US 12,650,689 B2Granted

Universal control architecture for control of unmanned systems

AssigneeTomahawk Robotics, Inc.

InventorsMatthew D. Summer, William S. Bowman, Andrew D. Falendysz, Daniel R. Hedman, Brad Truesdell, Jeffrey S. Cooper, Michael E. Bowman, Sean Wagoner, Kevin Makovy

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Abstract

A common command and control architecture (alternatively termed herein as a “universal control architecture”) is disclosed that allows different unmanned systems, including different types of unmanned systems (e.g., air, ground, and/or maritime unmanned systems), to be controlled simultaneously through a common control device (e.g., a controller that can be an input and/or output device). The universal control architecture brings significant efficiency gains in engineering, deployment, training, maintenance, and future upgrades of unmanned systems. In addition, the disclosed common command and control architecture breaks the traditional stovepipe development involving deployment models and thus reducing hardware and software maintenance, creating a streamlined training/proficiency initiative, reducing physical space requirements for transport, and creating a scalable, more connected interoperable approach to control of unmanned systems over existing unmanned systems technology.

Claims20

Dependent claims

A system for adding unmanned vehicles to a common command and control architecture, the system comprising:

one or more processors;
and
a non-transitory computer-readable storage medium storing instructions, which when executed by the one or more processors cause the one or more processors to:
detect a signal from an unmanned vehicle within a vicinity of a controller, wherein the unmanned vehicle comprises a payload device;
in response to detecting the signal from the unmanned vehicle, transmit an identification request to the unmanned vehicle, wherein the identification request requests identification information associated with the unmanned vehicle;
receive, in response to the identification request, vehicle information, wherein the vehicle information comprises movement types supported by the unmanned vehicle, payload types supported by the unmanned vehicle, and communication protocol associated with the unmanned vehicle;
determine, based on processing the movement types and the payload types with each movement type associated with movement commands received from the unmanned vehicle, a plurality of movement control models for moving the unmanned vehicle, a payload movement control model for moving the payload device associated with the unmanned vehicle, wherein two or more movement control models of the plurality of movement control models include overlapping commands, and wherein each movement control model translates operator commands into movement instructions for the unmanned vehicle or the payload device;
select, from the plurality of movement control models, a subset of the plurality of movement control models comprising a least number of movement control models that cover all movement commands supported by the unmanned vehicle;
assign, the subset of the plurality of movement control models, the payload movement control model, and the communication protocol to an unmanned vehicle object;
and
control, via each corresponding set of instructions, the unmanned vehicle using the subset of the plurality of movement control models.

8 more elements

A method comprising:

detecting a wireless signal being broadcast by an unmanned vehicle within a vicinity of a controller;
in response to detecting the wireless signal being broadcast by the unmanned vehicle, transmitting an identification request to the unmanned vehicle, wherein the identification request requests identification information associated with the unmanned vehicle and is formatted according to a model of the unmanned vehicle;
receiving, in response to the identification request from the unmanned vehicle, movement types associated with the unmanned vehicle, wherein each movement type is associated with a movement command supported by the unmanned vehicle;
determining, based on processing the movement types received from the unmanned vehicle, a plurality of movement control models for moving the unmanned vehicle, wherein two or more movement control models of the plurality of movement control models include overlapping commands, and wherein each movement control model translates operator commands or automation inputs into movement instructions for the unmanned vehicle;
selecting, from the plurality of movement control models, a subset of the plurality of movement control models comprising a least number of movement control models that cover all movement commands supported by the unmanned vehicle;
assigning the subset of the plurality of movement control models to the unmanned vehicle;
and
controlling the unmanned vehicle using the subset of the plurality of movement control models.

5 more elements

A non-transitory, computer-readable medium storing instructions for adding unmanned vehicles to a common command and control architecture, the instructions when executed by one or more processors, cause the one or more processors to perform operations comprising:

detecting a wireless signal being broadcast by an unmanned vehicle within a vicinity of a controller;
in response to detecting the wireless signal being broadcast by the unmanned vehicle, transmitting an identification request to the unmanned vehicle, wherein the identification request requests identification information associated with the unmanned vehicle and is formatted according to a model of the unmanned vehicle;
receiving movement types associated with the unmanned vehicle, wherein each movement type is associated with a movement command supported by the unmanned vehicle;
determining, based on processing the movement types received from the unmanned vehicle, a plurality of movement control models for moving the unmanned vehicle, wherein two or more movement control models of the plurality of movement control models include overlapping commands, and wherein each movement control model translates operator commands into movement instructions for the unmanned vehicle;
selecting, from the plurality of movement control models, a subset of the plurality of movement control models comprising a least number of movement control models that cover all movement commands supported by the unmanned vehicle;
assigning the subset of the plurality of movement control models to the unmanned vehicle;
and
controlling the unmanned vehicle using the subset of the plurality of movement control models.

5 more elements

Dependencies are inferred from the claim text.

Facts

Application: 17/571,305Filed 7 Jan 2022 · us provisional application
Priority: 25 Jun 2021
Published: US 2022/0413490 A129 Dec 2022
Granted: 9 Jun 2026
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

G05D 1/0027
Associated with a remote control arrangement: involving a plurality of vehicles, e.g. fleet or convoy travelling
G05D 1/0094
Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots: involving pointing a…
B62D 1/283
Non-mechanical , e.g. following a line or other known markers: for unmanned vehicles
G05D 1/0022
Associated with a remote control arrangement: characterised by the communication link