Distributed hardware architecture for unmanned vehicles

• US 8,548,646 B1
• Filed: 05/03/2011
• Issued: 10/01/2013
• Est. Priority Date: 05/04/2010
• Status: Active Grant

• Current Assignee: Clearpath Robotics, Inc. (Rockwell Automation, Inc.)
• Original Assignee: Clearpath Robotics, Inc. (Rockwell Automation, Inc.)
• Inventors: Martinson, Patrick William, Rendall, Matthew Allen, Gariepy, Ryan, Gill, Rajan Joshua, Webb, Bryan Nicholas
• Primary Examiner(s): Black, Thomas
• Assistant Examiner(s): PAIGE, TYLER D
• Application Number:
  US13/099,445
• Publication Number:
  US 20130245857A1
• Time in Patent Office: 882 Days
• Field of Search: 700/245, 700/263, 700/297, 700/9, 701/2, 701/99, 713/300
• US Class Current: 701/2
• CPC Class Codes: G05B 19/0428 Safety, monitoring G05B19/0423 takes precedence
• CPC Class Codes: G05B 2219/2637 Vehicle, car, auto, wheelchair
• CPC Class Codes: G06F 1/26 Power supply means, e.g. regulation thereof for memories G11C

Abstract

A distributed hardware system for unmanned vehicles is provided, comprising a plurality of electronic hardware modules in communication via a vehicle control network. Each module is enabled to: communicate with one another, issue requests for information from a central control module, and transmit data over the network in a common format to perform respective tasks; and at least one of: independently sense one or more of: a respective status of the distributed hardware system and at least one respective environmental parameter; and independently control the respective function of a vehicle. A portion of the modules can enabled to: be removed and inserted from the distributed hardware system as plug and play modules; and determine when at least one of the modules is removed/inserted from the distributed hardware system and transition to a corresponding state. The system also includes a power management system which includes capacity monitoring and hot-swap capabilities.

Claims

1. A distributed hardware system for controlling a vehicle, comprising:

a network;

a central control module for controlling the distributed hardware system;

a plurality of electronic hardware modules in communication with the central control module via the network, each of the plurality of electronic hardware modules enabled to;

communicate with one another via the network;

issue requests for information from the central control module via network;

transmit data over the network in a common format to perform tasks respective to a respective function; and

at least one of;

independently sense one or more of a respective status of the distributed hardware system and at least one respective environmental parameter; and

independently control the respective function of the vehicle, and at least a portion of the plurality of electronic hardware modules enabled to;

be physically removed and physically inserted from the distributed hardware system as plug and play modules; and

determine when at least one of the plurality of electronic hardware modules is physically removed or physically inserted from the distributed hardware system and transition to a corresponding state.

2. The distributed hardware system of claim 1, further comprising at least one power source.

3. The distributed hardware system of claim 2, wherein the at least one power source comprises at least two batteries and respective battery bins enabled to independently open such that a hot swap of a respective battery can be performed.

4. The distributed hardware system of claim 1, wherein the control module is enabled to control power to each of the plurality of electronic hardware modules.

5. The distributed hardware system of claim 4, further comprising at least a first power source powering the distributed hardware system and a second power source, wherein one or more of the control module and at least one of the plurality of electronic hardware modules is further enabled to:

determine that the first power source is no longer able to power the distributed hardware system; and

implement a power down transition in the distributed hardware system such that powering of the distributed hardware system is switched to the second power source and a hot swap sequence can be implemented to remove the first power source and insert a third power source.

6. The distributed hardware system of claim 5, wherein the power down transition comprises a motor power down transition.

7. The distributed hardware system of claim 5, wherein the one or more of the control module and at least one of the plurality of electronic hardware modules is further enabled to enter a low power state until the hot swap sequence occurs.

8. The distributed hardware system of claim 1, further comprising at least one sensor for sensing at least one of the respective status of the distributed hardware system and the at least one respective environmental parameter, wherein a respective one of the plurality of electronic hardware modules is enabled for communication with the at least one sensor.

9. The distributed hardware system of claim 1, wherein at least one of the plurality of electronic hardware modules comprises a motor amplifier module for controlling a motor of the vehicle.

10. The distributed hardware system of claim 1, wherein at least one of the plurality of electronic hardware modules comprises a radio frequency (RF) module enabled to receive command data from a remote control system, translate the command data to the common format and communicate translated command data over the network.

11. The distributed hardware system of claim 1, wherein at least one of the plurality of electronic hardware modules comprises a remote control receiver enabled to receive command data from an off-the-shelf remote control receiver, translate the command data to the common format and communicate translated commands over the network.

12. The distributed hardware system of claim 1, wherein at least one of the plurality of electronic hardware modules comprises a user interface module enabled to at least one of receive command data from an input device and convey system data to a user.

13. The distributed hardware system of claim 1, wherein the network comprises at least one of a vehicle control network and a communication bus.

14. The distributed hardware system of claim 1, further comprising at least one of a battery charging system and at least one motor.

15. The distributed hardware system of claim 1, wherein the central control module is enabled to communicate with a high level computing system via a control link.

16. The distributed hardware system of claim 1, wherein the central control module is enabled to store at least one of:

system state information received from the plurality of electronic hardware modules;

setting data;

setpoint data; and

a combination thereof.