Apparatus and method for enabling rapid configuration and reconfiguration of a robotic assemblage

• US 10,265,851 B2
• Filed: 04/20/2017
• Issued: 04/23/2019
• Est. Priority Date: 02/19/2011
• Status: Active Grant

• Current Assignee: Richard A. Skrinde
• Original Assignee: Richard A. Skrinde
• Inventors: Skrinde, Richard A.
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US15/492,517
• Publication Number:
  US 20170217018A1
• Time in Patent Office: 733 Days
• Field of Search: 700245, 700258, 700259, 700262, 700248, 700250, 700253, 414738, 901 28, 901 31
• CPC Class Codes: B08B 9/049 having self-contained propelling means for moving the cleaning devices along the pipes , i.e. self-propelled
• CPC Class Codes: B25J 11/008 Manipulators for service tasks
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 3/00 Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
• CPC Class Codes: B25J 9/0084 comprising a plurality of manipulators
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/163 learning, adaptive, model based, rule based expert control
• CPC Class Codes: B25J 9/1661 characterised by task planning, object-oriented languages
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: F16L 2101/12 Cleaning
• CPC Class Codes: F16L 55/32 being self-contained
• CPC Class Codes: Y10S 901/05 Machine driven lead through

Abstract

Modular components form a robotic assembly. the mod-components include modules and tools, each have a set of functions and capabilities, are rapidly configured-reconfigured to function cooperatively, creating a configurable robotic assemblage. Each mod-component incorporates a standardized connector mating with any other standardized connector in an interchangeable manner providing mechanical stability, power, and signals therebetween. Each mod-component incorporates a processor, data storage for mod-component identity, status, and programmable functionality, and for responding to commands. Storage is reprogrammed while the robot is operational, altering both commands and responses. After interconnection, inter-module power and communication are established and each modular component identifies itself and its functionality, thereby providing “plug and play” configuration.

Claims

1. A method for providing autonomous distributed control through intelligent instrumentation, comprising:

storing data in a data store of a robotic assemblage in accordance with a tiered-hierarchy of a plurality of commands comprising high-level goal commands, intermediate-level function commands, and low-level signal commands, the high-level goal commands, the intermediate-level function commands, and the low-level signal commands each being within a respective intelligent tier of the tiered-hierarchy;

intelligently instrumenting said robotic assemblage in a control module through the use of

solution commands specifying a pattern of distributed control cascading down the tiered-hierarchy to define and optimize different classes of robotic behavior, said pattern of distributed control defined by respective ones of said plurality of commands in the tiered-hierarchy,

intelligent closed-loop sensing being within each intelligent tier of the tiered-hierarchy, cascading up the tiered-hierarchy to form a comprehensive top level indicating a multi-faceted status of the robotic assemblage'"'"'s internal and external conditions, and

at least one control template comprised of a plurality of commands and used to perform at least one of synchronization, translation, formatting, and optimization of said plurality of commands and said intelligent closed-loop sensing of the robotic assemblage; and

autonomously performing a cross-tiered closed-loop process by the control module to self-optimize said robotic assemblage performance through use of at least one of operation histories, simulations, and self-learning applied to operations of said robotic assemblage.

2. The method according to claim 1, wherein said robotic assemblage comprises

a robot or other mechanized system incorporating automatable procedures, and

at least one module that has at least one of a standardized interface to external systems an embedded controller employing at least one tier of distribution and incorporating at least one computer, and an intelligent distributed control system that provides physical interfaces to each of said intelligent tier,

wherein said intelligent tiers are connected by a common bus to form the tiered hierarchy, and

wherein the intelligent distributed control system is comprised of at least one of an interface, a sensor, an actuator, and a planning subsystem.

3. The method according to claim 1, wherein at least one of said solution commands defines a solution pattern to

specify a particular behavior of a specific configuration of the robotic assemblage,

coordinate operations of at least one module of the robotic assemblage in accordance with the particular behavior specified for the specific configuration of the robotic assemblage,

include instructions to combine operations of the solution pattern with operations defined by other solution patterns,

access external databases or programs,

incorporate live operator instructions, or

prioritize higher tiers over lower tiers.

4. The method according to claim 1, wherein the control template defines instructions to:

direct solution command granularity and flow, translate formats, translate communication protocols, incorporate software standards, provide standardized interfaces, or substitute parameters;

or

deploy solution patterns to generate autonomous activities, monitor operational performance, support tele-operated training, manually guide or override autonomous operations, sense and resolve fault conditions, implement failsafe emergency shut-down, or eliminate a single point of failure.

5. The method according to claim 1, wherein the control template defines instructions to increase solution command granularity by:

expanding detail of at least a first high-level goal command of said high-level goal commands down into a set of at least a first intermediate-level function command of said intermediate-level function commands;

or

expanding detail of at least a first intermediate-level function command of said intermediate-level function commands down into a set of at least a first low-level signal command of said low-level signal commands.

6. The method according to claim 1, wherein the control template defines instructions to raise status awareness by:

aggregating at least a first set of low-level sensor data into at least a first intermediate-level function status;

or

aggregating at least a first set of intermediate-level function statuses into at least a high-level goal status.

7. The method according to claim 1, wherein the control template defines instructions to reduce operating latency by providing at least one of:

look-up tables to speed complex use case calculations; and

standardization, optimization or modularization of assemblage sub-components.

8. The method according to claim 1, wherein the control template defines instructions to associate and aggregate sensor data with said high-level goal commands.

9. The method according to claim 1, wherein the control template defines instructions for processing actionable signals, computing equations, implementing algorithms, implementing statistical processes, implementing filters, or deploying expert systems.

10. The method according to claim 1, wherein the control template defines instructions for remotely updating or retro-grading a firmware version, or to provide for data backup or recovery.

11. A system, comprising:

a data store comprising a tiered-hierarchy of a plurality of commands comprising high-level goal commands, intermediate-level function commands, and low-level signal commands, the high-level goal commands, the intermediate-level function commands, and the low-level signal commands each being within a respective intelligent tier of the tiered-hierarchy;

a processor; and

a non-transitory computer-readable storage medium comprising programming instructions that are configured to cause the processor to implement a method for providing autonomous distributed control through intelligent instrumentation, wherein the programming instructions comprise instructions to;

intelligently instrument said robotic assemblage in the processor through the use of

solution commands specifying a pattern of distributed control cascading down the tiered-hierarchy to define and optimize different classes of robotic behavior, said pattern of distributed control defined by respective ones of said plurality of commands in the tiered-hierarchy,

intelligent closed-loop sensing being within each intelligent tier of the tiered-hierarchy, cascading up the tiered-hierarchy to form a comprehensive top level indicating a multi-faceted status of the robotic assemblage'"'"'s internal and external conditions, and

at least one control template comprised of a plurality of commands and used to perform at least one of synchronization, translation, formatting, and optimization of said plurality of commands and said intelligent closed-loop sensing of the robotic assemblage; and

autonomously performing a cross-tiered closed-loop process to self-optimize said robotic assemblage performance through use of at least one of operation histories, simulations, and self-learning applied to operations of said robotic assemblage.

12. The system according to claim 11, wherein said robotic assemblage comprises

a robot or other mechanized system incorporating automatable procedures, and

at least one module that has at least one of a standardized interface to external systems and an embedded controller employing at least one tier of distribution and incorporating at least one computer, and an intelligent distributed control system that provides physical interfaces to each of said intelligent tier,

wherein said intelligent tiers are connected by a common bus to form the tiered hierarchy, and

wherein the intelligent distributed control system is comprised of at least one of an interface, a sensor, an actuator, and a planning subsystem.

13. The system according to claim 11, wherein at least one of said solution commands defines a solution pattern to specify a particular behavior of a specific configuration of the robotic assemblage in accordance with the particular behavior specified for the specific configuration of the robotic assemblage,

including instructions to combine operations of the solution pattern with operations defined by other solution patterns,

access external databases or programs,

incorporate live operator instructions, or

prioritize higher tiers over lower tiers.

14. The system according to claim 11, wherein the control template defines instructions to:

direct solution command granularity and flow, translate formats, translate communication protocols, incorporate software standards, provide standardized interfaces, or substitute parameters;

or

deploy solution patterns to generate autonomous activities, monitor operational performance, support tele-operated training, manually guide or override autonomous operations, or to sense and resolve fault conditions, implement a failsafe emergency shut-down, or eliminate a single point of failure.

15. The system according to claim 11, wherein the control template defines instructions to increase solution command granularity by:

expanding detail of at least a first high-level goal command of said high-level goal commands down into a set of at least a first intermediate-level function command of said intermediate-level function commands;

or

expanding detail of at least a first intermediate-level function command of said intermediate-level function commands down into a set of at least a first low-level signal command of said low-level signal commands.

16. The system according to claim 11, wherein the control template defines instructions to raise status awareness by:

aggregating at least a first set of low-level sensor data into at least a first intermediate-level function status;

or

aggregating at least a first set of intermediate-level function statuses into at least a high-level goal status.

17. The system according to claim 11, wherein the control template defines instructions to reduce operating latency by providing at least one of:

look-up tables to speed complex use case calculations; and

standardization, optimization or modularization of assemblage sub-components.

18. The system according to claim 11, wherein the control template defines instructions to aggregate sensor data with said high-level goal commands.

19. The system according to claim 11, wherein the control template defines instructions for processing actionable signals, computing equations, implementing algorithms, implementing statistical processes, implementing filters or deploying expert systems.

20. The system according to claim 11, wherein the control template defines instructions for remotely updating or retro-grading a firmware version, to provide for data backup or recovery.