Versatile robotic control module

• US 9,429,944 B2
• Filed: 08/07/2014
• Issued: 08/30/2016
• Est. Priority Date: 10/21/2005
• Status: Active Grant

• Current Assignee: Deere & Company, iRobot Corporation
• Original Assignee: Deere & Company, iRobot Corporation
• Inventors: Filippov, Mikhail O., Fitch, Osa, Keller, Scott P., O'Connor, John, Zendzian, David S., El Fata, Nadim, Larsen, Kevin, Meuchel, Arlen Eugene, Schmaltz, Mark David, Allard, James, De Roo, Chris A., Norris, William Robert, Norby, Andrew Julian, Turner, Christopher David Glenn
• Primary Examiner(s): Shaawat, Mussa A
• Assistant Examiner(s): KIM, KYUNG J
• Application Number:
  US14/453,776
• Publication Number:
  US 20140350768A1
• Time in Patent Office: 754 Days
• Field of Search: None
• US Class Current: 1/1
• 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

Certain embodiments of the present invention provide robotic control modules for use in a robotic control system of a vehicle, including structures, systems and methods, that can provide (i) a robotic control module that has multiple functional circuits, such as a processor and accompanying circuits, an actuator controller, an actuator amplifier, a packet network switch, and a power supply integrated into a mountable and/or stackable package/housing; (ii) a robotic control module with the noted complement of circuits that is configured to reduce heat, reduce space, shield sensitive components from electro-magnetic noise; (iii) a robotic control system utilizing robotic control modules that include the sufficiently interchangeable functionality allowing for interchangeability of modules; and (iv) a robotic control system that distributes the functionality and processing among a plurality of robotic control modules in a vehicle.

Claims

1. A system comprising:

a vehicle comprising;

a vehicle body, and

a vehicle control system coupled to the vehicle body and configured to control a vehicle operational system; and

a robotic control system configured to control the vehicle control system and comprising;

a packet network, wherein the packet network is configured to extend into and between available idle spaces within interior compartments of the vehicle body through which no moving part passes; and

a plurality of interchangeable robotic control modules, each robotic control module comprising;

a single housing configured to be mountable to fit into the available idle spaces, the single housing comprising;

a functional unit,

a processor module comprising a memory including executable program code,

an actuator controller, and

a packet network switch; and

one or more network connectors positioned on the exterior of the single housing and configured to connect to the packet network and communicate with the packet network switch, wherein the robotic control modules are connected to the packet network,

wherein each interchangeable robotic control module of the plurality of interchangeable robotic control modules is configured to select a particular modular role from among a plurality of possible modular roles and execute a portion of the executable program code associated with the particular modular role.

2. The system of claim 1, wherein the processor module is configured to execute and arbitrate among robotic control behaviors, wherein the actuator controller includes a reprogrammable actuator controller configured to communicate with the processor module and issue an actuator control signal based at least in part on the robotic control behaviors, and wherein an actuator connector is positioned on an exterior of the single housing and is configured to communicate with the reprogrammable actuator controller and transmit the actuator control signal.

3. The system of claim 2, wherein the actuator connector is configured to communicate an actuator drive signal that is modulated by the reprogrammable actuator controller and an actuator amplifier.

4. The system of claim 2, wherein:

the actuator connector is configured to communicate a signal for actuator driving modulated by the reprogrammable actuator controller; and

wherein each of the plurality of interchangeable robotic control modules is configured to execute a selected part of the executable program code.

5. The system of claim 1, further comprising a plurality of peripherals or sensors, wherein the packet network is configured to transmit and receive signals between the robotic control modules or between a robotic control module and a peripheral.

6. The system of claim 5, wherein the plurality of peripherals comprises an actuator and the vehicle control system comprises at least one subsystem that is controlled by the actuator.

7. The system of claim 6, wherein the subsystem includes at least one of a throttle system, a braking system, a steering system, or a transmission system for controlling the vehicle.

8. The system of claim 6, further comprising a vehicle controller in communication with the subsystem, the vehicle controller configured to control the vehicle control system based on control signals received from robotic control modules.

9. The system of claim 1, wherein the robotic control modules comprise an actuator amplifier configured to amplify an actuator control signal from the actuator controller.

10. The system of claim 1, wherein the processor module further comprises at least one protocol transceiver configured to execute transceiver monitoring code.

11. The system of claim 1, wherein:

the memory of the processor module comprises transceiver monitoring code;

a protocol transceiver connector is positioned on the exterior of a robotic control module housing and is configured to communicate with a plurality of protocol transceiver sensors; and

each of the robotic control modules comprises a power supply within the single housing, where the power supply is configured to receive power from the vehicle through a power input and to convert the vehicle supplied power into interior power.

12. The system of claim 11, wherein the memory comprises robotic control behaviors.

13. The system of claim 12, wherein the robotic control behaviors comprise a teleoperation mode, an obstacle avoidance mode, a waypoint navigation mode, and a following mode.

14. The system of claim 11, wherein the memory comprises a vehicle control module interface configured to communicate with the vehicle control system.

15. The system of claim 11, wherein the processor and the memory are positioned on a single board comprising a plurality of protocol transceivers.

16. The system of claim 1, wherein:

the actuator controller comprises a motor controller;

a motor amplifier is positioned proximate to the motor controller in the single housing; and

the packet network switch comprises an Ethernet switch.

17. The system of claim 1, wherein the vehicle is retro-fitted with the robotic control system.

18. The system of claim 17, wherein the available idle spaces comprise spaces located:

between an engine and an engine compartment wall, inside a vehicle door, under floor space, attached to the back of a seat, and in-roof space.

19. The system of claim 17, wherein the robotic control modules are positioned and mounted adjacent to devices that the robotic control modules are configured to send control signals to and receive signals from.

20. The system of claim 17, further comprising:

a drive actuator configured to control a motion of the vehicle;

a robotic sensor; and

interchangeable robotic control modules configured to communicate with the drive actuator and the robotic sensor over the packet network;

wherein each robotic control module further includes;

a sensor circuit configured to communicate with the robotic sensor over the packet network; and

a motor controller comprising a digital signal processor and a protocol stack configured to communicate with a peripheral.

21. The system of claim 17, wherein the processor module comprises a memory having executable code comprising at least one of behavior code, sensor driver code, drive controller code, or actuator controller code, and wherein the processor module is configured to execute a modular role corresponding to a determined role of the robotic control module.

22. A method comprising:

fitting a packet network to extend into and between available idle space within interior compartments of a vehicle through which no moving part passes in the vehicle;

mounting a module housing of such size and shape as to fit into said available idle spaces and connecting the module housing to the packet network;

connecting a plurality of mountable robotic control modules to the packet network; and

selecting, by a robotic control module, a particular modular role from among a plurality of possible modular roles and executing a portion of executable program code associated with the particular modular role.

23. The method of claim 22, further comprising:

connecting the plurality of mountable robotic control modules to a power source on the vehicle using the power input of each mountable module;

connecting at least one of the plurality of mountable robotic control modules to a corresponding actuator using an actuator connector; and

connecting at least one of the plurality of mountable robotic control modules to a corresponding sensor using a protocol transceiver connector.

24. The method of claim 22, further comprising connecting at least one of the plurality of mountable robotic control modules to a corresponding peripheral or sensor using at least network connector.