Vehicle control system with task manager

• US 10,300,601 B2
• Filed: 08/28/2018
• Issued: 05/28/2019
• Est. Priority Date: 11/14/2014
• Status: Active Grant

• Current Assignee: Transportation IP Holdings, LLC (Westinghouse Air Brake Technologies Corporation)
• Original Assignee: GE Global Sourcing LLC (Westinghouse Air Brake Technologies Corporation)
• Inventors: Tan, Huan, Lizzi, John Michael, Theurer, Charles Burton, Kannan, Balajee, Patrick, Romano
• Primary Examiner(s): Bendidi, Rachid
• Application Number:
  US16/114,318
• Publication Number:
  US 20180361586A1
• Time in Patent Office: 273 Days
• CPC Class Codes: B25J 9/16 Programme controls programme controls in general G05B19/00, e.g. numerical pogramme controls G05B19/18; recording or playback systems G05B19/42
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B61G 7/04 Coupling or uncoupling by means of trackside apparatus
• CPC Class Codes: B61J 99/00 Subject matter not provided for in other groups of this subclass

Abstract

A locomotive control system may include first and second robotic machines and a task manager. The first and second robotic machines have respective first and second sets of capabilities for interacting with a surrounding environment. The task manager selects the first and second robotic machines from a group to perform a task based on the first and second sets of capabilities of the robotic machines. The task involves manipulating and/or inspecting a target object of a vehicle. The task manager assigns a first sequence of sub-tasks to be performed by the first robotic machine and a second sequence of sub-tasks to be performed by the second robotic machine. The first and second robotic machines are configured to 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.

Claims

1. A vehicle control system comprising:

a first robotic machine having a first set of capabilities for interacting with a target object on board a vehicle or a consist that includes the vehicle;

a second robotic machine having a second set of capabilities for interacting with the target object; and

a task manager having one or more processors and that is 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 capability requirements,

the task manager being configured to assign a first sequence 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 a second sequence 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,

wherein the first robotic machine is configured to provide to the second robotic machine, directly or indirectly, a sensor signal having information about the target object, to 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,

wherein the first robotic machine is configured to perform one or more 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 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,

wherein the first robotic machine is configured to identify the target object and determine at least two of;

a position of the target object, a position of the first robotic machine, and/or a position of the second robotic machine, and

wherein the second robotic machine is configured to perform one or more of the second sequence of sub-tasks by manipulating the target object.

2. The vehicle control 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 flying, driving, diving, lifting, imaging, grasping, rotating, tilting, extending, retracting, pushing, or pulling.

3. The vehicle control system of claim 1, wherein the second set of capabilities of the second robotic machine includes at least one capability that differs from the first set of capabilities of the first robotic machine.

4. The vehicle control system of claim 1, wherein the first and second robotic machines coordinate performance of the first sequence of sub-tasks by the first robotic machine with the performance of the second sequence of sub-tasks by the second robotic machine by communicating directly with each other.

5. The vehicle control system of claim 1, wherein the first robotic machine notifies the second robotic machine, directly or indirectly, that one of the corresponding sub-tasks is complete and the second robotic machine is responsive to the notification by performing a corresponding sub-task in the second sequence.

6. The vehicle control system of claim 1, wherein the task manager is configured to make a decision whether the second robotic machine proceeds with a sub-task of the second sequence based at least in part on the sensor signal.

7. The vehicle control 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 from the first robotic machine that the first robotic machine has completed a specific sub-task in the first sequence.

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

9. The vehicle control system of claim 1, wherein the task manager is configured to access a database that stores capability descriptions corresponding to each robotic machine in a group of robotic machines, and the task manager is further configured to select the first and second robotic machines to perform the task instead of other robotic machines in the group based on a suitability of the capability descriptions of the first and second robotic machines relative to capability needs ascribed in the database to the task or corresponding sub-tasks.

10. The vehicle control system of claim 1, wherein the first robotic machine performs one or more of the first sequence of sub-tasks by flying.

11. The vehicle control system of claim 1, wherein the first robotic machine, having been assigned a sequence of sub-tasks by the task manager:

determines to travel a determined path from a first location to a second location, or determines to act using a capability of the first set of capabilities, or both determines to travel the intended path and determines to act using the capability, and

signals to the second robotic machine, to the task manager, or both the second robotic machine and the task manager information including at least one of the determined path, the act of using the capability, or both.

12. The vehicle control system of claim 11, wherein the second robotic machine, responsive to the signal from the first robotic machine, initiates a confirmatory receipt signal back to the first robotic machine.

13. The vehicle control system of claim 1, wherein the first robotic machine and the second robotic machine each are configured to generate one or more of:

time indexing signals associated one or both of the first sequence of sub-tasks or the second sequence of sub-tasks,

position indexing signals for locations of one or both of the first robotic machine or the second robotic machine, or

orientation indexing signals for one or more tools configured to implement one or both of the first set of capabilities of the first robotic machine or the second set of capabilities of the second robotic machine.

14. The vehicle control system of claim 1, wherein at least one of the first robotic machine or the second robotic machine has a first mode of operation that is a fast, gross movement mode and a second mode of operation that is a slow, fine movement mode.

15. The vehicle control system of claim 14, further comprising one or more of a stabilizer, an outrigger, or a clamp, and wherein 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.

16. The vehicle control system of claim 14, 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.

17. A vehicle control system comprising:

a first robotic machine having a first set of capabilities for interacting with a surrounding environment associated with a vehicle or a consist that includes the vehicle, the first robotic machine being configured to receive a first sequence of sub-tasks related to the first set of capabilities of the first robotic machine; and

a second robotic machine having a second set of capabilities for interacting with the surrounding environment, the second robotic machine being configured to receive a second sequence of sub-tasks related to the second set of capabilities of the second robotic machine,

wherein the first and second robotic machines are configured to perform the first and second sequences of sub-tasks, respectively, to accomplish a task that involves at least one of manipulating or inspecting a target object that is distinct from the first and second robotic machines, the target object being onboard the vehicle or the consist that includes the vehicle, the first and second robotic machines being configured to 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,

wherein the first robotic machine is configured to provide to the second robotic machine, directly or indirectly, a sensor signal having information about the target object,

wherein the first robotic machine is configured to perform one or more 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 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,

wherein the first robotic machine is configured to identify the target object and determine at least two of;

a position of the target object, a position of the first robotic machine, and/or a position of the second robotic machine, and

wherein the second robotic machine is configured to perform one or more of the second sequence of sub-tasks by manipulating the target object.

18. The vehicle control system of claim 17, wherein at least some of the sub-tasks are sequential such that the second robotic machine begins performance of a corresponding sub-task in the second sequence responsive to receiving a notification from the first robotic machine that the first robotic machine has completed a specific sub-task in the first sequence.

19. A vehicle control method for a first robotic machine having a first set of capabilities for interacting with a surrounding environment associated with a vehicle or a consist that includes the vehicle, the first robotic machine being configured to receive a first sequence of sub-tasks related to the first set of capabilities of the first robotic machine, and a second robotic machine having a second set of capabilities for interacting with the surrounding environment, the second robotic machine being configured to receive a second sequence of sub-tasks related to the second set of capabilities of the second robotic machine, the method comprising:

performing the first and second sequences of sub-tasks to accomplish a task comprising at least one of manipulating or inspecting a target object onboard the vehicle or the consist that includes the vehicle; and

with at least one processor, coordinating 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,

wherein the first robotic machine provides to the second robotic machine, directly or indirectly, a sensor signal having information about the target object,

wherein the first robotic machine performs one or more 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 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,

wherein the first robotic machine identifies the target object and determine at least two of;

a position of the target object, a position of the first robotic machine, and/or a position of the second robotic machine, and

wherein the second robotic machine performs one or more of the second sequence of sub-tasks by manipulating the target object.