CN111684378B - 管理机器人交通工具的有限安全模式操作 - Google Patents

管理机器人交通工具的有限安全模式操作 Download PDF

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Publication number
CN111684378B
CN111684378B CN201880086365.7A CN201880086365A CN111684378B CN 111684378 B CN111684378 B CN 111684378B CN 201880086365 A CN201880086365 A CN 201880086365A CN 111684378 B CN111684378 B CN 111684378B
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CN
China
Prior art keywords
esc
controller
robotic vehicle
motor control
control signals
Prior art date
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Application number
CN201880086365.7A
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English (en)
Chinese (zh)
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CN111684378A (zh
Inventor
W·H·冯诺瓦克三世
V·凯勒
C·维尔兰德
L·托马斯
C·库利
D·B·赫特森
M·卡斯基
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Qualcomm Inc
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Qualcomm Inc
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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
    • G05D1/0055—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
    • 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
    • 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)
  • Transportation (AREA)
  • Sustainable Energy (AREA)
  • Sustainable Development (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Ocean & Marine Engineering (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)
CN201880086365.7A 2018-01-15 2018-12-17 管理机器人交通工具的有限安全模式操作 Active CN111684378B (zh)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US15/871,332 US10671067B2 (en) 2018-01-15 2018-01-15 Managing limited safe mode operations of a robotic vehicle
US15/871,332 2018-01-15
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
CN111684378A CN111684378A (zh) 2020-09-18
CN111684378B true CN111684378B (zh) 2024-03-19

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CN201880086365.7A Active CN111684378B (zh) 2018-01-15 2018-12-17 管理机器人交通工具的有限安全模式操作

Country Status (10)

Country Link
US (1) US10671067B2 (cg-RX-API-DMAC7.html)
EP (1) EP3740831B1 (cg-RX-API-DMAC7.html)
JP (1) JP2021510870A (cg-RX-API-DMAC7.html)
KR (1) KR102733151B1 (cg-RX-API-DMAC7.html)
CN (1) CN111684378B (cg-RX-API-DMAC7.html)
AU (1) AU2018400760B2 (cg-RX-API-DMAC7.html)
BR (1) BR112020014296A2 (cg-RX-API-DMAC7.html)
SG (1) SG11202005486WA (cg-RX-API-DMAC7.html)
TW (1) TWI730276B (cg-RX-API-DMAC7.html)
WO (1) WO2019139737A1 (cg-RX-API-DMAC7.html)

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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
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
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
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
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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
JP7897163B2 (ja) * 2023-01-30 2026-07-29 双葉電子工業株式会社 受信装置
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Also Published As

Publication number Publication date
EP3740831B1 (en) 2024-03-13
AU2018400760B2 (en) 2022-10-20
CN111684378A (zh) 2020-09-18
BR112020014296A2 (pt) 2020-12-08
EP3740831C0 (en) 2024-03-13
SG11202005486WA (en) 2020-07-29
US20190220004A1 (en) 2019-07-18
AU2018400760A1 (en) 2020-07-09
EP3740831A1 (en) 2020-11-25
TW201939187A (zh) 2019-10-01
JP2021510870A (ja) 2021-04-30
KR20200109312A (ko) 2020-09-22
US10671067B2 (en) 2020-06-02
WO2019139737A1 (en) 2019-07-18
TWI730276B (zh) 2021-06-11
KR102733151B1 (ko) 2024-11-22

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