Patent Grant
8810378
This disclosure relates to robots and, more specifically, to enhanced control of a user configurable device, such as the robot. For example, this disclosure may include a remote control (R/C) system with various enhancements that facilitate (potentially increased) communications among the various components.
Although specific radio technology has improved, the basic input and output (I/O) of conventional R/C equipment for flying hobby planes, driving ground vehicles, or otherwise controlling robots or robotic vehicles have remained relatively unchanged for years. For example, the typical system includes a handheld transmitter, a remotely mounted receiver, and a servo or speed controller. The handheld transmitter may include human inputs two joysticks, trim tabs, and aux switches. There are commonly servo reversing switches. More modern enhancements include programmable controls on the transmitter that allow modification of the human input prior to transmission. Such modifications may allow for improved control parameters and the ability to adjust the human input as necessary for different vehicle configurations. Many transmitters have a trainer port that allows a second transmitter to be properly connected to the first transmitter and enabled, allowing a student to take over flying, while the teacher with the main transmitter can enable and disable student control. Generally, the function of the remotely mounted receiver is to receive the handheld transmitters signal, decode the data, and distribute the appropriate human input to a specific output connector. Receivers typically have between two and eight outputs, each mapped to a specific human input, such as one joystick axis or one switch. The servo (or speed controller) is normally wired to (at least) one of the outputs of the receiver is a device for controlling the movement of the vehicle. Servos create rotational movement to a specific position, allowing for control of airfoil surfaces, steering linkages, and such. Speed controllers take the same signal as a servo and allow for control of continuously rotating motors for wheel drive or propeller drive.
This disclosure relates to enhanced control of user configurable devices, such as robots. For example, one system may include a user-configurable device and an on-vehicle programmable controller coupled to the user-configurable device. This system may further include a wireless receiver coupled to the on-vehicle programmable controller via one signal wire, where a substantial portion of the receiver-controlled communications occur using the one signal wire. In another example, the system may include a user-configurable device including an on-vehicle programmable controller and a first tether port. The system may also include a remote control transmitter with at least one wireless output and a second tether port, where the transmitter is communicably coupled to the user-configurable remote control device.
While generally described as systems, some or all of these aspects may be further included in respective software for executing, implementing, or otherwise supporting such enhanced control. The details of these and other aspects and embodiments of the disclosure are set forth in the accompanying drawings and the description below. Other features, objects, and advantages of the present disclosure will be apparent from the description and drawings, and from the claims.
At a high level, this disclosure describes control of a user configurable device 102 such as a robot. Each robot 102 typically includes an on-vehicle programmable controller (OVPC) 104, which generally executes, manages, or otherwise includes software for controlling the robot's functions (e.g., communications, motors, actuators, sensors, power). Normally, the one or more operators use a remote control transmitter 106 to control the respective robot 102 using wired and/or wireless communications (perhaps through a receiver). Using one or more components or techniques described in this disclosure creates or otherwise facilitates enhanced control of these robots 102.
For example, this disclosure describes an R/C system with the ability to pass data between the receiver and the OVPC with only one signal wire (or an otherwise reduced number of inputs). The typical receiver has between 2 and 8 outputs, often corresponding to the number of inputs of the transmitter. In systems that employ the OVPC, a modified receiver circuit is used that does not de-mux data into its individual components. This muxed data can then passed (or otherwise transmitted) via one wire from the receiver to the system's microprocessor. In addition to reducing the required number of valuable microcontroller inputs, the programming code and load on the microprocessor may be reduced. In another example R/C system, the system allows multiple operators to collaborate to control one vehicle. As the functions of competition robots increase, it is desirable to allow two people to assist in control. Often by reducing the number of inputs on the OVPC's microprocessor, the microprocessor can easily handle two receiver inputs.
In yet another example, an R/C system may include the ability to bypass the wireless transmission/reception with a wire. R/C systems often use fixed frequencies for transmission, of which there are a limited number. During large competition events, many teams may want to be testing, repairing, and otherwise using their system while simultaneous competition events are taking place. Thus, a wired bypass may be used to help ensure that there are enough frequencies for competing. In this circumstance, a port is added to the transmitter that helps attach a cable between the transmitter and the OVPC. This cable allows the same data that is usually transmitted wirelessly to be passed or otherwise transmitted. The transmitter can automatically detect that the cable has been connected, via circuitry or other software detecting the OVPC, and disable the transmitter's RF output. The data signal connected to the tether port can be the not modulated data. This allows the receiver's demodulation circuit to be bypassed and the receiver circuit is not needed. The cable is connected into the port on the OVPC that receiver one was connected. A second transmitter can be similarly connected to the port that the optional receiver was connected to. In a further example, an R/C system may have the ability to remotely disable the transmitter. During competition events, a synchronized start time among multiple competitors is often important. Using the same tether port on the transmitter, a cable is attached between each transmitter and a central controller. This controller can, via a switch on computer control, enable and disable the transmitter as necessary. In this case, the same mechanism that tells the transmitter to disable when tethered is used.
In yet a further example, an R/C system may include non joystick inputs that are reconfigured for more ergonomic control. Typical R/C non joystick inputs consist of a momentary or multi-position toggle switch. An enhanced location and control method is used. First, the buttons may be located on the back of the controller in convenient locations that do not require the thumbs to be removed from the joystick. Two buttons are employed for each hand, aligned with the middle and index fingers. The two momentary buttons are used to drive a specific channel in the forward or reverse direction. In the case of a servo, pressing the index finger button may cause a servo to rotate clockwise or a motor to turn clockwise, while the middle finger does the opposite. In this example, releasing both buttons returns to servo center or motor off. The button's functions can easily be reconfigured by the programming the OVPC, allowing multiple functions. In one embodiment, by programming an example button matrix, as many as eight different functions can the initiated with four buttons. But, using various techniques and data structures, any suitable number of functions may be mapped, dynamically associated, or otherwise correlated with any number of buttons.
Turning to the illustrated implementations,
The illustrated competition 100 also includes a central controller 136, which generally is a control system that includes one or more processors and respective software for controlling a plurality of robots, often (but not always) in a competition setting. At a high level, the central controller 136 allows a referee 138 to remotely active transmitters 106 or robots 102 via tether cables, which may be up to 25 feet long (or even longer in other circumstances). In other words, the central controller 136 can include any number of tether ports to help manage any number of transmitters 106. Generally, each tether port represents any port intended to connect to a controller interface using a “hard” wire connection—such as a DB9 Female-Female Pin-to-Pin cable or an RJ-11 4 PIN phone extension cable—instead of using a wireless radio link. For example, the central controller 136 can include an appropriate XPST switch, where X is the number of transmitters to be controlled. In this case, when the switch is open the transmitters are ON and when the switch is closed the transmitters are OFF. In some embodiments, the central controller 136 may include functions for temporarily disabling the transmitters 106A-D. For example, the referee 138 may operate the central controller to disable remotely the transmitters 106A-D prior to the start of a competitive activity. The referee 138 may then concurrently enable the remote transmitters 106A-D (or a subset thereof) at the start of the competitive activity, at which time the operators may control the actions of the robots 102. In some examples, the referee 138 may use the central controller 136 to disable remotely the transmitters 106A-D at the end of the competitive activity and/or to halt the activity for some other reason. The central controller 136 communicates with the transmitters 106A-D through tether cables (e.g., a tether cable 140, a tether cable 142, a tether cable 144, and a tether cable 146, each which may be the same or different types of cables). In some cases, connecting the tether cable to the respective transmitter may disable the transmitter until the central controller 136 enables the transmitter remotely. Also, the direct communications through the tether cable 140 may comprise unmodulated data.
OVPC 104 generally represents a control system that is operable to receive, retrieve, or otherwise collect user commands and other information, gather additional data and information from sensors on-board the robot 102, dynamically determine how the robot 102 should function based on predefined parameters and algorithms, and instruct the robot 102 to perform these functions. For example, OVPC 104 can include four fast R/C PWM (radio controlled, pulse width modulated) outputs capable of being refreshed every 2 mSec, sixteen fast digital inputs/outputs, sixteen fast analog inputs (with perhaps 10-bit resolution), one or more fast TTL (transistor transistor level), RS232, RS485, or other compatible serial ports, one or more processors, and 1800 bytes of memory with 32 kilobytes of program space. In this example, the PWM outputs may be used to drive speed controllers and servos and/or to control a variable speed motor from a joystick axis. Moreover, each of the PWM outputs may generate a PWM signal corresponding to a specific output of a user's program or other customized code. The relay outputs are often used to drive bi-directional relay modules, to drive small motors in Full Forward, Full Reverse, or Off, and/or to turn On or Off solenoids, pumps, and lights from a joystick button. Each of the eight ports may generate two binary signals corresponding to a specific output of the user's program. The analog inputs can be used to measure various conditions on the robot and trigger automatic responses by the control program. Typically, any sensor (such as potentiometers and gyro (yaw rate) sensors) that outputs a variable 0-5V signal may be read with 10-bit resolution on these inputs. The digital I/O pins may be configured individually as either inputs or outputs in the user's program. Normally, when configured as inputs these pins accept signals of either 0 Volts or 5 Volts from sources such as switches or other external circuitry, where a 0V signal will be read as a logic 0 in the software and a 5V signal on the pin will be read as a logic 1. The most common use for digital inputs is for the connection of switches, which may be wired individually, in parallel, or in series. Further, some or all digital I/O pins can be configured as hardware interrupts.
With respect to the example microprocessors, OVPC 104 may comprise, for example, a central processing unit (CPU), an application specific integrated circuit (ASIC), a microcontroller (such as PIC18F8520), or a field-programmable gate array (FPGA) and is meant to include one or more processors where applicable. For example, there may be two microcontrollers: a first processor that handles radio and tether communications, generates most of the PWM output signals, and oversees the general operations; and a second processor that is programmable by a user to take input data, determine what to do with outputs to make the robot behave as desired, and set PWM and Relay outputs to the appropriate states. In certain embodiments, the microprocessor executes resident software such as a control module application. The control module application comprises any combination of hardware, firmware, or software (collectively “software”) operable to manage at least a portion of control system and/or the coupled device, such as the robot. For example, the control module application may comprise two sub-modules, a master module and a user-defined module, as appropriate. Each module or sub-module may be partially or completely written or described in any appropriate computer language including C, C++, Java, Visual Basic, assembler, Perl, any suitable version of 4GL, and others or any combination thereof. Of course, the features and functionality performed by this application may be consolidated within a single module as well. Indeed, the control module application may comprise one of a plurality of sub-modules of a parent application or module (not illustrated). Further, the sub-modules may be collectively stored in one file or flash memory or distributed across a plurality of files or memories without departing from the scope of the disclosure.
In some embodiments, the receiver module 218 may receive control signals from the transmitter 106 and send the received signals to the OVPC 104. In some embodiments, communications between the receiver 218 and OVPC module 104 may be carried by one signal wire. In some embodiments, the received control signals may configure the OVPC 104 to control the rotational direction and/or speed of the motors 212-214. For example, the control signals may indicate that the robot 102 should move in an arc. In the illustrated example, the OVPC module 104 may respond to the control signal by driving the motor 212 at one speed and drive the motor 214 at a greater speed, thereby causing the robot to travel in an arc. Generally, motors are devices that can transform electrical energy into mechanical energy. That is, they take electrical power, and create physical motion. In the present example system, motors are further divided into two main types: standard motors and servomotors. Standard motors spin the attached axle around and around, while servomotors turn the axle to face a specific direction within their range of motion (perhaps 120 degrees).
The robot 102 may also include one or more sensors to help the robot sense its environment adjust its own behaviors based on that knowledge. A sensor can generally tell the robot about one very simple thing in the environment and the robot's program will interpret that information to determine how it should react. Generally, these sensors may be analog or digital. Analog sensors communicate with the OVPC 104 by sending it an electrical voltage along a wire. By measuring where the sent voltage falls between zero and maximum voltage, the OVPC 104 can interpret the voltage as a numeric value for processing. Analog sensors can therefore detect and communicate any value in a range of numbers. On the other hand, a digital sensor sends a voltage, like an analog sensor, but instead of sending a voltage between zero and maximum, it will send zero OR maximum (say “1”). If the OVPC detects a voltage that is between the two, it assumes that the difference is caused by electrical noise, and rounds the voltage either up to maximum, or down to zero, whichever is closer. The bumper sensor, for instance, will tell the robot whether it is in contact with a physical object or not, typically via digital signals. Illustrated robot 102 includes a bump sensor 222 and a bump sensor 224. In some embodiments, the bump sensors 222-224 may be communicatively coupled to the OVPC module 104. For example, the bump sensors 222-224 may be normally closed switches, and when the bump sensor contacts an object the switch circuit may open to cause the sensors 222-224 to send a “bump” signal to the OVPC module 104.
The robot 102 can include an ultrasonic range finder module 226 that is rotatably coupled to a servo 228. In some implementations, the ultrasonic range finder module 226 may send signals to the OVPC module 104 to indicate a distance between the ultrasonic range finder module 226 and another object. In some implementations, the OVPC 104 may control the servo 228 to orient the ultrasonic range finder module 226 at one or more angles within the range of motion of the servo 228. For example, the OVPC module 104 may command the servo 228 to rotate the ultrasonic range finder module 226 to a commanded angle and measure a distance using the ultrasonic range finder 226, and using the angle value and the distance value the OVPC module 104 may determine a distance and a heading to an object. The OVPC module 104 may also cause the servo 228 to “sweep” the ultrasonic range finder module 226 through a collection of angles to measure a collection of distance measurements, and use the collection of angle and distance data to form a representation of the area in front of the robot 102 (e.g., a sonar map).
The example robot 102 includes an infrared (IR) detector module 230 that is rotatably coupled to a servo 232. The OVPC module 104 communicates with the servo 232 to command the servo 232 to position the IR detector module 230 at an angle within the servo's 232 range of motion. For example, the task of the robot 102 may be to seek and/or avoid various IR beacons (e.g., an IR emitting target or ball, goal, home base, another robot, a recharging station). In the illustrated example, the robot 102 may sweep the IR detector module 230 through a number of angles to find an angle that causes the IR detector module 230 to indicate a strongest signal, and this angle may indicate the direction of an IR beacon. The OVPC module 104 may then use the angle associated with the strongest IR signal to drive the robot 102 toward or away from the beacon.
For example, the user may control the robot 102 using a wired connection.
In other situations, the OVPC tether port may be part of the wireless receiver, which is communicably coupled to the OVPC (perhaps via one signal wire as described below). Accordingly, the transmitter 106 communicates to the receiver using the tether cable 330 (in addition to or as a replacement of wireless communications). The receiver would then transmit this information to the OVPC 104 for (occasionally further) processing. In some of these cases, the receiver components and functionality may be embedded within the OVPC 104, thus forming a unitized receiver/OVPC module.
Certain OVPCs 104 can simultaneously support two transmitters and receivers on different frequencies or using one or two tether cables 330 coupled to two tether ports 324A and 324B. Specifically,
In certain implementations, one or more of the buttons 406-418 and/or the buttons 454-460 may be associated with a control matrix used by the OVPC module. For example, the user may press the button 406 and the OVPC may respond by altering the electrical state of one or more sections of a control matrix. In some examples, altering the state of one or more sections of the control matrix may allow the user to control the behavior of the robot 102. This control matrix may be configurable by the operator (or other person interacting with the transmitter). For example, the control matrix may be configured to allow button 458 to close a gripper and the button 460 to open the gripper, and the control matrix may be reconfigured to cause the button 458 to open the gripper and the button 460 to close the gripper. Such configuration may, for instance, occur directly in the transmitter or may occur at a client computer and downloaded (or flashed) to the transmitter.
The illustrated transmitter 106 also includes a transmitter crystal 462. In some embodiments, the transmitter crystal 462 may be used to cause the transmitter 106 to operate on one or more transmission frequencies. In some embodiments, the transmitter crystal 462 may be removed and replaced by a replacement transmitter crystal. For example, the user may replace the transmitter crystal 462 to change the frequency or range of frequencies upon which the transmitter 106 may transmit control signals.
A number of implementations have been described. In other words, the prior described R/C systems, with accompanying specifications and details, are for example purposes only and other implementations are within the scope of this disclosure. For example, a smaller hobby controller may be used with fewer input and outputs. In another example, a faster or more powerful controller (or microprocessor) may be used to control more advanced robots or other devices. Moreover, a particular R/C system may implement one, some, or all of the foregoing example enhancements without departing from the scope of the disclosure. For example, the particular R/C system may include the ability to pass data between the receiver and the OVPC with only one signal wire and the ability to remotely disable the transmitter. Another R/C system may include only the non joystick inputs that are reconfigured for more ergonomic control. In another example, a particular R/C system may fall within the following example logic and structure sections, but have substantially different power and microcontroller modules and remain within the scope of this disclosure. Another R/C system could comply with many of the specifications of the following example logic, motion, and structure sections, but have substantially different power and microcontroller modules and remain within the scope of this disclosure. In short, many modifications, substitutions, or other embodiments are well within the scope of this invention. Accordingly, other implementations are within the scope of the following claims.
This application claims the priority under 35 U.S.C. §119 of provisional application Ser. No. 60/792,794 filed Apr. 18, 2006.
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