Remote Vehicle Autonomous Self-Righting and Retrotraverse Control
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Solution Overview
Problem
Conventional remote vehicle operation is complex due to electro-mechanical complexity, requiring extensive operator training and manual dexterity, as it involves numerous function-specific controls, making it difficult to navigate and control vehicles accurately.
Innovation Solution
A system that allows operators to switch between tele-operation and autonomous behaviors, utilizing a control unit, GPS receiver, inertial measurement unit, and navigation CPU, along with a manipulator arm and stereo vision module, to execute autonomous behaviors such as retro traverse and self-righting, reducing the need for manual control.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If conventional tele-operation control is used, then the remote vehicle can be controlled manually, but the operator requires extensive training and manual dexterity due to electro-mechanical complexity
Solution Approach 1:
The remote vehicle performs autonomous behaviors (self-service) such as retro traverse, re-traverse, and self-righting without operator intervention. The vehicle uses its own sensors (GPS, IMU, stereo vision) and control system to execute these behaviors independently, reducing the burden on the operator and simplifying control while maintaining the ability to handle complex situations autonomously
2Measurement precision
If manual control with multiple function-specific controls is used, then the remote vehicle can be precisely controlled, but extensive operator training is required to develop sufficient manual dexterity
Solution Approach 1:
The patent replaces manual mechanical control operations with autonomous electronic control systems. The vehicle uses electronic sensors (GPS receiver, inertial measurement unit, stereo vision module) and a control system to automatically execute navigation and manipulation tasks, substituting the need for operator manual dexterity with automated electronic control while maintaining high precision
3Ease of operation
If autonomous behaviors are implemented, then operator control is simplified, but the vehicle requires additional sensors and control systems
Solution Approach 1:
The control system is designed with multi-functionality to handle both tele-operation and autonomous behaviors. The same control system processes inputs from multiple sensors (GPS, IMU, stereo vision) and executes different types of operations (navigation, manipulation, self-righting) through a unified architecture, reducing the need for separate dedicated systems for each function
Data Source
AI summary
A method comprising running a persistent self-righting behavior comprising sensing an orientation of the remote vehicle and performing a progression of flipper movements until the remote vehicle is righted, and performing a retrotraverse behavior comprising: generating a list of time stamped waypoints separated by at least a minimum difference in time and distance; storing the list of time stamped waypoints in the memory; and generating, using a control system, a current return path interconnecting previously-traversed waypoints in reverse order of timestamps upon losing communication with the operator control unit or upon receiving a command from the operator control unit.