Abstract:
Methods and systems are provided for triaging a plurality of targets with robotic vehicle while the robotic vehicle remains at a first location. The robotic vehicle is in operable communication with a remote command station and includes a processor that is coupled to a first imager. The first imager generates separate images of each one of the plurality of targets while the robotic vehicle remains at the first location. The processor receives target data identifying the plurality of targets from the remote command station, acquires an image of each one of the plurality of targets with the first imager while the robotic vehicle remains at the first location, and transmits each generated image to the remote command station.

Description:
PRIORITY CLAIMS 
     This application claims the benefit of U.S. Provisional Application No. 61/089,854 filed Aug. 18, 2008. 
     TECHNICAL FIELD 
     The following discussion generally relates to control of a robotic vehicle, and more particularly related to systems and methods for triaging a plurality of targets with a robotic vehicle. 
     BACKGROUND 
     Increasingly, robotic vehicles are being utilized to explore and analyze remote, hazardous, and/or hostile environments. For example, robotic roving vehicles (RRVs) have been deployed to conduct exploratory and scientific missions on the surfaces of remote planets or other astronomical bodies. In some cases, these RRVs are configured to analyze geologic targets on the remote surface and to transmit the analysis data back to earth. To that end, some RRVs are equipped with robotic arms having various instruments for performing geochemical analysis and gathering other data regarding a geologic target. Such on-site geologic analysis provides valuable information regarding the composition, structure, physical properties, dynamics, and history of a remote terrain. 
     One technique for analyzing geologic targets includes a two-step triage or screening process. First, a geologist or other personnel reviews data describing the landscape surrounding the current location of the robotic vehicle in order to identify a plurality of geologic targets. Second, the robotic vehicle moves to the location of each identified geologic target and deploys a Microscopic Imager (MI) attached to its robotic arm to a very accurate position in order to acquire microscopic images of the geologic targets for petrographic analysis by a geologist or other personnel. Samples of the geologic target may then be analyzed based on the results of this petrographic analysis. 
     While the two-step triage process discussed above is effective, it does suffer from certain drawbacks. For example, the process requires the robotic vehicle to move to a new location and/or redeploy the robotic arm and MI for each selected geologic target. Further, the time required to position the MI and to acquire the image data often exceeds the time required to analyze a sample of a geologic target and, as a result, the image data for a geologic target is often received after the analysis data. Consequently, the two-step triage process described above can result in excessive movement of the robotic vehicle, increased wear and tear on the robotic arm, duplicative analysis, and other factors that may reduce the total number of diverse geologic samples that can be analyzed during the robotic vehicle&#39;s mission. 
     Accordingly, it is desirable to provide a system and a method for efficient triage of multiple geologic targets without having to move the robotic vehicle, deploy the robotic arm, or use other mission resources. Furthermore, other desirable features and characteristics of the present invention will become apparent from the subsequent detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. 
     BRIEF SUMMARY 
     In one embodiment a robotic system for triaging a plurality of targets while the robotic vehicle remains at a first location is provided. The robotic vehicle is in operable communication with a remote command station and includes a processor that is coupled to a first imager. The first imager generates separate images of each one of the plurality of targets while the robotic vehicle remains at the first location. The processor receives target data identifying the plurality of targets from the remote command station, acquires an image of each one of the plurality of targets with the first imager while the robotic vehicle remains at the first location, and transmits each generated image to the remote command station. 
     In another embodiment, a method for triaging a plurality of geologic targets disposed on a landscape that surrounds the current location of a robotic vehicle is provided. The robotic vehicle is in operable communication with a remote command center and includes a first imager for generating separate high-resolution images of each one of the plurality of geologic targets while the robotic vehicle remains at its current location. The method comprises receiving target data from the remote command device at the robotic vehicle, the target data identifying the plurality of geologic targets, generating at least one high-resolution image of each one of the plurality of geologic targets with the first imager, and transmitting each generated high-resolution image from the robotic vehicle to the remote command device. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The present invention will hereinafter be described in conjunction with the following drawing figures, wherein like numerals denote like elements, and 
         FIG. 1  depicts an exemplary robotic vehicle according to one embodiment; 
         FIG. 2  is a block diagram of an exemplary control system for a robotic vehicle according to one embodiment; 
         FIG. 3  is a flowchart of an exemplary method for efficient triage of geologic targets with a robotic vehicle; and 
         FIG. 4  is a block diagram of a high-resolution imager according to one embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     The following detailed description is merely exemplary in nature and is not intended to limit the invention or the application and uses of the invention. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description. In addition, it should be noted that  FIGS. 1-4  are merely illustrative and may not be drawn to scale. Finally, embodiments are described herein in terms of functional block components and processing steps. Such functional blocks may be realized by any number of components configured to perform the specified function and achieve the various results. 
       FIG. 1  illustrates an exemplary robotic vehicle  10  according to one embodiment. As depicted, robotic vehicle  10  comprises a land-based vehicle that is configured to maneuver over the surface of a planet or other astronomical body. In one embodiment, robotic vehicle  10  comprises a robotic roving vehicle (RRV) for conducting exploratory missions of remote planetary surfaces, such as one of the Mars exploratory rovers (MERs). As further discussed below, robotic vehicle  10  is configured to generate high-resolution images of geologic targets (e.g., geologic targets  14 ,  15 , and  16 ) without moving from its current location. These high-resolution images may be utilized for triage of the geologic targets to assess whether additional analysis is merited. Although embodiments are described herein with regard to a robotic vehicle  10  for triaging geologic targets, it will be appreciated that alternative embodiments may be utilized for triage of other target types. For example, alternative embodiments may be utilized for triage of objects in hostile or hazardous environments, such as Improvised Explosive Device (IED) examinations, nuclear or chemical reactors, high-voltage facilities, wildlife habitats, the undersides of bridges, and dynamic manufacturing processes. 
     Robotic vehicle  10  includes a power source  22 , a drive system  24 , an antenna  26 , a robotic arm  28 , a panoramic imager  30 , and a high-resolution imager  32 . Power source  22  supplies electrical power to various processors, controllers, actuators, sensors imagers, and other components of robotic vehicle  10 . In the depicted embodiment, power source  22  includes a solar array that converts solar radiation into electrical power. Power source  22  may also include one or more batteries, generators, and other devices for generating electrical power. 
     Drive system  24  is operable to move robotic vehicle  10  over the surrounding landscape. As depicted, driver system  24  includes a suspension system  40  and a plurality of rotatable wheels  42 ,  43 ,  44 . Drive system  24  further includes one or more non-illustrated actuators configured to rotate and/or turn wheels  42 - 44  in response to received command signals. It will be appreciated that drive system  24  is merely an exemplary drive system according to one embodiment and that alternative embodiments may utilize other drive mechanisms, such as one or more tread belts. 
     Antenna  26  communicates with a remote command station  50  via one or more wireless communication networks. Antenna  26  may utilize any suitable wireless communication technique to communicate with remote command station  50 , including satellite communications, microwave radio communications, and other suitable communication techniques. In one embodiment, antenna  26  is configured to communicate with remote command station  50  via the Deep Space Network (DSN) and/or one or more satellites  52 . Remote command station  50  may include one or more electronic devices (remote command devices)  54  for communicating with robotic vehicle  10 . 
     Robotic arm  28  may be deployed to prepare and/or analyze samples of a geologic target. In its deployed position, arm  28  extends outwardly from robotic vehicle  10  to the position of the geologic target. Arm  28  may then utilize a plurality of instruments to prepare (e.g., crush, grind, drill, scrape, etc.) and/or analyze a sample of the geologic target. In one embodiment, arm  28  includes one or more sample preparation instruments (e.g., rock abrasion tools, drills, etc.) and one or more sample analysis instruments (e.g., spectrometers, magnets, etc.). In addition, arm  28  may include one or more sample collection devices (e.g., a scoop, a bucket, etc.) for collecting a sample of the geologic target and transporting the sample inside of robotic vehicle  10  for additional analysis. 
     Panoramic imager  30  captures images of the landscape, or a portion of the landscape, surrounding the current location of robotic vehicle  10 . The images generated by panoramic imager  30  include a plurality of geologic targets  14 - 16  that may be selected for additional imaging by high-resolution imager  32  as further discussed below. In the depicted embodiment, panoramic imager  30  is coupled to a camera mast  56  that extends upwardly from robotic vehicle  10 . Panoramic imager  30  and/or camera mast  56  may be configured to rotate enabling panoramic imager  30  to create panoramic images of the surrounding landscape. In one exemplary embodiment, panoramic imager  30  includes a stereo camera that generates stereoscopic images of at least a portion of the surrounding landscape, enabling the depth or distance between panoramic imager  30  and each geologic target  14 - 16  to be determined using a range imaging technique. 
     High-resolution imager  32  performs detailed imaging of geologic targets  14 - 16  within a predetermined range without the need to physically relocate robotic vehicle  10 . High-resolution imager  32  may utilize one or more telescopic, telephoto, tele macro, and/or zoom architectures and a focus mechanism to generate the high-resolution images. As further described below, in one embodiment the images generated by high-resolution imager  32  are used for triage of geologic targets. In this case, the high-resolution imager  32  is operable to generate images of targets with sufficient resolution to show various geologic characteristics, including textures, layers, grain structures, mineral content, and/or other geologic characteristics. Further, in some embodiments the field of view of the images generated by high-resolution imager  32  substantially corresponds to the dimensions of the imaged geologic target. In one exemplary embodiment, high-resolution imager  32  is operable to generate 0.04-0.2 mm/pixel images of geologic targets within a range of 1-10 meters. 
     As depicted, high-resolution imager  32  is coupled to camera mast  56  below panoramic imager  30 . However, high-resolution imager  32  may be alternatively coupled to other positions on camera mast  56  or robotic vehicle  10 . In addition, high-resolution imager  32  may be bore-sighted with, or configured to move (e.g., tilt and rotate) independently of, panoramic imager  30 . 
       FIG. 2  is a block diagram of an exemplary robotic vehicle  100 . As depicted, robotic vehicle  100  includes a drive system  110 , an antenna  112 , a robotic arm  114 , a panoramic imager  116 , and a high-resolution imager  118 . Each of these components is operable to perform substantially the same functions as the corresponding component of robotic vehicle  10  described above with respect to  FIG. 1 . In addition, each of these components is coupled to a control system  120  via a data communication link  122 . In one embodiment, data communication link  122  comprises an onboard data communication bus that transmits data, status, command, and other information or signals between various components of robotic vehicle  100 . Finally, the depicted components may each receive electrical power from a power source (e.g., power source  22  of  FIG. 1 ) via a non-illustrated power supply bus. 
     Control system  120  includes a processor  140  and memory  142 . Processor  140  may comprise any type of processor or multiple processors, single integrated circuits such as a microprocessor, or any suitable number of integrated circuit devices and/or circuit boards working in cooperation to accomplish the functions of a processing unit. Processor  140  is operable to selectively transmit data and commands to, and to selectively receive data from, drive system  110 , antenna  112 , robotic arm  114 , panoramic imager  116 , and high-resolution imager  118 . During operation, processor  140  executes one or more instructions, preferably stored within memory  142 , to perform or execute various processes and methods including the methods for efficient triage of geologic targets described below. 
     Memory  142  may be any type of suitable memory, including various types of dynamic random access memory (DRAM) such as SDRAM, various types of static RAM (SRAM), and various types of non-volatile memory (PROM, EPROM, and flash). It should be understood that the memory  142  may be a single type of memory component, or it may be composed of many different types of memory components. As noted above, memory  142  stores instructions for executing one or more methods, including the methods for efficient triage of geologic targets described below. In addition, memory  142  may also store various other data. 
       FIG. 3  is a flowchart of an exemplary method  150  for efficient triage of geologic targets with a robotic vehicle. In one embodiment, the steps of method  150  are performed or executed by a processor (e.g., processor  140  of  FIG. 2 ) or other processing unit within the robotic vehicle. However, it will be appreciated that the steps described below may also be performed or executed using various other hardware, software, and/or firmware components. 
     During step  152  of method  150 , one or more images of a landscape at or near the current location of the robotic vehicle are acquired. With reference to  FIGS. 2 and 3 , in one embodiment processor  140  executes step  152  by selectively issuing command signals to panoramic imager  116  to generate one or more panoramic images of the surrounding landscape. In response, panoramic imager  116  generates the panoramic image(s) and transmits the panoramic image data to processor  140 . It will be appreciated that the images acquired during step  152  may also be generated remotely, by a satellite or another vehicle, and delivered to processor  140  (or directly to a remote command station) through any suitable mechanism. 
     Next, during step  154  the panoramic image data is transmitted to a remote command station (e.g., remote command station  50  of  FIG. 1 ). The panoramic image data may be transmitted using any suitable technique or mechanism. For example, processor  140  executes step  154  by transmitting the panoramic image data to the remote command station via antenna  112 . In one embodiment, processor  140  transmits the panoramic image data automatically upon receipt of the data. Alternatively, processor  140  may store the panoramic image data in memory  142  for subsequent transmission (e.g., during a predetermined data transmission window or upon receipt of a request from the remote command station). 
     Each panoramic image received at the remote command station is analyzed to identify geologic targets (e.g., geologic targets  14 - 16  of  FIG. 1 ) of interest within the depicted landscape. The geologic targets may be identified using any suitable technique. For example, the geologic targets may be identified manually by one or more geologists or other personnel that analyze the panoramic image(s). Alternatively, the geologic targets may be identified automatically by a predetermined target identification algorithm. Regardless of the technique used to identify the geologic targets, the remote command station transmits target data that identifies the geologic targets and is received by the robotic vehicle during step  156 . 
     Next, high-resolution images of each geologic target are acquired (step  158 ). Processor  140  executes step  158  by selectively issuing command signals to high-resolution imager  118  to generate the appropriate high-resolution images. In response to these command signals, high-resolution imager  118  generates one or more high-resolution images of each geologic target and transmits the high-resolution image data to processor  140 . In one embodiment, each geologic target is positioned within the portion of the surrounding landscape that corresponds to the predetermined range of high-resolution imager  118  (e.g., 1-10 meters). In this case, high-resolution imager  118  is able to generate high-resolution image(s) of each geologic target without the need to reposition robotic vehicle  100 . 
     The high-resolution image data is transmitted to the remote command station during step  160 . The high-resolution image data may be transmitted using any suitable technique of mechanism. In one embodiment, processor  140  executes step  160  by transmitting the high-resolution image data to the remote command station via antenna  112 . Processor  140  may transmit the high-resolution data automatically upon receipt of the data. Alternatively, processor  140  may store the high-resolution image data in memory  142  for subsequent transmission (e.g., during a predetermined data transmission window or upon receipt of a request from the remote command station). 
     The high-resolution images received at the remote command station are used to triage the geologic targets. In this case, high-resolution imager  118  is operable to generate images having sufficient resolution to enable geologic characteristics (e.g., textures, layers, grain structure, mineral content, etc.) of the imaged targets to be identified. In one embodiment, each high-resolution image is presented to one or more geologists or other personnel for petrographic analysis. The geologists or other personnel may then select at least one geologic target (hereinafter, the “screened geologic target(s)”) from the plurality of geologic targets for additional analysis. Alternatively, the screened geologic target(s) may be selected automatically by a predetermined target selection algorithm. Regardless of the technique used to select the screened geologic target(s), the remote command station transmits screened target data that identifies the screened geologic target(s) and is received by the robotic vehicle during step  162 . 
     During step  164 , the robotic vehicle analyzes one or more samples from the screened geologic target(s). This includes, for each screened geologic target, relocating robotic vehicle  100  to the location of the screened geologic target and analyzing a sample of the screened geologic target using the sample analysis instruments of robotic arm  114 . The analysis data for the screened geologic target(s) is then transmitted to the remote command station during step  166 . Processor  140  executes step  158  by transmitting the analysis data to the remote command station via antenna  112 . Processor  140  may transmit the analysis data automatically upon receipt thereof or processor  140  may store the analysis data in memory  142  for subsequent transmission (e.g., during a predetermined data transmission window or upon receipt of a request from the remote command station). 
     It should be noted that although method  150  is described herein with regard to the triage of geologic targets, alternative embodiments may utilize substantially similar methods and processes to triage other targets with a robotic vehicle. For example, embodiments may be utilized for triage of targets in hostile or hazardous environments, including triage of IEDs, nuclear or chemical reactors, high-voltage facilities, wildlife habitats, the underside of bridges, and dynamic manufacturing processes, to name a few. 
       FIG. 4  is a block diagram of a high-resolution imager  200  according to one embodiment. As noted above, high-resolution imager  200  may utilize various telescopic, telephoto, tele macro, and/or zoom architectures and one or more focus mechanism to generate high-resolution images of targets (e.g., geologic targets) within a predetermined range. The high-resolution images may be microscopic scale images. In one exemplary embodiment, high-resolution imager  200  is operable to generate 0.04-0.2 mm/pixel images of targets from 1-10 meters away. In the depicted embodiment, high-resolution imager  200  includes housing  210 , a lens assembly  212 , a image sensor  214 , focus drive  216 , and a control system  218 . Housing  210  provides support and alignment for the various components of high-resolution imager  200 . In one embodiment, housing  210  is constructed of a durable light-weight material, such as beryllium, titanium, aluminum, or a composite material. 
     Lens assembly  212  includes an aperture and one or more lens groups for generating high-resolution images that are captured by image sensor  214 . In one exemplary embodiment, lens assembly  212  has a 20-30 mm aperture and a 100-200 nm focal length. In general, the aperture diameter (D) for lens assembly  212  may be determined based on the Airy disc diameter equation having the form:
 
 d= 2.44(λ)( f )/ D    (Eq. 1)
 
where:
         d is the desired pixel diameter (or Airy disc diameter);   λ is the wavelength of visible light (e.g., 450-850 nm); and   f is the focal length.
 
Accordingly, for longer focal lengths (f) and/or smaller pixel diameters (d), lens assembly  212  may require a larger aperture diameter.
       

     Each lens group includes one or more optical elements (e.g., optical lenses or optical filters) that are inserted into the optical path between the aperture and image sensor  214  (hereinafter, the “optical path”). In one embodiment, lens assembly  212  includes one or more telescopic lens groups telephoto lens groups, tele macro lens groups, and/or zoom lens groups. Further, these lens groups may be selectively inserted within the optical path to achieve a desired image scale and/or resolution. For example, the optical telescopes and lens groups may be arranged on one or more lens wheels that are configured to selectively insert the appropriate lens groups into the optical path. It will be appreciated that alternative embodiment may utilize other techniques for selectively inserting and removing one or more lens groups into the optical path. 
     Image sensor  214  captures the high-resolution image generated by lens assembly  212 . Image sensor  214  may include one or more charged coupled devices (CCDs) or other suitable image sensing devices. Focus drive  216  may utilize any suitable technique to focus high-resolution imager  200 , including adjusting the position of image sensor  214  and/or the positions of one or more of the lens groups within lens assembly  212 . Further, control system  218  is operable to control focus drive  216 , lens assembly  212 , and/or the other components of high-resolution imager  200 . Control system  218  may be selectively control these components based on one or more command signals received from a processing unit (e.g., processor  140  of  FIG. 2 ). 
     While at least one exemplary embodiment has been presented in the foregoing detailed description of the invention, it should be appreciated that a vast number of variations exist. It should also be appreciated that the exemplary embodiment or exemplary embodiments are only examples, and are not intended to limit the scope, applicability, or configuration of the invention in any way. Rather, the foregoing detailed description will provide those skilled in the art with a convenient road map for implementing an exemplary embodiment of the invention. It being understood that various changes may be made in the function and arrangement of elements described in an exemplary embodiment without departing from the scope of the invention as set forth in the appended claims.