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

• US 9,233,466 B2
• Filed: 06/09/2014
• Issued: 01/12/2016
• Est. Priority Date: 02/19/2011
• Status: Expired due to Fees

• Current Assignee: Richard Arthur Skrinde
• Original Assignee: Richard Arthur Skrinde
• Inventors: Skrinde, Richard Arthur
• Primary Examiner(s): Tran, Dalena
• Application Number:
  US14/120,610
• Publication Number:
  US 20140350722A1
• Time in Patent Office: 582 Days
• Field of Search: 700/245, 700/246, 700/250, 700/253, 901/1, 901/40, 901/50, 901/30, 901/41, 318/568.11, 318/591, 318/590, 318/576, 318/17, 318/568.1, 318/568.17, 318/568.19, 318/568.23, 152/46, 134/18, 134/56.R, 134/57.R, 483/8, 483/10
• US Class Current: 1/1
• 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. An apparatus for rapid configuration and reconfiguration of modular components into a robotic assemblage, comprising:

a plurality of modular components, each said modular component comprising;

at least one connector conveying mechanical stability, power, and data communication when connected by the connector of at least one other modular component, said connector being designed so as to provide compatible connection to any other modular component having such connector, and

a data store configured to store the modular component'"'"'s identity, functionality, and software commands that control said functionality, and

a processor configured to

convey the modular component'"'"'s identity, functionality, and software commands that control said functionality to the at least one other modular component, and

autonomously coordinate operations of the modular component with operations of at least one other modular component of the plurality of modular components based on current work conditions in a work area which were previously detected using at least one sensor of the modular component; and

at least one of the sensor, an actuator, and a bus attached to the processor for enabling software commands to be used to control at least one of the sensor, the actuator, and the bus;

wherein a first assemblage of the plurality of modular components is formed at a first time by connecting each modular component'"'"'s connector with the connector of at least one other modular component in accordance with a first arrangement such that the plurality of modular components have a first desired combined functionality;

wherein a second assemblage of the plurality of modular components is formed at a second time by re-connecting each modular component'"'"'s connector with the connector of at least one other modular component in accordance with a second arrangement different from the first arrangement such that the plurality of modular components have a second desired combined functionality; and

a set of software instructions accessible to and executable by the processor of at least one modular component of the plurality of modular components for executing, monitoring, and controlling at least one of the first desired combined functionality of the first assemblage and the second desired combined functionality of the second assemblage.

2. The apparatus according to claim 1, wherein the first desired combined functionality or the second desired combined functionality enables the first or second assemblage to perform at least one of an inspection operation and an assessment operation, and to perform at least one of a remediation, transport, maintenance, navigation, debris removal, assembly, disassembly, insertion, and extraction operation.

3. The apparatus according to claim 1, wherein the first desired combined functionality or the second desired combined functionality enables the first and second assemblage to perform an inspection operation and to perform at least one of dispensing material, moving material, removing extraneous material, removing damaged material, attaching material, preparing a surface, repairing a surface, repairing an apparatus, rehabilitation, restoration, modification, commissioning, decommissioning, and physical enhancement.

4. The apparatus according to claim 1, wherein each modular component'"'"'s connector has structure that is either a plug type or else is a socket type.

5. The apparatus according to claim 1, wherein the connector of each side modular component has a physical structure that permits the connector to mate to and connect with any other connector of that same physical structure.

6. The apparatus according to claim 1, wherein the connector is a standardized connector comprising integrated mechanical connection, power connection, and communication connection, each of which are automatically connected or disconnected according to whether the standardized connector is connected or disconnected.

7. The apparatus according to claim 1, wherein the plurality of modular components comprise a frame module that

is interconnected with at least one other modular component of said plurality of modular components,

enables the monitoring of the status of the at least one other modular component, and

enables coordinating and managing the functionality and operations of the at least one other modular component.

8. The apparatus according to claim 7, wherein:

the plurality of modular components is connected to the frame module via the power bus and the communication bus and the frame module is connected to a remote computer via an umbilical;

the remote computer transmits at least one command signal to the frame module; and

the assemblage performs at least one operation responsive to the at least one command signal.

9. The apparatus according to claim 8, wherein the umbilical comprises:

an integrated communication bus conveying command signals and data signals between the remote computer and the frame module; and

an integrated power bus conveying power between a remote power source and the frame module.

10. The apparatus according to claim 1, wherein the plurality of modules comprise a pre-programmed knowledge of the work area and operate autonomously to travel through the work area using the pre-programmed knowledge while avoiding unexpected obstacles.

11. The apparatus according to claim 1, wherein the plurality of modules are configured to autonomously exchange a broken mechanical component with a spare mechanical component without being removed from the work area.

12. The apparatus according to claim 1, wherein an operator overrides the operations of the modular component which were coordinated with operations of at least one other modular component.

13. The apparatus according to claim 1, wherein the apparatus autonomously decouples and recouples at least one of an umbilical, a materials supply hose, and a debris collection hose.

14. A method for enabling rapid configuration and reconfiguration of a robotic assemblage, comprising:

accessing and controlling at least one of a sensor and an actuator of at least a first modular component of a plurality of modular components via the communication bus;

assigning at least a first modular component function to the first modular component by storing instructions for executing the first modular component function and a first command for invoking said instructions in a data store of the first modular component;

causing the first modular component to perform the first modular component function on receipt by an internal processor of a command signal corresponding to the first command;

using the internal processor to control and monitor the first modular component;

forming a robotic assemblage by combining the plurality of modular components into a first specific configuration so as to enable a first operation from a combined functionality of the plurality of modular components, said plurality of modular components being interconnected via standardized connectors;

using the robotic assemblage to perform the first operation; and

autonomously coordinating operations amongst the plurality of modular components based on current work conditions in a work area which were previously detected using a sensor of each modular component of the plurality of modular components.

15. The method according to claim 14, further comprising:

detecting when the first modular component has been interconnected via the first modular component'"'"'s standardized connector to a second modular component of the plurality of modular components via the second modular component'"'"'s standardized connector; and

subsequent to interconnection of the plurality of modular components comprising the robotic assemblage, making known to at least one processor in the robotic assemblage;

a configuration of the plurality of modular components representing their relative connection positions with respect to each other; and

for each modular component among the plurality of modular components, that modular component'"'"'s;

identity;

functionality; and

,

a set of software commands to control said functionality.

16. The method according to claim 15, wherein the first specific configuration of the plurality of modular components, corresponding functionality, and corresponding sensor data are represented in data store and accessible via the communication bus, thereby forming a model of the robotic assemblage and robotic assemblage'"'"'s state as a self-model of the same.

17. The method according to claim 16, wherein the robotic assemblage'"'"'s state comprises:

at least one of a positional state of a set of actuators and an orientation state of the set of actuators; and

sensor data pertaining to at least one environmental condition.

18. The method as in claim 16, wherein the robotic assemblage'"'"'s state further comprises:

at least one state pertaining to articulation issues of at least one physical aspect of at least one of the plurality of modular components; and

sensor data pertaining to the at least one state pertaining to articulation issues.

19. The method according to claim 14, wherein the first operation is a combination of an inspection operation and at least one of a remediation operation, a transport operation, a maintenance operation, a navigation operation, a debris removal operation, an assembly operation, a disassembly operation, an insertion operation, an extraction operation, and a data collection operation.

20. The method according to claim 14, wherein each modular component in the plurality of modular components is connected to at least one other modular component and the modular component'"'"'s operation is performed autonomously subsequent to receipt by the plurality of modular components of an initial set of commands.

21. The method according to claim 14, comprising:

reprogramming a software functionality of at least one modular component of the plurality of modular components via downloading to the at least one modular component at least one of a set of instructions and corresponding commands for invoking each set of instructions;

receiving at least one command by the at least one modular component;

activating at least one set of instructions stored in the at least one modular component; and

performing at least one function responsive to the at least one command via the at least one set of instructions.

22. The method according to claim 21, wherein the at least one function is mechanical.

23. The method according to claim 21, wherein the at least one function is informational.

24. The method according to claim 14, wherein at least one of the plurality of modular components learns about its environment and adapts during operation.

25. The method according to claim 14, wherein at least one of the plurality of modular components autonomously responds to at least one unforeseen condition indicated by a detectable sensor data pattern with a response different from some response dictated by specific preprogrammed instructions.