Control system with task manager

Patent metadata

Field	Value
Publication number	US-12384037-B2
Application number	US-202217726594-A
Country	US
Kind code	B2
Filing date	Apr 22, 2022
Priority date	Nov 14, 2014
Publication date	Aug 12, 2025
Grant date	Aug 12, 2025

Abstract

A control system includes 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, with the sub-tasks having one or more capability requirements. The task manager selects and assigns a first sequence of sub-tasks to a first robotic machine that has a first set of capabilities and operates according to a first mode of operation. The task manager selects and assigns a second sequence of sub-tasks to a second robotic machine that has a second set of capabilities and operates according to a second mode of operation. The task manager selects the first robotic machine based on the first set of capabilities and the first mode of operation of the first robotic machine, and selects the second robotic machine based on the second set of capabilities and the second mode of operation.

First claim

What is claimed is:

1. A system comprising:
a task manager having one or more processors configured to initiate performance of a task on a target object, the task having an associated series of sub-tasks, with the sub-tasks having one or more capability requirements, and
the task manager configured to evaluate a plurality of robotic machines to identify a subset of robotic machines available for task assignment,
the task manager configured to determine rankings of the available robotic machines for each of the sub-tasks of the associated series of sub-tasks,
the task manager configured to select a first robotic machine of plural robotic machines and assign a first sequence of sub-tasks within the associated series of sub-tasks to the first robotic machine based on the ranking of the first robotic machine for the first sequence of sub-tasks, the first robotic machine having a first set of capabilities for interacting with the target object and configured to operate according a first mode of operation,
the task manager configured to select a second robotic machine of the plural robotic machines and assign a second sequence of sub-tasks within the associated series of sub tasks to the second robotic machine based on the ranking of the second robotic machine for the second sequence of sub-tasks, the second robotic machine having a second set of capabilities for interacting with the target object and configured to operate according to a second mode of operation,
the task manager configured to operate at least one of the first robotic machine to identify the target object and determine information comprising at least two of: a position of the target object, a position of the first robotic machine, or a position of the second robotic machine,
the task manager to receive the identity of the target objection and the information from the first robotic machine,
the task manager configured to send a command to at least one of the first robotic machine or the second robotic machine to move from a first location to a second location such that the second location is closer to the target object than the first location,
the task manager configured to determine whether the second robotic machine is to proceed with the second sequence of sub-tasks based on the information from the first robotic machine, and
the task manager being configured to operate the first robotic machine in the first mode of operation, and based on the task manager determining that the second robotic machine is to proceed, the task manager is configured to operate the second robotic machine in the second mode of operation to manipulate the target object, and
wherein at least one of the first robotic machine or the second robotic machine moves from a first location to a second location such that the second location is closer to the target object than the first location, and
wherein the first robotic machine is configured to perform one or more sub-tasks of the first sequence of sub-tasks by moving the second robotic machine from a first location to a second location such that the second robotic machine in the second location is positioned relative to a zone of the target object to complete one or more sub-tasks of the second sequence of sub-tasks.

2. The system of claim 1 , wherein the first mode of operation is a fast, gross movement mode, and the second mode of operation is a slow, fine movement mode.

3. The system of claim 1 , wherein the first mode of operation includes locating an aperture in the target object, and the second mode of operation includes actuating one or more tools of the second robotic machine to insert a fastener through the aperture.

4. The system of claim 1 , further comprising a sensor that is configured to obtain information about the target object, and the task manager is configured to decide whether and how the second robotic machine proceeds with a sub-task of the second sequence based at least in part on a sensor signal.

5. The system of claim 1 , wherein at least some of the sub-tasks are sequential such that the second robotic machine begins performance of a dependent sub-task in the second sequence responsive to receiving a notification that the first robotic machine has completed a specific sub-task in the first sequence.

6. The system of claim 1 , wherein the first robotic machine concurrently performs at least one of the sub-tasks in the first sequence with performance of at least one of the sub-tasks in the second sequence by the second robotic machine.

7. The system of claim 1 , wherein the first robotic machine is configured to identify the target object and determine a position of the target object and a position of the second robotic machine, and the second robotic machine is configured to perform one or more sub-tasks of the second sequence of sub-tasks by manipulating or interacting with the target object.

8. The system of claim 1 , further comprising one or more of a stabilizer, an outrigger, or a clamp and a transition in operation from the first mode to the second mode comprises deploying and setting said one or more of the stabilizer, the outrigger, or the clamp.

9. The system of claim 1 , wherein the first mode of operation comprises moving at least one of the first robotic machine or the second robotic machine to a determined location relative to the target object; and
the second mode of operation comprises actuating one or more tools of at least one of the first robotic machine or the second robotic machine to accomplish the task or a sub task.

10. The system of claim 9 , wherein a tool of the one or more tools is a spray nozzle and the target object is vegetation.

11. The system of claim 9 , wherein a tool of the one or more tools is a scoop, a saw, or a claw, and the target object is a rail track, a rail tie, a rail tie fastener, or ballast material.

12. The system of claim 1 , the task manager configured to send a command to the first robotic machine to perform one or more of the first sequence of sub-tasks by moving the second robotic machine from the first location to the second location such that the second robotic machine in the second location is positioned relative to the target object to complete one or more of the second sequence of sub-tasks than if the second robotic machine is in the first location.

13. The system of claim 1 , the task manager configured to send a first command to the first robotic machine, wherein the command comprises at least three of the sub-tasks of the first sequence of sub-tasks including the first robotic machine identifying the target object on stationary equipment, generating a signal, for communication to the second robotic machine, that includes information about a location of the target object on the stationary equipment, and moving the second robotic machine from a first location to a second location such that the second robotic machine in the second location is positioned closer to the target object than in the first location.

14. The system of claim 13 , the task manager configured to send a second command to the second robotic machine, wherein the command comprises at least two of the sub-tasks of the second sequence of sub-tasks assigned to the second robotic machine include the second robotic machine moving to the target object based on the signal generated by the first robotic machine and manipulating the target object.

15. A method, comprising:
initiating performance of a task on a target object, the task having an associated series of sub-tasks, with the sub-tasks having one or more capability requirements;
evaluating a plurality of robotic machines to identify a

Assignees

• Transp Ip Holdings Llc

Inventors

• Tan Huan
• Lizzi John Michael
• Theurer Charles Burton
• Kannan Balajee
• Patrick Romano
• Bachman Mark
• Vanderlinden Michael
• Kraeling Mark Bradshaw
• Wellings Norman

Classifications

• 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

• B61J99/00

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

• B61G7/04

  Coupling or uncoupling by means of trackside apparatus · CPC title

• G05B2219/40041

  Robot operates panel like car radio by pushing, turning buttons, knobs · CPC title