ROBOTIC SYSTEM WITH SIMULATION AND MISSION PARTITIONS

• US 20100017026A1
• Filed: 07/21/2008
• Published: 01/21/2010
• Est. Priority Date: 07/21/2008
• Status: Abandoned Application

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Black, Randy, Fletcher, Mitch
• Application Number:
  US12/176,730
• Publication Number:
  US 20100017026A1
• Time in Patent Office: Days
• US Class Current: 700/245
• CPC Class Codes: B25J 9/1664 characterised by motion, path, trajectory planning
• CPC Class Codes: B25J 9/1671 characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems
• CPC Class Codes: G05B 2219/39377 Task level supervisor and planner, organizer and execution and path tracking
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/40513 Planning of vehicle and of its manipulator arm
• CPC Class Codes: G05B 2219/40515 Integration of simulation and planning
• CPC Class Codes: G05B 2219/40519 Motion, trajectory planning
• CPC Class Codes: G05D 1/0044 by providing the operator with a computer generated representation of the environment of the vehicle, e.g. virtual reality, maps maps used for automatic navigation G05D1/0274; flight directors G01C23/005
• 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 1/024 in combination with a laser lasers per se H01S
• 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

Abstract

A robot for accomplishing a mission in a physical environment includes a body; and an operating system coupled to the body and configured to operate the body. The operating system is divided into a plurality of partitions, which includes a simulation partition configured to receive inputs and simulate the mission in a simulated environment corresponding to the physical environment based on the inputs to produce a simulated result, and a mission partition configured to receive the simulated result and determine actions to accomplish the mission based on the simulated result.

Claims

1. A robot for accomplishing a mission in a physical environment, comprising:

a body; and

an operating system coupled to the body and configured to operate the body, the operating system divided into a plurality of partitions, including

a simulation partition configured to receive inputs and simulate the mission in a simulated environment corresponding to the physical environment based on the inputs to produce a simulated result, and

a mission partition configured to receive the simulated result and determine actions to accomplish the mission based on the simulated result.

2. The robot of claim 1, further comprising a sensor coupled to the body and configured to produce the inputs provided to the simulation partition.

3. The robot of claim 1, further comprising an effector coupled to the body and configured to perform the actions from the mission partition.

4. The robot of claim 1, wherein the body is adapted to an extraterrestrial physical environment.

5. The robot of claim 1, wherein the plurality of partitions includes an I/O partition.

6. The robot of claim 5, further comprising

a sensor coupled to the body and configured to produce the inputs provided to the simulation partition;

and

an effector coupled to the body and configured to perform the actions from the mission partition,

the I/O partition driving the sensor and effector.

7. The robot of claim 1, wherein the operating system is time and space partitioned.

8. The robot of claim 1, wherein the plurality of partitions includes a safety partition configured to receive and review the actions to ensure that the actions comply with safety parameters.

9. The robot of claim 1, wherein the operating system operates in accordance with ARINC-653.

10. The robot of claim 1, wherein the simulation and physical partitions are generally autonomous.

11. A robotic system for performing a mission in a physical environment, comprising:

a first robot comprising a first body and a first operating system coupled to the first body and configured to operate the first body;

a second robot comprising a second body and a second operating system coupled to the second body and configured to operate the second body; and

a virtual backplane coupling the first and second operating systems such that the first and second operating systems form

a simulation partition configured to receive inputs and simulate the mission in a simulated environment corresponding to the physical environment based on the inputs to produce a simulated result, and

a mission partition configured to receive the simulated result and determine actions to accomplish the mission based on the simulated result.

12. The robotic system of claim 11, further comprising a sensor coupled to the first body and configured to produce the inputs provided to the simulation partition.

13. The robotic system of claim 12, further comprising an effector coupled to the second body and configured to implement the actions.

14. The robotic system of claim 11, wherein the first and second bodies are adapted to an extraterrestrial physical environment.

15. The robotic system of claim 11, wherein the first and second operating systems are time and space partitioned.

16. The robotic system of claim 11, wherein the first and second operating systems additionally form a safety partition configured to receive and review the actions to ensure that the actions comply with safety parameters.

17. The robotic system of claim 11, wherein the first and second operating systems operate in accordance with ARINC-653.

18. A method of completing a function with a robot, comprising:

gathering data with a sensor provided on the robot;

simulating the function with a simulation partition on the robot based on the data to produce a simulated result; and

performing the function based on the simulated result.

19. The method of claim 18, wherein the performing step includes receiving the simulated result from the simulation partition and determining mission actions with a mission partition based on the simulated result.

20. The method of claim 19, wherein the simulating and performing steps include time and space partitioning the simulation and mission partitions.