Abstract:
The present invention relates to a system and method for intelligent mobile vehicles that can be used in unmanned robotic or manned modes, the system having a plurality of controllers, with a low-level controller that controls basic operating functions for the mobile vehicles, and a high-level controller used to issue commands for unmanned robotic operation. Division of features between different controllers enables an ability to operate the mobile vehicle even if the high-level controller should fail or experience faults.

Description:
FIELD OF THE INVENTION 
       [0001]    The present invention relates to a system and method for intelligent mobile equipment that can be used in unmanned or manned modes, the system having a plurality of controllers. 
       BACKGROUND OF THE INVENTION 
       [0002]    There is an increasing trend towards automated or semi-automated equipment being developed for a variety of uses, rather than the operator-controlled equipment that was previously used. In some situations, these are completely different equipment from what were previously used, and do not allow for any situations in which an operator can be present on or take over operation of the equipment. Such unmanned equipment is not always very reliable, based on the complexity of systems involved, the current status of computerized control, and uncertainty in various operating environments. Therefore, what is more commonly seen is a piece of equipment similar to previous operator-controlled equipment that also incorporates one or more operations that are automated, rather than operator-controlled. These types of equipment allow for more supervision and the ability of the operator to take over control when desirable or necessary. 
         [0003]    Because of the more complex systems involved in unmanned robotic-control equipment, failures are more likely, and therefore the ability to provide at least some capability for operator control is preferable. In such situations, depending on the failures that occur, the operator may have only limited ability to perform various actions. In particular, the complex control systems required for automated operation cannot always be easily adapted to revert to operator-control. 
         [0004]    Therefore, what is needed is a system that allows for automated control, but provides a quick and easy method for an operator to assume control of the mobile equipment in situations where the automated control system fails or experiences faults. 
       SUMMARY OF THE INVENTION 
       [0005]    The present invention, accordingly, provides a method and system for both automated and manual control of mobile equipment, providing for the ability to manually control the equipment even when the automated control system experiences failures or faults. This is achieved by providing dual processors for controlling the system: one controller is a high-level, or automated controller, and the second controller, which is not just a redundant control system, is a low-level controller that serves as a supervisory controller for the equipment and performs equipment-specific control functions. In the event of a failure or fault in the high-level controller, or operations controlled by the high-level controller, or if fully manual control is implemented, the low-level controller can be used for manual operation of the equipment. By careful division of feature control into the high-level controller and low-level controller, avoidance of unnecessary duplication is achieved, reducing system cost. Such division can also enable using or reusing controller components in different equipment, or different types of equipment, thus reducing costs. Additionally, providing control of the automated functions in a separate controller can enable unmanned robotic equipment control to be an add-on feature, initially or at a later time. 
         [0006]    It can be appreciated that various arrangements of the present invention would be useful in different environments or with different equipment or users. The foregoing has outlined rather broadly the features and technical advantages of the present invention in order that the detailed description of the invention that follows may be better understood. Additional features and advantages of the invention will be described hereinafter which form the subject of the claims of the invention. It should be appreciated by those skilled in the art that the conception and the specific embodiment disclosed may be readily utilized as a basis for modifying or designing other structures for carrying out the same purposes of the present invention. It should also be realized by those skilled in the art that such equivalent constructions do not depart from the spirit and scope of the invention as set forth in the appended claims. 
         [0007]    The invention disclosed is for a control system for controlling an object capable of movement, the control systems capable of performing arithmetic and logic operations, the control system having at least two controllers for controlling the object. The control system including a first controller comprising at least a microprocessor that performs at least some object functions and provides object supervisory control, a second controller comprising at least a microprocessor that controls at least some unmanned robotic object operations, and at least one interface layer for translating information that is communicated between the first and second controllers. The first controller is capable of providing control for the object sufficient to be able to move the object if the second controller is incapable of normal operation. 
     
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         [0008]    For a more complete understanding of the present invention, and the advantages thereof, reference is now made to the following descriptions taken in conjunction with the accompanying drawings, in which: 
           [0009]      FIG. 1  is a schematic representation of a system of the present invention for controlling a moving object; 
           [0010]      FIG. 2  is a block diagram of communications between the various controllers of the present invention; 
           [0011]      FIG. 3  is a representation of a typical dual-controller system of the present invention; 
           [0012]      FIG. 4  is a schematic representation of an exemplary system for controlling moving objects of the present invention; 
           [0013]      FIG. 5A  is a schematic representation showing interchangeability of parts of the dual-controller system of the present invention between different vehicles; and 
           [0014]      FIG. 5B  is a schematic representation showing transfer of data from one dual-controller system of the present invention to a different dual-controller system of the present invention. 
       
    
    
     DESCRIPTION OF THE PREFERRED EMBODIMENT 
       [0015]    In the discussion of the FIGURES the same reference numerals will be used throughout to refer to the same or similar components. In the interest of conciseness, various other components known to the art, such as computer processing and storage mechanisms and the like necessary for the operation of the invention, have not been shown or discussed, or are shown in block form. 
         [0016]    In the following, numerous specific details are set forth to provide a thorough understanding of the present invention. However, it will be obvious to those skilled in the art that the present invention may be practiced without such specific details. In other instances, well-known elements have been illustrated in schematic or block diagram form in order not to obscure the present invention in unnecessary detail. Additionally, for the most part, details concerning computer and database operation and the like have been omitted when such details are not considered necessary to obtain a complete understanding of the present invention, and are considered to be within the knowledge of persons of ordinary skill in the relevant art. 
         [0017]    In the discussion that follows, the phrase “vehicle” means any piece of mobile equipment, having a broader definition than just equipment that operates on the ground with wheels having a portion thereof dedicated to space for an operator to stand or sit while controlling operation thereof. 
         [0018]    Refer now to the drawings wherein depicted elements are, for the sake of clarity, not necessarily shown to scale and wherein like or similar elements are designated by the same reference numeral through the several views. 
         [0019]      FIG. 1  shows a system  1  of the present invention for controlling a moving object, or vehicle. The system includes a Vehicle Control Unit (VCU) controller  100  for control of low-level functions and to provide vehicle supervisory control. The VCU  100  performs traditional vehicle safety and control functions, and is responsible for coordinating low-level vehicle control tasks and managing the loop of the low-level physical interfaces, such as communication with the motor, steering system, braking system, throttle, hydraulics, etc. Because the information being processed in the VCU  100  is typically not high-volume and does not require continuous rapid and complex calculations, it may be possible that the microprocessor used, while capable of performing the arithmetic and logic operations required, can be a less expensive device, which can reduce system costs. 
         [0020]    The system  1  of the present invention also incorporates an Intelligent Vehicle Control controller (IVC)  200 , a high-level intelligent controller that controls high-level unmanned, robotic vehicle operations, including such items as obstacle detection and avoidance features, path planning, vehicle guidance, sensor integration, system monitoring, and navigation and localization functions. Because of the volume of information processed and analyzed, the IVC  200  typically incorporates a high-speed, powerful microprocessor capable of performing rapid complex calculations for arithmetic and logic operations. 
         [0021]    As shown in  FIG. 2 , typically, there is at least one translation or interface layer  300  that takes the high-level processing information and breaks it down to low-level commands, simulating operator actions. This can be done in a variety of ways, with the two most common being a virtual operator interface, such as a simulated control. In this type of system, the IVC  200  virtually controls the vehicle, with commands that imitate those of a physical interface. Another approach is for the high-level commands from the IVC  200  to be sent to the VCU  100 . The VCU  100  then translates the commands into commands that can provide vehicle control. Depending on the type of system utilized, the translation layer  300  can reside in the IVC  200 , the VCU  100 , or both for systems with more than one translation layer  300 . In the arrangement shown in  FIG. 2 , the Interface Layer  30   b , which resides on the IVC  200 , converts IVC outputs to values having units used and accepted by the data arbitration layer  310  on the VCU  100 , and sends and receives messages over the communication network  400 , which in this case is a CAN bus network. However, it can be appreciated that other arrangements of the communication systems can be used. 
         [0022]      FIG. 3  is a representation of a typical dual-controller system  1  of the present invention. The system includes an IVC  200 , which has, or communicates with modules  500  responsible for navigation and localization, obstacle detection and avoidance, path planning and vehicle guidance for unmanned robotic operation. The vehicle guidance module  510  also provides information  511  about vehicle movement, such as rotation and yaw rate and forward velocity to the interface layer  300 , which is located in the VCU  100 . The VCU  100  is responsible for operation of the steering, propulsion and braking systems  408  of the vehicle  10 . The mode selector  410  provides input to the VCU  100  as to whether the vehicle  10  is operating in unmanned robotic or manual mode. In addition to controlling the steering, propulsion and braking system, the VCU  100  also provides information about the vehicle  10  to the IVC  200  via the interface layer  300 . Such information includes, but is not limited to, control feedback, vehicle state information, and vehicle specific information such as the vehicle mass, moment of inertia. etc. 
         [0023]      FIG. 4  discloses an example of a system  1  of the present invention. In this example, a vehicle has a dual controller of the present invention. The system  1  has a VCU  100  that is responsible for controlling lighting, steering, the throttle actuator, gear shift motor and brake motor, with intermediate mechanisms  150  for controlling the motors and throttle. The system  1  has a secondary VCU  100 ′ located in the operator compartment of the vehicle that provides an interface for the vehicle operator. The system  1  also has an IVC  200  that is used to control the vehicle when it is being operated as an unmanned robotic vehicle. In this example, the IVC  200  interfaces with various positioning and perception modules  250  that are used to determine the position of the vehicle, and to scan the area around the vehicle and identify any obstructions in the path of the vehicle and determine if the obstruction should be avoided when the vehicle is being operated in unmanned robotic mode. These modules  250  are used to determine a path, speed and parameters for the vehicle when it is being operated as an unmanned robotic vehicle. In operation, if the vehicle is operating in an unmanned robotic mode, the IVC  200  is controlling vehicle motion. If the IVC  200  should malfunction, or if the IVC  200  should perceive that the vehicle should not proceed in any direction, it will send a signal to the VCU  100  that it is not capable of operating, and will turn over control of the vehicle to the VCU  100 . The VCU  100  does not have the equipment necessary to operate the vehicle  10  autonomously. However, it or the IVC  200  can send a message to the operator that operation of the vehicle has been transferred to the VCU  100 . The operator can then operate the vehicle manually via the VCU  100 , completing the operation that was being performed by the IVC  200 , or bringing the vehicle to a safe location where it can be shut down and repaired. 
         [0024]    Another advantage of the present invention is that the separation of high-level and low-level control functions into two separate and distinct controllers is the simplification of repairs and system upgrades. If a system that has a VCU  100  but is not initially outfitted with a IVC  200 , is subsequently desired to be used as an unmanned robotic system, then depending on the arrangement and configuration of the VCU  100  in the original system, an IVC  200  can be added on and connected into the VCU  100  via the CAN Bus  400 , and the system  1  can become a system that has both manual and automated functions. Another improvement achieved by the modular system  1  of the present invention is simplification of repairs. If a system of the present invention experiences a failure of the IVC  200 , the system can be operated in manual or semi-automated mode using just the VCU  100 . This can be achieved by the system  1  recognizing the IVC failure and sending a signal to the VCU  100  to function without the IVC, or such override can be achieved manually by an operator input. After properly shutting down the system, the IVC unit  200  can be removed and replaced with a new IVC  200 , without the need to replace the VCU  100  or various individual components. Any vehicle-specific programming in the IVC  200  can be downloaded to the new IVC  200 , or in some arrangements of the present invention, such vehicle-specific data is stored in the VCU  100  to further enable such quick and easy repairs. 
         [0025]    Yet another improvement achieved by the modularity of the present invention is the ability to move individual controllers from one system to another. For example, as shown in  FIG. 5A  an unmanned robotic vehicle  10  is used in a specific operation, and the vehicle  10  has acquired certain mission-specific knowledge related to the operation. If a new vehicle  10 ′ is to be used in the same operation to replace the first vehicle  10 , the controller or controllers  100 ,  200  from the first vehicle  10  may be removed from the first vehicle  10  and installed in the second vehicle  10 ′ to enable the second vehicle  10 ′ to perform the operations. It can be appreciated that certain minor modifications or machine-learning may be required to ensure the second vehicle  10 ′ performs the operation satisfactorily, especially if the second vehicle  10 ′ differs from the first vehicle  10  in any characteristics. Similarly, as shown in  FIG. 5B , if a new vehicle  10 ′ is to be used to perform a similar operation to that performed by a first vehicle  10  that has already learned the operation, data can be transferred via the CAN bus  400  from the controller or controllers  100 ,  200  of the first vehicle  10  to the controller or controllers  100 ′,  200 ′ of the second vehicle  10 ′, which can significantly reduce the time needed to train the second vehicle  10 ′ to perform the same operations already learned by the first vehicle  10 . 
         [0026]    It is understood that the present invention can take many forms and embodiments. Accordingly, several variations may be made in the foregoing without departing from the spirit or the scope of the invention. Having described the preferred embodiment, it will become apparent that various modifications can be made without departing from the scope of the invention as defined in the accompanying claims.