Infantry robotic porter system and methods useful in conjunction therewith

• US 8,774,981 B2
• Filed: 09/14/2010
• Issued: 07/08/2014
• Est. Priority Date: 09/14/2009
• Status: Active Grant

• Current Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Original Assignee: Israel Aerospace Industries Limited (Government of Israel)
• Inventors: Paz-Meidan, Uri, Lepek, Hanan, Glazer, Ofer
• Primary Examiner(s): Olszewski, John R
• Assistant Examiner(s): Do, Truc M
• Application Number:
  US12/881,552
• Publication Number:
  US 20110172850A1
• Time in Patent Office: 1,393 Days
• Field of Search: 701/1, 701/2, 701 23- 26, 701/41, 701/50, 701301-302, 701/489, 700/61, 700/76, 700245-248, 700/254
• US Class Current: 701/2
• CPC Class Codes: B25J 13/02 Hand grip control means handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214
• CPC Class Codes: B25J 5/00 Manipulators mounted on wheels or on carriages B25J1/00 takes precedence; programme-controlled manipulators B25J9/00 ; vehicle aspects B60, B62, e.g. remote-controlled steering for motor vehicles B62D1/24; control of position of vehicles G05D1/00
• CPC Class Codes: F41H 7/005 Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors F41H11/16 takes precedence
• CPC Class Codes: G05D 1/0033 by having the operator tracking the vehicle either by direct line of sight or via one or more cameras located remotely from the vehicle
• 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 1/028 using a RF signal

Abstract

A robotic system comprising a robotic platform; a follow-path functionality enabling the robotic platform to follow a leading soldier, at least selectably, without reliance on GPS; and a Human Machine Interface between the platform and a leading soldier.

Claims

1. A robotic system comprising:

a robotic platform;

a follow-path functionality enabling the robotic platform to follow a leading soldier, at least selectably, without reliance on GPS; and

a Human Machine Interface between the platform and a leading soldier,

wherein said follow-path functionality defines a current position of the robotic platform by its relationship to the soldier and enables the robotic platform to follow the route of the soldier'"'"'s footsteps,

wherein said follow-path functionality includes;

driving apparatus operative for driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

leader position computation apparatus operative for computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

waypoint extraction apparatus operative, when the robot-leader distance is pre-determinedy large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robot waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robot returns to said driving.

2. A system according to claim 1 wherein said follow-path functionality also determines a future position of the robotic platform by the robotic platform'"'"'s relationship to the soldier.

3. A system according to claim 1 wherein said follow-path functionality relies on at least one of IR data, laser data, image processing data, scent data, inertial system data and RF data.

4. A system according to claim 1 wherein said robotic platform provides logistics support at least one of a platoon level and a squad level.

5. A system according to claim 1 wherein said robotic platform includes a diversity of payloads.

6. A system according to claim 5 wherein said diversity of payloads includes at least one replaceable “

suit”

from among the following set of replaceable “

suits”

;

at least one logistics “

suit”

, at least one intelligence “

suit”

, at least one protective “

suit”

, and at least one attack “

suit”

.

7. A system according to claim 1 wherein said robotic platform has no navigation system other than said follow-path functionality.

8. A system according to claim 1 wherein said follow-path functionality enables the robotic platform to follow the soldier'"'"'s route autonomously and wherein at least most alerts and signals arriving from the soldier are based solely on tactile means.

9. A robotic system comprising:

a robotic platform;

a follow-path functionality enabling the robotic platform to follow a leading soldier; and

a Human Machine Interface between the platform and a leading soldier,

wherein the interface is operative to provide to the robotic platform,

the robotic platform is operative to carry out, a set of dog-training commands, and

said follow-path functionality defines a current position of the robotic platform by its relationship to the soldier and enables the robotic platform to follow the route of the soldier'"'"'s footsteps,

wherein said follow-path functionality includes;

driving apparatus operative for driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

leader position computation apparatus operative for computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device,

waypoint extraction apparatus operative, when the robot-leader distance is pre-determinedy large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robot waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robot returns to said driving.

10. A system according to claim 9 wherein said set of dog-training commands includes at least one of the following:

stay, heel, come.

11. A system according to claim 9 wherein the interface includes a first intuitive remote control mode allowing an operator to carry out the set of dog-training commands and not allowing the operator to carry out complex tasks and a second complex remote control mode allowing the operator to carry out at least one complex task including at least one of Manual driving and control of at least one suit borne by the robotic platform.

12. A system according to claim 9 wherein said robotic platform has no navigation system other than said follow-path functionality.

13. A method for operating a robotic system comprising:

providing a follow-path functionality enabling a robotic platform to follow a leading soldier; and

using a Human Machine Interface between the platform and a leading soldier to provide to the robotic platform, and using the robotic platform to carry out, a set of dog-training commands,

wherein said follow-path functionality defines a current position of the robotic platform by its relationship to the soldier and enables the robotic platform to follow the route of the soldier'"'"'s footsteps,

wherein said follow-path functionality includes;

driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robotic platform waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robotic platform returns to said driving.

14. A robot-leader tracking system comprising:

a robot operative to identify a path being followed by a leader and to advance along said path,

wherein said robot includes;

driving apparatus operative for driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

leader position computation apparatus operative for computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

waypoint extraction apparatus operative, when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robot waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robot returns to said driving.

15. A robot-leader tracking method comprising:

using a robot to identify a path being followed by a leader and to advance along said path,

wherein said using comprises;

driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, extract a next highest waypoint from the memory device and return to said driving using said next highest waypoint as said individual waypoint; and

when the robot-leader distance is pre-determinedly small, wait a predetermined time period then return to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, return to said, driving.

16. A method for operating a robotic system comprising:

providing a follow-path functionality enabling a robotic platform to follow a leading soldier, at least selectably, without reliance on GPS; and

providing a Human Machine Interface between the platform and a leading soldier,

wherein said follow-path functionality defines a current position of the robotic platform by its relationship to the soldier and enables the robotic platform to follow the route of the soldier'"'"'s footsteps,

wherein said follow-path functionality includes;

driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robotic platform waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robotic platform returns to said driving.

17. A method according to claim 16 wherein:

when non traversable conditions exist, alerting the leading soldier to move from his current position back to the robotic platform'"'"'s current position and then to select a path other than that which the leading soldier used previously, by which to move from the robotic platform'"'"'s current position to the leading soldier'"'"'s former current position.

18. A computer program product, comprising a tangible computer-usable medium having a computer-readable program code embodied therein, said computer-readable program code adapted to be executed to implement a robot-leader tracking method comprising:

using a robot to identify a path being followed by a leader and to advance along said path,

wherein said using comprises;

controlling the robot for driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, extracting a next highest waypoint from the memory device and controlling the robot for return to said driving using said next highest waypoint as said individual waypoint; and

when the robot-leader distance is pre-determinedly small, waiting a predetermined time period then controlling the robot for return to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, controlling the robot for return to said driving.

19. A computer program product, comprising a tangible computer-usable medium having a computer-readable program code embodied therein, said computer-readable program code adapted to be executed to implement a method for operating a robotic system comprising:

providing a follow-path functionality enabling a robotic platform to follow a leading soldier; and

controlling the robotic platform to carry out a set of dog-training commands provided by a Human Machine Interface between the platform and a leading soldier,

wherein said follow-path functionality defines a current position of the robotic platform by its relationship to the soldier and enables the robotic platform to follow the route of the soldier'"'"'s footsteps,

wherein said follow-path functionality includes;

driving to an individual waypoint along the path and measuring the robot position in a relative coordinate system and measuring the distance and angle between the robot and the leader;

computing the leader position in a relative coordinate system and storing the leader position as a highest waypoint in a memory device;

when the robot-leader distance is pre-determinedly large and the robot-waypoint distance is pre-determinedly small, to extract a next highest waypoint from the memory device and to return to said driving using said next highest waypoint as said individual waypoint; and

wherein, when the robot-leader distance is pre-determinedly small, the robotic platform waits a predetermined time period then returns to said driving, otherwise, when the robot-waypoint distance is not pre-determinedly small, the robotic platform returns to said driving.