Systems and methods for control of an unmanned ground vehicle

• US 7,979,175 B2
• Filed: 01/21/2009
• Issued: 07/12/2011
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Svendsen, Selma, Filippov, Misha, Barrett, David S., Allard, James, Pack, Robert Todd
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US12/357,151
• Publication Number:
  US 20090198400A1
• Time in Patent Office: 902 Days
• Field of Search: 701/23, 701/1, 701/26, 701/93, 701/96
• US Class Current: 701/23
• CPC Class Codes: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa
• CPC Class Codes: G05D 1/024 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 1/0251 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 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• 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

Abstract

Systems and methods for interruptible autonomous control of a vehicle. Autonomous control is achieved by using actuators that interact with input devices in the vehicle. The actuators (e.g., linkages) manipulate the input devices (e.g., articulation controls and drive controls, such as a throttle, brake, tie rods, steering gear, throttle lever, or accelerator) to direct the operation of the vehicle. Although operating autonomously, manual operation of the vehicle is possible following the detection of events that suggest manual control is desired. Subsequent autonomous control may be permitted, permitted after a prescribed delay, or prevented.

Claims

1. A method for interruptible autonomous control of a vehicle, the method comprising the steps of:

identifying at least one input device in the vehicle;

providing at least one control policy corresponding to the at least one input device;

providing at least one actuator associated with the at least one input device;

detecting at least one disassociation between the at least one input device and the at least one actuator;

interrupting autonomous control of the vehicle based at least in part on the at least one disassociation;

detecting at least one restored association between the at least one input device and the at least one actuator; and

establishing a revised vehicle control based at least in part on the at least one restored association and the at least one control policy.

2. The method of claim 1 wherein the at least one actuator is associated with the at least one input device by at least one mechanical transmission therebetween.

3. The method of claim 1 wherein the disassociation comprises a separation between the at least one input device and the at least one actuator.

4. The method of claim 1 wherein the step of detecting the at least one disassociation comprises measuring a response of at least one of a proximity sensor and a strain gauge.

5. The method of claim 1 wherein the step of interrupting autonomous control comprises allowing manual vehicle control.

6. The method of claim 1 wherein the step of detecting at least one restored association comprises measuring a response of at least one of a proximity sensor and a strain gauge.

7. The method of claim 1 wherein the step of establishing a revised vehicle control comprises restoring autonomous vehicle control.

8. The method of claim 7 wherein restoring autonomous vehicle control occurs after at least one predetermined delay.

9. The method of claim 1 wherein the step of establishing a revised vehicle control comprises preventing further autonomous vehicle control.

10. The method of claim 1 wherein the step of establishing a revised vehicle control comprises preventing further autonomous vehicle control in the absence of at least one operator intervention.

11. The method of claim 1 wherein the input device comprises a drive control.

12. The method of claim 1 wherein the input device comprises an articulation control.

13. The method of claim 1 further comprising

initiating a shutdown sequence based at least in part on the disassociation between the at least one input device and the at least one actuator.

14. A system for interruptible autonomous control of a vehicle, the system comprising:

at least one input device in the vehicle;

at least one control policy corresponding to the at least one input device;

at least one actuator associated with the at least one input device;

at least one detector for detecting at least one of (i) a disassociation between the at least one input device and the at least one actuator, and (ii) a restored association between the at least one input device and the at least one actuator; and

at least one controller in communication with the at least one actuator and the at least one detector for interrupting autonomous control of the vehicle and executing a revised vehicle control program, the vehicle control program based at least in part on the at least one control policy.

15. The system of claim 14 wherein the at least one actuator is mechanically associated with the at least one input device.

16. The system of claim 15 wherein the mechanical association comprises a mechanical linkage.

17. The system of claim 15 wherein the mechanical association comprises a lever and pivot joint.

18. The system of claim 15 wherein the mechanical association comprises a rack and pinion device.

19. The system of claim 14 wherein the at least one detector comprises at least one of a proximity sensor and a strain gauge.

20. The system of claim 14 wherein the at least one controller is configured to initiate a vehicle shutdown sequence.

21. The system of claim 14 wherein the at least one input device comprises an articulation control for operating equipment attached to the vehicle.

22. The system of claim 21 wherein the equipment comprises a tilling apparatus.

23. The system of claim 21 wherein the equipment comprises a blade.

24. The system of claim 14 wherein the vehicle comprises a tractor.

25. The system of claim 14 wherein the vehicle comprises a passenger vehicle.