video data and the audio data, modulate multiplexed data RF carriers using a COFDM scheme and transmit the modulated multiplexed data RF carriers to the OCU via a third simplex RF channel, wherein the first COFDM receiver of the OCU is configured to receive the modulated multiplexed data RF carrier from the UGV, demodulate the received data RF carrier to extract the multiplexed data, and de-multiplex the extracted data into separate video data, audio data, and feedback data, and wherein the first COFDM receiver is further configured to provide the video data to a video display element, provide the audio data to an OCU loudspeaker, and provide the feedback data to the OCU processing element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A ground-mobile robotic system comprising:
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an operator control unit (OCU) comprising a first coded orthogonal frequency division multiplexing (COFDM) receiver, a first OCU transmitter, and an OCU processing element configured to provide control data to the first OCU transmitter via a first serial communication link; and an unmanned ground vehicle (UGV) comprising at COFDM transmitter configured to receive analog video data from a video source, a first UGV receiver, and a UGV processing element configured to provide feedback data to the first COFDM transmitter via a second serial communication link; wherein the first OCU transmitter is configured to modulate a control data radio frequency (RF) carrier and transmit the modulated control data RF carrier to the UGV via a first simplex RF channel such that the transmitted control data RF carrier is received by the first UGV receiver, wherein the first COFDM transmitter of the UGV is configured to multiplex the feedback data and the video data, modulate multiplexed data RF carriers using a COFDM scheme and transmit the modulated multiplexed data RF carriers to the OCU via a second simplex RF channel, wherein the first COFDM receiver of the OCU is configured to receive the modulated multiplexed data RF carriers from the UGV, demodulate the received data RF carriers to extract the multiplexed data, and de-multiplex the extracted data into separate video data and feedback data, and wherein the first COFDM receiver is further configured to provide the video data to a video display element and provide the feedback data to the OCU processing element. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. An unmanned ground vehicle (UGV) of a ground-mobile robotic system comprising:
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a coded orthogonal frequency division multiplexing (COFDM) transmitter configured to receive analog video data from a video source and to receive analog audio data from an audio source; a first UGV receiver configured to receive a modulated control data radio frequency (RF) carrier transmitted from an operator control unit (OCU) via a first simplex RF channel; a second UGV receiver configured to receive a modulated audio data RF carrier transmitted from the OCU via a second simplex RF channel; and a UGV processing element configured to provide feedback data to the COFDM transmitter via a serial communication link, wherein the COFDM transmitter is configured to multiplex the feedback data, the video data and the audio data, modulate multiplexed data RF carriers using a COFDM scheme and transmit the modulated multiplexed data RF carriers to a COFDM receiver of the OCU via a third simplex RF channel, wherein the COFDM receiver is configured to de-multiplex the extracted data into separate video data, audio data and feedback data and provide the video data to a video display element, provide the audio data to an OCU loudspeaker and provide the feedback data to an OCU processing element. - View Dependent Claims (20, 21)
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22. An operator control unit (OCU) of a ground-mobile robotic system comprising:
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a coded orthogonal frequency division multiplexing (COFDM) receiver, a first OCU transmitter, a second OCU transmitter configured to receive analog audio data from an OCU audio source, modulate an audio data radio frequency (RF) carrier, and transmit the modulated audio data RF carrier to an unmanned ground vehicle (UGV) via a first simplex RF channel, and an OCU processing element configured to provide control data to the first OCU transmitter via a serial communication link; and wherein the first OCU transmitter is configured to modulate a control data RF carrier and transmit the modulated control data RF carrier to the UGV via a second simplex RF channel, wherein the COFDM receiver is configured to receive multiplexed feedback data, video data and audio data RF carriers which have been modulated using a COFDM scheme and transmitted from the UGV via a third simplex RF channel, wherein the COFDM receiver is further configured to demodulate the received data RF carriers to extract the multiplexed data, and de-multiplex the extracted data into separate video data, audio data, and feedback data, and wherein the COFDM receiver is further configured to provide the video data to a video display element, provide the audio data to an OCU loudspeaker, and provide the feedback data to the OCU processing element. - View Dependent Claims (23, 24)
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25. A method of operating a ground-mobile robotic system comprising an operator control unit (OCU) and an unmanned ground vehicle (UGV), the method comprising:
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receiving control data from an OCU processing element; modulating a received control data radio frequency (RF) carrier; transmitting the modulated control data RF carrier to the UGV via a first simplex RF channel; receiving analog audio data from an OCU audio source; modulating a received OCU audio data RF carrier; transmitting the modulated audio data RF carrier to the UGV via a second simplex RF channel; receiving analog video data from a UGV video source; receiving analog audio data from a UGV audio source; receiving feedback data from a UGV processing element; multiplexing, via a coded orthogonal frequency division multiplexing (COFDM) transmitter, the received feedback data, video data and OCU audio data to generate multiplexed data RF carriers; modulating the multiplexed data RF carriers using a COFDM modulation scheme; transmitting the modulated multiplexed data RF carriers to a COFDM receiver of the OCU via a third simplex RF channel; and de-multiplexing, via the COFDM receiver, the multiplexed data into separate video data, audio data and feedback data and providing at least the feedback data to a processing element of the OCU. - View Dependent Claims (26, 27)
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Specification