AU2018400760B2 - Managing limited safe mode operations of a robotic vehicle - Google Patents

Managing limited safe mode operations of a robotic vehicle Download PDF

Info

Publication number
AU2018400760B2
AU2018400760B2 AU2018400760A AU2018400760A AU2018400760B2 AU 2018400760 B2 AU2018400760 B2 AU 2018400760B2 AU 2018400760 A AU2018400760 A AU 2018400760A AU 2018400760 A AU2018400760 A AU 2018400760A AU 2018400760 B2 AU2018400760 B2 AU 2018400760B2
Authority
AU
Australia
Prior art keywords
esc
control signals
robotic vehicle
main controller
motor control
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.)
Active
Application number
AU2018400760A
Other languages
English (en)
Other versions
AU2018400760A1 (en
Inventor
Mark CASKEY
Courtney COOLEY
Donald Bolden Hutson
Vincent KEMLER
Layne THOMAS
William Henry VON NOVAK III
Cody Wheeland
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.)
Qualcomm Inc
Original Assignee
Qualcomm Inc
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
Application filed by Qualcomm Inc filed Critical Qualcomm Inc
Publication of AU2018400760A1 publication Critical patent/AU2018400760A1/en
Application granted granted Critical
Publication of AU2018400760B2 publication Critical patent/AU2018400760B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/86—Monitoring the performance of the system, e.g. alarm or diagnosis modules
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/0023—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train
    • B60L3/0084—Detecting, eliminating, remedying or compensating for drive train abnormalities, e.g. failures within the drive train relating to control modules
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B60L3/12—Recording operating variables ; Monitoring of operating variables
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B79/00—Monitoring properties or operating parameters of vessels in operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D35/00—Transmitting power from power plants to propellers or rotors; Arrangements of transmissions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/10—Wings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
    • H02P29/028—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the motor continuing operation despite the fault condition, e.g. eliminating, compensating for or remedying the fault
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63H—MARINE PROPULSION OR STEERING
    • B63H21/00—Use of propulsion power plant or units on vessels
    • B63H21/21—Control means for engine or transmission, specially adapted for use on marine vessels
    • B63H2021/216—Control means for engine or transmission, specially adapted for use on marine vessels using electric control means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T70/00—Maritime or waterways transport

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Power Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Transportation (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Safety Devices In Control Systems (AREA)
AU2018400760A 2018-01-15 2018-12-17 Managing limited safe mode operations of a robotic vehicle Active AU2018400760B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/871,332 2018-01-15
US15/871,332 US10671067B2 (en) 2018-01-15 2018-01-15 Managing limited safe mode operations of a robotic vehicle
PCT/US2018/066010 WO2019139737A1 (en) 2018-01-15 2018-12-17 Managing limited safe mode operations of a robotic vehicle

Publications (2)

Publication Number Publication Date
AU2018400760A1 AU2018400760A1 (en) 2020-07-09
AU2018400760B2 true AU2018400760B2 (en) 2022-10-20

Family

ID=65033648

Family Applications (1)

Application Number Title Priority Date Filing Date
AU2018400760A Active AU2018400760B2 (en) 2018-01-15 2018-12-17 Managing limited safe mode operations of a robotic vehicle

Country Status (10)

Country Link
US (1) US10671067B2 (https=)
EP (1) EP3740831B1 (https=)
JP (1) JP2021510870A (https=)
KR (1) KR102733151B1 (https=)
CN (1) CN111684378B (https=)
AU (1) AU2018400760B2 (https=)
BR (1) BR112020014296A2 (https=)
SG (1) SG11202005486WA (https=)
TW (1) TWI730276B (https=)
WO (1) WO2019139737A1 (https=)

Families Citing this family (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113412576B (zh) * 2018-11-21 2024-06-07 松下知识产权经营株式会社 马达控制系统、无人飞行器、移动运载工具和马达控制方法
DE102018222556A1 (de) * 2018-12-20 2020-06-25 Robert Bosch Gmbh Notstop-Verfahren und Vorrichtung für ein zumindest teilweise automatisiert fahrendes Fahrzeug
CN109709963B (zh) * 2018-12-29 2022-05-13 阿波罗智能技术(北京)有限公司 无人驾驶控制器及无人驾驶车辆
JP7354601B2 (ja) * 2019-06-10 2023-10-03 マツダ株式会社 車載ネットワークシステム
JP7354600B2 (ja) * 2019-06-10 2023-10-03 マツダ株式会社 車載ネットワークシステム
JP7433815B2 (ja) * 2019-08-30 2024-02-20 マツダ株式会社 車載ネットワークシステム
CN110928299A (zh) * 2019-11-13 2020-03-27 北京三快在线科技有限公司 一种无人车的控制方法及无人车
EP3839688B1 (en) * 2019-12-20 2024-07-10 Volocopter GmbH Motor control system, method of operating a motor control system and aircraft
GB2597936B (en) * 2020-08-10 2024-03-20 Bae Systems Plc Vehicle controller
US20230359224A1 (en) * 2021-02-22 2023-11-09 Sony Group Corporation Moving body, information processing method, and program
US20240126259A1 (en) * 2022-10-14 2024-04-18 Beta Air, Llc System and method for reducing common mode failures in flight control of an aircraft
CN115923686B (zh) * 2022-12-17 2024-06-18 中国重汽集团济南动力有限公司 一种双机热备份整车控制系统、方法及新能源车
JP2024107889A (ja) * 2023-01-30 2024-08-09 双葉電子工業株式会社 受信装置
US20240317161A1 (en) * 2023-03-24 2024-09-26 Ford Global Technologies, Llc Distributed automotive electronic control units with wired control circuitry
US20250276799A1 (en) * 2024-03-01 2025-09-04 Beta Air, Llc Flight control systems using interconnected command processors

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20160264150A1 (en) * 2015-03-12 2016-09-15 Infineon Technologies Ag Method and device for handling safety critical errors
US20170084181A1 (en) * 2015-09-18 2017-03-23 Qualcomm Incorporated Safety motor controller for a vehicle
US9828107B1 (en) * 2014-08-25 2017-11-28 Stc.Unm Redundant component and intelligent computerized control system for multi-rotor VTOL aircraft

Family Cites Families (19)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB2345153A (en) * 1998-12-23 2000-06-28 Motorola Ltd Fault-tolerant microcontroller arrangement, eg for a vehicle braking system
FR2811780B1 (fr) * 2000-07-13 2002-08-30 Aerospatiale Matra Airbus Procede et dispositif de commande d'organes de manoeuvre d'un aeronef, a modules de secours electriques
BRPI0706613A2 (pt) * 2006-01-17 2011-04-05 Gulfstream Aerospace Corp aparelho e método para controle de backup em um sistema de controle de vÈo distribuìdo
JP4950243B2 (ja) * 2009-04-13 2012-06-13 三菱電機株式会社 プラント監視制御システム
US8515609B2 (en) 2009-07-06 2013-08-20 Honeywell International Inc. Flight technical control management for an unmanned aerial vehicle
DE102011005800A1 (de) * 2010-03-23 2011-09-29 Continental Teves Ag & Co. Ohg Kontrollrechnersystem, Verfahren zur Steuerung eines Kontrollrechnersystems, sowie Verwendung eines Kontrollrechnersystems
US9870000B2 (en) * 2011-03-28 2018-01-16 Honeywell International Inc. Methods and systems for translating an emergency system alert signal to an automated flight system maneuver
US9021284B2 (en) * 2011-09-08 2015-04-28 Infineon Technologies Ag Standby operation with additional micro-controller
US9625894B2 (en) * 2011-09-22 2017-04-18 Hamilton Sundstrand Corporation Multi-channel control switchover logic
US9102406B2 (en) 2013-02-15 2015-08-11 Disney Enterprises, Inc. Controlling unmanned aerial vehicles as a flock to synchronize flight in aerial displays
CN104635715A (zh) * 2013-11-06 2015-05-20 上海航天汽车机电股份有限公司 一种用于abs/esc的故障自诊断系统及其hil自动化测试系统
US10139906B1 (en) * 2014-01-29 2018-11-27 Guiyu Bai Ring human-machine interface
US9524648B1 (en) 2014-11-17 2016-12-20 Amazon Technologies, Inc. Countermeasures for threats to an uncrewed autonomous vehicle
TW201642625A (zh) * 2015-05-22 2016-12-01 Trusted Solutions Corp 內建圖形使用者介面描述於物聯網裝置的自動控制方法
US10059459B2 (en) * 2015-05-28 2018-08-28 Kespry Inc. Unmanned aerial vehicle recovery system
KR102054119B1 (ko) * 2015-05-29 2019-12-11 베리티 스튜디오스 아게 비행체
EP3101777B8 (en) * 2015-06-04 2018-11-14 ABB Schweiz AG Communicating of frequency converter parameters
CN106354141B (zh) * 2016-11-02 2019-09-13 北京汽车集团有限公司 一种驾驶控制系统和方法
US20190228666A1 (en) * 2018-01-19 2019-07-25 Ge Aviation Systems Llc System and Method for Reconfiguring a System-On-Module for an Unmanned Vehicle

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9828107B1 (en) * 2014-08-25 2017-11-28 Stc.Unm Redundant component and intelligent computerized control system for multi-rotor VTOL aircraft
US20160264150A1 (en) * 2015-03-12 2016-09-15 Infineon Technologies Ag Method and device for handling safety critical errors
US20170084181A1 (en) * 2015-09-18 2017-03-23 Qualcomm Incorporated Safety motor controller for a vehicle

Also Published As

Publication number Publication date
KR20200109312A (ko) 2020-09-22
KR102733151B1 (ko) 2024-11-22
EP3740831C0 (en) 2024-03-13
TWI730276B (zh) 2021-06-11
BR112020014296A2 (pt) 2020-12-08
CN111684378A (zh) 2020-09-18
WO2019139737A1 (en) 2019-07-18
EP3740831B1 (en) 2024-03-13
EP3740831A1 (en) 2020-11-25
CN111684378B (zh) 2024-03-19
JP2021510870A (ja) 2021-04-30
SG11202005486WA (en) 2020-07-29
US20190220004A1 (en) 2019-07-18
US10671067B2 (en) 2020-06-02
TW201939187A (zh) 2019-10-01
AU2018400760A1 (en) 2020-07-09

Similar Documents

Publication Publication Date Title
AU2018400760B2 (en) Managing limited safe mode operations of a robotic vehicle
AU2019206386B2 (en) Identifying landing zones for landing of a robotic vehicle
US11188075B2 (en) Controlling a robotic vehicle following flight controller signal loss
US9778660B2 (en) Unmanned aerial vehicle low-power operation
US20200097006A1 (en) Systems and Methods for Utilizing Semantic Information for Navigation of a Robotic Device
US11340615B2 (en) Concurrent relocation and reinitialization of VSLAM
WO2019089149A1 (en) Managing operation of a package delivery robotic vehicle
Bryant et al. Autonomous UAS controlled by onboard smartphone
US20250044806A1 (en) Method And System For Loop Closure Detection
JP7242682B2 (ja) 無人航空機発射のパラシュート着陸方法及びシステム
WO2023137744A1 (en) Methods of camera-to-robotic device calibration
BR112020013972B1 (pt) Método para identificar zonas de pouso para pouso de um veículo robótico, e, veículo robótico

Legal Events

Date Code Title Description
FGA Letters patent sealed or granted (standard patent)