Generalized system architecture for peripheral connectivity and control

• US 9,287,703 B2
• Filed: 04/30/2012
• Issued: 03/15/2016
• Est. Priority Date: 04/30/2012
• Status: Active Grant

• Current Assignee: DRS Sustainment Systems, Inc (Leonardo S.p.A.)
• Original Assignee: DRS Sustainment Systems, Inc (Leonardo S.p.A.)
• Inventors: Wootton, Matthew, Dierks, Travis
• Primary Examiner(s): Fureman, Jared
• Assistant Examiner(s): Squires, Brett
• Application Number:
  US13/460,598
• Publication Number:
  US 20130285447A1
• Time in Patent Office: 1,415 Days
• Field of Search: 307/18, 174/72.A, 439/502, 439/623
• US Class Current: 1/1
• CPC Class Codes: H02J 1/08 Three-wire systems; Systems having more than three wires

Abstract

Generally, systems, devices, and methods for a generalized architecture for power and networking in robotic systems is presented. On a robotic chassis, a branching cable harness routes multiple power connections and communications interfaces from an onboard computer and multiple power supplies to various locations on the chassis. Each branch carries all the power and communications connections that are needed by various peripherals, and all the branches terminate with identical connectors. A custom patch cable for each peripheral, such as a camera, taps the appropriate power and communications interfaces from the branches for the peripheral. The peripherals can be relocated on the chassis by unplugging their respective patch cables from the central cable, relocating, and then plugged the patch cables into the nearest branch.

Claims

1. A robotic system having multiple common interfaces for user-relocatable peripherals, comprising:

a chassis;

multiple power supplies;

at least one communication interface;

a plurality of common connectors located on positions distributed around the chassis, each common connector operatively connected via conductors with the multiple power supplies and the at least one communication interface, the common connectors having an identical power and communication layout with respect to one another, at least one conductor configured for connecting with a first power supply having a different gauge than a second conductor configured for connecting with a second power supply;

a set of patch cables for connecting the common connectors with different peripherals, each patch cable adapted to mate with any of the common connectors and tap appropriate power and communications lines for a respective peripheral, whereby the different peripherals and associated patch cables can be moved to different positions around the chassis by an end user without re-wiring the chassis;

a plurality of common rigid mechanical mounts for the peripherals, each common rigid mechanical mount being identical to one another and located proximate to a common connector; and

a plurality of thumbscrews, each thumbscrew connected with a corresponding mechanical mount.

2. The system of claim 1 wherein the chassis is of a wheeled vehicle.

3. A power and signal distribution system for a robotic system, comprising:

a first power supply, the first power supply adapted to provide a first voltage;

a second power supply, the second power supply adapted to provide a second voltage;

at least one communication interface, the at least one communication interface adapted to send or receive signals;

a central cable having a first end and a plurality of branches opposite the first end, each branch of the central cable having a common branch connector, each common branch connector having a same type and size as all of the other common branch connectors of the central cable, each common branch connector having an identical layout of power and signal connection points with respect to the other common branch connectors, the connection points of each common branch connector operatively connected through the first end of the central cable with the first power supply, the second power supply, and the communication interface; and

a first power conductor in the central cable operatively connected with the first power supply;

a second power conductor in the central cable operatively connected with the second power supply, wherein the first and second power conductors are of a different gauge than one another;

a first patch cable and a second patch cable, each patch cable having a common proximal connector configured to mate with any of the common branch connectors of the central cable, each patch cable having a distal connector opposite the respective proximal connector, wherein the first patch cable distal connector is not operatively connected with the second power supply and the second patch cable distal connector is not operatively connected with the first power supply;

a plurality of common rigid mechanical mounts for peripherals, each common rigid mechanical mount being identical to one another and located proximate to a common branch connector; and

a plurality of thumbscrews, each thumbscrew connected with a corresponding mechanical mount.

4. The system of claim 3 wherein at least one of the patch cables further comprises:

a translator adapted to translate signals in correspondence with the communication interface.

5. The system of claim 4 wherein the translator is embedded in the respective patch cable.

6. The system of claim 3 wherein voltages from the first and second power supplies are referenced to a common ground on each common branch connector.

7. The system of claim 3 wherein voltages from the first and second power supplies are referenced to separate ground conductors on each common branch connector.

8. The system of claim 3 wherein there are two or more communication interfaces and the first patch cable distal connector is not operatively connected with one of the two or more communication interfaces.

9. The system of claim 3 further comprising:

a central connector having contacts operatively connected with the first power supply, the second power supply, and the communication interface, wherein the central cable is connected with the first power supply, the second power supply, and the communication interface through the central connector.

10. The system of claim 9 wherein the central connector and common branch connectors are of the same type.

11. The system of claim 9 wherein a type of the central connector is selected from the group consisting of circular, D-sub, and plastic.

12. The system of claim 3 wherein the type of common branch connectors is selected from the group consisting of circular, D-sub, and plastic.

13. The system of claim 3 wherein the communication interface is selected from the group consisting of Ethernet, RS-170, RS-232, RS-422, Universal Serial Bus (USB), IEEE 1394, and High-Definition Multimedia Interface.

14. The system of claim 3 further comprising:

a peripheral configured to mate with the first patch cable distal connector, whereby the peripheral is able to connect to power and communications through the first patch cable to any of the common branch connectors.

15. The system of claim 14 wherein the peripheral is selected from the group consisting of a camera, laser rangefinder, lidar, radar, sonar, microphone, explosives detector, Geiger counter, and end effector.

16. The system of claim 14 further comprising:

a mobile chassis upon which the central cable is mounted.

17. The system of claim 3 wherein the connection points are selected from the group consisting of blades, pins, and sockets.

18. A method of reconfiguring peripherals on a robotic system, the method comprising:

providing a central cable on a robotic system, the central cable having multiple branches with identical common connectors, the common connectors each connected through the central cable to multiple power supplies and at least one communication interface, at least one conductor connected to a first power supply having a different gauge than a second conductor connected to a second power supply, the gauges of the conductors selected based on the current of the power supplies;

providing a first peripheral and a second peripheral for the robotic system, the first and second peripherals having different power requirements from one another;

providing a first common rigid mechanical mount for the first peripheral and a second common rigid mechanical mount for the second peripheral, each of the first and second common rigid mechanical mounts being identical to one another and located proximate to a common connector;

providing a first thumbscrew connected with the first common rigid mechanical mount and a second thumbscrew connected with the second common rigid mechanical mount;

connecting a first patch cable between the first peripheral and a first branch of the central cable;

powering the first peripheral through the first branch of the central cable;

disconnecting the first patch cable from the first branch of the central cable;

connecting the first patch cable to a second branch of the central cable;

connecting a second patch cable between the second peripheral and the first branch of the central cable; and

powering the first and second peripherals through the second and first branches of the central cable, respectively.