Methods, apparatus, computer programs, and non-transitory computer readable storage mediums for controlling at least one of a first robot and a second robot to collaborate within a system

• US 10,525,595 B2
• Filed: 06/08/2017
• Issued: 01/07/2020
• Est. Priority Date: 07/08/2016
• Status: Active Grant

• Current Assignee: Rolls-Royce PLC (Rolls-Royce Holdings Plc)
• Original Assignee: Rolls-Royce PLC (Rolls-Royce Holdings Plc)
• Inventors: Norton, Andrew D, Kell, James, Axinte, Dragos A
• Primary Examiner(s): Amin, Bhavesh V
• Application Number:
  US15/617,512
• Publication Number:
  US 20180009109A1
• Time in Patent Office: 943 Days
• Field of Search: None
• CPC Class Codes: B25J 9/1625 Truss-manipulator for snake-like motion
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: F01D 21/003 Arrangements for testing or measuring for measuring vibrations G01H
• CPC Class Codes: F01D 5/005 Repairing methods or devices
• CPC Class Codes: F05D 2260/80 Diagnostics
• CPC Class Codes: F05D 2260/84 Redundancy
• CPC Class Codes: F05D 2270/8041 Cameras
• CPC Class Codes: F05D 2270/806 Sonars
• CPC Class Codes: G05B 2219/39146 Swarm, multiagent, distributed multitask fusion, cooperation multi robots
• CPC Class Codes: G05B 2219/40039 Robot mounted or sliding inside vehicle, on assembly line or for test, service

Abstract

A method of controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the method including: receiving sensed data associated with the second robot; determining position and/or orientation of the second robot using the received sensed data; determining an action for the second robot using the determined position and/or orientation of the second robot; and providing a control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot.

Claims

1. A computer-implemented method of controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the method comprising:

receiving sensed data associated with the second robot;

determining at least one of a position and an orientation of the second robot using the received sensed data;

storing, in a memory, data regarding a structure of an object on which the second robot is to perform an action;

determining the action for the second robot using the stored data of the structure of the object and the at least one of the determined position and the determined orientation of the second robot;

generating a control signal based on the structure of the object and the at least one of the determined position and the determined orientation; and

providing the control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot and avoid collisions with other objects.

2. The computer-implemented method as claimed in claim 1, wherein the sensed data is associated with a first end of the second robot, the first end comprising one or more devices for performing the determined action.

3. The computer-implemented method as claimed in claim 1, further comprising controlling a three dimensional scanner to obtain the sensed data.

4. The computer-implemented method as claimed in claim 3, wherein the three dimensional scanner is mounted on the first robot.

5. The computer-implemented method as claimed in claim 3, wherein controlling the three dimensional scanner includes:

controlling an emitter to emit electromagnetic waves, the sensed data being received from an electromagnetic wave sensor.

6. The computer-implemented method as claimed in claim 3, wherein controlling the three dimensional scanner includes:

controlling an ultrasonic transducer to emit ultrasonic waves, the sensed data being received from the ultrasonic transducer.

7. The computer-implemented method as claimed in claim 1, further comprising controlling a magnetic transmitter arrangement to provide one or more magnetic fields, the second robot being at least partially positioned within the one or more magnetic fields, the sensed data being received from a magnetic field sensor mounted on the second robot.

8. The computer-implemented method as claimed in claim 1, wherein the determined action includes movement relative to the system.

9. The computer-implemented method as claimed in claim 1, wherein the determined action includes holding an object within the system to prevent movement of the object within the system.

10. The computer-implemented method as claimed in claim 1, wherein the determined action includes obtaining one or more images of the first robot and/or the system.

11. The computer-implemented method as claimed in claim 1, wherein the determined action includes machining an object within the system.

12. The computer-implemented method as claimed in claim 1, further comprising:

receiving sensed data associated with the first robot;

determining position and/or orientation of the first robot using the received sensed data;

determining an action for the first robot using the determined position and/or orientation of the first robot; and

providing a control signal to the first robot to cause the first robot to perform the determined action to collaborate with the second robot.

13. A non-transitory computer readable storage medium comprising computer readable instructions that, when read by a computer, cause the computer to execute a method of controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the method comprising:

receiving sensed data associated with the second robot;

determining at least one of a position and an orientation of the second robot using the received sensed data;

storing, in a memory, data regarding a structure of an object on which the second robot is to perform an action;

determining the action for the second robot using the stored data of the structure of the object and the at least one of the determined position and the determined orientation of the second robot;

generating a control signal based on the structure of the object and the at least one of the determined position and the determined orientation; and

providing the control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot and avoid collisions with other objects.

14. An apparatus for controlling at least one of a first robot and a second robot to collaborate within a system, the first robot and the second robot being physically separate to one another, the apparatus comprising a controller configured to:

receive sensed data associated with the second robot;

determine position and/or orientation of the second robot using the received sensed data;

determine an action for the second robot using the determined position and/or orientation of the second robot; and

provide a control signal to the second robot to cause the second robot to perform the determined action to collaborate with the first robot.

15. The apparatus as claimed in claim 14, wherein the controller is configured to:

receiving sensed data associated with the first robot;

determining at least on of a position and an orientation of the first robot using the received sensed data;

storing, in a memory, data regarding a structure of an object on which the second robot is to perform an action;

determining the action for the first robot using the stored data of the structure of the object and the at least one of the determined position and the determined orientation of the first robot;

generating a control signal based on the structure of the object and the at least one of the determined position and the determined orientation; and

providing the control signal to the first robot to cause the first robot to perform the determined action to collaborate with the second robot and avoid collisions with other objects.

16. The apparatus as claimed in claim 14, further comprising:

the first robot including a first controller and a first actuator; and

the second robot including a second controller and a second actuator.

17. The apparatus as claimed in claim 16, wherein the first robot is a continuum robot having a first base, the first controller and the first actuator being housed within the first base, and wherein the second robot is a continuum robot having a second base, the second controller and the second actuator being housed within the second base, the first base and the second base being movable relative to one another.

18. The apparatus as claimed in claim 16, wherein the first robot and the second robot each comprise a first end having an interface for interchangeably receiving at least a first device and a second device.

19. The apparatus as claimed in claim 18, wherein the first device includes one or more of:

imaging apparatus;

machining apparatus;

clamping apparatus, and the second device includes one or more of;

imaging apparatus;

machining apparatus;

clamping apparatus.