Multi-purpose autonomous vehicle with path plotting

• US 5,170,352 A
• Filed: 08/07/1991
• Issued: 12/08/1992
• Est. Priority Date: 05/07/1990
• Status: Expired due to Fees

• Current Assignee: FMC Corporation
• Original Assignee: FMC Corporation
• Inventors: Wagner, Paul A., Walker, Robert A., McTamaney, Louis S., Wong, Yue M., Lastra, Jorge E., Chandra, Rangasami S., Sharma, Uma K., Watson, Clyde D.
• Primary Examiner(s): Lall, Parshotam S.
• Assistant Examiner(s): ZANELLI, MICHAEL J
• Application Number:
  US07/744,634
• Time in Patent Office: 489 Days
• Field of Search: 364/424.01, 364/424.02, 364/461, 364/449, 318/587, 180/167, 180/168, 180/169, 358/103
• US Class Current: 701/26
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0236 in combination with a laser lasers per se H01S
• 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 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30

Abstract

An autonomous vehicle for operating in a predetermined work area while avoiding both fixed and moving obstacles. A plurality of laser, sonic and optical sensors detect targets and obstacles in the work area and provide coded signals to processors and controllers which direct the vehicle over a most expedient route to a target while avoiding any obstacles. The vehicle is especially useful in moving around the deck of an aircraft carrier to deliver ammunition to aircraft from an ammunition magazine.

Claims

1. A multipurpose autonomous vehicle for traveling to a desired location while avoiding moving and nonmoving obstacles, comprising:

a body member;

a plurality of wheels;

means for propelling and steering the body member by rotating the plurality of wheels;

a plurality of sensors mounted on the body member, which produce sensor signals;

a machine vision subsystem mounted on the body member, for receiving the sensor signals and interpreting the sensor signals and outputting a detection signal indicating the presence of an object;

a main controller subsystem mounted on the body member, for receiving a plurality of input signals;

a navigational subsystem mounted on the body member, comprising;

a means for receiving, as input, signals from the machine vision subsystem;

a means for receiving, as input, signals from the main controller subsystem;

means for plotting a map from the received signals;

means for plotting a path from the initial location of the vehicle to a desired location;

means for sending control signals to control the means for propelling and steering the body member along the plotted path; and

means for continuously monitoring signals from the machine vision subsystem and the present location of the vehicle and for determining whether an object is blocking the plotted path of the vehicle, and wherein the means for plotting a path provides a means for plotting a new path from the present location of the vehicle to the desired location to avoid the object; and

a means for determining if an object is moving, while the autonomous vehicle is moving, and wherein the means for plotting a path provides a means for plotting a path and speeds for avoiding moving objects.

2. A multipurpose autonomous vehicle, as claimed in claim 1, wherein the means for plotting a path provides a means for plotting a path within path boundaries and constraints.

3. A multipurpose autonomous vehicle, as claimed in claim 1, wherein the means for plotting a path further comprises a means for performing heuristic geometric reasoning and search techniques and wherein the means for plotting a map comprises a means for plotting a three dimensional map from the received signals.

4. A multipurpose autonomous vehicle for traveling to a desired location while avoiding moving and nonmoving obstacles, comprising:

a body member;

a plurality of wheels;

means for propelling and steering the body member by rotating the plurality of wheels;

a plurality of sensors mounted on the body member, which produce sensor signals;

a machine vision subsystem mounted on the body member, for receiving the sensor signals and interpreting the sensor signals and outputting a detection signal indicating the presence of an object;

a main controller subsystem mounted on the body member, for receiving a plurality of input signals; and

a navigational subsystem mounted on the body member, comprising;

a means for receiving, as input, signals from the machine vision subsystem;

a means for receiving, as input, signals from the main controller subsystem;

means for plotting a map from the received signals;

means for plotting a path from the initial location of the vehicle to a desired location;

means for sending control signals to control the means for propelling and steering the body member along the plotted path; and

means for continuously monitoring signals from the machine vision subsystem and the present location of the vehicle and for determining whether an object is blocking the plotted path of the vehicle, and wherein the means for plotting a path provides a means for plotting a new path from the present location of the vehicle to the desired location to avoid the object, wherein means for plotting a path comprises, memory for storing information describing a general area containing the desired location where a desired bar code is located, and wherein the navigational subsystem further comprises a means for searching for the desired bar codes, and wherein the plotting means further comprises a means for plotting a path to the general area and then to the desired bar code.

5. A multipurpose autonomous vehicle for traveling to a desired location while avoiding moving and nonmoving obstacles, comprising:

a body member;

a plurality of wheels;

means for propelling and steering the body member by rotating the plurality of wheels;

a plurality of sensors mounted on the body member, which produce sensor signals;

a machine vision subsystem mounted on the body member, for receiving the sensor signals and interpreting the sensor signals and outputting a detection signal indicating the presence of an object;

a main controller subsystem mounted on the body member, for receiving a plurality of input signals; and

a navigational subsystem mounted on the body member, comprising;

a means for receiving, as input, signals from the machine vision subsystem;

a means for receiving, as input, signals from the main controller subsystem;

means for plotting a map from the received signals;

means for plotting a path from the initial location of the vehicle to a desired location;

means for sending control signals to control the means for propelling and steering the body member along the plotted path; and

means for continuously monitoring signals from the machine vision subsystem and the present location of the vehicle and for determining whether an object is blocking the plotted path of the vehicle, and wherein the means for plotting a path provides a means for plotting a new path from the present location of the vehicle to the desired location to avoid the object; and

a plurality of batteries electrically connected to the means for propelling and steering, the plurality of sensors, the machine vision subsystem, and the navigation subsystem and wherein the means for plotting a map comprises a means for converting information from the received signals from spherical coordinates to Cartesian coordinates, means for fitting a plurality of surfaces to the data points using a least square fit, means for determining normals to the surfaces, and means for merging adjacent surfaces with similar normals.

6. A multipurpose autonomous vehicle, as claimed in claim 5, wherein the means for plotting a map further comprises, a means for performing a Hough transform, a means for performing blob labeling, and a means for performing landmark recognition.

7. A method of using a control means on an autonomous vehicle for directing the autonomous vehicle to a desired location, comprising the steps of:

accepting data from a plurality of sensors on the vehicle;

using the data from the plurality of sensors to construct a map;

using the map to plot a path from an initial position to a general final location where the desired location is located;

moving the autonomous vehicle along the plotted path;

continuously determining present location along the plotted path;

continuously accepting data from the plurality of sensors;

continuously using data from the plurality of sensors to update the map;

continuously determining if a new plotted path is needed;

using the updated map to plot a new path when needed;

moving the autonomous vehicle along the new plotted path;

approaching the general final location;

searching the general final location for a target located at the desired location;

plotting a path from the present location to the target; and

moving the autonomous vehicle along the plotted path.

8. A method of using a control means on an autonomous vehicle for directing the autonomous vehicle to a desired location, comprising the steps of:

accepting data from a plurality of sensors on the vehicle;

using the data from the plurality of sensors to construct a map;

using the map to plot a path from an initial position to a general final location where the desired location is located;

moving the autonomous vehicle along the plotted path;

continuously determining present location along the plotted path;

continuously accepting data from the plurality of sensors;

continuously using data from the plurality of sensors to update the map;

continuously determining if a new plotted path is needed;

using the updated map to plot a new path when needed;

moving the autonomous vehicle along the new plotted path;

using the data from the plurality of sensors to plot paths of moving obstacles; and

using the plotted paths of moving obstacles to plot a path and a speed from the present location to the desired location which avoids the moving objects.

9. A method, as claimed in claim 8, further comprising the step of powering the control means with power from a plurality of batteries mounted on the autonomous vehicle.

10. A method of using a control means on an autonomous vehicle for directing the autonomous vehicle to a desired location, comprising the steps of:

accepting data from a plurality of sensors on the vehicle;

using the data from the plurality of sensors to construct a map;

using the map to plot a path from an initial position to a general final location where the desired location is located;

moving the autonomous vehicle along the plotted path;

continuously determining present location along the plotted path;

continuously accepting data from the plurality of sensors;

continuously using data from the plurality of sensors to update the map;

continuously determining if a new plotted path is needed;

using the updated map to plot a new path when needed; and

moving the autonomous vehicle along the new plotted path, wherein the step of using data to construct a map uses a Hough transform and blob labeling.

11. A method of using a control means on an autonomous vehicle for directing the autonomous vehicle to a desired location, comprising the steps of:

accepting data from a plurality of sensors on the vehicle;

using the data from the plurality of sensors to construct a map comprising the steps of;

converting data from spherical coordinates to Cartesian coordinates;

fitting a plurality of surfaces to the data points using a least square fit;

determining normals to the surfaces; and

merging adjacent surfaces with similar normals;

using the map to plot a path from an initial position to a general final location where the desired location is located;

moving the autonomous vehicle along the plotted path;

continuously determining present location along the plotted path;

continuously accepting data from the plurality of sensors;

continuously using data from the plurality of sensors to update the map;

continuously determining if a new plotted path is needed;

using the updated map to plot a new path when needed; and

moving the autonomous vehicle along the new plotted path.

12. A method as claimed in claim 11, wherein the step of using data to construct a map, further comprises the steps of:

using data from a video camera to provide additional information; and

using landmark recognition to define groups of surfaces.