Patent Application
20170057081
This application claims the benefit of the German patent application No. 10 2015 216 272.9 filed on Aug. 26, 2015, the entire disclosures of which are incorporated herein by way of reference.
The present invention relates to a modularized robot, a modular robot assembly kit, a swarm of modularized robots built up from a modular robot assembly kit, and a method of fulfilling tasks by a swarm of modularized robots, particularly in the assembly, construction, maintenance and/or repair of vehicles such as aircraft or spacecraft.
Unmanned robotic vehicles (URVs) are remotely controlled or autonomously maneuvering vehicles that do not require a pilot to be on board the vehicle. URVs may be controlled remotely by a controller at a ground control station or may fly, swim, float, drive or otherwise move autonomously based on predefined movement routes or dynamic routing or navigation algorithms.
Such URVs may cooperate in a swarm in fulfilling complex tasks or chains of tasks. Often, a swarm of robots comprises a multitude of similarly constructed robots that have one and the same functionality or the same set of multiple functionalities. Robots in a swarm are usually employed for various menial tasks which would otherwise cause a challenge to a human worker due to a difficult accessibility of the location of the task, which do not require high technical qualification of a worker, which are repetitive in nature within narrow boundary conditions, which are to be performed in an environment hazardous for humans, which are dangerous in nature or which support a human worker in a collaborative manner.
For example, document U.S. Pat. No. 8,755,936 B2 discloses a robot system architecture which enables the creation and use of service robots which have a plurality of on-board robot functions as a shared, central resource for any number of robots performing functions either serially or simultaneously in a facility. Document US 2010/0094459 A1 discloses a system for cooperation of multiple mobile robots that allow the multiple mobile robots to cooperatively execute one complicated task, using centralized control architecture and robot cooperation application codes on the basis of conceptual behavior units to execute a robot cooperation application tied to actual functions of the robots. Document WO 2013/119942 A1 discloses a job management system for a fleet of mobile robots that automatically determines the actual locations and actual job operations for the job requests, and intelligently selects a suitable mobile robot to handle each job request based on the current status and/or the current configuration for the selected mobile robot.
Swarms of identical or analogously built robots, however, are either inflexible due to their limited range of functions, or they utilize overly large robots with lots of functions which only get put to full use during a fraction of the time that the robots are in operation. Thus, individualized and more flexible robot systems have been devised in the art. Documents U.S. Pat. No. 7,555,363 B2, U.S. Pat. No. 7,720,570 B2, U.S. Pat. No. 8,805,579 B2 and WO 2013/152414 A1 disclose examples of robot assembly systems relying on individual robot components with diverse functionality which may be assembled to form an individualized robot.
Advances in distributed robotics have also been made with regard to architectures, task planning capabilities, and control of swarms of mobile robots, in particular to address the issues of action selection, delegation of authority and control, the communication structure, heterogeneity versus homogeneity of robots, achieving coherence amidst local actions, and resolution of conflicts. An overview in this area may for example be found in Arai, T., Pagello, E., Parker L. E.: “Editorial: Advances in Multi-Robot Systems”; IEEE Transactions on Robotics and Automation, vol. 18(5), October 2002, p. 655-661.
One of the ideas of the invention is thus to provide solutions for robots that are freely and flexibly configurable and that may be employed in a multi-tasking environment in an efficient manner.
According to a first aspect of the invention, a modularized robot comprises a robot platform configured to convey mobility and connectivity to external components to the modularized robot, a robot workhead configured to convey the ability to perform an operational task to the modularized robot, and a robot adapter attached to either the robot platform or the robot workhead and configured to mechanically link the robot platform to the robot workhead.
According to a second aspect of the invention, a modular robot assembly kit comprises a plurality of robot platforms, each configured to convey mobility and connectivity to external components to an assembled modular robot, and a plurality of robot workheads, each configured to convey the ability to perform one of a plurality of operational tasks to an assembled modular robot, wherein each of the plurality of robot workheads comprises a robot adapter configured to mechanically link one of the robot platforms to the respective robot workhead.
According to a third aspect of the invention, a swarm of modularized robots comprises a plurality of modularized robots according to the first aspect of the invention and/or a plurality of modularized robots built with a modular robot assembly kit according to the second aspect of the invention.
According to a fourth aspect of the invention, a robot system comprises a swarm of modularized robots according to the third aspect of the invention, a centralized task database configured to store and update a plurality of tasks to be performed by the swarm of modularized robots, and a task controller coupled to the centralized task database and configured to manage the stored tasks in the centralized task database depending on priority, hierarchy and/or importance of the tasks.
According to a fifth aspect of the invention, a method of fulfilling tasks by a swarm of modularized robots comprises the steps of providing, by a centralized task database, a task to a plurality of robot workheads, each of the robot workheads configured to convey the ability to perform one of a plurality of operational tasks to an assembled modular robot, determining, by the plurality of robot workheads, one of a plurality of robot platforms to combine with, each configured to convey mobility and connectivity to external components to an assembled modular robot, forming one or more modularized robots by connecting one or more of the plurality of robot workheads with the determined one of the plurality of robot platforms, and performing, by the combined modularized robot, the provided task.
Some of the ideas on which the present invention is based involve building robots in a modularized manner from a robot platform providing positioning and mobility, and a robot workhead providing functionality and tooling for the robot. Both platform and workhead may be designed with a universal adapter mechanism in order to combine various platforms and workheads interchangeably and flexibly. The functional capabilities of such a modularized robot may be flexibly distributed over the platforms and the workheads. The platform may provide basic mobility and relocation capabilities to the robot which may perform customized tasks due to the specialization in the workhead with which the platform is combined. The functional range of an individual workhead may be advantageously limited to one or a low number of functions so that the workhead may be kept small, lean and cost-efficient.
Different platform types may be used to form different robot types: The platform may for example be a wheeled, caterpillar type, bladed, skidded, pedaled or suction cup platform, capable of forming an unmanned mobile ground vehicle (UMGV). The platform may alternatively be a winged, propeller type, hovering or jet/rocket-engine platform, capable of forming an unmanned aerial vehicle (UAV) or flying drone. The platform may also be a connector platform for a stationary robotic device, such as a robotic arm, an industrial robot, pick-and-place robot or any other automaton with limited range movement capability. The platform may finally also be a connector platform for a handheld tool, reach extension boom or stabilizing carrier frame which may be held, carried and operated by a human worker or user.
Similarly, different workhead types may be used to implement working functionality for different tasks that a robot is to perform: The workhead may be specialized for various surveillance or monitoring tasks, such as an autonomous survey of an interior and/or exterior of an airborne vehicle to be inspected and autonomous gathering of state parameters. To that end, the workhead may employ one or more of workhead mounted sensors such as cameras, laser scanners, ultrasonic sensors, magnetic sensors, infrared sensors, barcode scanners, chemical sensors, gas sensors, metal detectors, biosensors and similar physical parameter detection devices. The workhead may further, additionally or alternatively, include working tools that provide specific interaction with the environment, for example in an assembly, construction, maintenance or repair setting. The workhead may, for example, employ cleaning devices, printing devices, fastening devices, welding devices, screwing devices, electric testing devices, clamping devices, vacuuming devices, gluing devices, stamping devices, bolting devices, drilling devices or any other similar type of working tool.
The invention will be explained in greater detail with reference to exemplary embodiments depicted in the drawings as appended.
The accompanying drawings are included to provide a further understanding of the present invention and are incorporated in and constitute a part of this specification. The drawings illustrate the embodiments of the present invention and together with the description serve to explain the principles of the invention. Other embodiments of the present invention and many of the intended advantages of the present invention will be readily appreciated as they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale relative to each other. Like reference numerals designate corresponding similar parts.
Although specific embodiments have been illustrated and described herein, it will be appreciated by those of ordinary skill in the art that a variety of alternate and/or equivalent implementations may be substituted for the specific embodiments shown and described without departing from the scope of the present invention. Generally, this application is intended to cover any adaptations or variations of the specific embodiments discussed herein.
Robots within the meaning of the present disclosure may comprise any automatic machine or artificial agent which is controlled by means of electronic circuitry or computer software. Particularly, robots with the meaning of the present disclosure may include mobile robots which comprise any automation capable of locomotion. Mobile robots within the meaning of the present disclosure are not bound to a single physical location and are able to propel themselves forward or backward towards another physical location. Mobile robots within the meaning of the present disclosure include any autonomously acting agents (“autonomous mobile robot,” AMR) and externally guided agents (“autonomously guided vehicles,” AGV).
Robots may, in particular, include any unmanned vehicles (UMV) include airbound (UAV) and ground vehicles (UGV) that may be controlled without a human pilot aboard. UAVs and UGVs may have their airbased or groundbased movement controlled either autonomously by onboard computers or remotely by a pilot in a ground-based control station or in another vehicle.
A UAV may, for example, comprise a quadcopter, a quadrotor helicopter, a quadrocopter, or a quad rotor. Generally, a quadcopter is an aerial rotorcraft that is propelled by four rotors. In certain embodiments, control of UAV motion may be achieved by altering the pitch or rotation rate of one or more rotors. Other configurations are also possible for suitable UAVs, including multi-rotor designs such as, for example, dual rotor, trirotor, hexarotor, and octorotor, or single-rotor designs such as helicopters. UAVs within the meaning of the present disclosure may also comprise fixed-wing UAVs. UAVs may have vertical take-off and landing (VTOL) capabilities. In some embodiments, the rotors of UAVs may be manufactured from soft, energy absorbing and impact-resistant materials. In some embodiments, the UAVs have frames that enclose the rotors. Enclosing the rotors can have advantages, such as reducing the risk of damaging either the UAV or its surroundings. The propulsion system can also be ducted. In certain embodiments, the UAV can be a compound rotorcraft, for example, having wings that provide some or all of the lift in forward flight. In some embodiments, the UAV may be a tiltrotor aircraft. In another embodiment, the UAV may have jet engines or rocket engines and use reaction wheels for stabilization, so that they may also operate in a vacuum environment for tasks such as maintenance of outside locations of space stations or satellites.
A UGV may, for example, include a rover, a ground based drone, an omni-wheeled ground vehicle, a Mecanum wheeled vehicle and other mobile robots capable of movement along or on the ground. For example, the UGV may also comprise hexapod robots, quadruped robots, robots with wheels, bipedal robots, robots with transport means conveying metachronal motion or other mechanisms that allow robots to transport themselves from place to place autonomously.
The general structure of a modularized robot, as illustrated in
The robot adapter 1 may have a mechanical connector 2 which is designed and configured to mechanically interlock with a corresponding mechanical receptacle 6 in the counterpart robot module. For example, the robot adapter 1 may be formed as a structural element protruding from either the robot platform 10 or the robot workhead 20 at a certain fixed location with respect to the receptacle 6 in the other one of robot platform 10 and robot workhead 20, as applicable. Various locking mechanisms may be used for the mechanical connector 2, such as a bayonet lock, a snap-fit lock, or a threaded engagement mechanism. Moreover, the robot adapter 2 may have inbuilt poka-yoke mechanisms that prevent the platform 10 and the workhead 20 from being coupled incorrectly.
The robot adapter 1 may further be configured to form a data communication link between the robot platform 10 and the robot workhead 20. As each of the platform 10 and the workhead 20 are equipped with electronic circuitry forming control logic of the component, such as an ASIC (“application-specific integrated circuit”), an FPGA (“field programmable gate array”), a microprocessor or similar programmable logic devices, data relating to the respective platform 10 and the momentarily connected workhead 20 may be exchanged via a data communication protocol. The robot adapter 1 may have a data interface 3 which is coupled with a data interface 7 within the adapter receptacle. The data interfaces 3 and 7 may, for example, be USB ports and the data communication may be effected via a standardized communication protocol, such as USB protocols. Other connectors and protocols may be equally feasible as well, such as Firewire, PCI, PClexpress, Thunderbolt, SATA, RS-232 or similar communication standards.
Moreover, the robot adapter 1 may further be configured to provide an electrical power supply connection between the robot platform 10 and the coupled robot workhead 20. To that end, the robot adapter 1 may have a power connector 4 that may be coupled to a power connector 8 in the adapter receptacle. The robot platform 10 or the robot workhead 20, or alternatively both, may be equipped with a power supply system, such as a power generation system, a fuel cell, a solar panel, an accumulator, a rechargeable battery or an exchangeable battery. In case that one of the platform 10 and the workhead 20 is not equipped with its own power supply, the respective other component may provide electric power via the power connectors 4 and 8 over the robot adapter 1. The voltage level of the power supply may for example be 5 V and may, in particular, be executed via a standardized power supply interface. It may, for example, be possible to supply power over a USB interface that is used as the data interface 3 and 7 anyway.
The robot platform 10 and the robot workhead 20 may both be equipped with a microprocessor 5 and 9, respectively, which executes software or firmware responsible for the autonomous functionality of the platform 10 and the workhead 20, respectively. The microprocessors 5 and 9 may be configured to provide wireless communication, network access capabilities and data exchange capabilities as well. Moreover, the microprocessors 5 and 9 may have inbuilt or attached data memory devices for temporarily and/or permanently storing application software, module operating systems and/or configuration data for the platform 10 and the workhead 20.
A modularized robot as implemented according to the general concept given in
The robot workhead 20 may further comprise a monitoring and surveillance unit containing a black light 23 and a camera system 24 to inspect the surface protection quality (
The robot workhead 20 may further comprise a 3D-printer system 25 to print necessary brackets or other fasteners to sustain certain systems or any other plastic component which may be printed using an additive manufacturing technique (
The robot workhead 20 may further comprise an extensible roll 26 to clean surfaces before surface protection and/or after certain operations have been performed on the surface, such as drilling, countersinking or similar operations (
The robot workhead 20 may further comprise wire fixers 27 that include a support for wires and brackets and a number of electronic screwdrivers which are configured to position the wires to be fixed in their correct position and subsequently fix the bracket with screws (
Other robot types may, of course, be combined as well, for example, for rivet head sealing, applying surface protection in difficult access areas, applying sealing coating on surfaces and fasteners or screwing. Robots may be devised to support other robots or human workers in placing, handling and positioning components and parts in a precise location and to measure their precise positioning.
Due to their modularity and flexibility, the swarm robots may be able to work in any environment, even in areas which are difficult to gain access to, in cargo and bilge zones or in areas with contaminants or hazardous risks such as high-voltage lines. The robot platforms 10 with mobility conveying modules allow the robots to change hangars. The mobile robots may be equipped with an anti-collision system in order to be able to move autonomously in the working environment with a low risk for collision with another robot or a worker W that works with a connector platform R12 for a handheld and manual application.
In suitable locations, storehouse facilities for parking, recharging and interchanging functional tools and equipment may be provided remote from the working site. The robots may be directed towards such storehouse facilities for a change of robot workheads 20 on a given robot platform 10 or a change of mobility platform 10 for a given robot workhead 20. The re-assembly of modularized robots may be performed autonomously by the robots themselves, by using support robots and/or by human intervention.
The working environment 100 may also be employed for spacecraft or a space station with a human crew, particularly. The swarm of modularized robots may, in particular, comprise drones that are configured and designed to work in space with no or very little gravity. Robot platforms 10 for such robots may, for example, comprise jet propulsion systems or rocket engines with cold gas nozzles and reaction wheels. Mobile robots that are designed to assist human crew members in space stations may be equipped with climbing legs so that their degree of freedom in movement is restricted to the mechanical structure of the space station.
The different swarm members 10, 20 (and possibly combined robots) operate in a swarm modus by having a decentralized intelligence due to the smart functionality module in each member 10, 20. The basis for the swarm operation could be, for example, a multi-agent control mechanism or a neuronal network. The swarm members may, on one hand, communicate with the centralized database D in order to collect new tasks, deliver the results of the fulfilment of the tasks or any update related to task management to the centralized database D as job card progress. The task controller C may retrieve the dynamically updated information in the centralized database D, set up new tasks, delete completed tasks or re-prioritize the tasks in relation to each other. The swarm members may, on the other hand, be able to communicate amongst each other to commonly agree on an optimum “team” set-up for fulfilling the required tasks. This requires some robot workheads 20 to autonomously assemble with certain optimum robot platforms 10 in order to flexibly form modularized robots as currently needed in the working environment.
The functional intelligence (knowledge) for workhead applications may be usually inside the microprocessor of the robot workhead 20, while the positioning intelligence (knowledge) may be usually inside the microprocessor of the robot platform 10. An inter-module communication between platforms 10 and workheads 20 may be possible to exchange functional and positional data and information. The robot workheads 20 may be able to autonomously select the next task to be performed either from the centralized task database D or by being directly queried by the task controller C.
The suitable robot platform 20 may be found autonomously and/or by requesting it. If the task requires it, additional supporting swarm robot units may be requested in aid. For example, a drilling workhead may assemble with an aerial platform and additionally request aid from a vacuum cleaner workhead which may, for this purpose, assemble with a wheeled platform. A metrology workhead may be requested after the drilling task of the drilling robot has been completed in order to register detailed measurements of the work of the drilling robot for purposes of quality control.
When currently not in use or idle, any robot platform 10 or robot workhead 20 may indicate itself to the task controller C and/or the remaining swarm members as being available. Additionally, when a robot platform 10 or robot workhead 20 needs to be recharged or cleaned, it may indicate itself to the task controller C and/or the remaining swarm members as being out of order. The swarm F may be setup/assembled either autonomously, for example due to its self-conferred mobility, or with the support of a human operator. Each of the robot platforms 10 and robot workheads 20 may be equipped with some degree of autonomation mechanism allowing an interruption of the working process swiftly and in-time for maintenance, inspection and repair of the platforms 10 and workheads 20 themselves. The remaining swarm members may independently continue with their assigned tasks so that the temporary failure of some swarm members will not bring the whole task execution to a halt.
As exemplarily illustrated in
The method M comprises at M1 providing, by a centralized task database D, a task to a plurality of robot workheads 20. Each of the robot workheads 20 is configured to convey the ability to perform one of a plurality of operational tasks to an assembled modular robot. Depending on the provided task, the plurality of robot workheads 20 then determine at M2 which one of a plurality of robot platforms 10 to combine with. The robot platforms 10 are each configured to convey mobility and connectivity to external components to an assembled modular robot. At M3, one or more modularized robots may then be formed by connecting one or more of the plurality of robot workheads 20 with the determined one of the plurality of robot platforms 10. Those modularized robots are then able, at M4 to perform the provided task.
When the task has been completed, the centralized task database D may be updated by the respectively assigned robot at M5. Then, the robot may disassemble again, by disconnecting, at M6, the robot workhead 20 from the combined robot platform 10. The disconnected parts—workhead 20 and platform 10—are then free again to take on another task from the centralized task database D.
In the foregoing detailed description, various features are grouped together in one or more examples or examples with the purpose of streamlining the disclosure. It is to be understood that the above description is intended to be illustrative, and not restrictive. It is intended to cover all alternatives, modifications and equivalents. Many other examples will be apparent to one skilled in the art upon reviewing the above specification.
The embodiments were chosen and described in order to best explain the principles of the invention and its practical applications, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. In the appended claims and throughout the specification, the terms “including” and “in which” are used as the plain-English equivalents of the respective terms “comprising” and “wherein,” respectively. Furthermore, “a” or “one” does not exclude a plurality in the present case.
While at least one exemplary embodiment of the present invention(s) is disclosed herein, it should be understood that modifications, substitutions and alternatives may be apparent to one of ordinary skill in the art and can be made without departing from the scope of this disclosure. This disclosure is intended to cover any adaptations or variations of the exemplary embodiment(s). In addition, in this disclosure, the terms “comprise” or “comprising” do not exclude other elements or steps, the terms “a” or “one” do not exclude a plural number, and the term “or” means either or both. Furthermore, characteristics or steps which have been described may also be used in combination with other characteristics or steps and in any order unless the disclosure or context suggests otherwise. This disclosure hereby incorporates by reference the complete disclosure of any patent or application from which it claims benefit or priority.
| Number | Date | Country | Kind |
|---|---|---|---|
| 102015216272.9 | Aug 2015 | DE | national |
