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WO2008060689A3 - Comportements autonomes pour un véhicule commandé à distance - Google Patents

Comportements autonomes pour un véhicule commandé à distance Download PDF

Info

Publication number
WO2008060689A3
WO2008060689A3 PCT/US2007/068890 US2007068890W WO2008060689A3 WO 2008060689 A3 WO2008060689 A3 WO 2008060689A3 US 2007068890 W US2007068890 W US 2007068890W WO 2008060689 A3 WO2008060689 A3 WO 2008060689A3
Authority
WO
WIPO (PCT)
Prior art keywords
remote vehicle
autonomous
execute
operator
behaviors
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/US2007/068890
Other languages
English (en)
Other versions
WO2008060689A2 (fr
Inventor
Emilie Phillips
Pavlo E Rudakevych
Orjeta Taka
James Gordon Wolfe
Tom Frost
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
iRobot Corp
Original Assignee
iRobot Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US11/739,590 external-priority patent/US7843431B2/en
Application filed by iRobot Corp filed Critical iRobot Corp
Priority to EP07868279A priority Critical patent/EP2070076A4/fr
Priority to PCT/US2008/060286 priority patent/WO2008144135A1/fr
Priority to EP08745811.3A priority patent/EP2147386B1/fr
Publication of WO2008060689A2 publication Critical patent/WO2008060689A2/fr
Publication of WO2008060689A3 publication Critical patent/WO2008060689A3/fr
Anticipated expiration legal-status Critical
Priority to IL198104A priority patent/IL198104B/en
Priority to IL201431A priority patent/IL201431A/en
Ceased legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41H—ARMOUR; ARMOURED TURRETS; ARMOURED OR ARMED VEHICLES; MEANS OF ATTACK OR DEFENCE, e.g. CAMOUFLAGE, IN GENERAL
    • F41H7/00—Armoured or armed vehicles
    • F41H7/005—Unmanned ground vehicles, i.e. robotic, remote controlled or autonomous, mobile platforms carrying equipment for performing a military or police role, e.g. weapon systems or reconnaissance sensors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D5/00—Safety arrangements
    • F42D5/02—Locating undetonated charges
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F42—AMMUNITION; BLASTING
    • F42D—BLASTING
    • F42D5/00—Safety arrangements
    • F42D5/04—Rendering explosive charges harmless, e.g. destroying ammunition; Rendering detonation of explosive charges harmless
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0044—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0238—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors
    • G05D1/024—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using obstacle or wall sensors in combination with a laser
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0272—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising means for registering the travel distance, e.g. revolutions of wheels
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/0278—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using satellite positioning signals, e.g. GPS

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • General Engineering & Computer Science (AREA)
  • Computing Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Mathematical Physics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Business, Economics & Management (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

L'invention concerne un système et un procédé permettant à un opérateur soit de faire passer un véhicule d'un mode de commande à distance, dans lequel le véhicule est commandé directement par l'opérateur, à un ou plusieurs comportements autonomes, soit de mettre en oeuvre des comportements autonomes pour le véhicule commandé à distance. Le système se compose d'un système de commande opérateur conçu pour recevoir une commande d'un opérateur, y compris des instructions pour que le véhicule commandé à distance exécute un comportement autonome, et d'un système de commande embarqué sur le véhicule commandé à distance, conçu pour recevoir l'instruction transmise par le système de commande opérateur. Lorsqu'il reçoit l'instruction, le véhicule à distance exécute le comportement autonome.
PCT/US2007/068890 2006-10-06 2007-05-14 Comportements autonomes pour un véhicule commandé à distance Ceased WO2008060689A2 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP07868279A EP2070076A4 (fr) 2006-10-06 2007-05-14 Comportements autonomes pour un véhicule commandé à distance
PCT/US2008/060286 WO2008144135A1 (fr) 2007-05-14 2008-04-14 Comportements autonomes pour un véhicule à distance
EP08745811.3A EP2147386B1 (fr) 2007-05-14 2008-04-14 Comportements autonomes pour un véhicule à distance
IL198104A IL198104B (en) 2006-10-06 2009-04-07 Autonomous behaviors for a remote vehicle
IL201431A IL201431A (en) 2007-05-14 2009-10-11 Autonomous behaviors in a vehicle operated remote control

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US82863206P 2006-10-06 2006-10-06
US60/828,632 2006-10-06
US91178507P 2007-04-13 2007-04-13
US60/911,785 2007-04-13
US11/739,590 US7843431B2 (en) 2007-04-24 2007-04-24 Control system for a remote vehicle
US11/739,590 2007-04-24

Publications (2)

Publication Number Publication Date
WO2008060689A2 WO2008060689A2 (fr) 2008-05-22
WO2008060689A3 true WO2008060689A3 (fr) 2008-08-28

Family

ID=39402319

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/US2007/068890 Ceased WO2008060689A2 (fr) 2006-10-06 2007-05-14 Comportements autonomes pour un véhicule commandé à distance

Country Status (3)

Country Link
EP (1) EP2070076A4 (fr)
IL (1) IL198104B (fr)
WO (1) WO2008060689A2 (fr)

Families Citing this family (26)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8108092B2 (en) 2006-07-14 2012-01-31 Irobot Corporation Autonomous behaviors for a remote vehicle
EP2131268A1 (fr) * 2008-06-04 2009-12-09 BAE Systems PLC Système de véhicule, véhicule terrestre et unité de base
EP2131259A1 (fr) * 2008-06-04 2009-12-09 BAE Systems PLC Système de véhicule
WO2009147419A1 (fr) * 2008-06-04 2009-12-10 Bae Systems Plc Système de véhicule, véhicule terrestre et unité de base
FI20095714A7 (fi) 2009-06-24 2010-12-25 Sandvik Mining & Construction Oy Ajoreitin määrittäminen liikkuvan kaivoskoneen automaattisen ohjaamisen järjestämiseksi
FI20095713A7 (fi) 2009-06-24 2010-12-25 Sandvik Mining & Construction Oy Ajoreitin määrittäminen liikkuvan kaivoskoneen automaattisen ohjaamisen järjestämiseksi
DK2466409T3 (da) * 2010-12-15 2014-06-23 Mt Robot Ag Fremgangsmåde og apparat til automatiseret styring af et transportsystem
FR2969571B1 (fr) * 2010-12-23 2015-01-16 Thales Sa Systeme robotise collaborateur
US9389611B2 (en) 2012-04-11 2016-07-12 Her Majesty The Queen In Right Of Canada As Represented By The Minister Of National Defence Adaptative platform for unmanned defense vehicles
US9367067B2 (en) * 2013-03-15 2016-06-14 Ashley A Gilmore Digital tethering for tracking with autonomous aerial robot
US10503165B2 (en) 2017-12-22 2019-12-10 Toyota Research Institute, Inc. Input from a plurality of teleoperators for decision making regarding a predetermined driving situation
TR201807379A2 (tr) * 2018-05-24 2018-06-21 Kuzucuk Yusuf Paletli̇ el yapimi patlayici i̇mha ve tahri̇p araci
DE102018006316A1 (de) * 2018-08-09 2020-02-13 Mbda Deutschland Gmbh Waffensystem und Verfahren zum Betreiben eines Waffensystems
WO2020087345A1 (fr) * 2018-10-31 2020-05-07 深圳市大疆创新科技有限公司 Procédé de commande de télérobot terrestre et télérobot terrestre
US12055936B2 (en) 2019-06-17 2024-08-06 Toyota Research Institute, Inc. Autonomous rideshare rebalancing
DE102019127541B3 (de) * 2019-10-14 2021-01-14 Audi Ag Verfahren zur assistierten oder zumindest teilautomatisierten Führung eines Kraftfahrzeugs
WO2021162641A1 (fr) * 2020-02-11 2021-08-19 St Engineering Advanced Material Engineering Pte. Ltd. Système d'engagement robotisé avancé tactique
US11625035B2 (en) * 2020-02-19 2023-04-11 Tactical R/C, LLC Remote-controlled vehicle with camera mount
US11797016B2 (en) 2020-04-13 2023-10-24 Boston Dynamics, Inc. Online authoring of robot autonomy applications
US12296694B2 (en) 2021-03-10 2025-05-13 Techtronic Cordless Gp Lawnmowers
WO2022256818A1 (fr) 2021-06-04 2022-12-08 Boston Dynamics, Inc. Capteur autonome et télécommandé pointant sur un robot mobile
AU2022268338A1 (en) 2021-11-10 2023-05-25 Techtronic Cordless Gp Robotic lawn mowers
WO2023140928A1 (fr) * 2022-01-21 2023-07-27 Boston Dynamics, Inc. Systèmes et procédés d'enregistrement de missions de robot
US12472611B2 (en) 2022-05-31 2025-11-18 Techtronic Cordless Gp Peg driver
AU2023204696A1 (en) 2022-07-19 2024-02-08 Techtronic Cordless Gp Display for controlling robotic tool
EP4340296B1 (fr) 2022-07-29 2025-04-09 Techtronic Cordless GP Génération d'une clé cryptographique pour un outil de jardin robotisé

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US20070273557A1 (en) * 2006-05-26 2007-11-29 Itt Manufacturing Enterprises,Inc. Augmented reality-based system and method providing status and control of unmanned vehicles

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US5448479A (en) * 1994-09-01 1995-09-05 Caterpillar Inc. Remote control system and method for an autonomous vehicle
US6263989B1 (en) * 1998-03-27 2001-07-24 Irobot Corporation Robotic platform
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Patent Citations (5)

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Publication number Priority date Publication date Assignee Title
US7246567B2 (en) * 2000-02-10 2007-07-24 H2Eye (International) Limited Remote operated vehicles
US20070003915A1 (en) * 2004-08-11 2007-01-04 Templeman James N Simulated locomotion method and apparatus
US20070072662A1 (en) * 2005-09-28 2007-03-29 Templeman James N Remote vehicle control system
US20070198145A1 (en) * 2005-10-21 2007-08-23 Norris William R Systems and methods for switching between autonomous and manual operation of a vehicle
US20070273557A1 (en) * 2006-05-26 2007-11-29 Itt Manufacturing Enterprises,Inc. Augmented reality-based system and method providing status and control of unmanned vehicles

Also Published As

Publication number Publication date
EP2070076A4 (fr) 2012-11-21
IL198104B (en) 2018-08-30
EP2070076A2 (fr) 2009-06-17
WO2008060689A2 (fr) 2008-05-22

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