COORDINATED ACTION ROBOTIC SYSTEM AND RELATED METHODS

• US 20110046781A1
• Filed: 08/21/2009
• Published: 02/24/2011
• Est. Priority Date: 08/21/2009
• Status: Active Grant

• Current Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Original Assignee: Harris Corporation (L3Harris Technologies, Inc.)
• Inventors: SUMMER, Matthew D.
• Granted Patent: US 8,473,101 B2
• Time in Patent Office: Days
• US Class Current: 700/248
• CPC Class Codes: B25J 9/162 Mobile manipulator, movable base with manipulator arm mounted on it
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1689 Teleoperation
• CPC Class Codes: G05B 2219/39146 Swarm, multiagent, distributed multitask fusion, cooperation multi robots
• CPC Class Codes: G05B 2219/39172 Vehicle, coordination between manipulator arm and its moving vehicle
• CPC Class Codes: G05B 2219/39259 GPS to control robotic arm
• CPC Class Codes: G05B 2219/39439 Joystick, handle, lever controls manipulator directly, manually by operator
• CPC Class Codes: G05B 2219/40161 Visual display of machining, operation, remote viewing
• CPC Class Codes: G05B 2219/40171 Set a common coordinate system for all remotely controlled robots

Abstract

A coordinated action robotic system may include a plurality of robotic vehicles, each including a platform and at least one manipulator movable relative thereto. The robotic system may also include a remote operator control station that may include a respective controller for each manipulator. The remote operator control station may also include a mapping module to map movement of each manipulator relative to its platform. Operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction such that the robotic vehicles may be controlled as if they were one robotic vehicle. The coordinated movement may result in increased operational efficiency, increased operational dexterity, and increased ease of controlling the robotic vehicles.

Claims

1. A coordinated action robotic system comprising:

a plurality of robotic vehicles, each comprising a platform and at least one manipulator movable relative thereto; and

a remote operator control station comprising

a respective controller for each manipulator, and

a mapping module to map movement of each manipulator relative to its platform so that operation of said controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction.

2. The robotic system according to claim 1 wherein said mapping module maps movement of each manipulator based upon a common coordinate system.

3. The robotic system according to claim 2 wherein the common coordinate system is based upon a selected one of said plurality of robotic vehicles.

4. The robotic system according to claim 1 wherein each of said plurality of robotic vehicles comprises a sensor arrangement for sensing a relative position and orientation between said platform and said at least one manipulator;

and wherein said mapping module maps movement of each manipulator based upon the relative position and orientation between each platform and at least one manipulator.

5. The robotic system according to claim 4 wherein said sensor arrangement further senses yaw, heading, and attitude of said platform.

6. The robotic system according to claim 1 wherein each of said plurality of robotic vehicles further comprises a geospatial position determining device;

and wherein said mapping module maps movement of each manipulator based upon the geospatial position of each robotic vehicle.

7. The robotic system according to claim 1 further comprising a respective communications link between each robotic vehicle and said remote operator control station.

8. The robotic system according to claim 7 wherein at least one of said communications links comprises a wireless communications link.

9. The robotic system according to claim 1 wherein each of said plurality of robotic vehicles further comprises at least one image sensor carried by said platform;

and wherein said remote operator control station further comprises at least one display for displaying images from said image sensors.

10. The robotic system according to claim 1 wherein each of said plurality of robotic vehicles further comprises a ground drive arrangement carried by said platform.

11. A coordinated action robotic system comprising:

a plurality of robotic vehicles, each comprising

a platform,

at least one manipulator movable relative to said platform, and

a sensor arrangement for sensing a relative position and orientation between said platform and said at least one manipulator; and

a remote operator control station comprising

a respective controller for each manipulator, and

a mapping module to map to a common coordinate system, movement of each manipulator based upon the relative position and orientation between each platform and at least one manipulator so that operation of said controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction.

12. The robotic system according to claim 11 wherein the common coordinate system is based upon a selected one of said plurality of robotic vehicles.

13. The robotic system according to claim 11 wherein said sensor arrangement further senses yaw, heading, and attitude of said platform.

14. The robotic system according to claim 11 wherein each of said plurality of robotic vehicles further comprises a geospatial position determining device;

and wherein said mapping module maps movement of each manipulator based upon the geospatial position of each robotic vehicle.

15. The robotic system according to claim 11 further comprising a respective communications link between each robotic vehicle and said remote operator control station.

16. The robotic system according to claim 15 wherein at least one of said communications links comprises a wireless communications link.

17. The robotic system according to claim 11 wherein each of said plurality of robotic vehicles further comprises at least one image sensor carried by said platform;

and wherein said remote operator control station further comprises at least one display for displaying images from said image sensors.

18. The robotic system according to claim 11 wherein each of said plurality of robotic vehicles further comprises a ground drive arrangement carried by said platform.

19. A method of coordinating robotic action in a robotic system comprising a plurality of robotic vehicles, each comprising a platform and at least one manipulator movable relative thereto, and a remote operator control station comprising a respective controller for each manipulator, the method comprising:

mapping movement using the remote operator control station of each manipulator relative to its platform so that operation of the controllers for manipulator movement in a given direction produces corresponding movement of the respective manipulators in the given direction.

20. The method according to claim 19 wherein mapping movement of each manipulator comprises mapping movement based upon a common coordinate system.

21. The method according to claim 20 wherein the common coordinate system is based upon a selected one of the plurality of robotic vehicles.

22. The method according to claim 19 wherein mapping movement of each manipulator comprises mapping movement of each manipulator based upon a relative position and orientation between each platform and at least one manipulator sensed by a sensor arrangement on each of the plurality of robotic vehicles.

23. The method according to claim 22 wherein the sensor arrangement further senses yaw, heading, and attitude of the platform.

24. The method according to claim 19 wherein mapping movement of each manipulator comprises mapping movement based upon the geospatial position of each of the plurality of robotic vehicles determined by a geospatial position determining device on each of the plurality of robotic vehicles.