General purpose robotics operating system with unmanned and autonomous vehicle extensions

• US 10,331,136 B2
• Filed: 12/05/2017
• Issued: 06/25/2019
• Est. Priority Date: 02/27/2006
• Status: Active Grant

• Current Assignee: Perrone Robotics, Inc.
• Original Assignee: Perrone Robotics, Inc.
• Inventors: Perrone, Paul J.
• Primary Examiner(s): Figueroa, Jamie
• Application Number:
  US15/831,883
• Publication Number:
  US 20180095467A1
• Time in Patent Office: 567 Days
• Field of Search: 700245, 700246, 700264
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: G05B 2219/40393 Learn natural high level command, associate its template with a plan, sequence
• 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: Y10S 901/06 Communication with another machine

Abstract

The present disclosure provides a general purpose operating system (GPROS) that shows particular usefulness in the robotics and automation fields. The operating system provides individual services and the combination and interconnections of such services using built-in service extensions, built-in completely configurable generic services, and ways to plug in additional service extensions to yield a comprehensive and cohesive framework for developing, configuring, assembling, constructing, deploying, and managing robotics and/or automation applications. The disclosure includes GPROS extensions and features directed to use as an autonomous vehicle operating system. The vehicle controlled by appropriate versions of the GPROS can include unmanned ground vehicle (UGV) applications such as a driverless or self-driving car. The vehicle can likewise or instead include an unmanned aerial vehicle (UAV) such as a helicopter or drone. In cases, the vehicle can include an unmanned underwater vehicle (UUV), such as a submarine or other submersible.

Claims

1. A method in a general purpose robotics operating system (GPROS) comprising a set of application services, executed using a computing device comprising a processor, the method, comprising:

managing synchronous, asynchronous, and real time application threads using at least one of the application services; and

managing at least one of a watchdog service, a watchdog checking service, a watchdog signature service, a watchdog reaction service, a watchdog specification service, a publish-subscribe comm service, a publish-subscribe envoy service, a traffic sign handling service, a platooning service, a sudden obstacle avoidance service, a curb avoidance service, a speed bump handling service, a floating obstacle avoidance service, a gated obstacle avoidance service, and a negative obstacle avoidance service,

wherein the set of application services;

(i) is configurable using a configuration service,

(ii) is configurable to be adapted both statically and dynamically, and

(iii) is configurable to access configuration data using a generic abstraction, and

wherein the application services are independent of an underlying hardware platform and are configurable to perform at least one of communication tasks and operational tasks.

4. The method of claim 1, wherein the set of application services comprises a system service which allows one system to execute or trigger one or more other systems, based on at least one of:

a trigger, and

one or more parameterized conditions based on condition evaluations.

5. The method of claim 1, wherein the set of application services comprises at least one of:

a ground based mobility service, a skid steer platform service, a 4WD platform service, a NWD platform service, an omni-directional platform service, a mecanum platform service, an automotive mobility platform service, an hmm service, an hhmm service, a genetic learning service, a maneuver service, a maneuver action service, a conditions service, a movement plan service, a path planner service, a speed rules service, and a steering rules service.

6. The method of claim 1, wherein the set of application services comprises at least one of:

a camera service, a camera mobileye service, a camera pointgrey service, a sensor estimator service, a position estimator service, an orientation estimator service, a speed estimator service, an acceleration estimator service, a physical object service, a world boundary service, a sensation service, a route planning service, a course service, a stopping service, a roaming service, an obstacle avoidance service, a cliff avoidance service, an object following service, a vehicle following service, a lane following service, a line following service, a uturn service, a stop sign handling service, a stop light handling service, an intersection handling service, a merging handling service, a pass on impasse handling service, a re-routing service, a self-park handling service, an open zone handling service, and a rendezvous handling service.

7. The method of claim 1, further comprising managing an autonomous vehicle service controlling an autonomous vehicle.

8. The method of claim 7, wherein the autonomous vehicle comprises at least one of:

an unmanned ground vehicle (UGV),

an unmanned sea vehicle,

an unmanned vehicle,

an unmanned aerial vehicle (UAV), and

an unmanned underwater vehicle (UUV).

9. The method of claim 1, wherein the set of application services comprises a configurable fusion service to combine inputs from a plurality of sensors installed in an autonomous vehicle.

2. A control system, comprising:

memory; and

a computer comprising a processor, operating under programmed control, to provide a general purpose robotics operating system (GPROS) comprising a set of application services, executed using a computing device comprising a processor, wherein the set of application services;

(i) is configurable using a configuration service,

(ii) is configurable to be adapted both statically and dynamically, and

(iii) is configurable to access configuration data using a generic abstraction,

wherein the application services are independent of an underlying hardware platform and are configurable to perform at least one of communication tasks and operational tasks, and

wherein the set of application services comprises;

a service to manage synchronous, asynchronous, and real time application threads, and

a service to manage at least one of a watchdog service, a watchdog checking service, a watchdog signature service, a watchdog reaction service, a watchdog specification service, a publish-subscribe comm service, a publish-subscribe envoy service, a traffic sign handling service, a platooning service, a sudden obstacle avoidance service, a curb avoidance service, a speed bump handling service, a floating obstacle avoidance service, a gated obstacle avoidance service, and a negative obstacle avoidance service.

10. The control system of claim 2, wherein the set of application services comprises a system service which allows one system to execute or trigger one or more other systems, based on at least one of:

a trigger, and

one or more parameterized conditions based on condition evaluations.

11. The control system of claim 2, wherein the set of application services comprises at least one of:

a ground based mobility service, a skid steer platform service, a 4WD platform service, a NWD platform service, an omni-directional platform service, a mecanum platform service, an automotive mobility platform service, an hmm service, an hhmm service, a genetic learning service, a maneuver service, a maneuver action service, a conditions service, a movement plan service, a path planner service, a speed rules service, and a steering rules service.

12. The control system of claim 2, wherein the set of application services comprises at least one of:

a camera service, a camera mobileye service, a camera pointgrey service, a sensor estimator service, a position estimator service, an orientation estimator service, a speed estimator service, an acceleration estimator service, a physical object service, a world boundary service, a sensation service, a route planning service, a course service, a stopping service, a roaming service, an obstacle avoidance service, a cliff avoidance service, an object following service, a vehicle following service, a lane following service, a line following service, a uturn service, a stop sign handling service, a stop light handling service, an intersection handling service, a merging handling service, a pass on impasse handling service, a re-routing service, a self-park handling service, an open zone handling service, and a rendezvous handling service.

13. The control system of claim 2, wherein the set of application services comprises a service to manage an autonomous vehicle service controlling an autonomous vehicle.

14. The control system of claim 13, wherein the autonomous vehicle comprises at least one of:

an unmanned ground vehicle (UGV),

an unmanned sea vehicle,

an unmanned vehicle,

an unmanned aerial vehicle (UAV), and

an unmanned underwater vehicle (UUV).

15. The control system of claim 2, wherein the set of application services comprises a configurable fusion service to combine inputs from a plurality of sensors installed in an autonomous vehicle.

3. A non-transitory computer readable medium having instructions stored thereon that, when executed by at least one computing device, causes the at least one computing device to perform operations comprising:

providing a set of application services, wherein the set of application services;

(i) is configurable using a configuration service,

(ii) is configurable to be adapted both statically and dynamically, and

(iii) is configurable to access configuration data using a generic abstraction;

using the set of application services to manage synchronous, asynchronous, and real time application threads; and

using the set of application services to manage at least one of a watchdog service, a watchdog checking service, a watchdog signature service, a watchdog reaction service, a watchdog specification service, a publish-subscribe comm service, a publish-subscribe envoy service, a traffic sign handling service, a platooning service, a sudden obstacle avoidance service, a curb avoidance service, a speed bump handling service, a floating obstacle avoidance service, a gated obstacle avoidance service, and a negative obstacle avoidance service,

wherein the application services are independent of an underlying hardware platform and are configurable to perform at least one of communication tasks and operational tasks.

16. The non-transitory computer readable medium of claim 3, wherein the set of application services comprises a system service which allows one system to execute or trigger one or more other systems, based on at least one of:

a trigger, and

one or more parameterized conditions based on condition evaluations.

17. The non-transitory computer readable medium of claim 16, wherein the set of application services comprises at least one of:

a ground based mobility service, a skid steer platform service, a 4WD platform service, a NWD platform service, an omni-directional platform service, a mecanum platform service, an automotive mobility platform service, an hmm service, an hhmm service, a genetic learning service, a maneuver service, a maneuver action service, a conditions service, a movement plan service, a path planner service, a speed rules service, and a steering rules service.

18. The non-transitory computer readable medium of claim 16, wherein the set of application services comprises at least one of:

a camera service, a camera mobileye service, a camera pointgrey service, a sensor estimator service, a position estimator service, an orientation estimator service, a speed estimator service, an acceleration estimator service, a physical object service, a world boundary service, a sensation service, a route planning service, a course service, a stopping service, a roaming service, an obstacle avoidance service, a cliff avoidance service, an object following service, a vehicle following service, a lane following service, a line following service, a uturn service, a stop sign handling service, a stop light handling service, an intersection handling service, a merging handling service, a pass on impasse handling service, a re-routing service, a self-park handling service, an open zone handling service, and a rendezvous handling service.

19. The non-transitory computer readable medium of claim 16, the operations further comprising using the set of application services to manage an autonomous vehicle service controlling an autonomous vehicle.

20. The non-transitory computer readable medium of claim 19, wherein the autonomous vehicle comprises at least one of:

an unmanned ground vehicle (UGV),

an unmanned sea vehicle,

an unmanned vehicle,

an unmanned aerial vehicle (UAV), and

an unmanned underwater vehicle (UUV).