Universal payload abstraction

• US 8,972,053 B2
• Filed: 08/29/2012
• Issued: 03/03/2015
• Est. Priority Date: 08/30/2011
• Status: Active Grant

• Current Assignee: Humatics Corporation
• Original Assignee: 5D Robotics, Inc. (Humatics Corporation)
• Inventors: Bruemmer, David J., Nielsen, Curtis W., Hardin, Benjamin C., Whetten, Jonathan M.
• Primary Examiner(s): Tran, Khoi
• Assistant Examiner(s): Figueroa, Jaime
• Application Number:
  US13/598,114
• Publication Number:
  US 20130054024A1
• Time in Patent Office: 916 Days
• Field of Search: 700/245, 700/246, 700/247, 700/248, 700/249, 700/251, 700/253, 700/254, 700/256, 700/258, 700/259, 700/262, 700/264, 318/568.11, 318/568.12, 318/568.21, 318/587, 719311-321, 719/328
• US Class Current: 700/245
• CPC Class Codes: B25J 9/08 characterised by modular constructions
• CPC Class Codes: B25J 9/1602 characterised by the control system, structure, architecture
• CPC Class Codes: B25J 9/161 Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: B25J 9/1666 Avoiding collision or forbidden zones
• CPC Class Codes: B25J 9/1684 Tracking a line or surface by means of sensors
• CPC Class Codes: B25J 9/1694 characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: B25J 9/1697 Vision controlled systems
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G06F 18/256 of results relating to different input data, e.g. multimodal recognition
• CPC Class Codes: G06F 3/016 Input arrangements with force or tactile feedback as computer generated output to the user
• CPC Class Codes: G06T 11/206 Drawing of charts or graphs
• CPC Class Codes: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G08G 1/22 Platooning, i.e. convoy of communicating vehicles
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement
• CPC Class Codes: Y10S 901/10 Sensor physically contacts and follows work contour

Abstract

Robotic payloads are abstracted to provide a plug-and-play system in which mission specific capabilities are easily configured on a wide variety of robotic platforms. A robotic payload architecture is presented in which robotic functionalities are bifurcated into intrinsic capabilities, managed by a core module, and mission specific capabilities, addressed by mission payload module(s). By doing so the core modules manages a particular robotic platform'"'"'s intrinsic functionalities while mission specific tasks are left to mission payloads. A mission specific robotic configuration can be compiled by adding multiple mission payload modules to the same platform managed by the same core module. In each case the mission payload module communicates with the core module for information about the platform on which it is being associated.

Claims

1. A system for robotic hardware abstraction, comprising:

a core module operable to provide abstract intrinsic robotic functionality and one or more core behaviors;

one or more mission payload modules communicatively coupled to the core module wherein each mission payload module is customized for a class of tasks and wherein each mission payload module can operate with any core module; and

an adapter plate communicatively interposed between the core module and each of the one or more mission payload modules wherein the adapter plate includes a storage medium and processor capable to store and communicate to the core module unique mission payload module configuration protocols associated with each of the one or more payload modules that manipulates mission payload module functionality.

2. The system for robotic hardware abstraction according to claim 1, wherein each mission payload module is operable to complete a mission specific capability.

3. The system for robotic hardware abstraction according to claim 1, wherein functionality of the one or more mission payloads as coupled with the core module is based on the configuration protocols of the adapter plate.

4. The system for robotic hardware abstraction according to claim 1, wherein the core module is configured to provide geospatial location information.

5. The system for robotic hardware abstraction according to claim 1, wherein a communication grid is formed among the core module, the adapter plate, and the one or more mission payload modules.

6. The system for robotic hardware abstraction according to claim 1, wherein intrinsic robotic functionality includes behavior processing operable to resolve conflicting instructions from the one or more mission payload modules.

7. The system for robotic hardware abstraction according to claim 1, wherein intrinsic robotic functionality includes navigational capabilities.

8. The system for robotic hardware abstraction according to claim 1, wherein the adapter plate provides to the core module specific information associated with the one or more mission payload modules to enable the one or more mission payload modules to carry out mission specific tasks.

9. The system for robotic hardware abstraction according to claim 1, wherein the one or more mission payload modules provides to the core module normalized mission specific data.

10. The system for robotic hardware abstraction according to claim 1, wherein the core module is operable to provide intrinsic robotic functionality to two or more mission payload modules simultaneously and wherein the core module includes a behavior engine operable to weigh requests from each of the two or more mission payload modules against the one or more core behaviors and determine an appropriate response.

11. The system for robotic hardware abstraction according to claim 1, wherein the adapter plate includes a data connection that determines on which communication port the one or more mission payloads modules communicates with the core module.

12. The system for robotic hardware abstraction according to claim 11, wherein the adapter plate includes an ultra wide band transceiver to establish a communication link between the one or more mission payload modules and the core module.

13. In a computing system characterized by one or more mission payload modules communicatively coupled to a core module via an adapter plate, a method for hardware abstraction, the method comprising:

establishing a communication link between the one or more mission payload modules and the core module via the adapter plate;

gathering, by the adapter plate, from each mission payload module unique payload identification information;

providing to the core module, by the adapter plate, specific mission payload module configuration protocols that manipulates mission payload module functionality;

providing, by the core module to the one or more mission payload modules via the adapter plate, intrinsic robotic functionality;

collecting, by the one or more mission payload modules, mission specific data; and

responsive to one or more of the payload modules requiring intrinsic robotic functionally, interfacing with the core module by the payload module to affect intrinsic robotic functionality wherein each mission payload module can interface and operate with any core module.

14. The method for hardware abstraction according to claim 13, wherein the identification information within the adapter plate describes to the core module characteristics of the mission payload module.

15. The method for hardware abstraction according to claim 13, wherein intrinsic robotic functionality includes communication and location capabilities.

16. The method for hardware abstraction according to claim 13, wherein intrinsic robotic functionality includes behavioral processing operable to resolve conflicts between the one or more mission payload modules.

17. The method for hardware abstraction according to claim 13, further comprising providing, by the core module to the one or more payload modules, geospatial location information.

18. The method for hardware abstraction according to claim 13, further comprising managing, by the core module, local and wide area data transmissions.

19. The method for hardware abstraction according to claim 13, further comprising interfacing one or more mission specific sensors with the one or more mission payload modules by a unique adapter plate resulting in a unique capability set.