Versatile robotic control module
First Claim
1. A robotic control module comprising:
- an enclosure having at least one surface, the enclosure being mountable on or in the vehicle;
a processing module disposed within the enclosure, the processing module having a processor and memory, wherein the processing module is configured for monitoring sensors on or in the vehicle;
for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the vehicle as a robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;
a reprogrammable actuator controller disposed within the enclosure and configured for being in communication with the processing module for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving;
an actuator connector on the at least one surface of the enclosure, the actuator connector being in communication with the reprogrammable actuator controller and configured for transmitting actuator control signals that are configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;
a packet network switch disposed within the enclosure; and
a network connector on the at least one surface of the enclosure, the network connector being configured for connecting to a packet network and communicating with the packet network switch, wherein the processing module is configured for transmitting instructions to the packet network.
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Accused Products
Abstract
Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.
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Citations
48 Claims
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1. A robotic control module comprising:
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an enclosure having at least one surface, the enclosure being mountable on or in the vehicle; a processing module disposed within the enclosure, the processing module having a processor and memory, wherein the processing module is configured for monitoring sensors on or in the vehicle;
for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the vehicle as a robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;a reprogrammable actuator controller disposed within the enclosure and configured for being in communication with the processing module for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving; an actuator connector on the at least one surface of the enclosure, the actuator connector being in communication with the reprogrammable actuator controller and configured for transmitting actuator control signals that are configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; a packet network switch disposed within the enclosure; and a network connector on the at least one surface of the enclosure, the network connector being configured for connecting to a packet network and communicating with the packet network switch, wherein the processing module is configured for transmitting instructions to the packet network. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 47, 48)
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20. A robotic control modular enclosure for use in a robotic vehicle, comprising:
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a mountable enclosure having at least one surface, the mountable enclosure being mountable on or in the robotic vehicle; a processing module disposed within the mountable enclosure, the processing module being configured for monitoring sensors on or in the robotic vehicle;
for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the processing module comprising a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver configured for executing the transceiver monitoring code, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, the mobile robotic control behaviors being executable by the processing module for causing actuator control signals to be transmitted from the mountable enclosure, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system;a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing the actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving; a packet network switch disposed within the mountable enclosure; a protocol transceiver connector on the at least one surface of the mountable enclosure, the protocol transceiver connector being configured for communicating with a plurality of protocol transceivers sensors; a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a packet network and communicating with the packet network switch, wherein the processing module is configured for transmitting instructions to the packet network through the network connector; and a power supply disposed within the mountable enclosure, the power supply being configured for receiving power from the mobile robotic platform through a power input to the mountable enclosure and converting the power into interior power. - View Dependent Claims (21, 22, 23)
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24. A robotic control modular enclosure for use in a robotic vehicle, comprising:
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a mountable enclosure having at least one surface, the mountable enclosure being mountable on or in the robotic vehicle; a processing module disposed within the mountable enclosure, the processing module being configured for monitoring sensors on or in the robotic vehicle;
for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, and having a processor and memory, the memory comprising transceiver monitoring code, the processing module comprising at least one protocol transceiver configured for executing the transceiver monitoring code, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a network that is configured for transmitting instructions to the processing module; a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; an actuator amplifier disposed within the mountable enclosure, the actuator amplifier being configured for amplifying the actuator control signal from the reprogrammable actuator controller; and a power supply disposed within the mountable enclosure, the power supply being configured for receiving unregulated power from the mobile robotic platform through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processing module and into exterior regulated power. - View Dependent Claims (25, 26, 27)
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28. A robotic control modular enclosure for use in a robotic vehicle, comprising:
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a mountable enclosure having at least one surface, the mountable enclosure being mountable in or on the robotic vehicle; a processing module within the mountable enclosure having a processor and memory, the memory comprising mobile robotic control behaviors, wherein the processing module is configured for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among the mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than signals for actuator driving; an actuator connector on the at least one surface of the mountable enclosure, the actuator connector being in communication with the reprogrammable actuator controller and configured for transmitting actuator control signals that are configured for robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; and a network connector on the at least one surface of the mountable enclosure, the network connector being configured for connecting to a network, wherein the processing module is configured for transmitting instructions to the network. - View Dependent Claims (29, 30, 31)
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32. A robotic control modular enclosure for use in a robotic vehicle, comprising:
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a mountable enclosure having at least one surface, the mountable enclosure being mountable in or on the robotic vehicle; a processing module disposed within the mountable enclosure, the processing module having a processor and memory, the memory comprising mobile robotic control behaviors, wherein the processing module is configured for determining a role of the robotic control module based on (i) a location of the robotic control module in the vehicle or (ii) a physical connection to the robotic control module; and
for executing and arbitrating among the mobile robotic control behaviors that are configured to control operation of the robotic vehicle based on the role of the robotic control module, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver;a reprogrammable actuator controller configured for communicating with the processing module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; a packet network switch disposed within the mountable enclosure configured for relaying instructions for the reprogrammable actuator controller; and a power supply disposed within the mountable enclosure, the power supply being configured for receiving unregulated power from the mobile robotic platform through a power input to the mountable enclosure and converting the unregulated power into interior regulated power for the processing module, and into exterior regulated power. - View Dependent Claims (33, 34, 35)
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36. A robotic control apparatus for a robotic vehicle, comprising:
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a mountable modular enclosure having at least one surface, the mountable modular enclosure being mountable on or in the robotic vehicle; a reprogrammable actuator controller disposed within the mountable modular enclosure and configured for controlling signals other than signals for actuator driving; a processor module disposed within the mountable modular enclosure, wherein the processing module is configured for executing and arbitrating among mobile robotic control behaviors based on (i) a location of the mountable modular enclosure module in the vehicle or (ii) a physical connection to the mountable modular enclosure; an actuator connector on the at least one surface of the mountable modular enclosure, the actuator connector being configured for communicating the signals for actuator driving in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system, the signals being modulated by the reprogrammable actuator controller and based on the mobile robotic control behaviors, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver; a packet network switch disposed within the mountable modular enclosure, the packet network being configured for relaying instructions for the reprogrammable actuator controller; a plurality of network connectors on the at least one surface of the mountable modular enclosure, the plurality of network connectors being configured for connecting to a packet network and communicating with the packet network switch; a power supply disposed within the mountable modular enclosure, the power supply being configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable modular enclosure and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power; and a power supply connector on the at least one surface of the mountable modular enclosure, the power supply connector being configured for connecting to the exterior regulated power. - View Dependent Claims (37, 38, 39)
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40. A robotic control apparatus for a robotic vehicle, comprising:
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a mountable modular enclosure having at least one surface, the mountable modular enclosure being mountable on or in the robotic vehicle; a processor module disposed within the mountable modular enclosure, wherein the processing module is configured for executing and arbitrating among mobile robotic control behaviors based on (i) a location of the mountable modular enclosure module in the vehicle or (ii) a physical connection to the mountable modular enclosure; a reprogrammable actuator controller disposed within the mountable modular enclosure, the reprogrammable actuator controller being configured for issuing actuator control signals within the mountable module and for controlling signals other than the actuator control signals for actuator driving, the actuator control signals being based on the mobile robotic control behaviors, the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver; an actuator amplifier disposed within the mountable modular enclosure, the actuator amplifier being configured for receiving the actuator control signals from the reprogrammable actuator controller; an actuator connector on the at least one surface of the mountable modular enclosure, the actuator connector being configured for communicating actuator drive signals modulated by the reprogrammable actuator controller and the actuator amplifier based on the actuator control signals, the actuator drive signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system; a packet network switch disposed within the mountable modular enclosure; a plurality of network connectors on the at least one surface of the mountable modular enclosure, the plurality of network connectors being configured for connecting to a packet network and communicating with the packet network switch, the packet network being configured for relaying instructions for the reprogrammable actuator controller; a power supply disposed within the mountable modular enclosure, the power supply being configured for receiving unregulated power from a mobile robotic platform in the robotic vehicle through a power input to the mountable modular enclosure and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power; and a power supply connector on the at least one surface of the mountable modular enclosure, the power supply connector being configured for connecting to the exterior regulated power.
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41. A robotic control unit for use in an autonomous vehicle, comprising:
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a single enclosure mountable on or in the autonomous vehicle; a power supply integrated into the single enclosure; a processor module integrated into the single enclosure; a motor controller integrated into the single enclosure; a motor amplifier positioned proximate to the motor controller integrated into the single enclosure; a reprogrammable actuator controller configured for communicating with the processor module, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving; and an Ethernet switch integrated into the single enclosure, wherein the processor module, motor controller and motor amplifier are configured for robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, and wherein the processor module is configured for; determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and executing and arbitrating among the mobile robotic control behaviors based on the role of the robotic control unit.
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42. A robotic control unit for use in an autonomous vehicle, comprising:
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an enclosure mountable on or in the autonomous vehicle; a processor within the enclosure; and a reprogrammable actuator controller configured for communicating with the processor, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, wherein the robotic control unit is configured for controlling at least one motor associated with an operating system of the autonomous vehicle based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, and transmission actuator control, the operating system being selected from the group consisting of a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system, wherein the processor module is configured for; determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and executing and arbitrating among the mobile robotic control based on the role of the robotic control unit, and wherein the robotic control unit is configured for receiving unregulated vehicle power and outputting regulated power.
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43. A robotics kit for use on a vehicle, comprising:
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at least one robotic control unit having a single enclosure mountable on or in the vehicle and configurable to have, within the single enclosure, at least three of a power supply, an Ethernet switch, a motor controller, or a motor amplifier; and a reprogrammable actuator controller configured for communicating with the processor, the reprogrammable actuator controller being disposed within the mountable enclosure and configured for issuing actuator control signals based at least in part on the mobile robotic control behaviors and for controlling signals other than the actuator control signals for actuator driving, a processor configured for determining a role of the robotic control unit based on (i) a location of the robotic control unit in the vehicle or (ii) a physical connection to the robotic control unit; and
for executing and arbitrating among the mobile robotic control behaviors based on the role of the robotic control unit,wherein the single enclosure is sized to fit into available idle spaces in the vehicle and the single enclosure is configurable for outputting actuator control signals based on mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, the actuator control signals being configured to robotically control actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system. - View Dependent Claims (44)
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45. A robotic vehicle control system for a robotic vehicle, comprising:
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a plurality of interchangeable mountable modular enclosures, each interchangeable mountable modular enclosure being mountable on or in the robotic vehicle and comprising; at least one surface; a power input; an actuator connector on the at least one surface; a plurality of network connectors on the at least one surface; a power supply connector on the at least one surface; a reprogrammable actuator controller configured for communicating signals for actuator driving and for controlling signals other than signals for actuator driving, the signals being modulated by the actuator controller and based on mobile robotic control behaviors; a packet network switch, each network connector being configured for connecting to a packet network and communicating with the packet network switch, the packet network being configured for relaying instructions for the actuator controller; a power supply, the power supply being configured for receiving unregulated power from a mobile robotic platform of the robotic vehicle through the power input and converting the unregulated power into interior regulated power for the packet network switch and the reprogrammable actuator controller, and into exterior regulated power, the power supply connector being connected to the exterior regulated power; and a memory including executable code comprising the mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, wherein each interchangeable mountable modular enclosure is configurable to execute a selected part of the executable code such that each of the plurality of interchangeable mountable modular enclosures is provided with multiple possible executable code parts for different modular roles and each of the plurality of interchangeable mountable modular enclosures is configurable to execute only the selected part of the executable code appropriate for a selected modular role, wherein the modular roles comprise controlling a vehicle sensor and robotically controlling actuator operation in a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system, wherein the modular role is based on (i) a location of the interchangeable mountable modular enclosure in the robotic vehicle or (ii) a physical connection to the interchangeable mountable modular enclosure.
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46. A system, comprising:
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a robotic control system configured for controlling a vehicle control system, the robotic control system comprising; a packet network configured for fitting to extend into and between available idle space within interior compartments of a vehicle body; and a plurality of interchangeable robotic modular enclosures configured to connect to the packet network, each interchangeable robotic modular enclosure comprising; a single housing mountable into the available idle space; a processing module, memory, a reprogrammable actuator controller, and a packet network switch, all integrated into the single housing, the memory comprising mobile robotic control behaviors comprising steering actuator control, braking actuator control, throttle actuator control, transmission actuator control, and sensor driver, wherein the reprogrammable actuator controller is configured for communicating with the processor module and for controlling signals other than signals for actuator driving; wherein the processing module is configured for determining a role of the interchangeable robotic modular enclosure based on (i) a location of the interchangeable robotic modular enclosure in the vehicle or (ii) a physical connection to the interchangeable robotic modular enclosure; and
for executing and arbitrating among the mobile robotic control behaviors based on the role of the interchangeable robotic modular enclosure; anda network connector on a surface of the single housing, the network connector being configured for connecting to the packet network and communicating with the packet network switch; and the vehicle control system coupled to the vehicle body, the vehicle control system being configured to control a vehicle operational system of the robotic vehicle based on the mobile robotic control behaviors, the vehicle operational system comprising a vehicle steering system, a vehicle braking system, a vehicle throttle system, and a vehicle transmission system.
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Specification