Real time explosive hazard information sensing, processing, and communication for autonomous operation

• US 8,965,578 B2
• Filed: 03/16/2011
• Issued: 02/24/2015
• Est. Priority Date: 07/05/2006
• Status: Expired due to Fees

• Current Assignee: Battelle Energy Alliance LLC (Battelle Memorial Institute)
• Original Assignee: Battelle Energy Alliance LLC (Battelle Memorial Institute)
• Inventors: Versteeg, Roelof J., Few, Douglas A., Kinoshita, Robert A., Johnson, Doug, Linda, Ondrej
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Figueroa, Jaime
• Application Number:
  US13/049,788
• Publication Number:
  US 20120239191A1
• Time in Patent Office: 1,441 Days
• Field of Search: 700/245, 700/246, 700/247, 700/248, 700/249, 700/253, 700/258, 700/259, 700/264, 901/1, 901/46, 318/568.11, 318/568.12, 318/568.16, 318/568.24, 250/285, 250/282, 250/288, 250/292, 250/281, 250/290, 250/325, 250/326, 250/339.04, 250/343, 250/393, 250/423.R, 250/424, 356/73, 356/301, 356/5.01, 340/632, 342/159, 342/22, 342/59
• US Class Current: 700/258
• CPC Class Codes: F41H 11/13 Systems specially adapted for detection of landmines
• 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: G06N 3/004 Artificial life, i.e. computing arrangements simulating life

Abstract

Methods, computer readable media, and apparatuses provide robotic explosive hazard detection. A robot intelligence kernel (RIK) includes a dynamic autonomy structure with two or more autonomy levels between operator intervention and robot initiative A mine sensor and processing module (ESPM) operating separately from the RIK perceives environmental variables indicative of a mine using subsurface perceptors. The ESPM processes mine information to determine a likelihood of a presence of a mine. A robot can autonomously modify behavior responsive to an indication of a detected mine. The behavior is modified between detection of mines, detailed scanning and characterization of the mine, developing mine indication parameters, and resuming detection. Real time messages are passed between the RIK and the ESPM. A combination of ESPM bound messages and RIK bound messages cause the robot platform to switch between modes including a calibration mode, the mine detection mode, and the mine characterization mode.

Claims

1. A method of communicating real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM), comprising:

sending ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and

sending RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM;

wherein a combination of the ESPM bound messages and the RIK bound messages cause a robot platform to perform explosive hazard detection by switching between modes comprising;

a calibration mode for calibrating one or more subsurface perceptors;

an explosive hazard detection mode for operating one or more locomotors and the one or more subsurface perceptors with a prescreening process to acquire and process prescreening information to determine a preliminary indication of an explosive hazard at a detected location; and

an explosive hazard characterization mode for real time acquisition and processing of detailed explosive hazard information responsive to the preliminary indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information at the detected location to enhance confidence that an explosive hazard is present at the detected location.

2. The method of claim 1, further comprising a map value mode for surveying subsurface features and communicating map information about the subsurface features as RIK bound messages.

3. The method of claim 1, wherein sending the explosive hazard information in the explosive hazard detection mode comprises sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

a suspected explosive hazard message including an additional location estimate and a sensed intensity estimate responsive to a determination by the ESPM of a suspected explosive hazard in the explosive hazard detection mode.

4. The method of claim 1, wherein sending the explosive hazard information in the explosive hazard characterization mode comprises sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

an explosive hazard location message including an additional location estimate and a confidence level estimate responsive to processing of the detailed explosive hazard information in the explosive hazard characterization mode.

5. The method of claim 4, wherein the additional location estimate comprises a centroid estimate of the explosive hazard and a perimeter estimate of the explosive hazard.

6. The method of claim 1, wherein sending the ESPM bound messages includes messages to control entering and leaving the explosive hazard detection mode and messages to control entering and leaving the explosive hazard characterization mode.

24. The method of claim 1, further comprising autonomously re-planning a path to an original goal point with new waypoints configured to avoid the detected location.

7. A robot platform for communicating real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM), comprising:

one or more subsurface perceptors configured for perceiving environmental variables indicative of a presence of the explosive hazard;

one or more locomotors configured for providing mobility to the robot platform; and

one or more controllers configured for;

sending ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and

sending RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM;

wherein a combination of the ESPM bound messages and the RIK bound messages cause the robot platform to perform explosive hazard detection by switching between modes comprising;

a calibration mode for calibrating the one or more subsurface perceptors;

an explosive hazard detection mode for operating the one or more locomotors and the one or more subsurface perceptors with a prescreening process to acquire and process prescreening information to determine a preliminary indication of an explosive hazard at a detected location; and

an explosive hazard characterization mode for real time acquisition and processing of detailed explosive hazard information responsive to the preliminary indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information at the detected location to enhance confidence that an explosive hazard is present at the detected location.

8. The robot platform of claim 7, wherein the one or more controllers include at least a first controller for the robot intelligence kernel and a second controller for the explosive hazard sensor and processing module.

9. The robot platform of claim 7, wherein the one or more controllers include a single controller for the robot intelligence kernel and the explosive hazard sensor and processing module.

10. The robot platform of claim 7, further comprising a map value mode for surveying subsurface features and communicating map information about the subsurface features as RIK bound messages.

11. The robot platform of claim 7, wherein the one or more controllers configured for sending the explosive hazard information in the explosive hazard detection mode are further configured for sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

a suspected explosive hazard message including an additional location estimate and a sensed intensity estimate responsive to a determination by the ESPM of the suspected explosive hazard in the explosive hazard detection mode.

12. The robot platform of claim 7, wherein the one or more controllers configured for sending the explosive hazard information in the explosive hazard characterization mode are further configured for sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

an explosive hazard location message including an additional location estimate and a confidence level estimate responsive to processing of the detailed explosive hazard information in the explosive hazard characterization mode.

13. The robot platform of claim 12, wherein the other location estimate comprises a centroid estimate of the explosive hazard and a perimeter estimate of the explosive hazard.

14. The robot platform of claim 7, wherein the one or more controllers configured for sending the ESPM bound messages includes messages to control entering and leaving the explosive hazard detection mode and messages to control entering and leaving the explosive hazard characterization mode.

25. The robot platform of claim 7, wherein a combination of the RIK and ESPM is further configured to autonomously re-plan a path to an original goal point with new waypoints configured to avoid the detected location.

15. Non-transitory computer readable media including computer executable instructions, which when executed on a processor provide communication of real time messages between a robot intelligence kernel (RIK) and an explosive hazard sensor and processing module (ESPM) to:

send ESPM bound messages from the RIK to the ESPM to set parameters of the ESPM, request operations to be performed by the ESPM, and acknowledge at least some messages from the RIK; and

send RIK bound messages from the ESPM to the RIK to request operations to be performed by the RIK, send explosive hazard information, and acknowledge at least some messages from the ESPM;

wherein a combination of the ESPM bound messages and the RIK bound messages cause a robot platform to perform explosive hazard detection by switching between modes comprising;

a calibration mode for calibrating one or more subsurface perceptors;

an explosive hazard detection mode for operating one or more locomotors and the one or more subsurface perceptors with a prescreening process to acquire and process prescreening information to determine an indication of an explosive hazard at a detected location; and

an explosive hazard characterization mode for real time acquisition and processing of detailed explosive hazard information responsive to the preliminary indication of the explosive hazard by operating the one or more locomotors and the one or more subsurface perceptors in a characterization configuration to develop the detailed explosive hazard information at the detected location to enhance confidence that an explosive hazard is present at the detected location.

16. The non-transitory computer readable media of claim 15, wherein the computer executable instructions executed on the processor include instructions for include a map value mode for surveying subsurface features and communicating map information about the subsurface features as RIK bound messages.

17. The non-transitory computer readable media of claim 15, wherein the computer executable instructions executed on the processor include instructions to send the explosive hazard information in the explosive hazard detection mode by sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

a suspected explosive hazard message including an additional location estimate and a sensed intensity estimate responsive to a determination by the ESPM of the suspected explosive hazard in the explosive hazard detection mode.

18. The non-transitory computer readable media of claim 15, wherein the computer executable instructions executed on the processor include instructions to send the explosive hazard information in the explosive hazard characterization mode by sending the RIK bound messages including one or more of:

a map value message including a location estimate and a sensed intensity estimate; and

an explosive hazard location message including an additional location estimate and a confidence level estimate responsive to processing of the detailed explosive hazard information in the explosive hazard characterization mode.

19. The non-transitory computer readable media of claim 18, wherein the computer executable instructions executed on the processor for the additional location estimate include instructions for a centroid estimate of the explosive hazard and a perimeter estimate of the explosive hazard.

20. The non-transitory computer readable media of claim 15, wherein the computer executable instructions executed on the processor to send the ESPM bound messages include instructions for messages to control entering and leaving the explosive hazard detection mode and messages to control entering and leaving the explosive hazard characterization mode.

21. The non-transitory computer readable media of claim 15, wherein the computer executable instructions for the ESPM bound messages are configured to operate on a first processor and the computer executable instructions for the RIK bound messages are configured to operate on a second processor.

22. The non-transitory computer readable media of claim 15, wherein the computer executable instructions for the ESPM bound messages and the computer executable instructions for the RIK bound messages are configured to operate on a single processor.

23. The non-transitory computer readable media of claim 15, wherein the computer executable instructions executed on the processor are further configured for autonomously re-planning a path to an original goal point with new waypoints configured to avoid the detected location.