Autonomous robotic platform

• US 8,666,546 B2
• Filed: 07/10/2009
• Issued: 03/04/2014
• Est. Priority Date: 07/10/2009
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Sarh, Branko, Amirehteshami, David H.
• Primary Examiner(s): MANCHO, RONNIE M
• Application Number:
  US12/500,943
• Publication Number:
  US 20110010007A1
• Time in Patent Office: 1,698 Days
• Field of Search: 700/248, 700/259, 700/258, 700/245, 335/03, 294/28, 292/44, 254/2.R, 254/4.R, 901/1, 901/46, 318/568.25, 701/1, 701/2
• US Class Current: 700/248
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

The different advantageous embodiments may provide an apparatus that may comprise a number of robotic platforms, a wireless communications system, and a computer system. The number of robotic platforms may be configured to move to a number of locations in an assembly area and interact with a number of robotic devices. The wireless communications system may be configured to provide communication with the number of robotic platforms and the number of robotic devices within the assembly area. The computer system may be configured to exchange information with the number of robotic platforms and the number of robotic devices using the wireless communications system.

Claims

1. A method for performing operations using a plurality of robotic platforms, the method comprising:

receiving, by a first robotic platform in the plurality of robotic platforms, commands from a cell controller to perform a number of tasks at a number of locations using a first robotic device in a plurality of robotic devices, wherein the first robotic platform is autonomous, and wherein the first robotic platform is distinct from the first robotic device and from the plurality of robotic devices;

interacting, by the first robotic platform, with a sensor system configured to interact with a factory motion control system, wherein the sensor system further comprises a plurality of reflective components distributed on the plurality of robotic platforms configured to move to a plurality of locations in an assembly area and interact with the plurality of robotic devices, wherein the plurality of robotic devices are all distinct from the plurality of robotic platforms, the factory motion control system uses the plurality of reflective components to detect and track the plurality of robotic platforms, and the factory motion control system is configured to detect and track at least one of position and movement of each of the plurality of robotic platforms;

interacting autonomously, by the first robotic platform, with the first robotic device in the plurality of robotic devices;

moving, using a mobility system coupled to the robotic platform, the first robotic device to a first location in the number of locations, wherein the mobility system allows the robotic platform to move autonomously, the mobility system comprising a number of wheels, a propulsion system, and a steering system; and

performing, by the first robotic device, a first task at the first location.

2. The method of claim 1, wherein interacting autonomously, by the first robotic platform, with the first robotic device further comprises:

physically associating the first robotic platform with the first robotic device to form an associated first robotic device; and

operating the associated first robotic device to perform the first task.

3. The method of claim 2, wherein interacting autonomously, by the first robotic platform, with the first robotic device further comprises:

sending at least one of power and control signals to the associated first robotic device.

4. The method of claim 2, wherein interacting autonomously, by the first robotic platform, with the first robotic device further comprises:

receiving information from the associated first robotic device about the first task.

5. The method of claim 2, wherein interacting autonomously, by the first robotic platform, with the first robotic device further comprises:

moving the associated first robotic device to a second location in the number of locations using the mobility system; and

operating the associated first robotic device to perform a second task.

6. The method of claim 2, further comprising:

physically disassociating the first robotic platform from the first robotic device; and

interacting, by the robotic platform, with a second robotic device to form an associated second robotic device.

7. The method of claim 6, further comprising:

moving, using the mobility system, the associated second robotic device to the first location in the number of locations; and

performing a second task using the second robotic device.

8. The method of claim 6, further comprising:

moving, using the mobility system, the associated second robotic device to a second location in the number of locations; and

performing a second task using the second robotic device.

9. The method of claim 1, further comprising:

receiving data from the first robotic device; and

sending a message about the data to the cell controller.

10. The method of claim 9, wherein the data comprises information about at least one of a task completion, a partial task completion, a task status, a task requirement, and a robotic device requirement.

11. An apparatus comprising:

a plurality of robotic platforms configured to move to a plurality of locations in an assembly area and interact with a plurality of robotic devices, wherein each robotic platform in the plurality of robotic platforms comprises a corresponding mobility system, which allows the each robotic platform to move autonomously, wherein each mobility system comprises a number of wheels, a propulsion system, and a steering system, and wherein the plurality of robotic devices are all distinct from the plurality of robotic platforms;

a wireless communications system configured to provide communication with the plurality of robotic platforms and the plurality of robotic devices within the assembly area;

a computer system configured to exchange information with the plurality of robotic platforms and the plurality of robotic devices using the wireless communications system;

a factory motion control system configured to detect and track at least one of position and movement of each of the plurality of robotic platforms; and

a sensor system configured to interact with the factory motion control system, wherein the sensor system further comprises a plurality of reflective components distributed on the plurality of robotic platforms, and wherein the factory motion control system uses the plurality of reflective components to detect and track the plurality of robotic platforms.

12. The apparatus of claim 11, further comprising:

a plurality of utility systems coupled to the plurality of robotic platforms and configured to supply utilities to the plurality of robotic devices.

13. The apparatus of claim 11, wherein one robotic platform in the plurality of robotic platforms is configured to interact with a plurality of robotic devices using a device connection interface.

14. The apparatus of claim 13, wherein the device connection interface includes mechanical connections for the plurality of robotic devices.

15. The apparatus of claim 13, wherein the device connection interface includes electrical connections for the plurality of robotic devices.

16. An apparatus comprising:

a robotic platform having a platform controller configured to move the robotic platform to a number of locations, the platform controller configured to use route information to move the robotic platform within an area;

a mobility system coupled to the robotic platform and configured to be controlled by the platform controller, wherein the mobility system allows the robotic platform to move autonomously, the mobility system comprising a number of wheels, a propulsion system, and a steering system, wherein the wheels provide the robotic platform with capability to move in a number of directions in response to instructions received from the platform controller and executed by the propulsion system and the steering system;

a utility system coupled to the robotic platform and configured to supply utilities to a number of robotic devices;

a device connection interface configured to physically associate the number of robotic devices with the robotic platform;

a communications unit; and

a sensor system configured to interact with a factory motion control system, wherein the sensor system further comprises a number of reflective components distributed on the robotic platform, and wherein the factory motion control system uses the number of reflective components to detect and track the robotic platform.

17. The apparatus of claim 16, further comprising:

a collision avoidance system configured to detect objects in an environment and avoid collision with the objects in the environment.

18. The apparatus of claim 16, further comprising:

a number of stability components coupled to the robotic platform.

19. An apparatus comprising:

a robotic platform having a platform controller configured to use route information to move the robotic platform to a number of locations, the platform controller comprising a path analysis module to analyze the route information to determine whether a route provided by a cell controller is feasible;

a mobility system coupled to the robotic platform and configured to be controlled by the platform controller, wherein the mobility system allows the robotic platform to move autonomously, the mobility system comprising a number of wheels, a propulsion system, and a steering system, wherein the wheels provide the robotic platform with capability to move in a number of directions in response to instructions received from the platform controller and executed by propulsion system and steering system;

a utility system coupled to the robotic platform and configured to supply utilities to a number of robotic devices;

a device connection interface configured to physically associate the number of robotic devices with the robotic platform;

a communications unit;

a collision avoidance system configured to detect objects in an environment and avoid collision with the objects in the environment;

a number of stability components coupled to the robotic platform; and

a sensor system configured to interact with a factory motion control system, wherein the sensor system further comprises a number of reflective components distributed on the robotic platform, and wherein the factory motion control system uses the number of reflective components to detect and track the robotic platform.

20. An apparatus comprising:

a number of robotic platforms configured to move to a number of locations in an assembly area and interact with a number of robotic devices, wherein a robotic platform in the number of robotic platforms is configured to interact with a number of robotic devices using a device connection interface, wherein the device connection interface includes at least one of mechanical connections and electrical connections for a robotic device in the number of robotic devices;

a wireless communications system configured to provide communication with the number of robotic platforms and the number of robotic devices within the assembly area;

a computer system configured to exchange information with the number of robotic platforms and the number of robotic devices using the wireless communications system;

a number of utility systems coupled to the number of robotic platforms and configured to supply utilities to the number of robotic devices, wherein the number of utility systems further comprise at least one of;

a power supply;

a hydraulic pump;

a pneumatic system;

a chip extraction system;

a storage system;

a fastener feed; and

an end effector rack;

a number of mobility systems configured to move the number of robotic platforms to the number of locations, wherein the number of mobility systems allows the number of robotic platforms to move autonomously, the number of mobility systems each comprising a number of wheels, a propulsion system, and a steering system, wherein the wheels provide the robotic platform with capability to move in a number of directions in response to instructions received from a platform controller and executed by the propulsion system and the steering system;

a factory motion control system configured to detect and track at least one of position and movement of the robotic platform; and

a sensor system configured to interact with the factory motion control system, wherein the sensor system further comprises a number of reflective components distributed on the number of robotic platforms, and wherein the factory motion control system uses the number of reflective components to detect and track the robotic platform.

21. A method for performing operations using a robotic platform, the method comprising:

receiving, by the robotic platform, commands from a cell controller to perform a number of tasks at a number of locations using a first robotic device in a number of robotic devices;

interacting with the first robotic device in the number of robotic devices;

physically associating the robotic platform with the first robotic device to form an associated first robotic device;

moving the associated first robotic device to a first location in the number of locations, using a mobility system, wherein the mobility system allows the associated first robotic device to move autonomously, the mobility system comprising a number of wheels, a propulsion system, and a steering system, wherein the wheels provide the robotic platform with capability to move in a number of directions in response to instructions received from a platform controller and executed by the propulsion system and the steering system;

operating the associated first robotic device to perform a first task;

sending at least one of power and control signals to the associated first robotic device;

receiving information from the associated first robotic device about the first task;

moving the associated first robotic device to a second location in the number of locations;

operating the associated first robotic device to perform a second task;

receiving information from the associated first robotic device;

physically disassociating the robotic platform from the first robotic device;

interacting, by the robotic platform, with a second robotic device to form an associated second robotic device;

moving the associated second robotic device to the first location in the number of locations;

receiving information from the associated second robotic device; and

moving the associated second robotic device to the second location in the number of locations;

receiving data from the associated second robotic device, wherein the data comprises information about at least one of a task completion, a partial task completion, a task status, a task requirement, and a robotic device requirement; and

sending a message about the data to the cell controller.