Control system with task manager

Patent metadata

Field	Value
Publication number	US-2022241975-A1
Application number	US-202217726594-A
Country	US
Kind code	A1
Filing date	Apr 22, 2022
Priority date	Nov 14, 2014
Publication date	Aug 4, 2022
Grant date	—

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 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, 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, 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 being configured to operate the first robotic machine in the first mode of operation, and the task manager is configured to operate the second robotic machine in the second mode of operation.

2 . The system of claim 1 , wherein the task manager is configured to coordinate performance of the first and second robotic machines, respectively, to complete the task on the target object.

3 . 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.

4 . 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.

5 . The system of claim 1 , wherein the target object is a railroad track, a road, a bridge, a building, a stack, or a stationary machine.

6 . The system of claim 1 , wherein the first and second sets of capabilities of the first and second robotic machines each include at least one of lifting, imaging, grasping, rotating, tilting, extending, retracting, fastening, pushing, or pulling.

7 . 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 the sensor signal.

8 . 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.

9 . 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.

10 . The system of claim 1 , 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.

11 . The system of claim 10 , 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.

12 . 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.

13 . 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.

14 . The system of claim 13 , wherein the tool is a spray nozzle and the target object is vegetation.

15 . The system of claim 13 , wherein the tool 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.

16 . 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; assigning to a first robotic machine of plural robotic machines a first sequence of sub-tasks within the associated series 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; assigning to a second robotic machine of the plural robotic machines a second sequence of sub-tasks within the associated series 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; and operating the first robotic machine in the first mode of operation and operating the second robotic machine in the second mode of operation.

17 . The method of claim 16 , further comprising coordinating performance of the first and second robotic machines, respectively, to complete the task on the target object, and the first mode of operation is an image capture mode, and the second mode of operation is an alignment and fastening mode.

18 . The method of claim 16 , further comprising determining a location of 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.

19 . The method of claim 16 , further comprising actuating a first robotic arm to extend the second robotic arm into a determined position, and actuating a tool on the second robotic arm, wherein the tool is a spray nozzle and the target object is vegetation.

20 . A system, comprising:
means for 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; means for assigning to a first robotic machine of plural robotic machines a first sequence of sub-tasks within the associated series 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; means for assigning to a second robotic machine of the plural robotic machines a second sequence of sub-tasks within the associated series 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; and means for operating the first robotic machine in the first mode of operation and operating the second robotic machine in the

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

• G05B2219/40041

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

• B25J9/1682 Primary

  Dual arm manipulator; Coordination of several manipulators · CPC title

• B25J9/1661

  characterised by task planning, object-oriented languages · CPC title

• G05B2219/39117

  Task distribution between involved manipulators · CPC title

• B61G7/04

  Coupling or uncoupling by means of trackside apparatus · CPC title