US 2025/0030576 A1Published application

Layered fail-safe redundancy architecture and process for use by single data bus mobile device

AssigneeTomahawk Robotics, Inc.

InventorsWilliam S. BOWMAN, Andrew D. FALENDYSZ, Kevin M. MAKOVY, Matthew D. SUMMER, Michael E. BOWMAN, Michael W. HOLT, Mark B. MOFFETT

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Abstract

Methods and systems are described herein for a layered fail-safe redundancy system and architecture for privileged operation execution. The system may receive vehicle maneuvering commands from a controller over a first channel. When a user input is received to initiate a privileged mode for executing privileged commands, the system may receive a privileged command over a second channel. The system may identify, based on the privileged mode of operation and the privileged command, a privileged operation to be performed by a vehicle. The system may then transmit a request to the vehicle to perform the privileged operation.

Claims20

Dependent claims

A system for providing fail-safe redundancy via single data bus, the system comprising:

a vehicle controller comprising a plurality of input devices, wherein the vehicle controller receives controller input from an operator;
and
a mobile device connected with the vehicle controller over a universal serial bus connection having a first channel connected using a first interface and a second channel connected using a second interface, wherein the mobile device wirelessly transmits commands to an unmanned vehicle, the mobile device comprising:
one or more processors;
and
one or more non-transitory, computer-readable storage media storing instructions, which when executed by the one or more processors cause the one or more processors to perform operations comprising:
receiving, from the vehicle controller over the first channel, a vehicle maneuvering command for maneuvering the unmanned vehicle;
transmitting the vehicle maneuvering command to the unmanned vehicle;
receiving, using an input mechanism associated with the mobile device, a first privileged command;
determining that the first privileged command corresponds to a first input in a sequence of inputs for executing a privileged operation;
based on determining that the first privileged command corresponds to the first input in the sequence of inputs for executing the privileged operation, monitoring the second channel for a second privileged command from the vehicle controller;
receiving the second privileged command from the vehicle controller over the second channel;
determining whether the second privileged command corresponds to a second input in the sequence of inputs for executing the privileged operation;
and
based on determining that the second privileged command corresponds to the second input in the sequence of inputs for executing the privileged operation, transmitting a request to the unmanned vehicle to perform the privileged operation.

12 more elements

A method for providing fail-safe redundancy via single data bus, the method comprising:

receiving, from a vehicle controller at a mobile device over a first channel, a vehicle maneuvering command, wherein the mobile device is connected with the vehicle controller over a physical connection having the first channel and a second channel;
transmitting the vehicle maneuvering command to a vehicle;
receiving, using an input mechanism associated with the mobile device, a first privileged command;
based on receiving the first privileged command, initiating a privileged mode of operation, wherein the privileged mode of operation enables privileged operations using the vehicle controller;
receiving a second privileged command from the vehicle controller over the second channel;
determining whether the second privileged command corresponds to a second input in a sequence of inputs for executing a privileged operation;
and
based on determining that the second privileged command corresponds to the second input in the sequence of inputs for executing the privileged operation, transmitting a request to the vehicle to perform the privileged operation.

5 more elements

One or more non-transitory, computer-readable media comprising instructions for detecting motion-induced errors received from inertial-type input devices that, when executed by one or more processors, cause the one or more processors to perform operations comprising:

receiving, from a vehicle controller at a mobile device over a first channel, a vehicle maneuvering command, wherein the mobile device is connected with the vehicle controller over a physical connection having the first channel and a second channel;
transmitting the vehicle maneuvering command to a vehicle;
receiving, using an input mechanism associated with the mobile device, a first privileged command;
based on receiving the first privileged command, initiating a privileged mode of operation, wherein the privileged mode of operation enables privileged operations using the vehicle controller;
receiving a second privileged command from the vehicle controller over the second channel;
determining that the second privileged command corresponds to a second input in a sequence of inputs for executing a privileged operation;
and
based on determining that the second privileged command corresponds to the second input in the sequence of inputs for executing the privileged operation, transmitting a request to the vehicle to perform the privileged operation.

5 more elements

Dependencies are inferred from the claim text.