VIRTUAL REALITY CONTROLLED MOBILE ROBOT

• US 20160114418A1
• Filed: 10/09/2015
• Published: 04/28/2016
• Est. Priority Date: 10/22/2014
• Status: Active Grant

• Current Assignee: Illinois Tool Works Inc.
• Original Assignee: Illinois Tool Works Inc.
• Inventors: Jones, Jerald Edward, Rhoades, Valerie Lisa, Holverson, Todd Earl, Mann, Mark Dietrich, Cuneo, Adam Nathan, Gaffney, John Henry III
• Granted Patent: US 10,442,025 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B23K 10/00 Welding or cutting by means of a plasma
• CPC Class Codes: B23K 31/006 relating to using of neural networks
• CPC Class Codes: B23K 37/0258 Electric supply or control circuits therefor
• CPC Class Codes: B23K 37/0282 Carriages forming part of a welding unit
• CPC Class Codes: B23K 37/0288 Carriages forming part of a cutting unit
• CPC Class Codes: B23K 37/0294 Transport carriages or vehicles
• CPC Class Codes: B23K 9/0953 using computing means
• CPC Class Codes: B23K 9/0956 using sensing means, e.g. optical
• CPC Class Codes: B23K 9/1087 Arc welding using remote control
• CPC Class Codes: B23K 9/1274 Using non-contact, optical means, e.g. laser means
• CPC Class Codes: B23K 9/16 making use of shielding gas selection of media B23K35/38
• CPC Class Codes: B62D 57/024 specially adapted for moving on inclined or vertical surfaces endless-track vehicles for ascending or descending stairs B62D55/075; hand-carts with provision for travelling up or down stairs B62B5/02

Abstract

In certain embodiments, a portable metal working robot system includes a metal working tool configured to perform a metal working process on one or more metal parts. In addition, the portable metal working robot system includes communication circuitry configured to receive control signals from a control system located remotely from the portable metal working robot system. The portable metal working robot system also includes control circuitry configured to control operational parameters of the portable metal working robot system in accordance with the received control signals.

Claims

1. A portable metal working robot system comprising:

a metal working tool configured to perform a metal working process on one or more metal parts;

communication circuitry configured to receive control signals from a control system located remotely from the portable metal working robot system; and

control circuitry configured to control operational parameters of the portable metal working robot system in accordance with the received control signals.

2. The portable metal working robot system of claim 1, wherein the metal working tool comprises a welding torch configured to produce a welding arc on the one or more metal parts.

3. The portable metal working robot system of claim 1, wherein the metal working tool comprises a plasma cutting torch configured to produce a plasma cutting arc on the one or more metal parts.

4. The portable metal working robot system of claim 1, wherein the metal working tool comprises a heating assembly configured to heat the one or more metal parts.

5. The portable metal working robot system of claim 1, comprising one or more sensor systems configured to detect one or more operational parameters, wherein the communication circuitry is configured to transmit data relating to the detected one or more operational parameters to the control system.

6. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise a position sensor system configured to detect a position, orientation, or movement of the metal working tool.

7. The portable metal working robot system of claim 6, wherein the position sensor system comprises one or more light emitting diodes disposed on the metal working tool, and one or more optical detectors configured to detect light transmitted from the one or more light emitting diodes.

8. The portable metal working robot system of claim 6, wherein the position sensor system comprises one or more motion sensors disposed within or on the metal working tool.

9. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise an audio sensor system configured to detect acoustic data from an environment proximate the metal parts.

10. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise a video capture system configured to capture video data of the metal working tool, the metal working process, and an environment proximate the metal parts.

11. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise a gap sensing system configured to detect data relating to a distance between the one or more metal parts.

12. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise a gap sensing system configured to detect data relating to position, orientation, or movement of the metal working tool relative to the one or more metal parts.

13. The portable metal working robot system of claim 5, wherein the one or more sensor systems comprise a weld bead profile sensing system configured to detect data relating to a profile of a weld bead created by a welding arc generated by the metal working tool.

14. The portable metal working robot system of claim 1, comprising a multi-axis position manipulation system configured to adjust a position, orientation, or movement of the metal working tool based at least in part on the received control signals.

15. The portable metal working robot system of claim 1, comprising a multi-axis position manipulation system configured to adjust a position, orientation, or movement of the portable metal working robot system based at least in part on the received control signals.

16. The portable metal working robot system of claim 14, wherein the multi-axis position manipulation system comprises one or more magnetic treads.

17. The portable metal working robot system of claim 14, wherein the multi-axis position manipulation system comprises one or more wheels.

18. The portable metal working robot system of claim 14, wherein the multi-axis position manipulation system comprises a pneumatic vacuum system.

19. The portable metal working robot system of claim 1, comprising a welding or cutting power supply configured to provide welding or cutting power to the metal working tool.

20. The portable metal working robot system of claim 1, comprising a welding wire feeder configured to provide welding wire to the metal working tool.

21. The portable metal working robot system of claim 1, comprising a gas source configured to provide a gas flow to the metal working tool.

22. The portable metal working robot system of claim 1, wherein the control circuitry is also configured to control operational parameters of the portable metal working robot system without receiving control signals from the control system.

23. A control system comprising:

one or more display devices configured to display a virtual reality representation or an augmented reality representation of a metal working process being performed on one or more metal parts;

one or more control devices configured to be manipulated by an operator;

control circuitry configured to display the virtual reality representation or the augmented reality representation of the metal working process on the one or more display devices; and

communication circuitry configured to receive one or more inputs of the one or more control devices, and to transmit control signals to a remotely located portable metal working robot system, wherein the control signals are based at least in part on the one or more inputs of the one or more control devices.

24. The control system of claim 23, wherein the metal working process comprises a welding process.

25. The control system of claim 23, wherein the metal working process comprises a plasma cutting process.

26. The control system of claim 23, wherein the metal working process comprises a heating process.

27. The control system of claim 23, wherein the communication circuitry is configured to receive data relating to one or more operational parameters from sensor systems of the portable metal working robot system, and the control circuitry is configured to adjust the virtual reality representation or the augmented reality representation of the metal working process displayed on the one or more display devices based at least in part on the received data.

28. The control system of claim 27, wherein the control circuitry is configured to provide information relating to a quality of the metal working process on one or more display devices based at least in part on the received data.

29. The control system of claim 23, wherein the control circuitry comprises a neural network model.

30. The control system of claim 23, comprising a position sensor system configured to detect a position, orientation, or movement of the one or more control devices, and wherein the control circuitry is configured to determine the control signals based at least in part on the detected position, orientation, or movement of the one or more control devices.

31. The control system of claim 30, wherein the position sensor system comprises one or more light emitting diodes disposed on the one or more control devices, and one or more optical detectors configured to detect light transmitted from the one or more light emitting diodes.

32. The control system of claim 30, wherein the position sensor system comprises one or more motion sensors disposed within or on the one or more control devices.