Unmanned multi-purpose ground vehicle with different levels of control

• US 9,163,909 B2
• Filed: 12/11/2009
• Issued: 10/20/2015
• Est. Priority Date: 12/11/2009
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Chengalva, Mahesh K.
• Primary Examiner(s): Nguyen, John Q
• Assistant Examiner(s): WHALEN, MICHAEL F
• Application Number:
  US12/635,953
• Publication Number:
  US 20110144828A1
• Time in Patent Office: 2,139 Days
• Field of Search: 701/1, 701/2, 701 23- 28
• US Class Current: 1/1
• 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 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• 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 1/0274 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

Abstract

A vehicle comprises a platform, a propulsion system, a communications system, a sensor system, and a computer system. The propulsion system, communications system, sensor system, and computer system are associated with the platform. The propulsion system is configured to move the platform on a ground. The communications system is configured to establish a wireless communications link to a remote location. The sensor system is configured to generate sensor data. The computer system is configured to run a number of control processes to perform a mission and configured to perform operations in response to a number of commands from the number of operators if the number of requests is valid.

Claims

1. A vehicle comprising:

a platform deployable by a deployment vehicle;

a propulsion system connected to the platform and configured to move the platform on a ground;

a sensor system connected to the platform and configured to generate sensor data; and

a computer system connected to the platform, wherein the computer system is configured to run a plurality of control processes to perform a mission responsive to deployment of the vehicle by the deployment vehicle at a first location, and to perform a corresponding plurality of operations in response to a corresponding plurality of commands from a plurality of operators;

wherein the computer system is further configured to direct movement of the vehicle along a series of mission-defined waypoints to identify at least one mission objective;

wherein the computer system is further configured to receive a number of requests interrupting the mission to change control of the vehicle from the plurality of control processes to the plurality of operators, determine whether the number of requests is valid, perform the corresponding plurality of operations in response to the number of commands from the plurality of operators if the number of requests is valid, and return control of the vehicle from the plurality of operators to the plurality of control processes for resumption of the mission, wherein ones of the plurality of operators control different ones of the plurality of control processes such that a given operator controls a different control process relative to another operator, and wherein the plurality of operators are human operators; and

wherein the computer system is further configured, upon completion of the mission, to direct movement of the vehicle to a second location for retrieval by the deployment vehicle.

2. The vehicle of claim 1, wherein the computer system uses authorization information sent as part of each of the number of requests or sent after each the number of requests to determine whether each of the number of requests from the plurality of operators is valid, and wherein the authorization information is one of a certificate, a password, a code, and a user identifier;

and

wherein the plurality of control processes include a surveillance control process, a navigation control process, and a weapons control process.

3. The vehicle of claim 1, further comprising:

a communications system connected to the platform and configured to establish a wireless communications link to a remote location, wherein the computer system is configured to send information over the wireless communications link to the remote location.

4. The vehicle of claim 2, wherein the plurality of control processes is configured to return to performing the mission when there is an absence of the corresponding plurality of commands for longer than a selected period of time to return the control to the plurality of control processes.

5. The vehicle of claim 1, wherein the plurality of control processes comprises at least one of a surveillance control process, a navigation control process, a weapons control process, and an operator control process.

6. The vehicle of claim 1, wherein the corresponding plurality of operations comprises at least one of directing movement of the vehicle, changing waypoints for the vehicle, changing a number of targets for surveillance by the vehicle, causing the vehicle to self destruct, firing a weapons system, and changing the sensor data generated by the sensor system.

7. The vehicle of claim 1, wherein each of the plurality of operators controls a different control process in the plurality of control processes.

8. The vehicle of claim 1, wherein the plurality of operators comprises both an onboard operator and a remote operator, the onboard operator being physically aboard the platform.

9. The vehicle of claim 1 further comprising:

a self-destruct mechanism connected to the platform and configured to destroy the platform.

10. The vehicle of claim 1, wherein the corresponding plurality of commands have a corresponding plurality of levels of control.

11. The vehicle of claim 1, wherein the sensor system comprises:

a camera system configured to generate image data.

12. The vehicle of claim 1, wherein the sensor system comprises:

a global positioning system unit configured to generate location information.

13. The vehicle of claim 1, wherein the sensor system is configured to generate image data and location information.

14. The vehicle of claim 3, wherein the computer system is configured to send video data and status information over the wireless communications link to the remote location.

15. The vehicle of claim 14, wherein the status information comprises a at least one of a status of the vehicle and location information for the vehicle.

16. The vehicle of claim 1, wherein the propulsion system comprises at least one of a gasoline engine, a diesel engine, and an electrical engine.

17. The vehicle of claim 1 further comprising:

an energy harvesting system configured to generate power for the vehicle.

18. The vehicle of claim 5, wherein the navigation control process avoids obstacles and adjusts routes independent of a human operator.

19. An autonomous ground vehicle comprising:

a platform deployable by a deployment vehicle;

a propulsion system connected to the platform and configured to move the platform on a ground, wherein the propulsion system has two types of engines;

a communications system connected to the platform and configured to establish a wireless communications link to a remote location;

a sensor system connected to the platform and configured to generate sensor data;

a power system having a number of batteries and an energy harvesting system; and

a computer system connected to the platform, wherein the computer system is configured to run a plurality of control processes to perform a mission in response to deployment of the vehicle by the deployment vehicle at a first location, to direct movement of the vehicle along a series of mission-defined waypoints to identify at least one mission objective, to send information over the wireless communications link to the remote location, to receive a number of requests to change control of the autonomous ground vehicle from the plurality of control processes to a plurality of operators, to determine whether the number of requests is valid, to perform a corresponding plurality of operations in response to a corresponding plurality of commands from the plurality of operators if the number of requests is valid, to return control of the vehicle from the plurality of operators to the plurality of control processes for resumption of the mission, and upon completion of the mission, to direct movement of the vehicle to a second location for retrieval by the deployment vehicle;

wherein the computer system uses authorization information sent as part of each of the number of requests or sent after each the number of requests to determine whether each of the number of requests from the plurality of operators is valid, and wherein the authorization information is one of a certificate, a password, a code, and a user identifier;

wherein the plurality of operators are human operators;

wherein ones of the plurality of operators control different ones of the plurality of control processes such that a given operator controls a different control process relative to another operator;

wherein the plurality of control processes include a surveillance control process, a navigation control process, and a weapons control process.

20. A method for operating a vehicle, the method comprising:

loading a mission onto the vehicle, wherein the vehicle comprises a platform deployable by a deployment vehicle;

a propulsion system connected to the platform and configured to move the platform on a ground;

a sensor system connected to the platform and configured to generate sensor data;

a power system having a number of batteries and an energy harvesting system; and

a computer system connected to the platform, wherein the computer system is configured to run a plurality of control processes to perform the mission;

running the plurality of control processes to perform the mission in response to deployment of the vehicle by the deployment vehicle at a first location;

directing movement of the vehicle along a series of mission-defined waypoints to identify at least one mission objective;

responsive to receiving a request to change control of the vehicle from the plurality of control processes to a plurality of operators, the plurality of operators being all human, determining whether the request is valid;

responsive to a determination that the request is valid, performing a corresponding plurality of operations in response to a corresponding plurality of commands from the plurality of operators, wherein ones of the plurality of operators control different ones of the plurality of control processes such that a given operator controls a different control process relative to another operator; and

returning control of the vehicle from the plurality of operators to the plurality of control processes for resumption of the mission, and upon completion of the mission, to direct movement of the vehicle to a second location for retrieval by the deployment vehicle.

21. The method of claim 20, wherein the vehicle further comprises a communications system connected to the platform and configured to establish a wireless communications link to a remote location and further comprising:

sending the sensor data from the sensor system over the wireless communications link to the remote location.

22. The method of claim 20 further comprising:

responsive to an absence of a command from the plurality of operators within a selected amount of time, returning the control of the vehicle to the plurality of control processes to perform the mission.

23. The method of claim 20, wherein each of the plurality of operators controls a different control process in the plurality of control processes.

24. The method of claim 20, wherein the plurality of operators comprises both an onboard operator and a remote operator, the onboard operator being physically aboard the platform.

25. The method of claim 20, wherein the corresponding plurality of commands have a number of levels of control.

26. The method of claim 20, wherein the corresponding plurality of operations comprises a self-destruct operation that is configured to destroy the platform.