Robotics Virtual Rail System and Method

• US 20080009964A1
• Filed: 07/05/2006
• Published: 01/10/2008
• Est. Priority Date: 07/05/2006
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: Battelle Energy Alliance LLC (Battelle Memorial Institute)
• Inventors: Bruemmer, David J., Walton, Miles C., Few, Douglas A.
• Granted Patent: US 7,974,738 B2
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: G05D 1/0088 characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours using knowledge based models G06N5/00
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0227 using mechanical sensing means, e.g. for sensing treated area
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06N 3/008 based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour

Abstract

A virtual track or rail system and method is described for execution by a robot. A user through a user interface generates a desired path comprised of at least one segment representative of the virtual track for the robot. Start and end points are assigned to the desired path and velocities are also associated with each of the at least one segment of the desired path. A waypoint file is generated including positions along the virtual track representing the desired path with the positions beginning from the start point to the end point including the velocities of each of the at least one segment. The waypoint file is sent to the robot for traversing along the virtual track.

Claims

1. A method for implementing a virtual track for a robot, comprising:

generating a desired path comprised of at least one segment representative of the virtual track for the robot;

assigning start and end points to the desired path;

associating velocities with each of the at least one segment of the desired path;

generating a waypoint file including positions along the virtual track as represented by the desired path, the positions for execution from the start point to the end point according to the velocities of each of the at least one segment; and

sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point.

2. The method of claim 1, further comprising ordering the at least one line segment in order of a selected sequential traverse of along the desired path.

3. The method of claim 2, further comprising checking traversal continuity of the selected sequential traverse of the at least one line segment.

4. The method of claim 1, further comprising:

comparing the velocities associated with the each of the at least one segment with mobility capabilities of the robot; and

modifying one or more of the velocities to one or more reduced velocities when the one or more velocities exceeds the mobility capabilities of the robot.

5. The method of claim 4, further comprising reporting the one or more reduced velocities for prospective revision to the desired path.

6. The method of claim 1, wherein generating the desired path comprises drawing the desired path in a first format and converting the desired path to text-editable format.

7. The method of claim 6, wherein the text-editable format is a .dxf format.

8. A system for generating robot programming instructions for implementing a virtual track, comprising:

a graphical user interface configured to generate a desired path comprised of at least one segment representative of the virtual track for a robot; and

a path plan process configured to assign start and end points to the desired path and to associate velocities with each of the at least one segment of the desired path, the path plan process further configured to generate a waypoint file including positions along the virtual track as represented by the desired path, the positions for execution by the robot from the start point to the end point according to the velocities of each of the at least one segment.

9. The system of claim 8, wherein the path plan process is further configured to send the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point.

10. The system of claim 9, wherein the path plan process is further configured to order the at least one line segment in order of a selected sequential traverse of along the desired path.

11. The system of claim 10, wherein the path plan process is further configured to check traversal continuity of the selected sequential traverse of the at least one line segment.

12. The system of claim 9, wherein the path plan process is further configured to:

compare the velocities associated with the each of the at least one segment with mobility capabilities of the robot; and

modify one or more of the velocities to one or more reduced velocities when the one or more velocities exceeds the mobility capabilities of the robot.

13. The system of claim 12, wherein the path plan process is further configured to report the one or more reduced velocities for prospective revision to the desired path.

14. The system of claim 9, wherein the path plan process is further configured to generate the desired path comprises drawing the desired path in a first format and converting the desired path to text-editable format.

15. The system of claim 14, wherein the text-editable format is .dxf format.

16. A computer-readable medium having computer-executable instruction thereon for implementing a virtual track for a robot, the computer-executable instructions for performing the acts of:

generating a desired path comprised of at least one segment representative of the virtual track for the robot;

assigning start and end points to the desired path;

associating velocities with each of the at least one segment of the desired path;

generating a waypoint file including positions along the virtual track as represented by the desired path, the positions for execution from the start point to the end point according to the velocities of each of the at least one segment; and

sending the waypoint file to the robot for traversing the virtual track along the positions from the start point to the end point.

17. The computer-readable medium of claim 16, further comprising computer-executable instructions for ordering the at least one line segment in order of a selected sequential traverse of along the desired path.

18. The computer-readable medium of claim 17, further comprising computer-executable instructions for checking traversal continuity of the selected sequential traverse of the at least one line segment.

19. The computer-readable medium of claim 16, further comprising computer-executable instructions for:

comparing the velocities associated with the each of the at least one segment with mobility capabilities of the robot; and

modifying one or more of the velocities to one or more reduced velocities when the one or more velocities exceeds the mobility capabilities of the robot.

20. The computer-readable medium of claim 19, further comprising computer-executable instructions for reporting the one or more reduced velocities for prospective revision to the desired path.

21. The computer-readable medium of claim 16, wherein the computer-executable instructions for generating the desired path comprises computer-executable instructions for drawing the desired path in a first format and converting the desired path to text-editable format.

22. The computer-readable medium of claim 21, wherein the text-editable format is a .dxf format.