Networked multi-role robotic vehicle

• US 8,473,140 B2
• Filed: 10/20/2006
• Issued: 06/25/2013
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Norris, William Robert, Allard, James, Wienhold, Kathleen A., Puhalla, Jeffery Scott
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): PATTON, SPENCER D
• Application Number:
  US11/584,085
• Publication Number:
  US 20070198144A1
• Time in Patent Office: 2,440 Days
• Field of Search: 701 23- 28, 701/33, 701/36, 370/464, 370/466, 370/467, 370/469
• US Class Current: 701/23
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0259 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
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

An autonomous vehicle and systems having an interface for payloads that allows integration of various payloads with relative ease. There is a vehicle control system for controlling an autonomous vehicle, receiving data, and transmitting a control signal on at least one network. A payload is adapted to detachably connect to the autonomous vehicle, the payload comprising a network interface configured to receive the control signal from the vehicle control system over the at least one network. The vehicle control system may encapsulate payload data and transmit the payload data over the at least one network, including Ethernet or CAN networks. The payload may be a laser scanner, a radio, a chemical detection system, or a Global Positioning System unit.

Claims

1. A system comprising:

a vehicle control system configured for controlling an autonomous vehicle, receiving payload data from a payload, and transmitting a control signal on at least one network, the payload data from the payload being Controller Area Network (CAN) data;

a payload interface configured for detachably connecting, physically and communicatively, to the payload, detachably connecting, physically and communicatively, to another payload that is a different type of payload than the payload, receiving the control signal from the vehicle control system over the at least one network, providing the control signal to the payload, and providing a power source connection configured to carry power to the payload; and

an operator control unit on the autonomous vehicle, the operator control unit being adapted for receiving the payload data in a different protocol format through the at least one network, displaying a representation of CAN data encapsulated into the different protocol format, and providing through the at least one network control commands for controlling operation of the payload,

wherein the vehicle control system is configured for encapsulating the payload data that is CAN data into the different protocol format, and

wherein the vehicle control system is configured for transmitting the payload data encapsulated into the different protocol format over the at least one network.

2. The system of claim 1, wherein the payload interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

3. The system of claim 1, wherein the at least one network comprises a Controller Area Network and an Ethernet network.

4. The system of claim 3, wherein the vehicle control system is capable of encapsulating the payload data that is CAN data into the different protocol format by encapsulating the CAN data into at least one Ethernet packet.

5. The system of claim 1, wherein the at least one network comprises a wireless connection.

6. The system of claim 1, wherein the payload is configured to connect with a power source on the autonomous vehicle through the payload interface.

7. The system of claim 6, wherein the payload connects with the power source by the power connection in the payload interface, the power connection comprising at least one of plugs, connectors, adapters, couplers, or fasteners.

8. The system of claim 1, wherein the payload interface is in a trunk or a trunk bed of the autonomous vehicle.

9. The system of claim 1, wherein the payload comprises at least one of a mast, a chemical detection system, a laser scanner, a camera, a radio, or a Global Positioning System unit.

10. The system of claim 1, wherein the payload interface comprises a switch capable of controlling a power level of the power provided to the payload.

11. The system of claim 10, further comprising at least one multi-voltage switchable power supply controllable by a circuit and configured for providing the power, wherein the circuit is configured for connecting the at least one multi-voltage switchable power supply to the at least one network.

12. The system of claim 1, further comprising:

a first connector to the at least one network, the first connector being in a passenger compartment of the autonomous vehicle; and

a second connector to the at least one network, the second connector being in a payload bay of the autonomous vehicle,

wherein the first connector is configured for allowing a passenger in the passenger compartment to communicate with a network device using at least one of a protocol of the at least one network or the CAN data encapsulated into the different protocol format, the network device being connected to the second connector in the payload bay.

13. A system comprising:

a payload interface configured for (i) detachably coupling, physically and communicatively, to different types of payloads, (ii) receiving payload data from a payload detachably coupled to the payload interface, (iii) providing a power source connection through which power is provided to the payload detachably coupled to the payload interface, and (iv) providing the payload data as Controller Area Network (CAN) data to at least one network;

a vehicle control system in communication with the payload interface through the at least one network, the vehicle control system being configured for controlling an autonomous vehicle and encapsulating the CAN data of the payload data into at least one Ethernet packet, wherein the vehicle control system is adapted to transmit the at least one Ethernet packet over the at least one network; and

an operator control unit on the autonomous vehicle, the operator control unit being configured for receiving the at least one Ethernet packet from the at least one network, displaying a representation of the CAN data encapsulated into the at least one Ethernet packet, and providing through the at least one network control commands for controlling operation of the payloads.

14. The system of claim 13, wherein the payload interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

15. The system of claim 13, wherein the at least one network comprises a Controller Area Network and an Ethernet network.

16. The system of claim 15, wherein the at least one network comprises a wireless connection.

17. The system of claim 13, wherein the payload is configured to connect with a power source on the autonomous vehicle through the payload interface.

18. The system of claim 13, wherein the payload interface is in a trunk or a trunk bed of the autonomous vehicle.

19. The system of claim 13, wherein the payload comprises at least one of a mast, a chemical detection system, a laser scanner, a camera, a radio, or a Global Positioning System unit.

20. The system of claim 13, wherein the vehicle control system is further capable of transmitting a control signal on the at least one network to the payload.

21. The system of claim 13, wherein the payload interface comprises a switch capable of controlling a power level of the power provided to the payload detachably coupled to the payload interface.

22. The system of claim 21, wherein the power is provided proximate an Ethernet network port.

23. The system of claim 13, further comprising:

a first connector to the at least one network, the first connector being in a passenger compartment of the autonomous vehicle; and

a second connector to the at least one network, the second connector being in a payload bay of the autonomous vehicle,

wherein the first connector is configured for allowing a passenger in the passenger compartment to communicate with a network device using at least one of a protocol of the at least one network or the CAN data encapsulated into the different protocol format, the network device being connected to the second connector in the payload bay.

24. The system of claim 13, wherein the operator control unit comprises a first connector to the at least one network, the system further comprising:

a second connector to the at least one network, the second connector being in a payload bay of the autonomous vehicle,

wherein the first connector allows an operator that is remote from the autonomous vehicle to communicate with a network device using at least one of a protocol of the at least one network or the CAN data encapsulated into the different protocol format, the network device being connected to the second connector in the payload bay.

25. The system of claim 13, wherein the operator control unit comprises a first connector to the at least one network, the system further comprising:

a second connector to the at least one network, the second connector being in a payload bay of the autonomous vehicle; and

a third connector to the at least one network, the third connector being in a passenger compartment of the autonomous vehicle,

wherein a first network device connected to the at least one network through one of the first connector, the second connector, and the third connector is configured for communicating with a second network device connected to the at least one network through another one of the first connector, the second connector, and the third connector using at least one of a protocol of the at least one network or the CAN data encapsulated into the different protocol format.