Control system with task manager

Patent metadata

Field	Value
Publication number	US-11865726-B2
Application number	US-202218050341-A
Country	US
Kind code	B2
Filing date	Oct 27, 2022
Priority date	Nov 14, 2014
Publication date	Jan 9, 2024
Grant date	Jan 9, 2024

Abstract

A system includes a first robotic machine having a first set of capabilities for interacting with a target object on stationary equipment; a second robotic machine having a second set of capabilities for interacting with the target object; and a task manager that can determine capability requirements to perform a task on the target object. The task has an associated series of sub-tasks. The task manager can assign a first sequence of sub-tasks for performance by the first robotic machine based on the first set of capabilities and a second sequence of sub-tasks for performance by the second robotic machine based on the second set of capabilities. The first and second robotic machines can coordinate performance of the first sequence of sub-tasks by the first robotic machine with performance of the second sequence of sub-tasks by the second robotic machine to accomplish the task.

First claim

What is claimed is:

1. A system, comprising:
a first robotic machine having a first set of capabilities for interacting with a target object on one of a vehicle or stationary equipment;
a second robotic machine having a second set of capabilities for interacting with the target object; and
a task manager including one or more processors and a communication circuit operably connected to the one or more processors, the one or more processors configured to determine capability requirements to perform a task on the target object, the task having an associated series of sub-tasks, with the sub-tasks having one or more of the capability requirements,
the one or more processors configured to assign a first sequence of the sub-tasks within the associated series of sub-tasks to the first robotic machine for performance by the first robotic machine based at least in part on the first set of capabilities, and to assign a second sequence of the sub-tasks within the associated series of sub-tasks to the second robotic machine for performance by the second robotic machine based at least in part on the second set of capabilities,
the sub-tasks in the first sequence assigned to the first robotic machine include the first robotic machine identifying the target object, moving to the target object, and communicating a signal to the second robotic machine, the signal including location information of the target object,
the sub-tasks in the second sequence assigned to the second robotic machine include the second robotic machine moving to the target object, based on the signal received from the first robotic machine, and manipulating the target object via a robotic arm of the second robotic machine,
the communication circuit configured to communicate the first sequence of the sub-tasks to the first robotic machine and communicate the second sequence of the sub-tasks to the second robotic machine, and the first and second robotic machines being configured to perform at least some of the first and second sequences of sub-tasks, respectively, while both the first and second robotic machines are proximate the target object, to accomplish the task.

2. The system of claim 1 , wherein the first robotic machine is an aerial device, and the sub-tasks in the first sequence include flying along a length of the vehicle or the stationary equipment, generating image data of the vehicle or the stationary equipment, and analyzing the image data to detect the target object.

3. The system of claim 1 , wherein the sub-task in the second sequence to manipulate the target object involves the second robotic machine grasping at least a portion of the target object and moving the at least portion of the target object.

4. The system of claim 1 , wherein, after manipulating the target object, the second robotic machine is configured to, as one of the sub-tasks in the second sequence, transmit a notification to the first robotic machine, the notification indicating that the target object is actuated.

5. The system of claim 4 , wherein, in response to receiving the notification from the second robotic machine, the first robotic machine is configured to, as two of the sub-tasks in the first sequence, analyze one of image data or sensor data of the vehicle or the stationary equipment generated after receiving the notification to verify that the target object is actuated.

6. The system of claim 1 , wherein at least some of the sub-tasks in the first sequence are sequential with at least some of the sub-tasks in the second sequence, the second robotic machine configured to not perform a dependent sub-task in the second sequence until after receiving a notification from the first robotic machine that the first robotic machine has completed a specific sub-task in the first sequence.

7. The system of claim 1 , wherein the robotic arm of the second robotic machine is mounted on a mobile base that includes wheels, the second robotic machine configured to move towards the target object by exerting rotational torque on the wheels and controlling the robotic arm to move relative to the mobile base to reach out towards the target object.

8. The system of claim 1 , wherein the target object is one of a brake lever on a vehicle or a brake wheel on the vehicle.

9. The system of claim 1 , wherein the sub-task in the second sequence to manipulate the target object involves the second robotic machine releasing air from a compressed air system of the vehicle or stationary equipment.

10. The system of claim 1 , wherein the sub-task in the second sequence to manipulate the target object involves the second robotic machine connecting a first hose or cable connected to a first vehicle to a second hose or cable connected to a second vehicle.

11. The system of claim 1 , wherein the target object is a mechanical coupler of the vehicle, and the sub-task in the second sequence to manipulate the target object involves the second robotic machine connecting the mechanical coupler to a second mechanical coupler of a second vehicle.

12. A system, comprising:
a task manager including one or more processors and a communication circuit operably connected to the one or more processors, the one or more processors configured to determine capability requirements to perform a task on a target object on a plurality of equipment, the plurality of equipment including vehicles or stationary equipment, and the one or more processors configured to determine a series of sub-tasks to perform the task, with the sub-tasks having one or more of the capability requirements,
the one or more processors configured to assign a first sequence of the sub-tasks to a first robotic machine for performance by the first robotic machine, the first robotic machine having a first set of capabilities for interacting with the target object, and the first sequence of the sub-tasks assigned to the first robotic machine based at least in part on the first set of capabilities corresponding to the capability requirements associated with the first sequence of the sub-tasks,
and the one or more processors configured to assign a second sequence of the sub-tasks to a second robotic machine for performance by the second robotic machine, the second robotic machine having a second set of capabilities for interacting with the target object, and the second sequence of the sub-tasks assigned to the second robotic machine based at least in part on the second set of capabilities corresponding to the capability requirements associated with the second sequence of the sub-tasks, wherein at least one of the first set of capabilities of the first robotic machine differs from the second set of capabilities of the second robotic machine,
the sub-tasks in the first sequence assigned to the first robotic machine include the first robotic machine identifying the target object, moving to the target object, and communicating a signal to the second robotic machine, the signal including status information of the target object on a first piece of equipment of the plurality of equipment,
the sub-tasks in the second sequence assigned to the second robotic machine include the second robotic machine moving to the target object on the first piece of equipment, based on the status information from the first robotic machine, and manipulating the target object via a robotic arm of the second robotic machine,
the communication circuit configured to communicate the first sequence of the sub-tasks to the first robotic machine and communicate the second sequence of the sub-tasks to the second robotic machine, and the first and second robotic machines being configured to perform at least some of the first and second sequences of sub-tasks, resp

Assignees

• Transp Ip Holdings Llc

Inventors

• Tan Huan
• Lizzi John Michael
• Theurer Charles Burton
• Kannan Balajee
• Patrick Romano

Classifications

• B25J9/1682 Primary

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J9/16

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B25J9/1666

  Avoiding collision or forbidden zones · CPC title

• B61G7/04

  Coupling or uncoupling by means of trackside apparatus · CPC title

• B61J99/00 Primary

  Subject matter not provided for in other groups of this subclass · CPC title