System and method for remote control of unmanned vehicles

• US 9,720,419 B2
• Filed: 09/07/2015
• Issued: 08/01/2017
• Est. Priority Date: 10/02/2012
• Status: Active Grant

• Current Assignee: Fort Robotics, Inc.
• Original Assignee: Humanistic Robotics, Inc.
• Inventors: Poff, Scott, Derman, Richard, O'Neill, Trevor, Reeves, Samuel, Koplin, Joshua, Calabro, Anthony, Bivans, Nathan, de Brun, Erik
• Primary Examiner(s): Badii, Behrang
• Application Number:
  US14/846,866
• Publication Number:
  US 20160011596A1
• Time in Patent Office: 694 Days
• CPC Class Codes: B25J 13/006 by means of a wireless system for controlling one or several manipulators
• CPC Class Codes: B60L 15/40 Adaptation of control equipment on vehicle for remote actuation from a stationary place devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00
• CPC Class Codes: B60L 50/51 characterised by AC-motors
• CPC Class Codes: B60W 2050/0292 Fail-safe or redundant systems, e.g. limp-home or backup systems
• CPC Class Codes: B60W 30/18 Propelling the vehicle
• CPC Class Codes: B60W 50/00 Details of control systems for road vehicle drive control not related to the control of a particular sub-unit , e.g. process diagnostic or vehicle driver interfaces
• CPC Class Codes: B60W 50/029 Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
• CPC Class Codes: B61L 23/00 Control, warning or like safety means along the route or between vehicles or trains
• CPC Class Codes: B61L 23/005 Automatic control or safety means for points for operator-less railway, e.g. transportation systems
• CPC Class Codes: B61L 23/34 for indicating the distance between vehicles or trains by the transmission of signals therebetween
• CPC Class Codes: B61L 3/00 Devices along the route for controlling devices on the vehicle or train, e.g. to release brake or to operate a warning signal
• CPC Class Codes: F41H 11/16 Self-propelled mine-clearing vehicles; Mine-clearing devices attachable to vehicles
• CPC Class Codes: G05B 19/048 Monitoring; Safety
• CPC Class Codes: G05B 2219/23471 Interrupt after set time non failsafe program, switch to failsafe program
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0022 characterised by the communication link data switching networks in general H04L12/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0077 using redundant signals or controls
• 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 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G05D 3/00 : Control of position or direction G05D1/00 takes precedence; numerical control to execute positioning G05B19/18
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

An open architecture control system is provided that may be used for remote and semi-autonomous operation of commercial off the shelf (COTS) and custom robotic systems, platforms, and vehicles to enable safer neutralization of explosive hazards and other services. In order to effectively deal with rapidly evolving threats and highly variable operational environments, the control system is built using an open architecture and includes a high level of interoperability. The control system interfaces with a large range of robotic systems and vehicles, autonomy software packages, perception systems, and manipulation peripherals to enable prosecution of complex missions effectively. Because the control system is open and does not constrain the end user to a single robotics system, mobile platform, or peripheral hardware and software, the control system may be used to assist with a multitude of missions beyond explosive hazard detection and clearance.

Claims

1. A system comprising:

at least one e-stop controller; and

at least one e-stop comprising;

a first failsafe; and

a second failsafe, wherein the first failsafe is adapted to;

monitor a connection between the e-stop controller and the e-stop;

determine if the connection has been severed; and

if so, halt machinery associated with the e-stop; and

wherein the second failsafe is adapted to;

receive a first signal from the e-stop controller; and

determine whether to halt the machinery associated with the e-stop based on the received first signal.

2. The system of claim 1, wherein the first signal is a heartbeat signal, and the second failsafe determines not to halt the machinery associated with the e-stop based on the heartbeat signal.

3. The system of claim 1, wherein the first signal is a stop signal, and the second failsafe determines to halt the machinery associated with the e-stop based on the stop signal.

4. The system of claim 1, wherein the e-stop controller is further adapted to:

determine to halt the machinery associated with the e-stop; and

in response to the determination, turn-off the connection between the e-stop and the e-stop controller.

5. The system of claim 4, wherein determining to halt the machinery associated with the e-stop comprises determining that a second signal has not been received from the e-stop by the e-stop controller for more than a threshold amount of time.

6. The system of claim 5, wherein the second signal is a heartbeat signal.

7. The system of claim 1, wherein the first signal is a location of the e-stop controller, and determining whether to halt the machinery associated with the e-stop comprises determining whether a distance between the location of the e-stop controller and a location of the e-stop exceeds a minimum distance.

8. The system of claim 1, wherein the first failsafe is a software failsafe and the second failsafe is a software failsafe.

9. The system of claim 1, wherein the connection is a wireless radio connection.

10. A system comprising:

at least one e-stop controller; and

at least one e-stop comprising;

a first failsafe; and

a second failsafe, wherein the first failsafe is adapted to;

monitor a connection between the e-stop controller and the e-stop;

determine if the connection has been severed; and

if so, halt machinery associated with the e-stop; and

wherein the second failsafe is adapted to;

receive a location of the e-stop controller from the e-stop controller; and

determine whether to halt the machinery associated with the e-stop based on the received location.

11. The system of claim 10, wherein the e-stop controller is further adapted to:

determine to halt the machinery associated with the e-stop; and

in response to the determination, turn-off the connection between the e-stop and the e-stop controller.

12. The system of claim 11, wherein determining to halt the machinery associated with the e-stop comprises determining that a heartbeat has not been received from the e-stop by the e-stop controller for more than a threshold amount of time.

13. The system of claim 10, wherein the first failsafe is a software failsafe and the second failsafe is a software failsafe.

14. The system of claim 10, wherein the connection is a wireless radio connection.

15. An e-stop comprising:

a first failsafe; and

a second failsafe, wherein the first failsafe is adapted to;

monitor a connection between an e-stop controller and the e-stop;

determine if the connection has been severed; and

if so, halt machinery associated with the e-stop; and

wherein the second failsafe is adapted to;

receive a first signal from the e-stop controller; and

determine whether to halt the machinery associated with the e-stop based on the received first signal.

16. The e-stop of claim 15, wherein the first signal is a heartbeat signal, and the second failsafe determines not to halt the machinery associated with the e-stop based on the heartbeat signal.

17. The e-stop of claim 15, wherein the first signal is a stop signal, and the second failsafe determines to halt the machinery associated with the e-stop based on the stop signal.

18. The e-stop of claim 15, wherein the first signal is a location of the e-stop controller, and determining whether to halt the machinery associated with the e-stop comprises determining whether a distance between the location of the e-stop controller and a location of the e-stop exceeds a minimum distance.

19. The e-stop of claim 15, wherein the first failsafe is a software failsafe and the second failsafe is a software failsafe.

20. The e-stop of claim 15, wherein the connection is a wireless radio connection.