Self-calibrating sensors and actuators for unmanned vehicles
First Claim
1. An unmanned vehicle comprising:
- a chassis;
a propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory;
a communication interface; and
a processor configured to;
operate the propulsion system in a guided calibration mode by;
receiving, using the communication interface, one or more commands from an external guided control system;
moving, using the propulsion system, the chassis according to the commands;
collecting sensor data from the one or more sensors while implementing the commands; and
, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;
automatically switch operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode;
thereafter, operate the propulsion system in the autonomous calibration mode by;
automatically moving, using the propulsion system, the chassis;
collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system; and
, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and
,automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.
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Accused Products
Abstract
An apparatus, method, and system of self-calibrating sensors and actuators for unmanned vehicles is provided, which includes an unmanned vehicle comprising: a chassis; a propulsion system; one or more sensors configured to sense features around the chassis; a memory; a communication interface; and a processor configured to: operate the propulsion system in a guided calibration mode; automatically switch operation of the propulsion system to an autonomous calibration mode when a degree of certainty on a calibration of one or more of sensor data and a position of the chassis is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode; and, automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.
71 Citations
19 Claims
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1. An unmanned vehicle comprising:
a chassis;
a propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory;
a communication interface; and
a processor configured to;operate the propulsion system in a guided calibration mode by;
receiving, using the communication interface, one or more commands from an external guided control system;
moving, using the propulsion system, the chassis according to the commands;
collecting sensor data from the one or more sensors while implementing the commands; and
, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;automatically switch operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operate the propulsion system in the autonomous calibration mode by;
automatically moving, using the propulsion system, the chassis;
collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system; and
, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and
,automatically switch operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method comprising:
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operating, using a processor of an unmanned vehicle, a propulsion system of the unmanned vehicle in a guided calibration mode, the unmanned vehicle comprising;
a chassis;
the propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory;
a communication interface, and the processor, the operating the propulsion system in the guided calibration mode comprising;
receiving, using the communication interface, one or more commands from an external guided control system;
moving, using the propulsion system, the chassis according to the commands;
collecting sensor data from the one or more sensors while implementing the commands; and
, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;automatically switching, using the processor, operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operating, using the processor, the propulsion system in the autonomous calibration mode by;
automatically moving, using the propulsion system, the chassis;
collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system; and
, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and
,automatically switching, using the processor, operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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19. A computer program product, comprising a non-transitory computer usable medium having a computer readable program code adapted to be executed to implement a method comprising:
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operating, using a processor of an unmanned vehicle, a propulsion system of the unmanned vehicle in a guided calibration mode, the unmanned vehicle comprising;
a chassis;
the propulsion system configured to move the chassis;
one or more sensors configured to sense features around the chassis;
a memory;
a communication interface, and the processor, the operating the propulsion system in the guided calibration mode comprising;
receiving, using the communication interface, one or more commands from an external guided control system;
moving, using the propulsion system, the chassis according to the commands;
collecting sensor data from the one or more sensors while implementing the commands; and
, processing the sensor data using one or more uncertainty models to determine at least one degree of certainty on a calibration of one or more of the sensor data and a position of the chassis;automatically switching, using the processor, operation of the propulsion system to an autonomous calibration mode when the degree of certainty is above a first threshold value associated with safe operation of the propulsion system in the autonomous calibration mode; thereafter, operating, using the processor, the propulsion system in the autonomous calibration mode by;
automatically moving, using the propulsion system, the chassis;
collecting the sensor data from the one or more sensors while automatically moving the chassis using the propulsion system; and
, further processing the sensor data using one or more uncertainty propagation models to determine at least one further degree of certainty on the calibration; and
,automatically switching, using the processor, operation of the propulsion system to an operational mode when the degree of certainty is above a second threshold value greater than the first threshold value.
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Specification