High integrity coordination system for multiple off-road vehicles

• US 8,639,408 B2
• Filed: 10/15/2008
• Issued: 01/28/2014
• Est. Priority Date: 10/15/2008
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Anderson, Noel Wayne
• Primary Examiner(s): Trammell, James
• Assistant Examiner(s): Do, Truc M
• Application Number:
  US12/251,619
• Publication Number:
  US 20100094481A1
• Time in Patent Office: 1,931 Days
• Field of Search: 701/50, 701/29.3, 701/29.1, 701/482
• US Class Current: 701/29.3
• CPC Class Codes: A01D 34/008 for automated or remotely controlled operation
• CPC Class Codes: A01D 41/127 Control or measuring arrangements specially adapted for combines
• CPC Class Codes: A01D 75/185 Avoiding collisions with obstacles
• 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 1/0219 ensuring the processing of the whole working surface
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• 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 1/0295 by at least one leading vehicle of the fleet

Abstract

The illustrative embodiments provide a method and apparatus for controlling and coordinating multiple vehicles. In one illustrative embodiment, machine behaviors are assigned to multiple vehicles performing a task. The vehicles are coordinated to perform the task using the assigned behaviors and a number of signals received from other vehicles and the environment during performance of the task. In another illustrative embodiment, a role is identified for each vehicle in a group of vehicles. A number of machine behaviors are assigned to each vehicle depending upon the identified role for the vehicle. The machine behaviors are selected from coordinating machine behaviors stored in a behavior library. Each vehicle is then coordinated to perform the task according to the role and machine behaviors assigned.

Claims

1. A system comprising:

a plurality of machine behaviors comprising a plurality of coordinating behaviors associated with one or more tasks and a plurality of specific behaviors associated with one or more subtasks for carrying out aspects of the one or more tasks;

a communications unit, wherein the communications unit is configured to establish an access link, wherein the access link enables a plurality of controllable vehicles to access the plurality of coordinating behaviors and the plurality of specific behaviors;

a download module, wherein the download module is configured to download at least one of the plurality of coordinating behaviors associated with the one or more tasks and at least one of the plurality of specific behaviors associated with the one or more subtasks to each controllable vehicle in the plurality of controllable vehicles; and

a versioning module that is configured to assign a unique identifier to each unique state of the machine behaviors.

2. The system of claim 1, wherein a role is assigned to each one of the plurality of controllable vehicles for carrying out the aspects of the one or more tasks, and wherein the at least one of the plurality of coordinating behaviors associated with the one or more tasks and the at least one of the plurality of specific behaviors associated with the one or more subtasks are downloaded to each controllable vehicle in the plurality of controllable vehicles depending upon the role assigned.

3. The system of claim 1 further comprising:

a processor unit, wherein the download module executes on the processor unit.

4. The system of claim 1, wherein the versioning module is further configured to assign a unique identifier to each unique state of the coordinating behaviors and specific behaviors.

5. A method for coordinating a plurality of controllable vehicles to perform a task, the method comprising:

identifying a role assigned to each controllable vehicle in the plurality of controllable vehicles;

a data processing system selecting one or more coordinating behaviors, one or more subtasks, and one or more specific behaviors from a plurality of coordinating behaviors, a plurality of subtasks for performing the number of tasks, and a plurality of specific behaviors, respectively, for use by the plurality of controllable vehicles, wherein the one or more coordinating behaviors, the one or more subtasks, and the one or more specific behaviors are associated with the role assigned, wherein the one or more coordinating behaviors is associated with the number of tasks, and wherein the plurality of specific behaviors is associated with the plurality of subtasks;

the data processing system downloading the one or more coordinating behaviors, the one or more subtasks, and the one or more specific behaviors that are associated with the role assigned to each controllable vehicle in the plurality of controllable vehicles; and

comparing versions of the coordinating behaviors downloaded to each controllable vehicle to ensure a correct version thereof is contained in each controllable vehicle.

6. The method of claim 5, further comprising:

executing the one or more coordinating behaviors, the one or more subtasks, and the one or more specific behaviors to control the movements of the controllable vehicle.