Networked multi-role robotic vehicle

• US 20070198144A1
• Filed: 10/20/2006
• Published: 08/23/2007
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Allard, James, Norris, William, Wienhold, Kathleen, Puhalla, Jeffery
• Granted Patent: US 8,473,140 B2
• Time in Patent Office: Days
• US Class Current: 701/23
• CPC Class Codes: B60T 7/22 initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle , or by means of contactless obstacle detectors mounted on the vehicle
• CPC Class Codes: B60W 30/09 Taking automatic action to avoid collision, e.g. braking and steering
• CPC Class Codes: B60W 30/095 Predicting travel path or likelihood of collision
• CPC Class Codes: B60W 60/0051 from occupants to vehicle
• CPC Class Codes: B60W 60/0053 from vehicle to occupant
• CPC Class Codes: B62D 1/286 Systems for interrupting non-mechanical steering due to driver intervention
• CPC Class Codes: G05B 19/414 Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• 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 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0259 using magnetic or electromagnetic means
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• 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
• CPC Class Codes: G05D 1/028 using a RF signal
• CPC Class Codes: H04L 67/12 specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: Y10S 901/01 Mobile robot
• CPC Class Codes: Y10S 901/47 : Optical

Abstract

An autonomous vehicle and systems having an interface for payloads that allows integration of various payloads with relative ease. There is a vehicle control system for controlling an autonomous vehicle, receiving data, and transmitting a control signal on at least one network. A payload is adapted to detachably connect to the autonomous vehicle, the payload comprising a network interface configured to receive the control signal from the vehicle control system over the at least one network. The vehicle control system may encapsulate payload data and transmit the payload data over the at least one network, including Ethernet or CAN networks. The payload may be a laser scanner, a radio, a chemical detection system, or a Global Positioning System unit. In certain embodiments, the payload is a camera mast unit, where the camera communicates with the autonomous vehicle control system to detect and avoid obstacles. The camera mast unit may be interchangeable, and may include structures for receiving additional payload components.

Claims

1. A system comprising:

a vehicle control system for controlling an autonomous vehicle, receiving data, and transmitting a control signal on at least one network;

a payload adapted to detachably connect to the autonomous vehicle, the payload comprising a network interface configured to receive the control signal from the vehicle control system over the at least one network; and

wherein the vehicle control system encapsulates payload data and transmits the payload data over the at least one network.

2. The system of claim 1, wherein the network interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

3. The system of claim 1, wherein the at least one network comprises a Controller Area Network and an Ethernet network.

4. The system of claim 3, wherein the payload data is CAN data that the vehicle control translates into Ethernet packets to encapsulate the payload data.

5. The system of claim 1, further comprising an operator control unit adapted to receive the payload data through the at least one network.

6. The system of claim 5, wherein the at least one network comprises a wireless connection.

7. The system of claim 1, wherein the payload is configured to connect with a power source on the autonomous vehicle.

8. The system of claim 7, wherein the payload connects with the power source by at least one of plugs, connectors, adapters, couplers, or fasteners.

9. The system of claim 1, wherein the payload detachably connects to a trunk or trunk bed of the autonomous vehicle.

10. The system of claim 1, wherein the payload comprises at least one of a mast, a chemical detection system, a laser scanner, a camera, a radio, or a Global Positioning System unit.

11. A system comprising:

a vehicle control system for an autonomous vehicle adapted to;

utilize a virtual terminal protocol to encapsulate Controller Area Network (CAN) data in at least one Ethernet packet; and

transmit the at least one Ethernet packet over an Ethernet network; and

an operator control unit adapted to receive at least one Ethernet packet from the Ethernet network and display the CAN data.

12. The system of claim 11, wherein the operator control unit comprises at least one of a dashboard operator control unit or a remote operator control unit.

13. The system of claim 11, further comprising a payload with a network interface to transmit and receive data from at least one of the vehicle control system or the operator control unit.

14. The system of claim 13, wherein the network interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

15. The system of claim 13, wherein the payload comprises at least one of a mast, a chemical detection system, a laser scanner, a camera, a radio, or a Global Positioning System unit.

16. A system comprising:

a vehicle control system on an autonomous vehicle in communication with a remote operator control unit adapted to control the autonomous vehicle;

a dashboard operator control unit in communication with the vehicle control system and adapted to control local functions of the autonomous vehicle; and

a payload detachably connected to the autonomous vehicle and in communication with at least one of the vehicle control system, the remote operator control unit, or the dashboard operator control unit.

17. The system of claim 16, wherein the payload is a GPS unit and the dashboard operator control unit is adapted to direct the GPS unit to record GPS waypoints.

18. The system of claim 17, wherein the dashboard operator control unit is adapted to direct the GPS unit to playback the recorded GPS waypoints and to cause the autonomous vehicle to return to a recorded waypoint.

19. The system of claim 16, wherein the payload is a camera unit and the dashboard operator control unit is adapted to direct the camera unit to sight on a selected object.

20. The system of claim 19, wherein the vehicle control system causes the autonomous vehicle to follow a trajectory towards the selected object.

21. The system of claim 16, wherein the vehicle control system records the route of a destination trip and causes the autonomous vehicle to follow the same route on a return trip.

25. The system of claim 21, wherein the at least one network comprises a Controller Area Network and an Ethernet network.

22. A system comprising:

a vehicle control system for controlling an autonomous vehicle, receiving data, and transmitting a control signal on at least one network; and

a mast adapted to detachably connect to the autonomous vehicle, the mast comprising;

a network interface configured to communicate with the vehicle control unit over the at least one network;

a camera unit adapted to capture visual images and transmit the images to the vehicle control system using the network interface; and

a chamber for receiving an ancillary device.

23. The system of claim 22, wherein the ancillary device comprises at least one of a chemical detection system, a laser scanner, a radio, or a Global Positioning System unit.

24. The system of claim 22, wherein the network interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

26. The system of claim 22, further comprising at least a remote operator control unit or a dashboard operator control unit adapted to receive and display data from the vehicle control unit or the mast.

27. A system comprising:

a vehicle control system for controlling an autonomous vehicle, the vehicle control system adapted to utilize a virtual terminal protocol to encapsulate Controller Area Network (CAN) data in at least one Ethernet packet and transmit the at least one Ethernet packet over an Ethernet network; and

an operator control unit for transmitting control signals related to at least one local function of the autonomous vehicle to the vehicle control system, receiving the Ethernet packets, and displaying the CAN data.

28. The system of claim 27, further comprising a payload adapted to detachably connect to the autonomous vehicle, the payload comprising a network interface configured to transmit data and receive control signals from the vehicle control unit over at least one network.

29. The system of claim 28, wherein the payload is at least one of a mast comprising a camera unit, a chemical detection system, a laser scanner, a radio, or a Global Positioning System unit.

30. The system of claim 28, wherein the network interface comprises at least one of an Ethernet port, a CAN port, or an RS232 port.

31. The system of claim 27, wherein the operator control unit comprises at least one of a dashboard operator control unit or a remote operator control unit.