DE102019202827A1 - CONTROL OF MOBILE MACHINES WITH A ROBOTIC ATTACHMENT - Google Patents

Abstract

A robotic machine includes at least one sensor coupled to the robotic machine that is configured to generate a signal indicating a work surface for which a work surface insert is to be performed. The robotic machine further includes a machine and robot control system configured to receive a work surface indication signal, identify the work surface insert to be performed, and generate control signals for an end effector of the robotic machine to perform the identified work surface use.

Description

AREA OF DESCRIPTION

The present description relates to the control of a mobile machine with a robot attachment. More specifically, the present description relates to a high-precision robot machine using a machine and robot control system for performing a work operation.

BACKGROUND

There are many different types of work machines. Some of such work machines include, among others, agricultural machines, construction machines, forestry machines, lawn care machines. Many of these pieces of mobile equipment have mechanisms that are controlled by the operator in the field. For example, a construction machine may have various mechanical, electrical, hydraulic, pneumatic, and electro-mechanical subsystems, all of which can be operated by the operator.

Construction machines are often entrusted with the task of transporting material on a construction site, or to or from a construction site, according to the construction site use. Various construction site missions may include moving material from one location to another or leveling a construction site, etc. During construction work, a variety of construction machinery can be used, including dump trucks, wheel loaders, bulldozers and excavators and many more. Work assignments can involve a large number of steps or phases and can be quite complex.

Robot heads can also be mounted on work machines to modify the work machines or to add additional functions. For example, a robot head with an end effector in the form of a material dispenser in the construction kit can replace a bucket of an excavator. Once assembled, the work machine can output material according to the job site usage.

The foregoing explanation is merely intended as background general information and is not intended to be an aid in determining the scope of the claimed subject matter.

SUMMARY

A robotic machine includes at least one sensor coupled to the robotic machine that is configured to generate a signal indicating a work surface for which a work surface insert is to be performed. The robotic machine further includes a machine and robot control system configured to receive a work surface indication signal, identify the work surface insert to be performed, and generate control signals for an end effector of the robotic machine to perform the identified work surface use.

This summary is intended to introduce a selection of concepts in a simplified form, which are further described below in the Detailed Description. This summary is not intended to identify key or essential characteristics of the claimed subject matter, nor to serve as an aid in determining the scope of the claimed subject matter. The claimed subject matter is not limited to implementations that solve some or all of the disadvantages noted in the background.

list of figures

• 1 Fig. 4 is a pictorial illustration of an example of a mobile machine with which a robotic attachment can be used.
• 2 Figure 3 is a pictorial illustration of the architecture of a robotic machine in which a robotic machine is coupled with an engine and robot control system to an external sensor system, a remote control system, and a haulage machine.
• 3 is a more detailed pictorial illustration of an in 2 illustrated robotic implement.
• 4A Figure 10 is a block diagram of a robotic machine coupled to a machine and robotic control system.
• 4B Figure 10 is a block diagram of a robotic machine including a mobile machine coupled by a connection to a robotic attachment.
• 5 Figure 11 is a block diagram of a portable control unit that may be used to control a robotic machine using a machine and robot control system.
• 6 FIG. 12 is a block diagram of a tool change system that may be used to execute a desktop application using a machine and robot control system.
• 7 Figure 10 is a block diagram of a machine and robot control system that may be used to control a robotic machine.
• 8A-8B FIG. 10 are flowcharts illustrating an example operation of controlling a robot machine using an in-robot 7 represent illustrated machine and robot control system.
• 9 FIG. 3 is a flowchart illustrating an exemplary process of controlling a robot machine in conjunction with a grouting operation using a tool disclosed in FIG 7 represents illustrated machine and robot control system.
• 10 FIG. 10 is a flowchart illustrating an exemplary operation of controlling a robot machine using a portable control unit and a machine and robot control system as shown in FIG 5 respectively. 7 illustrated.
• 11 FIG. 10 is a flowchart illustrating an exemplary operation of mounting a robot machine using an in 7 represents illustrated machine and robot control system.
• 12 FIG. 10 is a flowchart illustrating an exemplary process of returning a robot machine to an operating position using an in 7 represents illustrated machine and robot control system.
• 13 Figure 12 is a block diagram of an example of a computing environment that may be used in the architectures illustrated in the previous figures.

DETAILED DESCRIPTION

To successfully complete a task, it may be necessary to turn a mobile machine into a high-precision robotic machine. Such work may involve forestry operations, site work, agricultural operations, lawn care operations, and so on. In addition, this may include a selection of mobile machines, such as excavators, articulated loaders and other machines. In forestry operation, for example, a robot attachment may be attached to a mobile machine such as an excavator or articulated loader, and debarking, for woodworking, felling, etc. However, a robotic attachment is often constructed with an end effector that performs a single function in conjunction with a labor input. In one example, this could include an end effector in the form of a material dispenser that can be used to dispense material (such as mortar) in accordance with the labor input.

Because an end effector is typically configured for a single function, it may often be desirable to use a variety of different robotic attachments to perform the task. Furthermore, controlling the end effector of the robotic machine is often a manual operation that requires a user of a mobile machine to correctly position and control the end effector. However, this often leads to errors, as an operator must precisely position and operate the end effector along a work surface to successfully complete the work assignment. For the purposes of the present disclosure, a work surface is defined as an area on a jobsite where an insert is to be deployed.

In addition, after completing a labor assignment, it is often important that a robotic machine be properly stored in a proper transport / storage position to prevent damage to the end effector and / or other components of the robotic implement. For the positioning of a robotic machine in a transport / storage position, a user often has the task of moving different poles of a mobile machine in order to correctly position the robotic machine for storage. In one example, this includes positioning the robotic machine on a transport machine that transports the robotic machine to another location.

The present description continues with respect to a machine and robot control system that enables the automatic or semi-automatic control of a robotic implement comprising an end effector in the form of a tool change system and / or a mobile machine. Moreover, the machine and robot control system allows the robot implement and / or the mobile machine to be controlled by means of a portable control unit while the robot machine and / or mobile machine is also automatically or semi-automatically positioned in a transport / storage position upon completion of a work operation. Furthermore, if it can be assumed, or if it is desired that a large load is to be applied to the robotic attachment, the machine and robot control system may generate a control signal for stiffening or securing a series of stronger, more robust, length-adjustable elements of the robotic implement. to relocate the load of the actions that would otherwise be applied to the finer, weaker, length-adjustable elements of the robotic implement.

1 Fig. 3 is a pictorial illustration of an example of a mobile machine with which a robotic attachment (shown in Figs 2 pictured) can be used. While the mobile machine 100 Illustratively illustrated as an excavator, it should be understood that many other mobile machines can be used in accordance with the present description.

The mobile machine 100 illustratively includes one about a pivot point 108 on an undercarriage 104 with caterpillars 106 mounted frame 102 , The mobile machine 100 includes a series of linkages (eg, movable, two-jointed part) that are controlled by a series of actuators. This can be for example a boom 114 and / or an arm 118 comprise, controlled by electrical or hydraulic actuators (eg 116 . 120 and 122 ). As illustrated, the frame carries 102 a cabin 110 , a motor assembly 112 , a section for a balance weight 126 , one movable on the frame 102 mounted boom 114 one at one end of the jib 114 attached arm 118 and one at one end of the arm 118 attached bucket 124 , In operation, a position of the boom 144 relative to the frame 102 from the cylinder 116 controlled. A position of the arm 118 becomes relative to the boom 114 from the cylinder 122 controlled. In addition, a position of the bucket 124 relative to the arm 118 from the cylinder 120 controlled. An operator in cabin 110 illustratively manipulates user input mechanisms to control the cylinders 116 . 120 and 122 and to control other actuators (such as to pivot the cab 110 , to move and steer the machine 100 etc.).

2 is a pictorial illustration of the architecture of a robot machine in which a robot machine 200 with a machine and robot control system 214 over the network 212 to an external sensor system 210 , a remote control system 216 and a transport machine 204 is coupled. As illustratively illustrated, the robotic engine includes 200 one with the robot attachment 202 coupled mobile machine 100 , While the robot machine 200 to the external sensor system 210 , the remote control system 216 and the transport machine 204 is coupled, it is provided that in some examples, the robot machine 200 may be coupled to a subset of these systems and / or machines, or alternatively to additional systems and / or machines. The remote control system (s) 216 can include a wide variety of different remote control systems (or a variety of remote control systems), including one through the other elements in FIG 2 accessible remote computer system (eg by robot machine 200 , external sensor system 210 and / or transport machine 204 ). The network 212 may be one of a number of different types of networks, such as a wide area network, a local area network, a near field communication network, a cellular network, or a wide variety of other networks or combinations of networks. In addition, it can be at the transport machine 204 to handle a wide selection of different transport machines used for the transport and / or storage of the robot machine 200 are configured. In one example, the transport machine 204 a trailer 208 with scaffolding 206 , for the storage of the robot machine 200 during transport.

In operation, the machine and robot control system 214 after coupling robot attachment 202 and mobile machine 100 automatically or semi-automatically the robot machine 200 Taxes. In one example, this includes generating control signals for an end effector of the robotic implement 202 to carry out an identified use on the work surface, which may include a construction process, forestry operation, etc. In addition, this can be the control of various actuators on the mobile machine 100 and / or on the robot attachment 202 for positioning the robot machine 200 in a transport / storage position on the transport machine 204 include. In other examples, the machine and robot control system 214 the robot attachment 202 based on a user input received via a portable control unit or other user interface device. This will be related to 7 further treated.

It should be noted that in one example the mobile machine 100 and / or the robot attachment 202 via its own machine and robot control system 214 can be equipped with one or more remote control systems 216 and / or the external sensor system 210 can communicate. In addition, parts of the machine and robot control system 214 on the mobile machine 100 , on the robot attachment 202 and / or a central system. For the purpose of the present discussion, it is assumed that the machine and robot control system 214 a system on the mobile machine 100 is that the robot machine 200 controls how it is, in turn, with reference to 7 , is treated.

3 is a more detailed pictorial illustration of an example of the in 2 illustrated robotic implement 202 , As illustrated, the robotic attachment includes 202 a Stewart platform 302 , Sensor (s) 306 and an end effector 304 with a tool change system 314 , In one example is the Stewart platform 302 a robot platform with several strong, robust hydraulic or electric cylinders 308 and fine hydraulic or electric cylinders 309 at low power between a platform base 310 and a platform table 312 , In operation, the cylinders can 308 float while the cylinders 309 precise movements of the end effector 304 can effect. But if a load or a shock to the attachment 202 acting (either unexpected or expected, as part of a process), the machine and robot control system may 214 Control signals for locking the stronger hydraulic and / or electric cylinders 308 generate while the finer cylinder 309 with less strength between the platform base 310 and the platform table 312 allowed to float. By locking the cylinder 308 can the push using the cylinder 308 and the corresponding actuators, and thus the smaller, more precise cylinders 309 and / or protect actuators. While the robot attachment 202 a Stewart platform 302 with several cylinders 308 . 309 and an end effector 304 as well as a tool change system 314 includes, is expressly provided that other types of robotic attachments 202 can be used according to the present description, depending on the operation at the site. In operation leaves the Stewart platform 302 a movement of the end effector 304 in several degrees of freedom too.

The sensor (s) 306 may include a wide variety of sensors, which may include cameras and other optical / visual sensors, range sensor (s), and so on. In operation, sensor signals can be generated and sent to the machine and robot control system 214 are supplied to control signals for the end effector 304 , other components of the robot attachment 202 and / or the mobile machine 100 to create. This will be related to 7 further treated. In a nutshell, the sensor (s) may / may 306 include one or more optical sensors that generate signals indicative of a work surface for which work is to be performed. The sensor signals may be the machine and robot control system 214 and used to identify the work surface and, based on the identified work surface, to identify a work surface insert that is from the end effector 304 is to execute. The end effector 304 can then autonomously through the machine and robot control system 214 be controlled to perform this operation.

4A is a block diagram of one with a machine and robot control system 214 coupled robot machine 200 , As illustratively illustrated, the robotic engine includes 200 one over a connection 444 with the robot attachment 202 coupled mobile machine 100 , In operation, the machine and robot control system 214 for generating control signals for a variety of subsystems of the machine 200 be used. The machine and robot control system 214 illustratively includes an end effector control system 415 , a portable control system 417 , a warehouse control system 419 , among a variety of other systems 423 ,

In operation, the end effector control system 415 Control signals for the end effector 304 and actuator (s) on a mobile machine 100 or robot attachment 202 generate based on an identified workspace usage. In one example, the end effector control system 415 autonomously or semi-autonomously perform the identified work area use, as it relates to 6 and 7 will be treated. In addition, the portable control system allows 417 an operator 425 , the robot machine 200 via a portable control unit 436 to control. For example, the portable control system identifies 417 after receiving a user input via the portable control unit 436 a control signal based on the input, and generates the control signal for the subsystem of the machine 200 , Furthermore, the bearing control system 419 autonomous or semi-autonomous control signals for the actuator (s) and / or the steering and drive system of the machine after completion of a work assignment 200 for positioning the machine 200 in a storage / transport position. This will be related to 7 further treated.

4B is a more detailed block diagram of a robotic machine 200 that one over a connection 444 with a robot attachment 202 coupled mobile machine 100 includes. In addition, as illustrated, the mobile machine is 100 , the robot attachment 202 , the external sensor system 210 and the remote control system (s) 216 over the network 212 communicatively coupled.

The mobile machine 100 includes illustrative processor (s) / control unit (s) 402 controllable subsystem (s) 430 , Machine and robot control system 214 , a communication system 404 , a user interface device 406 , a power source 410 , a data store 411 , User Interface Logic Circuit 408 , Location system 448 , Control system 409 , Sensor (s) 416 and a wide variety of other elements 412 , Before the more detailed description of the operation of the robot attachment 202 and the robot control system 214 First, a brief description of some elements of the mobile machine 100 and their functions.

The control system 409 can control signals for a number of different controllable subsystems 430 generate, including the / the Actuator (s) 432 , the steering and drive system 427 or other subsystems 434 , based on / from the sensor (s) 416 generated sensor signals from / from remote system (s) 216 and / or the machine robot control system 214 received feedback based on the user interface device 406 in the cabin 110 received operator inputs, or it may generate control signals in a variety of other ways. Other controllable subsystems 434 may include a variety of mechanical, electrical, hydraulic, pneumatic, computer-implemented and other systems related to the movement of the mobile machine 100 that relate to performed function and other controllable properties. Actuator (s) 432 may include a wide variety of different types of actuators that are responsible for receiving a control signal and performing a boom motion on the mobile machine 100 and / or another movement of the mobile machine 100 are configured, which is a movement of the boom 114 , the arm 118 , the frame 102 and / or an end effector, such as a bucket 124 , Among a variety of other linkages and components. They can also be used to drive the positioning of the robot attachment (or robot head) 202 be used. Actuator (s) 432 may also include motor (s), control valve (s), pump control (s), hydraulic actuator (s), electric linear actuators, among a variety of other actuators.

The communication system 404 may include one or more communication systems, the components of the mobile machine 100 allowing communication with each other (such as via a Controller Area Network (CAN bus) or otherwise) while the mobile machine 100 also the communication with the remote control system (s) 216 , external sensor system (s) 210 , Transport machine 204 and / or robotic attachment 202 over the network 212 is allowed.

The user interface device 406 can be a portable control unit 436 , Display devices 438 , haptic devices 440 and a variety of other devices, such as mechanical or electrical devices (eg, a steering wheel, joysticks, pedals, levers, buttons, etc.), audio devices, etc. In one example, the user interface logic circuitry generates 408 on the user interface device 406 an operator display, which may include a display device located in the operator's cab 110 the mobile machine 100 is integrated, or it may be a separate display on a separate device that can be carried by an operator (such as a laptop computer, a mobile device, etc.). In operation, the portable control unit 436 for controlling a plurality of components of the mobile machine 100 and / or the robot attachment 202 be used. For example, user input may be by a portable control unit 436 and the machine and robot control system 214 may generate control signals based on the received user input. This will be related to 5 further treated.

The power source 410 can be a wide variety of power sources used for supplying power to various components and subsystems of the mobile machine 100 and / or the robot attachment 202 are configured.

The power source 410 may include an engine, a battery, generators, alternators, etc. In operation, the power source 410 Used to provide electrical, mechanical, hydraulic or other power over the connection 444 to various components of the robot attachment 202 to deliver.

The data store 411 some or all of the operation of the mobile machine 100 and / or the robot attachment 202 save relevant data. In one example, the data store 411 Transport / storage positioning information for the mobile machine 100 and the robot attachment 202 include, in one example, dimensional information for the positioning of linkages of the mobile machine 100 and the robot attachment 202 in a transport / storage position. In addition, transport / storage information may include various control signal information that defines control signals used for positioning the robotic machine 200 can be generated in the transport / storage position. In one example, transport / storage positioning information may be on a type of robotic attachment 202 , Transport machine 204 and mobile machine 100 based. In operation, the machine and robot control system 214 to access the transport / storage positioning information and various actuators of the mobile machine 100 and the robot attachment 202 to control positioning of various linkages in their respective transport / storage positions based on the stock / transport information. In one example, the transport / storage positioning information could be provided via user input (such as manual control of the machine 100 and the attachment 202 ) to move them to their transport / storage position, and providing a user input indicating this so that the location is stored or removed from / from the remote system (s). 216 can be obtained.

The data store 411 can also provide desktop operating information for the end effector 304 of the robot attachment 202 include. For example, the tool change system 314 include a wide variety of tools configured to perform a range of worktop inserts. In this example, workspace operational information may include information that defines how each tool is to be controlled, categorized based on the workspace operations performed by it. In addition, operating information about the work surface may include a variety of work surface inserts, categorized according to the type of work surface. In operation, the machine and robot control system 214 It can identify a workspace insert based on received sensor signals and operating information about the work surface, and it can identify a number of tools used to perform the identified workspace insert. The system 214 can also obtain toolpath information for each tool, a work order (or run) for the tools specifying the order in which the tools will be used, while information on duration will indicate how long each tool will be used, etc. Based on the received operating information to the work surface can the machine and robot control system 214 the tool change system 314 control to perform the identified workspace deployment.

For example, operating information for the work surface for an identified grouting operation may include the steps of removing old mortar, washing out a joint, applying new mortar, stripping the new mortar, brushing the mortar, and washing the stone fronts with acid. In addition, the working surface operation information may indicate that the grouting operation involves the use of a series of end effector tools, such as a chisel, saw, vacuum cleaner, water source, mortar source, marker, brush, fluid source, etc., to complete the grouting operation. This will be referred to below 9 treated in more detail. While the operating information about the work surface includes information for a jointing operation, information about a variety of other workspace operations may also be stored.

The data store 411 may also include information for the portable controller, which, in one example, is user input from a portable control unit for a mobile machine operation / position change 100 or the robot attachment 202 used. For example, portable control information may include control cards that include user input mechanisms on the portable control unit 436 for the control of outputs which in turn control actuators, which linkages or other elements of the mobile machine 100 move. This will be related to 5 and 7 further treated.

Sensor (s) 416 generate / generate sensor signals from the machine and robot control system 214 for the control of the mobile machine 100 and the robot attachment 202 can be used. Sensor (s) 416 can / can pin-rotate encoder 418 , Inertial measuring units 422 , Area measuring sensors 424 , optical sensors 426 , Position detection sensors 469 among a variety of other sensors 428 include. Inertialmesseinheiten 422 may include accelerometers, gyroscopes, magnetometers among a variety of other sensors. Area measuring sensors 424 may be radar based sensors, LIDAR based sensors, ultra broadband radiation sensors, ultrasonic radiation sensors among a variety of other sensors.

In one example, a sensor signal (s) may be from the engine and robot control system 214 received and for identifying a current position of poles of the mobile machine 100 and the robot attachment 202 be used. Based on information about the transport / storage position and the current position, the machine and robot control system can 214 identify a path for each of the linkages that the linkages of the mobile machine 100 and the robot attachment 202 positioned in the transport / storage position. This can be the movement of the mobile machine 100 and the robot attachment 202 on a transport machine.

In addition, a sensor signal (s) may also provide an indication or feature of a work surface on which a work surface insert is to be performed. This will be referred to below 6 and 7 treated in more detail.

The location system 448 may include one or more navigation system receivers (GPS), LORAN systems, docking systems, cellular triangulation systems, or other location systems that include a location of the mobile machine 100 and / or the robot attachment 202 or identify individual parts thereof. This can be coordinate information too X -Axis, Y -Axis and Z Axis, relative to, for example, a known coordinate system, a geographic location, or a system that includes a location of the robotic implement 202 from a known position of the mobile machine 100 derives.

The machine and robot control system 214 is for the control of the mobile machine 100 and the robot attachment 202 configured in a variety of ways. In one example, this can Machine and robot control system 214 Generate control signals representing the end effector 304 control to perform a workspace application. The control signals may be the actuator (s) 432 steer to different linkages of the mobile machine 100 or the mobile machine 100 to position itself in a transport / storage position. In addition, the machine and robot control system 214 on user input from the portable control unit 436 generate based control signals, which will be discussed later. In other examples, the machine and robot control system 214 stabilize a variety of actuators, which, in one example, the cylinder (s) 308 Steer to stiffen them to keep them on the attachment 202 acting shocks from more sensitive actuators 309 on the attachment 202 relocate.

The mobile machine 100 can have one or more connections 444 to the robot attachment 202 be coupled. The connections 444 can include mechanical linkage, making the robot attachment 202 physically with the mobile machine 100 is coupled. It may also include other connections (such as a wiring harness, wireless connections, etc.) for the transmission of electronic data, power, pressurized hydraulic fluid, pneumatic power, or a wide variety of other things.

Now the robot attachment 202 concerning the robot implement illustratively comprises processor (s) / control unit (s) 446 , a communication system 450 , a location system 452 , Control system 455 , Data storage 458 , Actuators 308 and 309 , Sensor (s) 306 , controllable subsystems 464 among a variety of other components 462 , Below is a brief description of some elements in the robot attachment 202 and their functions.

The control system 455 of the robot attachment 202 may provide control signals for controlling a variety of different controllable subsystems 464 generate, as in one example, actuators 308 and 309 that the end effector 308 control, and / or a Stewart platform 302 may include. The controllable subsystem / subsystems 464 can handle a wide variety of other mechanical, electrical, hydraulic, pneumatic, computer-implemented, and other systems 466 of robotic attachments 202 include, referring to the movement of the robot attachment 202 which relate to performed function and other controllable features. The actuator (s) 451 can / can movements of the boom of the robot attachment 202 cause and / can affect the actuator (s) 432 comprise actuators similar to or different from the mobile machine. The control system 455 may generate control signals based on received sensor signals from the mobile machine 100 , Remote control system (s) 216 , external sensor system (s) 210 , Machine and robot control system 214 received feedback, on via the user interface device 454 It may also generate control signals in a variety of other ways.

The communication system 450 may include one or more communication systems that provide the communicative coupling of components of the robotic attachment 202 allows each other while the robot attachment 202 also communicative with the mobile machine 100 can be coupled. In other examples, the communication system allows 450 the robot attachment 202 the communication with the mobile machine 100 , external / external sensor system (s) 210 and / or remote control system (s) 216 over the network 212 , The location system 452 may include one or more navigation system receivers (GPS), LORAN system, a coupling system, a cellular triangulation system, or other location tracking systems associated with the machine and robot control system 214 the identification of a position of the mobile machine 100 and / or the robot attachment 202 enable. This can be coordinate information too X -Axis, Y- Axis and Z Axis in a known coordinate system at a geographical position. In addition, the machine and robot control system 214 , in an example, a position of the implement 202 drive by placing an offset between the mobile machine 100 and the robot attachment 202 using the locating system 452 received information is determined.

The data store 458 may have some or all data related to the operation of the robot attachment 202 and / or data related to the mobile machine 100 to save. These can be used in the data memory 411 stored data is similar or different. In addition, the data in the data store 458 for a particular type of mobile machine 100 with which the attachment 202 linked, based on the type of robot attachment 202 , on the type of transport machine 204 or the type of work surface use, etc. In operation, the data may be stored in the data memory 458 from the machine and robot control system 214 for controlling the mobile machine 100 and the robot attachment 202 used, which will be discussed later.

The sensor (s) 306 may include a wide variety of different sensors, which may include optical devices, various image sensors and image processing components, ranging sensors, visual sensors can act under a variety of other sensors. The sensor (s) 306 Can / can on different components of the robot attachment 202 be positioned, including an end effector 304 and / or a Stewart platform 302 , In one example of a desktop application, an operator may provide input that identifies which desktop application to perform. In another example, the machine and robot control system 214 Sensor signals to / from the sensor (s) 306 and identify, based on the received sensor signals, a desktop application. This can be the reception of sensor signals from a visual, with the end effector 304 coupled sensor and by signal analysis, one on a work surface next to the or the end effector 304 facing working surface determining work input. Based on the identified workspace application, the machine and robot control system can 214 Control signals for controlling the end effector 304 generate for the implementation of the identified work surface use. In addition, sensor signal (s) from / from the sensor (s) may 306 for positioning the robot machine 200 be used in a transport / storage position by the machine and robot control system 214 the determination of a current position of the linkage of the mobile machine 100 and the robot attachment 202 is possible. Sensor signals can also be used in a variety of other ways.

Now the external sensor system (s) 210 concerning the external sensor system (s) 210 configured for the provision of position information, which is a position of the robot attachment 202 for the machine and robot control system 214 specify. The external sensor system (s) 210 can / do a laser system (or another optical or image based system) 468 , a global positioning system 470 with real-time kinematic function among a variety of other systems 472 include. In one example, the laser system 468 include the use of cameras, infrared radiation, LIDAR, tachymeters with prisms and other similar devices. In operation, to / from the external sensor system (s) 210 generated position information from the machine and robot control system 214 received and for determining a current position of the robot attachment 202 used, so the system 214 can learn how the robot attachment 202 is to control.

5 is a block diagram of a portable control unit 436 used to control the robot attachment 202 and the mobile machine 100 using the machine and robot control system 214 can be used. The portable control unit 436 illustratively includes user input mechanisms 522 , Power source 518 , Communication system 520 , Processor (s) / Control Unit (s) 522 , User Interface Logic Circuit 524 , User interface device 532 among a variety of other components 528 , In operation, a user may enter a user input via user input mechanisms 522 for controlling a variety of sub-components of the robotic implement 202 and the mobile machine 100 using the machine and robot control system 214 deliver. For example, the communication system 520 upon receipt of user input via user input mechanisms 522 this user input to the machine and robot control system 214 communicate. The system 214 may then access a card which receives the received user input to a control signal for a controllable subsystem of the mobile machine 100 or the robot attachment 202 assigns. The machine and robot control system 214 then generates the control signal to control an actuator or other subcomponent of the mobile machine 100 or the robot attachment 202 based on the user input. This will be related to 7 treated in detail.

However, it becomes a process of using the portable control unit 436 for controlling the end effector 304 of the robot attachment 202 treated as an example. In this example, the portable control unit includes 436 a left analog stick 502 , a right analog stick 502 , left buffers 504 (with an upper left buffer and a lower left buffer), keys 508 and right buffers 504 (with an upper right buffer and a lower right buffer). In operation, the sensor (s) may / may 306 one or more cameras on the end effector 304 which is configured to provide signals, provide near-real-time visual feed to a display device 438 in the operator's cab 110 stating and representing a working surface representing the end effector 304 is facing. When viewing the generated display, an operator of the robotic machine 200 about user input mechanisms 522 User input to the machine and robot control system 214 deliver to a position of the end effector 304 to modify and operate one from the end effector 304 worn tool to modify. For example, each of the user input mechanisms 522 one / more specific actuator (s) 432 assigned, the / after receiving a control signal, a position change of the end effector 304 causes / effect or controls the use of a mounted tool. The assignments can be stored in a control card in the data store 411 . 458 and / or in the remote control system (s) 216 get saved.

The control card may thus have a relationship between a received user input via a user input mechanism 522 like an analog stick 502 , and an actuator control signal. For example, the left analog stick 502 a specific actuator 432 assigned to the motion of the end effector 304 along a Z Axis and one X Axis causes. In addition, the right analog stick 502 a specific actuator 432 assigned to the rotational movement of the end effector 304 one X Axis and one Y Axis causes. The upper and lower left buffers 504 can be a specific actuator 432 assigned to the motion of the end effector 304 along a Y -Axis causes, and the upper and lower right buffers 504 can be a specific actuator 432 assigned to the rotational movement of the end effector 304 to the Z Axis causes. But while the user input mechanisms are a specific actuator 432 assigned to the motion of the end effector 304 also takes into account that a user input mechanism of a plurality of actuators 432 can be assigned which the position movement of the end effector 304 and its operation of a tool (such as turning it on and off, controlling its speed, etc.) causes.

The button's 508 (or other user input mechanisms) of the portable control unit 436 can trigger various functions of the end effector 304 be used. For example, pressing a button 508 the portable control unit 436 a tool in the tool change system 314 activate. It is also intended that analog sticks 502 or other user input mechanisms 522 could have multiple sensitivity levels using the machine and robot control system 214 can be changed. In one example, the lowest sensitivity setting may be a slower position change of the end effector 304 specify, according to a user input. In addition, the average sensitivity setting can control both actuators 432 the mobile machine 100 and the robot attachment 202 to change the positions more quickly than the lowest sensitivity according to the user input. A maximum degree of sensitivity may be used to effect the fastest rate of movement of the actuator (s) according to the user input.

Furthermore, user input may be received continuously, in a pulsatile manner, or sporadically. In one example, continuously received user inputs may be assigned as speed commands, pulsing inputs may be incremental changes in the position of the end effector 304 and sporadic inputs can be specified to determine a single position change. But this is just an example. In other examples, user input mechanisms may be used 522 a variety of other controllable subsystems within the mobile machine 100 and the robot attachment 202 about the actuator (s) 432 be assigned out.

The communication system 520 may include one or more communication systems that provide the communicative coupling of components of the portable controller 436 allows each other while the portable controller 436 also communicative with the machine and the robot control system 214 can be coupled. In an example, the communication system includes 520 a near field communication system, that of the portable control unit 436 the wireless communication with the machine and robot control system 214 allows. However, other communication systems can also be used. In addition, the portable control unit 436 also via cable with the machine and robot control system 214 get connected.

The power source 518 is for powering all components inside the portable control unit 436 configured. In one example, the portable control unit 436 wireless with the machine and robot control system 214 get connected. In this example, the power source 518 Batteries or other power sources include. But it is also envisaged that the portable control unit 436 Electricity from the mobile machine 100 could receive.

The user interface logic circuit 524 is for receiving a signal from the machine and robot control system 214 and, in one example, generating a control signal for the user interface devices 532 configured. The user interface devices 532 For example, display devices, speakers (or other audio devices), vibrating components (or other haptic devices), lights, etc. within the portable control unit 436 include. In one example, the machine and robot control system 214 upon receipt of various user inputs via user input mechanisms 522 a signal for the user interface logic circuit 524 for generating a display on the user interface device 532 produce.

6 is a block diagram of a tool change system 314 for executing a desktop application using a machine and robot control system 214 can be used. In one example, the end effector comprises 304 the tool change system 314 with processor (s) / control unit (s) 628 , a communication system 630 , Tool (s) 600 , a bearing mechanism 622 , a tool change mechanism 626 and a tool control system 632 among a variety of other systems and components 624 , During operation, the tool change system receives 314 Signals from the machine and robot control system 214 and performs an identified workspace deployment as described with respect to 7 is treated further. The communication system 630 may include one or more communication systems that provide the communicative coupling of components of the tool change system 314 allows each other while the tool change system 314 also communicative with the machine and the robot control system 214 can be coupled.

Im in 6 illustrated example include the tools 600 Illustrating a sprayer 602 , a stone connector 606 , a trowel 610 , an air source 614 a saw 618 , a brush 604 , a mortar bag 608 , a source of water 612 and a chisel 616 among a variety of other tools 620 , The tool 600 may be used to perform an identified work surface use, such as a jointing operation. In other examples, the tools are 600 for other uses, such as plant inserts, demolition inserts, etc. In addition, the bearing mechanism 622 a variety of bearing mechanisms for storing tool (s) 600 include. In one example, the bearing mechanism 622 individual storage departments for tool (s) 600 include.

In operation, the tool change mechanism 626 upon receiving a signal from the machine and robot control system 214 a particular tool 600 from the bearing mechanism 622 Select to perform an appropriate tool insert that may be part of a workspace insert. Once selected, a signal from the machine and robot control system 214 to the tool control system 632 delivered to the chosen tool, as from the machine and robot control system 214 determined to operate over an identified toolpath. After operating the tool via the toolpath, the machine and robot control system may 214 the tool change mechanism 626 control, the chosen tool for mounting in the bearing mechanism 622 to move back and another tool 600 from the bearing mechanism 622 and generate signals to operate this tool on another or the same section of the work surface. This is also related to 7 further treated.

7 is a block diagram of a machine and robot control system 214 that is responsible for controlling a robot machine 200 can be used. The machine and robot control system 202 includes illustrative processor (s) / control unit (s) 744 , Communication system 746 , Data storage 750 , Actuator control logic circuit 702 , End effector control system 415 , portable control system 417 , Bearing control system 419 , Stabilization logic circuit 748 and it can be a host of other systems and components 752 include. The actuator control logic circuit 702 generates a control signal / control signals for the actuator (s) 432 the mobile machine 100 and the robot attachment 202 based on signals generated by an end-effector control system 415 , a portable control system 417 , a warehouse control system 419 a stabilization logic circuit 748 etc. are supplied.

The data store 750 may include some or all of the data relating to an insert and / or the position of the robotic attachment 202 and / or the mobile machine 100 to save. This can be the one in the data stores 411 and 458 stored data is different or different from it. The communication system 746 may include one or more communication systems, including the components of the machine and robot control system 202 allows communicatively coupled with each other, while the components also communicative coupling with a mobile machine 100 , Robot attachment 202 , Remote control system (s) 216 , Transport machine 204 and / or external / external sensor system (s) 210 is granted.

The end effector control system 415 is configured to identify a sensor input received or a user input or otherwise based desktop application. Based on the identified workspace deployment, the system controls 415 then the tool change system 314 when selecting the tools to use for the worktop insert. The end effector control system 415 includes the workspace identification logic circuitry 706 , the tool path determination logic circuit 708 , the tool positioning logic circuit 710 , the tool selection logic circuit 712 , the tool control logic circuit 716 and can be a variety of other systems and components 716 include.

In operation, the workspace identification logic circuit receives 706 through an overview of sensor signals from / from the sensor (s) 306 and 416 . specify the properties of a workspace. In one example, sensor (s) may 306 a camera, stereo cameras or other visual sensors on the end effector 304 which are configured to generate signals, the location and state of a work surface adjacent to the end effector 304 specify. Based on the received sensor signals, the workspace identification logic circuitry 706 identify the work surface and a workspace insert. For example, the workspace identification logic circuit 706 use image manipulation techniques to identify the workspace. In this example, an image analysis of the work surface may indicate that the work surface comprises a brick wall. Once identified, the workspace identification logic circuitry 706 to the desktop information of one or all datastores 411 . 458 and 750 access and use them to identify the workspace application to be performed or where the workspace application is to be performed. In one example, the work surface insert to be performed is a brick wall grout. However, in other examples, a desktop application may be identified by user input. After identifying the desktop workspace insert, the workspace identification logic circuit generates 706 an output for the tool path determination logic circuit 708 that indicates a location on the identified workspace.

The tool path determination logic circuit 708 identified in response to the output from the workspace identification logic circuitry 706 which tools to use for the job, the order or sequence in which the tools are used, and determines a toolpath for each of the tools to complete the desktop application. In one example, this includes obtaining the end effector control information from / from the data storage (s). 411 . 458 and 750 and / or remote control system (s) 216 and, based on those control information, determining which tools to use to complete the desktop application. After determining which tools to use, the sequence of tools and subsequent toolpaths are provided by the toolpath logic circuitry 708 an output to the tool selection logic circuit 712 , the tool positioning logic circuit 710 and the tool control logic circuit 714 with information on the tools to be used, the order in which they are to be used and the toolpaths they follow.

Upon receipt of an indication from the tool-locator logic circuit 708 generates the tool selection logic circuit 712 a control signal for the tool change mechanism 626 to select a tool to perform the appropriate tool insert so that the entire workspace application can be performed. After receiving the control signal, the tool change mechanism 626 a particular tool in the bearing mechanism 622 choose.

The tool positioning logic circuit 710 may be the output from the tool-locator logic circuit 708 and determine if the selected tool is in a correct position relative to the identified toolpath. In one example, this includes receiving sensor signals from one or more sensors. 306 . 416 to determine if the selected tool is in a correct position. For example, the sensor (s) may 306 Distance sensor (s) on the end effector 304 which are configured to measure a distance between the selected tool and the work surface. The removal may then be done by the tool positioning logic circuit 710 be used to determine whether the tool selected is too far away from or too close to the work surface or in a correct location on the surface, etc. If the tool positioning logic circuit 710 determines that the tool is not correctly positioned, an indication to the actuator control logic circuit 702 supplied to the linkage movement of the mobile machine 100 and the robot attachment 202 to correctly position the selected tool to follow the toolpath.

Once the tool is properly positioned, the tool positioning logic circuitry may provide 710 an indication to the tool control logic circuit 714 which indicates that the tool is correctly positioned on the toolpath. The tool control logic circuit 714 can after receiving the indication control signals for the control system 632 generate to operate the tool along the toolpath. In addition, the tool control logic circuit 714 In some examples, signals for the actuator control logic circuit 702 to drive the boom motion to hold the tool on the toolpath during operation of the tool (or to move it along the toolpath).

After operation of the tool along the toolpath, the tool control logic circuit may 714 Determine whether the use of the respective tool has been completed. If so, the tool control logic circuit 714 an indication for the tool selection logic circuit 712 to select a tool that will be used to perform the workspace insert, according to the tooling sequence. However, if the tool insert is not completed, the tool control logic circuit may 714 steer the tool further along the toolpath. The logic circuit 714 also allows an operator of the robot machine 200 notify.

The portable control system 417 is configured to receive user input from the portable control unit 436 receive and control signals for the control of the controllable subsystem (s) 430 and / or controllable subsystem / subsystems 464 based on the user input. The portable control system 417 includes mapping logic circuitry 736 , Subsystem control logic circuit 738 , Polling logic circuit 740 among a variety of other components and systems 742 ,

During operation, the mapping logic circuit intervenes 736 upon receipt of a user input by the portable control unit 436 to one or all data stores 411 . 458 . 750 and / or the remote control system (s) 216 to a control signal for a subsystem of the mobile machine 100 and the robot attachment 202 according to the user input. In one example, a subsystem actuator (s) 432 . 308 include, for driving the linkage movement of the mobile machine 100 or the robot attachment 202 is configured / are. The subsystems can also include other things. To identify a control signal, the mapping logic circuit 736 on control mappings (or a control card) in the datastores 411 . 458 . 750 accessing a relationship between the user input and a control signal for a subsystem of the mobile machine 100 or the robot attachment 202 specify.

In one example, a control card may indicate that a user input is a change in direction of the end effector 304 equivalent. Based on the direction change in the control card identifies the mapping logic circuit 736 the control signals which the relevant actuator (s) 432 control a movement of the end effector 304 to effect in the desired direction. After identifying a control signal for a subsystem 430 . 464 generates the mapping logic circuit 736 an output for a subsystem control logic circuit 738 which uses that output to generate the desired control signal. But if in the datastores 411 . 458 and 750 no control card is found, the mapping logic circuit 736 the fetch logic circuit 740 use to access the remote control system (s) 216 access to obtain a control card. If no card is found, the mapping logic circuit can 736 generate a UI display indicating that no map was found.

The subsystem control logic circuit 738 generated in response to the mapping logic circuit 736 receive a control signal for the particular subsystem (s) 430 . 464 , In one example, this may be the control of the actuator control logic circuit 702 comprise actuator control signals for the actuator (s) 432 to create. However, it is contemplated that the subsystem control logic circuit 738 Control signals for a variety of other, additional actuators 432 or generate from these distinctive, controllable subsystems. In this way, the portable control unit 436 along with the portable control system 417 from an operator for controlling the mobile machine 100 and / or the robot attachment 202 be used.

Upon completion of a workspace or labor assignment, the warehouse control system becomes 419 for positioning the mobile machine 100 and the robot attachment 202 configured in a transport / storage position. In one example, a transport / storage position may be the positioning of the robotic machine 200 on the transport machine 204 include. The warehouse control system 419 includes storage location identification logic circuitry 722 , Object recognition logic circuit 724 , Path identification logic circuit 726 , Position return logic circuit 730 among a variety of other logic circuits 732 ,

In operation, the bearing position identification logic circuit 722 a transport / storage position for the mobile machine 100 and the robot attachment 202 identify. In one example, this includes access to some or all of the data stores 411 . 458 and 750 to information about the transport / storage positioning for the mobile machine 100 and the robot attachment 202 catch up. Transportation / storage positioning information may include positioning information that identifies the linkage of the mobile machine 100 and the robot attachment 202 relative to each other (or relative to the transport machine 204 ) are to be positioned for storage or transport.

Alternatively, transportation / storage positioning information may be control signal information for the actuator (s) 432 and the steering and drive system 427 include, for controlling actuators 432 and the machine 200 even for the correct positioning of the machine and its Linkage in the storage / transport position can be used. In one example, the storage / transport position may be for each robotic machine 200 be different, depending on the type of mobile machine 100 , the type of robot attachment 202 and the type of transport machine 204 , In this example, information about transport / storage positioning can be on the type of mobile machine 100 , the type of robot attachment 202 and / or the type of transport machine 204 be indexed based. The bearing position identification logic circuit 722 could then be a type of mobile machine 100 , Robot Attachment 202 and transport machine 204 on a user input, on data in the datastores 411 . 458 . 750 or on sensor signals from the sensors 416 . 306 identify based. Once the storage / transport position for linkage of the mobile machine 100 and the robot attachment 202 are identified, an indication is generated and the route identification logic circuit 726 delivered.

The route identification logic circuit 726 upon receipt of the indication, determines a current position of the linkages of the mobile machine 100 and the robot attachment 202 , based on sensor signals from / from the sensor (s) 306 . 416 , The route identification logic circuit 726 then identifies a difference between the current position and the transport / storage position. The route identification logic circuit 726 also identifies a path for each linkage that moves the linkage to the appropriate transport / storage position. In other examples, it is contemplated that the storage position identification logic circuit 722 the actuator control logic circuit 702 can control to generate control signals for moving the linkage in its transport / storage position, without first providing a way for the linkage of the mobile machine 100 and the robot attachment 202 to identify.

In both examples, the path identification logic circuit controls 726 the actuator control logic circuit 702 to generate actuator control signals for moving the linkage to its corresponding transport / storage position. For example, the actuator control logic circuit 702 Control signals for the actuator (s) 432 generate the movement of the boom 114 , the arm 118 , the pivot point 108 etc. cause. In one example, this includes positioning the linkage of the mobile machine 100 so that the robot attachment 202 in a holder 206 on the transport machine 204 stores, hence the end effector 304 is stored safely for transport. On the transport machine 204 or the machine 102 In one example, locks can also be activated.

The position return logic circuit 730 Identifies and stores a return to use position for the mobile machine 100 and the robot attachment 202 , In one example, a back-to-back position corresponds to a position in which the mobile machine is 100 and the robot attachment 202 just before moving to a storage / transport position. In operation, before storing the mobile machine 100 , a user may provide a user input to indicate a desired back-to-back position. The position return logic circuit 730 can then store the information stored for the back-to-back position for the mobile machine 100 and the robot attachment 202 and the actuator control logic circuit 702 control to control signals for positioning the mobile machine 100 and the robot attachment 202 in the back-to-deploy position. In one example, the back-to-back position information may be from / to the sensor (s). 306 . 416 received sensor signals are determined based.

During the movement of the machine 200 itself and the linkage of the mobile machine 100 and the robot attachment 202 can the object recognition logic circuit 724 recognize if an object is in the way of moving the machine 100 or the linkage of the mobile machine 100 and / or the robot attachment 202 is or hinders this. In one example this is done by / from the sensor (s) 416 . 306 received signals determined. When an object is detected, the object recognition logic circuit may 724 an operator of the mobile machine 100 notify and / or the movement of poles of the mobile machine 100 and / or the robot attachment 202 to stop.

The machine and robot control system 214 also illustratively includes a stabilization logic circuit 748 , The stabilization logic circuit 748 generates in one example control signals for locking the larger, stronger cylinders 308 when a load on the attachment 202 is exercised. In one example, the cylinders shift 308 by locking the larger, stronger cylinders 308 the burden of the smaller, more precise cylinders 309 around and protect them. The stabilization logic circuit 748 may be in response to a received user input and / or from the sensor (s) 416 . 306 received sensor signals generate control signals indicating that a load on the attachment 202 will be exercised.

8A-8B FIG. 10 are flowcharts showing an example of control of a robot machine using an in 7 illustrated machine and robot control system 214 represent. The in 8A-8B The process illustrated is an example in which the tool change system 314 of the robot attachment 202 is controlled to using the machine and robot control system 214 to choose different tools. While this is related to the operation and retrieval of data relative to the tool change system 314 this is just an example. During operation according to the mobile machine 100 and the robot attachment 202 It is further understood that other mobile machines and robotic attachments may be used.

Processing starts at block 802 where the robot machine 200 is in operation. The robot machine 200 includes one over a connection 444 with the robot attachment 202 coupled mobile machine 100 , In one example, the robot machine 200 run after an operator provides inputs to the operation of the robot machine 200 to start. This can be done in many ways. For example, the operator may provide initial machine settings based on a work assignment. Alternatively, the operator may enter these settings based on his previous experience and knowledge. The adjustments can be made manually, such as by mechanical or other user input mechanisms, or they can be made automatically by the machine itself, or they can be entered in some other way, such as via a touch screen or other operator input mechanism. While the robot machine 200 is running from the workspace identification logic circuitry 706 Receive sensor signals, as by block 804 specified. In one example, from the sensors 306 as by block 806 specified, or from / to the sensor (s) 416 as by block 808 specified, sensor signals are generated. The sensor (s) 306 can / do an optical sensor, as by block 812 from among a variety of other sensors, such as a rangefinder sensor, such as by block 814 indicated. These are only examples.

The processing turns block 816 to where the workspace identification logic circuit 706 identified based on the received sensor signals a work surface. In one example, the work surface may be an area adjacent to the robotic attachment 202 include how from / to the optical sensor (s) 306 detected on which a work surface insert is to be performed. Based on the identified workspace or based on an operator input, the workspace identification logic circuitry determines 706 a work surface insert for the work surface. Designating a desktop application may include accessing and using desktop information from one or all of the data stores 411 . 458 and 750 for identifying the work surface insert. In other examples, user input may indicate a desired desktop usage, as by block 862 specified. A work surface insert may be a construction insert, as by block 818 specified, a forestry use, as by block 819 indicated, an agricultural use, as by block 822 specified, or any other use, as by block 828 indicated. For example, a construction kit could include a jointing operation for the identified work surface, such as by block 824 specified, or any other construction use, as by block 826 specified.

After identifying a workspace insert for the workspace, a workspace output that identifies the location of the workspace and the mission to be performed may be identified by the workspace identification logic circuitry 706 generated and to the tool path determination logic circuit 708 to be delivered. At block 830 receives the tool path determination logic circuit 708 the worktop output and determines the tool (s) and toolpaths for the tool (s) 600 in the tool change system 314 that is used to complete the workspace insert. In one example, this includes a toolpath for a single tool 600 as by block 838 or determining a sequence of different tools that are used, along with a toolpath for each tool in the sequence, as by block 840 specified. To determine the tool (s) and toolpaths, the toolpath decision logic circuitry may be used 708 Workspace operating data in one or all data stores 411 . 458 and 750 catch up, as by block 846 specified. The work surface operation data may include information for identifying the work surface tools and operation information for each tool. The tool path determination logic circuit 708 can also work on remote control system (s) 216 in other examples, as by block 848 specified.

Based on the tool (s) 600 and the toolpath (s), the processing block turns 832 to where the tool selection logic circuit 712 a tool selection output for the tool change system 314 generated to select a tool for performing the identified work surface use. Once the tool selection output from the tool change system 314 is received, the tool changer mechanism selects 626 the appropriate tool. Once selected, turns the processing block 834 to where the tool positioning logic circuit 710 Sensor signals from one or all sensor (s) 306 . 416 receives a current position of the selected tool. These may include optical sensor (s), range sensor (s), etc.

The tool positioning logic circuit 710 determines if the current position of the selected tool is on the toolpath. If the current position of the tool is different from the toolpath, the tool positioning logic circuitry controls 710 the actuator control logic circuit 702 to control actuators for positioning the tool on the toolpath. In one example, this includes generating actuator control signals for the actuator (s) on the mobile machine 100 showing the linkage movement on the mobile machine 100 cause, as by block 850 specified. You can move the linkage of the robot attachment 202 as by block 852 specified, or other systems, as by block 854 indicated effect.

Once correctly positioned on the toolpath, as done by the tool positioning logic circuitry 710 determines, the processing block turns 836 to where the tool control logic circuit 714 Control signals for the tool control system 632 generated to operate the selected tool on the toolpath. In one example, this also includes the control of the actuator control logic circuit 702 to control signals for the actuator (s) of the mobile machine 100 as by block 856 specified, the robot attachment 202 as by block 858 specified, or other subsystems to generate a position of the mobile machine 100 and the robot attachment 202 to make sure that the tool follows the toolpath during its use. After operation of the selected tool along the toolpath, the tool control logic circuitry determines 714 whether the tool insert is complete, as by block 842 specified. In one example, the tool control logic circuit 714 Sensor signals from the sensors 306 . 416 received to determine whether the tool insert is completed. For example, suppose the chosen tool is a chisel used to remove mortar. The sensor information may include, for example, a visual input that is subjected to image processing intended, for example, to ensure that mortar is removed from the work surface. However, a user input may also be received indicating that the tool insert has been completed. If not, processing returns to block 834 where the tool positioning logic circuit 710 ensures that the tool continues to operate on the toolpath. When this tool insert is complete, the processing moves to block 844 where the tool path determination logic circuit 708 determines if the entire workspace application is completed.

When at the block 844 the entire work space application is completed, the processing ends in a row. However, if the desktop application is not completed, processing returns to block 832 back where the tool selection logic circuit 712 a tool output for the tool change mechanism 626 to select the next tool in the sequence of tools used to make the workspace insert.

9 FIG. 10 is a flowchart illustrating an example process of controlling a robot machine to perform a jointing operation using an in-process 7 illustrated machine and robot control system 214 represents. Processing starts at block 902 where the workspace identification logic circuit 706 identifies a work surface insert that includes a join operation for an identified work surface that includes a brick wall. The workspace identification logic circuit 706 can, on the one or all sensors 306 . 416 received sensor signals based identify the work surface. In addition, the jointing operation may be identified based on user input or otherwise.

In one example, a grouting operation may involve the use of a variety of tools for removing old mortar, such as by block 904 specified to wash out a joint, as by block 906 indicated, for applying new mortar, as by block 908 indicated, for scraping the mortar, as by block 910 indicated, for brushing the mortar, as by block 912 indicated for washing the stone front with acid, as by block 914 indicated among a variety of other steps, such as by block 916 indicated. After identifying the brickwall joining process, the processing block turns 918 to where the tool path determination logic circuit 708 Tool (e) 600 , Tooling sequence and corresponding toolpaths, which are used to complete the jointing process. This includes the determination of toolpaths for chisel / saw, as by block 920 indicated, an air source, as by block 922 indicated, a source of water, as by block 924 indicated a trowel, as by block 926 indicated a mortar sack, as by block 928 indicated, a stone connector, as by block 930 indicated, a brush, as by block 932 stated, a sprayer, like through block 934 indicated, among other tools, as by block 936 specified.

After identifying the tools, the tool sequence and the toolpath (s), the processing block turns 938 to where the tool selection logic circuit 712 an output for the tool change mechanism 626 to select a tool for performing the jointing process generated. In one example, this includes the selection of chisel / saw to remove the old mortar according to the first step of a jointing operation. Once the output has been received, the tool change mechanism selects 626 the chisel / saw from the bearing mechanism 622 ,

The tool positioning logic circuit 710 determines a current position of the selected tool, as by block 940 specified. In one example, a current position of the selected tool may be determined based on one or more sensor signals, such as by block 942 indicating a position of the mortar to be removed from the work surface (identified, for example, by a visual image) and a current position of the chisel / saw. If the bit / saw is not in a position to perform his / her job, as indicated by the toolpath, the tool positioning logic circuitry controls 710 the actuator control logic circuit 702 to the movement of the linkage of the mobile machine 100 and the robot attachment 202 to effect positioning of the bit / saw in the correct position and movement along the toolpath.

Once the chisel / saw is in the correct position, the processing block turns 946 to where the tool control logic circuit 714 the tool control system 632 controls to operate the chisel / saw to remove old mortar in the first step of the grouting process. In one example, the tool control logic circuit 714 also the actuator control logic circuit 702 control to actuator control signals for effecting the linkage movement of the mobile machine 100 and the robot attachment 202 to make sure that the chisel / saw is moved along the toolpath. The toolpath may be updated based on sensor signals (such as image signals or position signals) such that the tool follows the mortar line on the work surface. The tool control logic circuit 714 determines whether the selected tool insert removing old mortar is complete, as by block 948 specified. If the tool insert is not completed, processing returns to block 940 where the tool positioning logic circuit 710 Furthermore, it ensures that the chisel / saw is moved along the correct path. When the tool insert is complete, the processing block turns 950 to where the tool path determination logic circuit 708 determines if the entire jointing process is completed.

When the tool path determination logic circuit 708 determines that the grouting operation is not completed after the current tooling operation (eg, after the bit / saw has removed the old grout), the processing block turns 938 to where the tool selection logic circuit 712 a signal for the tool change mechanism 626 is generated to select the next tool in the tool sequence used to perform the jointing operation. The newly selected tool 600 may then be controlled along the identified toolpath (s) for performing the next step in the jointing operation. When the tool path determination logic circuit 708 at block 950 determines that the joining process is completed, the processing ends in sequence.

10 FIG. 10 is a flowchart illustrating an example process of controlling a robot machine using a portable control unit. FIG 436 and a machine and robot control system 214 represents, as in 5 respectively. 7 illustrated. Processing starts at block 1002 where the robot machine 200 according to those of an operator of the robot machine 200 received operating inputs is running. During operation of the robot machine 200 be from the sensor 306 on the robot attachment 202 Sensor signals generated and sent to the user interface device 406 delivered as by block 1004 specified. The user interface device 406 can be a display device 438 in the cabin 110 , include, as by block 1006 or, alternatively, outside the cab or on an operator-carried device (such as a mobile device), comprise indicating devices, such as by block 1008 specified. However, other user interface devices may be used, such as by block 1010 specified. In addition, the sensor can 306 include an optical sensor (eg, a camera), as by block 1014 indicated on the end effector 304 positioned as by block 1016 and configured to generate signals representing an area adjacent the end effector 304 or on which the end effector 304 in use, specify.

After receiving the sensor signals from the sensor 306 turns the processing block 1012 to where the user interface device 406 , on the received sensor signals from the sensor 306 based, generates an ad. In one example, the display includes a live view of a workspace adjacent to the end effector 304 , Once an ad is generated, the processing block turns 1018 to where the mapping logic circuit 736 a user input from the user input mechanisms 522 the portable control unit 436 receives. In one example, user input may be from one or more analog sticks 502 be received, as by block 1042 indicated by key (s) 508 as by block 1044 given a variety of other input mechanisms, such as by block 1046 indicated on the portable control unit 436 , Furthermore, while user input is received after generating a display, it is expressly contemplated that user input may occur at any time during operation of the mobile machine 100 and the robot attachment 202 can be received, even if no display on the display device 438 is produced. In this example, however, the display may provide a reference assignment to an operator of the robotic machine 200 while controlling the mobile machine 100 and the robot attachment 202 deliver and it can also be used as feedback in the control of the mobile machine 100 and the robot attachment 202 be used.

Based on the user input, the processing block turns 1020 to where the mapping logic circuit 736 identifies a control signal to be generated that the subsystems 430 . 464 the mobile machine 100 or the robot attachment 202 will control based on the user input. In one example, identifying a control input based on the user input comprises retrieving one or more control cards (or those cards may be pre-loaded), as by block 1022 specified from one or all data stores 411 . 458 . 750 as by block 1024 specified, or from / to the remote control system (s) 216 as by block 1026 specified, or other systems, as by block 1028 specified. The control cards may, in one example, relate the received user input to the user input mechanisms 522 and a corresponding control signal that should be generated in response to this user input to the subsystems 430 . 464 the mobile machine 100 and the robot attachment 202 to control.

For example, assume that user input has been received based on the operation of the analog stick 502 the portable control unit 436 by the user. Then a control card can indicate that the user input through the analog stick 502 corresponds to a control signal for controlling the cylinder 116 for modifying a position of the boom 114 used in a certain direction. Alternatively, a control card, if a user input by the key (s) 508 has been received indicate that a corresponding control signal should be generated to some movement or function of the end effector 304 on the robot attachment 202 to control. The control cards can change the position of components of the mobile machine 100 and the robot attachment 202 specify, as by block 1032 specified, an operation change, as by block 1034 specified, or other changes, as by block 1036 specified. In addition, the control signals can be controlled using the control card to control the end effector 304 as by block 1030 specified, the subsystems of the mobile machine 100 as by block 1038 specified, and the subsystems of the robot attachment 202 as by block 1040 specified, generated.

After identifying a command, the processing block turns 1048 to where the subsystem control logic circuit 738 generates a control signal indicated by the identified control card. In one example, the subsystem control logic circuit 738 the actuator control logic circuit 702 for generating actuator control signals for the actuators 432 generate as by block 1050 specified. But there may be other control signals for the subsystems 430 and 464 generated based on the corresponding command, as by block 1052 specified.

The processing proceeds to block 1054 continue where the mapping logic circuit 736 determines if additional user input is received. If so, processing returns to block 1020 where the mapping logic circuit 736 a corresponding command for the mobile machine 100 and / or the robot attachment 202 identified. If no further inputs are received, the processing ends in sequence.

11 FIG. 10 is a flowchart illustrating an example process of supporting a robot machine using an in 7 illustrated machine and robot control system 214 represents. Processing starts at block 1102 where the robot machine 200 according to those of an operator of the robot machine 200 received operating inputs is running. Operator inputs may, in one example, be via the user interface device 406 be received. During operation of the robot machine 200 turns the processing block 1104 to where a user input is received indicating that the robot engine 200 is to be positioned in a transport / storage position. In one example, the Storage position include a position in which the machine 200 has to be when on the transport machine 204 located where the robot machine 200 Locks activated, or a variety of other storage / transport positions.

After receiving the user input for movement to the transport / storage position, the processing block turns 1110 to where the stock position identification logic circuit 722 the storage / transport position for the robot machine 200 identified. In one example, the storage / transport position may be identified using position information representing the storage / transport position for the end effector 304 specify, as by block 1112 indicated, for the robot attachment 202 as by block 1114 indicated, and / or for the mobile machine 100 as by block 1116 specified. A variety of other information can also be used, such as by block 1118 specified. The position information can be stored in one or all data stores 411 . 458 . 750 and / or remote control system (s) 216 get saved. Location information can provide boom positioning information for mobile machine linkages 100 and the robot attachment 202 include, in one example, information for the positioning of the boom 114 , the arm 118 and / or the end effector 304 in their respective storage / transport positions. In addition, position information may include information about boom position or geographic location that define how the mobile machine 100 and the robot attachment 202 on the transport machine 204 as by block 1120 specified, or other machines should be positioned as by block 1122 specified.

Once a transport / storage location is identified, the processing block turns 1124 to where the route identification logic circuit 726 a current position of the linkage of the mobile machine 100 and the robot attachment 202 as well as the machine 200 self-identified, based on that of the robot attachment 202 sensors received sensor signals, as by block 1126 specified, or from at the mobile machine 100 sensors received sensor signals, as by block 1128 specified.

At block 1132 identifies the route identification logic circuit 726 a way for different linkages of the mobile machine 100 and the robot attachment 202 for positioning the linkage in the storage / transport position. For example, the route identification logic circuit 726 determine that machine 200 on the machine 204 must be driven. It can also change the position and orientation of the machine 204 from their own sensors and / or from the sensors of the machine 204 know. It can therefore be the machine 200 control them automatically on the machine 204 to drive. The logic circuit 726 For example, it may also determine that the pivot point 108 pivoted into a specific position or direction and the boom is lowered so that the robot attachment 202 on the brackets 206 the transport machine 204 rests.

In response to identifying a path for the machine 200 and the linkage the mobile machine 100 and the robot attachment 202 turns the processing block 1134 to where the actuator control logic circuit 702 Actuator control signals for the actuator (s) 432 or 464 generated to the movement of the mobile machine 100 and the robot attachment 202 to effect. In addition, control signals for the steering and drive system 427 to move the machine 200 be generated. While the machine 200 is in motion and while the linkage of the mobile machine 100 and the robot attachment 202 in motion determines the object recognition logic circuit 724 whether any objects are the movement of the machine 200 or hinder the linkage (or be in the direct path of movement), as by block 1136 specified. This may involve creating a user interface display, as by block 1138 or any other alerts / notifications, as by block 1140 specified.

If an object is the movement of the linkage or the machine 200 hindered (or in their path), processing returns to block 1124 where using the path identification logic circuit 726 a new way of the linkage is identified. The new path or position is identified to bypass any objects. If no object is detected, processing moves to block 1142 where the route identification logic circuit 726 determines whether a transport / storage position is reached. In one example, the storage / transport position includes activating the latches on the machine 200 so they do not start accidentally or on the transport machine 204 can be moved, and kept in a safe transport state, as by block 1142 specified. In addition, in one example, determining if the machine is 200 in the transport / storage position, the reception of sensor signals from / from the sensor (s) 306 . 416 to determine if the robot machine 200 correctly positioned in the transport / storage position. If so, the processing ends in succession. If not, processing returns to block 1124 back where the route identification logic circuit 726 determines how the machine 200 or the linkage of the mobile machine 100 and the robot attachment 202 to move to reach the transport / storage position.

12 FIG. 10 is a flowchart showing an example process for returning a robot machine. FIG 200 from the transport / storage position to an operating position (either automatic or semi-automatic) using a machine and robotic control system 214 , as in 7 illustrated. By "automatic" is meant that the operation or function is performed without further operator intervention, except perhaps initiating or approving the operation or function.

Processing starts at block 1202 where the robot machine 200 according to those of an operator of the robot machine 200 received operating inputs is running. During operation of the robot machine 200 the processing continues with block 1204 where a user input is received indicating that the robot engine 200 is to be positioned in a back-to-back position. In one example, a back-to-back position corresponds to an operating position for the robotic machine 200 immediately before positioning the robot machine 200 in a storage / transport position. It can also be a position marked by the operator. For example, if the machine 200 In an operating position, the operator may operate a user input mechanism that causes the system to store the current position and orientation of the machine and its actuators as the operating position.

After receiving the user input indicating that machine 200 is due to the operating position, the processing block turns 1206 to where the position return logic circuit 730 the back-to-use position for the robot machine 200 identified. The back-to-back information can be stored in one or all data stores 411 . 458 and 750 as by block 1208 specified, and / or in remote control system (s) 216 be saved as by block 1210 specified. In one example, the back-to-back position corresponds to an operating position of the robotic machine 200 immediately before positioning the robot machine 200 in a storage / transport position, as by block 1212 specified.

Once the back-to-back position is identified, processing continues with block 1214 where the route identification logic circuit 726 a current position of the machine 200 and the linkage of the mobile machine 100 and the robot attachment 202 determined, based on / from the sensor (s) 306 . 416 received signals. In one example, the current position corresponds to a storage / transport position for the boom of the mobile machine 100 and the robot attachment 202 , The route identification logic circuit 726 then identifies a path of movement for the machine 200 and a linkage for the linkages for positioning the machine 200 and their linkage (like the boom 114 , the arm 118 etc.) in the return-to-use position as by block 1216 specified.

Based on the travel path and linkage paths, the actuator control logic circuit generates 702 Control signals for the actuator (s) 432 as by block 1218 indicated to the machine 200 and position the linkage in the back-to-back position. In one example, this includes generating control signals for the steering and drive system 427 , In addition, the object recognition logic circuit determines 724 during the movement of the machine and the linkage, whether any objects are on these paths or obstruct the movement of the machine or linkage, as by block 1220 indicated using the sensor (s) 306 . 416 , If objects are detected, processing returns to block 1214 back where the route identification logic circuit 726 another way for the machine or the linkage of the mobile machine 100 and / or the robot attachment 202 identified, so that the / the object (s) can be avoided / can. If not, the processing continues with block 1222 where the route identification logic circuit 726 determines if the robot machine 200 is in the back-to-use position. In one example, the route identification logic circuit 726 Sensor signals to / from the sensor (s) 306 . 416 received to determine if the robot machine 200 is in the back-to-use position, as by block 1224 or, alternatively, it may receive a user input indicating that the robotic machine is 200 is in the back-to-use position, as by block 1226 specified. However, other information may also be used to determine if the robotic machine 200 correctly located in the back-to-insert position, as by block 1228 specified. If the robot machine 200 correctly positioned, the processing ends in succession. If not, processing returns to block 1214 back where the route identification logic circuit 726 with identifying the way to get there continues.

13 Figure 12 is a block diagram of an example of a computing environment that may be used in the architectures illustrated in the previous figures. Regarding 13 For example, an example system for implementing some examples includes a general-purpose computing device in the form of a computer 1310 , Components of the computer 1310 can be a processing unit 1320 (which may include processors or servers of previous figures), a system memory 1330 and a system bus 1321 include the various system components including the system memory with the processing unit 1320 couple, but are not limited. The system bus 1321 can be one of several types of bus structures, including a memory bus or memory controller, a peripheral bus and a local bus, using one of many bus architectures. In relation to 4 and 7 described memory and programs can be found in the corresponding parts of 13 be used.

The computer 1310 typically includes a variety of computer-readable media. Computer readable media can be any available media to which the computer 1310 This includes both volatile and non-volatile media, removable and non-removable media. By way of example, and without limitation, computer readable media may include computer storage media and communication media. Computer storage media is different from, and does not include, a modulated data signal or carrier wave. They include hardware storage media including both volatile and nonvolatile, removable and non-removable media implemented in an information storage method or technology, such as computer readable instructions, data structures, program modules, or other data. Computer storage media include, but are not limited to, RAM, ROM, EPROM, flash memory or other storage technologies, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage, or other magnetic storage devices. or any other media that can be used to store the information you are looking for and to which the computer 1310 can access. Communication media may include computer readable instructions, data structures, program modules, or other data in a transport mechanism, and includes all media for providing information. The term "modulated data signal" refers to a signal from which one or more of its features are adjusted or changed in such a way that information in the signal is encrypted.

The system memory 1330 includes computer storage media in the form of volatile and / or non-volatile memory, such as read-only memory (ROM) 1331 and RAM 1332 , A basic input / output system 1333 (BIOS, Basic Input Output System), which contains the basic routines used to transfer information between elements within the computer 1310 contribute, as when switching on, is usually in the ROM 1331 saved. R.A.M. 1332 usually contains data and / or program modules that are immediately accessible and / or up-to-date by the processing unit 1320 operate. For example, and without limitation, illustrates 13 operating system 1334 , Application programs 1335 , other program modules 1336 and program data 1337 ,

The computer 1310 may also include other removable / non-removable volatile / non-volatile computer storage media. Illustrated as an example only 13 a hard drive 1341 that of non-removable, non-volatile magnetic media, and an optical disk drive 1356 and non-volatile optical disk 1355 reads or writes on this. The hard disk drive 1341 is usually a non-removable storage interface, like the interface 1340 , with the system bus 1321 connected, and the optical disk drive 1355 is usually via a removable memory interface, like the interface 1350 , with the system bus 1321 connected.

Alternatively, or in addition, the function described herein may be performed, at least in part, by one or more hardware control electronics components. For example, without limitation, illustrated types of usable hardware control electronics components include field programmable gate arrays (FPGAs), application specific integrated circuits (e.g., ASICs), application-specific standard products (e.g., ASSPs), system-on-a-chip devices. Systems (SOCs), complex programmable control electronics (CPLDs), etc.

The drives and their associated, mentioned above and in 13 illustrated computer storage media provide the storage of computer readable instructions, data structures, program modules and other data for the computer 1310 ready. For example, the hard drive is 1341 in 13 as operating system 1344 , Application programs 1345 , other program modules 1346 and program data 1347 saving illustrated. It should be noted that these components are either with the operating system 1334 , Application programs 1335 , other program modules 1336 and program data 1337 be identical or different from them.

A user can enter commands and information via input devices such as a keyboard 1362 , a microphone 1363 and a pointing device 1361 like a mouse, a trackball or a touchpad, in the computer 1310 enter. Other input devices (not shown) may be a joystick, gamepad, satellite dish, scanner or the like. These and other input devices are often via a user input interface 1360 with the processing unit 1320 connected to the system bus, but can also be connected via other interface and bus structures. A visual display 1391 or another type of display device is also via an interface, such as a video interface 1390 , with the system bus 1321 connected. In addition to the screen, computers can also use other peripheral output devices such as speakers 1397 and printers 1396 include, via a peripheral output interface 1395 can be connected.

The computer 1310 using logical connections (such as a local area network (LAN) or a wide area network (WAN)) to one or more remote computers, such as remote computers 1380 , operated in a network environment.

If the calculator 1310 is used in a LAN network environment, this is via a network interface or an adapter 1370 with the LAN 1371 connected. If the calculator 1310 used in a WAN network environment, this typically includes a modem 1372 or other means of establishing communication over the WAN 1373 like the internet. In a network environment, program modules may be stored in a remote storage device. 13 For example, it illustrates that the remote application programs 1385 on the remote machine 1380 are located.

• Beispiel 1 ist eine mobile Robotermaschine, umfassend:
  • eine mobile Maschine, die über ein von einem Bediener steuerbares Antriebssystem verfügt, um die mobile Maschine und ein erstes Stellteil zu betreiben;
  • ein Roboter-Anbaugerät, das funktionsbereit mit der mobilen Maschine gekoppelt ist und vom ersten Stellglied positioniert wird; das Roboter-Anbaugerät hat einen Endeffektor, der zu einer Vielzahl verschiedener Werkzeuge passt;
  • einen Sensor, der ein Sensorsignal erzeugt, das eine Eigenschaft einer Arbeitsfläche angibt, auf der unter Einsatz der Vielzahl unterschiedlicher Werkzeuge ein Arbeitsflächeneinsatz durchgeführt werden soll, wobei jedes Werkzeug einen entsprechenden Werkzeugeinsatz durchführt, in einer Einsatzabfolge, und ein Sensorsignal erzeugt, das die Eigenschaft der Arbeitsfläche angibt; und
  • ein Maschinen- und Robotersteuerungssystem, das eine Angabe zum durchzuführenden Arbeitsflächeneinsatz und das Sensorsignal empfängt und ein Steuersignal zum Steuern des Endeffektors für die Verwendung jeder Vielfalt unterschiedlicher Werkzeuge in der Einsatzabfolge erzeugt, um den Arbeitsflächeneinsatz auf der Arbeitsfläche durchzuführen.
• Beispiel 2 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei der Endeffektor umfasst:
  • ein Werkzeugwechselsystem, das die Vielzahl unterschiedlicher Werkzeuge für den Einsatz durch den Endeffektor trägt. Beispiel 3 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Maschinen- und Robotersteuerungssystem umfasst:
  • eine Werkzeugauswahl-Logikschaltung, die für die Auswahl eines aus der Vielfalt unterschiedlicher Werkzeuge und das Erzeugen eines Werkzeugauswahlsignals konfiguriert ist, die das ausgewählte Werkzeug angibt.
• Beispiel 4 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Werkzeugwechselsystem konfiguriert ist, um automatisch ein vom Endeffektor verwendetes Werkzeug gegen das, auf dem Werkzeugauswahlsignal basierend, ausgewählte Werkzeug auszutauschen.
• Beispiel 5 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Maschinen- und Robotersteuerungssystem umfasst:
  • eine Werkzeugweg-Erzeugungs-Logikschaltung, die für den Empfang der Angabe des Arbeitsflächeneinsatzes und des Werkzeugauswahlsignals und das Bestimmen eines Werkzeugweges, den das gewählte Werkzeug zur Durchführung seines entsprechenden Werkzeugeinsatzes passieren muss, und zum Erzeugen eines Werkzeug-Wegsignals konfiguriert ist, das den Werkzeugweg angibt.
  • Beispiel 6 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Maschinen- und Robotersteuerungssystem umfasst:
  • eine Werkzeugpositionierungs-Logikschaltung, die für den Empfang des Werkzeugwegsignals und für das Erzeugen eines Positionssteuersignals konfiguriert ist, um das Stellglied und das Roboter-Anbaugerät zu steuern, um das gewählte Werkzeug entlang des Werkzeugweges zu bewegen.
• Beispiel 7 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele und umfasst ferner: eine Werkzeugsteuerungs-Logikschaltung zum Erzeugen eines Werkzeugeinsatz-Steuersignals zum Betreiben des Werkzeugs konfiguriert, während das Werkzeug entlang des Bewegungsweges geführt wird, um seinen entsprechenden Werkzeugeinsatz durchzuführen.
• Beispiel 8 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Maschinen- und Robotersteuerungssystem umfasst:
  • ein tragbares Steuersystem, das für den Empfang eines Benutzereingabesignals, welches durch Benutzerbetätigung eines Benutzereingabemechanismus auf einer tragbaren Steuereinheit erzeugt wurde, und für das Erzeugen eines Steuersignals für das erste Stellglied zum Positionieren des Roboter-Anbaugerätes relativ zur Arbeitsfläche konfiguriert ist, so dass der Sensor das Sensorsignal erzeugt, das die Eigenschaft der Arbeitsfläche angibr.
• Beispiel 9 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das tragbare Steuersystem umfasst:
  • eine Mapping-Logikschaltung, die für den Empfang von Benutzereingabesignalen und für den Zugriff auf eine Steuerkarte konfiguriert ist, die das Benutzereingabesignal einer Steuersignalausgabe zuweist, um einen Steuersignalwert zu identifizieren, der auf der Steuersignalausgabe basiert; das tragbare Steuersystem erzeugt das Steuersignal, basierend auf dem identifizierten Steuersignalwert.
• Beispiel 10 ist eine mobile Robotermaschine, umfassend:
  • eine mobile Maschine mit einem Rahmen, einem mit dem Rahmen gekoppelten Antriebssystem und von einem Bediener zum Fahren der mobilen Maschine steuerbar, einem ersten Stellglied, das die Bewegung eines Teils der mobilen Maschine relativ zum Rahmen bewirkt, und einem zweiten Stellglied;
  • ein Roboter-Anbaugerät, das funktionsbereit mit der mobilen Maschine gekoppelt ist und vom zweiten Stellglied positioniert wird; das Roboter-Anbaugerät hat einen Endeffektor, der zu einem Werkzeug passt;
  • ein Positionserkennungssystem, das Positionssensorsignale erzeugt, die eine Position des Roboter-Anbaugerätes relativ zur mobilen Maschine und eine Position der mobilen Maschine angeben;und
  • ein Lager-Steuerungssystem, das für den Empfang einer Zurück-ins-Lager-Benutzereingabe konfiguriert ist, und, basierend auf der Zurück-ins-Lager-Benutzereingabe, automatisch die ersten und zweiten Stellglieder zum Bewegen der mobilen Maschine und des Roboter-Anbaugerätes in eine vordefinierte Lagerposition steuert.
• Beispiel 11 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Roboter-Anbaugerät umfasst:
  • ein Roboter-Steuerstellglied, das die Bewegung eines Teils des Roboter-Anbaugerätes steuert.
• Beispiel 12 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem für die Steuerung des Roboter-Steuer-Stellglieds zum Bewegen des Roboter-Anbaugerätes in die vordefinierte Lagerposition konfiguriert ist.
• Beispiel 13 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem für die automatische Steuerung des Antriebssystems zum Bewegen der mobilen Maschine in die vordefinierte Lagerposition konfiguriert ist.
• Beispiel 14 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem, das für den Empfang einer Zurück-zum-Einsatz-Benutzereingabe konfiguriert ist, und, basierend auf der Zurück-zum-Einsatz-Benutzereingabe, automatisch die ersten und zweiten Stellglieder zum Bewegen der mobilen Maschine und des Roboter-Anbaugerätes in eine vordefinierte Betriebsposition steuert.
• Beispiel 15 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem umfasst:
  • die Lagerpositionsidentifikations-Logikschaltung, die für den Zugriff auf gespeicherte Positionsinformationen konfiguriert ist, welche die vordefinierte Lagerposition bestimmen, um die vorbestimmte Lagerposition zu identifizieren; und
  • die Wegidentifikations-Logikschaltung, die für die Identifizierung einer aktuellen Position der mobilen Maschine und des Roboter-Anbaugerätes konfiguriert ist und, basierend auf der aktuellen Position und der vordefinierten Lagerposition, ein Steuersignal zum Steuern der ersten und zweiten Stellteile zum Bewegen des Roboter-Anbaugerätes entlang eines Bewegungsweges in die vordefinierte Lagerposition erzeugt.
• Beispiel 16 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem umfasst:
  • einen Objektsensor, der für das Erkennen von Objekten konfiguriert ist, die sich in der Nähe des Bewegungsweges befinden;
  • eine Objekterkennungs-Logikschaltung, die zum Erkennen konfiguriert ist, ob ein Abschnitt der mobilen Maschine und des Roboter-Anbaugerätes mit dem erkannten Objekt in Berührung kommt und ein Steuersignal erzeugt, welches die erkannte Berührung angibt, und
  • einen Steuersignalgenerator, der zum Erzeugen eines Steuersignals zum Steuern mindestens eines des ersten Stellglieds oder des zweiten Stellglieds oder des Antriebssystems, basierend auf dem Kontaktsignal, konfiguriert ist.
• Beispiel 17 ist die mobile Robotermaschine eines oder aller vorhergehenden Beispiele, wobei das Lager-Steuerungssystem umfasst:
  • ein tragbares Steuersystem, das für den Empfang der Zurück-ins-Lager-Benutzereingabe von einer tragbaren Steuereinheit und die automatische Steuerung des ersten und zweiten Stellglieds konfiguriert ist.
• Beispiel 18 ist eine Methode für den Betrieb einer mobilen Maschine, die Methode umfasst:
  • das Erzeugen eines Sensorsignals, das eine Eigenschaft einer Arbeitsfläche angibt, auf der ein Arbeitsflächeneinsatz durchgeführt werden soll unter Verwendung einer Vielzahl unterschiedlicher Werkzeuge, die von einem Endeffektor an einem Roboter-Anbaugerät, das an der mobilen Maschine montiert ist; jedes Werkzeug führt einen entsprechenden Werkzeugeinsatz durch in einer Einsatzabfolge, um den Arbeitsflächeneinsatz durchzuführen;
  • das Identifizieren des durchzuführenden Arbeitsflächeneinsatzes;
  • das automatische Identifizieren eines jeweiligen Werkzeugs aus der Vielfalt unterschiedlicher Werkzeuge, das seinen entsprechenden Einsatz auf der Arbeitsfläche durchführen soll, basierend auf dem identifizierten Arbeitsflächeneinsatz;
  • das automatische Erzeugen eines Werkzeugwechsler-Steuersignals zum Steuern eines Werkzeugwechslers am Roboter-Anbaugerät zum Ankoppeln des jeweiligen Werkzeugs am Endeffektor, und
  • das automatische Erzeugen eines Werkzeug-Betriebssignals zum Steuern des Endeffektors, um das jeweilige Werkzeug für die Durchführung seines entsprechenden Werkzeugeinsatzes zu betreiben.
• Beispiel 19 ist die Methode eines oder aller vorhergehenden Beispiele, wobei ein Sensorsignal erzeugt wird, das eine Eigenschaft der Arbeitsfläche angibt und umfasst:
  • das Erkennen einer Position des jeweiligen Werkzeugs relativ zu einer Position der Arbeitsfläche;
  • das Erzeugen eines Positionssignals, das die erkannte Position des jeweiligen Werkzeugs relativ zur Position der Arbeitsfläche angibt;
  • das Erkennen eines Zustands der Arbeitsfläche, wobei der Zustand darüber Aufschluss gibt, ob das jeweilige Werkzeug seinen entsprechenden Arbeitseinsatz abgeschlossen hat, und
  • das Erzeugen eines Zustandssignals, das den erkannten Zustand der Arbeitsfläche angibt.
• Beispiel 20 ist die Methode eines oder aller vorhergehenden Beispiele und umfasst ferner:
  • das Bestimmen, dass das jeweilige Werkzeug seinen entsprechenden Werkzeugeinsatz auf der Arbeitsfläche abgeschlossen hat, basierend auf dem Positionssignal und dem Zustandssignal;
  • das automatische Identifizieren eines nächsten Werkzeugs aus der Vielfalt unterschiedlicher Werkzeuge, um einen nächsten Werkzeugeinsatz in der Einsatzabfolge durchzuführen;
  • das automatische Erzeugen des Werkzeugwechsler-Steuersignals zum Steuern des Werkzeugwechslers am Roboter-Anbaugerät zum Ankoppeln des jeweiligen Werkzeugs am Endeffektor, und
  • das automatische Erzeugen des Werkzeug-Betriebssignals zum Steuern des Endeffektors, um das nächste Werkzeug für die Durchführung seines entsprechenden Werkzeugeinsatzes zu betreiben.

It should also be noted that the various examples described herein may be combined in various ways. That is, portions of one or more examples may be combined with parts of one or more other examples. All of this is considered here.

• Example 1 is a mobile robotic machine comprising:
  • a mobile machine having an operator controllable drive system for operating the mobile machine and a first actuator;
  • a robotic implement operatively coupled to the mobile machine and positioned by the first actuator; the robot attachment has an end effector that fits a variety of different tools;
  • a sensor that generates a sensor signal indicative of a characteristic of a work surface on which a work surface insert is to be performed using the plurality of different tools, each tool performing a corresponding tool insert, in an insert sequence, and generating a sensor signal having the property of Indicates working area; and
  • a machine and robotic control system that receives an indication of the work surface insert to be performed and the sensor signal and generates a control signal for controlling the end effector to use each variety of different tools in the feed sequence to perform the work surface application on the work surface.
• Example 2 is the mobile robotic machine of any or all of the preceding examples, wherein the end effector comprises:
  • a tool change system that carries the variety of different tools for use by the end effector. Example 3 is the mobile robotic machine of any or all of the foregoing examples, wherein the machine and robot control system comprises:
  • a tool selection logic circuit configured to select one of the plurality of different tools and generate a tool selection signal indicative of the selected tool.
• Example 4 is the mobile robotic engine of any or all of the foregoing examples, wherein the tool change system is configured to automatically replace a tool used by the end effector with the tool selected based on the tool selection signal.
• Example 5 is the mobile robotic machine of any or all of the foregoing examples, wherein the machine and robot control system comprises:
  • a toolpath generation logic circuit configured to receive the indication of the workstation insert and the tool selection signal and determine a toolpath that the selected tool must pass to perform its corresponding tooling and to generate a toolpath signal indicative of the toolpath ,
  • Example 6 is the mobile robotic machine of any or all of the foregoing examples, wherein the machine and robot control system comprises:
  • a tool positioning logic circuit that is responsible for receiving the toolpath signal and for generating a Position control signal is configured to control the actuator and the robot attachment to move the selected tool along the tool path.
• Example 7 is the robotic mobile machine of any or all of the foregoing examples, and further comprises: a tool control logic circuit configured to generate a tool bit control signal for operating the tool while the tool is being guided along the path of travel to perform its corresponding tool insert.
• Example 8 is the mobile robotic engine of any or all of the foregoing examples, wherein the machine and robot control system comprises:
  • a portable control system configured to receive a user input signal generated by user operation of a user input mechanism on a portable control unit and to generate a control signal for the first actuator to position the robotic implement relative to the work surface such that the sensor detects the Sensor signal generated angibr the property of the work surface.
• Example 9 is the mobile robotic machine of any or all of the foregoing examples, wherein the portable control system comprises:
  • a mapping logic circuit configured to receive user input signals and to access a control card that assigns the user input signal to a control signal output to identify a control signal value based on the control signal output; the portable control system generates the control signal based on the identified control signal value.
• Example 10 is a mobile robotic machine comprising:
  • a mobile machine having a frame, a drive system coupled to the frame, and controllable by an operator for driving the mobile machine, a first actuator that effects movement of a portion of the mobile machine relative to the frame, and a second actuator;
  • a robotic implement operatively coupled to the mobile machine and positioned by the second actuator; the robot attachment has an end effector that fits a tool;
  • a position detection system that generates position sensor signals indicating a position of the robot attachment relative to the mobile machine and a position of the mobile machine;
  • a warehouse control system configured to receive back-to-warehouse user input and, based on the back-in-store user input, automatically set the first and second actuators to move the mobile machine and robotic implement into controls a predefined storage position.
• Example 11 is the mobile robotic machine of any or all of the preceding examples, wherein the robotic attachment comprises:
  • a robot control actuator that controls the movement of a part of the robot attachment.
• Example 12 is the mobile robotic engine of any or all of the foregoing examples wherein the bearing control system is configured to control the robotic control actuator to move the robotic implement to the predefined storage position.
• Example 13 is the mobile robotic machine of any or all of the foregoing examples, wherein the bearing control system is configured for automatic control of the drive system for moving the mobile machine to the predefined storage position.
• Example 14 is the mobile robotic engine of any or all of the foregoing examples, wherein the warehouse control system configured to receive back-to-back user input and automatically, based on the back-to-back user input, the first and second controls second actuators for moving the mobile machine and the robotic implement to a predefined operating position.
• Example 15 is the mobile robotic machine of any or all of the foregoing examples, the bearing control system comprising:
  • the storage location identification logic circuitry configured to access stored position information that determines the predefined storage location to identify the predetermined storage location; and
  • the route identification logic circuit configured to identify a current position of the mobile machine and the robotic implement and, based on the current position and the predefined storage position, a control signal for controlling the first and second actuators to move the robotic implement along generated a movement path in the predefined storage position.
• Example 16 is the mobile robotic machine of any or all of the previous examples, the warehouse control system comprising:
  • an object sensor configured to detect objects that are near the path of movement;
  • an object recognition logic circuit configured to recognize whether a portion of the mobile machine and the robotic implement contacts the detected object and generates a control signal indicative of the detected touch, and
  • a control signal generator configured to generate a control signal for controlling at least one of the first actuator or the second actuator or the drive system based on the contact signal.
• Example 17 is the mobile robotic engine of any or all of the foregoing examples, the bearing control system comprising:
  • a portable control system configured to receive back-to-back user input from a portable control unit and to automatically control the first and second actuators.
• Example 18 is a method for operating a mobile machine that includes:
  • generating a sensor signal indicative of a property of a work surface on which a work surface insert is to be performed using a plurality of different tools received from an end effector on a robotic implement mounted on the mobile machine; each tool performs a corresponding tool insert in an insert sequence to perform the work surface insert;
  • identifying the work surface insert to be performed;
  • automatically identifying a respective one of the plurality of different tools to perform its appropriate operation on the work surface based on the identified work surface insert;
  • automatically generating a tool changer control signal for controlling a tool changer on the robotic implement for coupling the respective tool to the end effector, and
  • automatically generating a tool operating signal to control the end effector to operate the respective tool to perform its corresponding tool insert.
• Example 19 is the method of one or all of the preceding examples wherein a sensor signal is generated indicating a property of the work surface and comprises:
  • recognizing a position of the respective tool relative to a position of the work surface;
  • generating a position signal indicative of the detected position of the respective tool relative to the position of the work surface;
  • detecting a state of the work surface, the state indicating whether the respective tool has completed its corresponding work operation, and
  • generating a state signal indicating the detected state of the work surface.
• Example 20 is the method of one or all of the previous examples and further includes:
  • determining that the respective tool has completed its corresponding tool insert on the work surface based on the position signal and the status signal;
  • automatically identifying a next tool from the variety of different tools to perform a next tool insert in the deployment sequence;
  • automatically generating the tool changer control signal to control the tool changer on the robotic implement for coupling the respective tool to the end effector, and
  • automatically generating the tool operating signal to control the end effector to operate the next tool to perform its corresponding tool insert.

Claims (10)

A mobile robotic machine, comprising: a mobile machine including a frame, a drive system coupled to the frame, and controllable by an operator for driving the mobile machine, a first actuator that effects movement of a portion of the mobile machine relative to the frame, and a second actuator ; a robotic implement operatively coupled to the mobile machine and positioned by the second actuator; the robot attachment has an end effector that mates with a tool, a position detection system that generates position sensor signals indicating a position of the robot attachment relative to the mobile machine and a position of the mobile machine, and a warehouse control system configured to receive back-to-warehouse user input and, based on the back-in-store user input, automatically set the first and second actuators to move the mobile machine and robotic implement into controls a predefined storage position. Mobile robot machine after Claim 1 wherein the robotic attachment comprises: a robotic control actuator which controls movement of a portion of the robotic attachment. Mobile robot machine after Claim 2 wherein the stock control system is configured to control the robotic control actuator to move the robotic implement to the predefined storage position. Mobile robot machine after one of Claims 1 to 3 wherein the bearing control system is configured for automatic control of the drive system for moving the mobile machine to the predefined storage position. Mobile robot machine after one of Claims 1 to 3 wherein the stock control system configured to receive back-to-back user input and, based on the back-to-back user input, automatically selects the first and second actuators to move the mobile machine and the robot. Attachment controls in a predefined operating position. Mobile robot machine after one of Claims 1 to 5 wherein the warehouse control system comprises: a storage location identification logic circuit configured to access stored position information that determines the predefined storage location to identify the predetermined storage location; and a route identification logic circuit configured to identify a current position of the mobile machine and the robot attachment and, based on the current position and the predefined storage position, a control signal for controlling the first and second actuators to move the robot attachment generated along a path of movement in the predefined storage position. Mobile robot machine after one of Claims 1 to 6 wherein the stock control system comprises: an object sensor configured to detect objects located near the path of travel; an object recognition logic circuit configured to recognize whether a portion of the mobile machine and the robotic implement contacts the detected object and generates a control signal indicative of the detected touch, and a control signal generator adapted to generate a control signal to Controlling at least one of the first actuator or the second actuator or the drive system, based on the contact signal is configured. Mobile robot machine after one of Claims 1 to 7 wherein the stock control system comprises: a portable control system configured to receive back-to-stock user input from a portable control unit and to automatically control the first and second actuators. Method for operating a mobile machine, the method comprising: generating a sensor signal indicative of a property of a work surface on which a work surface insert is to be performed using a plurality of different tools received from an end effector on a robotic implement mounted on the mobile machine; each tool performs a corresponding tool insert in an insert sequence to perform the work surface insert; identifying the work surface insert to be performed; automatically identifying a respective one of the plurality of different tools to perform its appropriate operation on the work surface based on the identified work surface insert; automatically generating a tool changer control signal for controlling a tool changer on the robotic implement for coupling the respective tool to the end effector, and automatically generating a tool operating signal to control the end effector to operate the respective tool to perform its corresponding tool insert. Method for operating a mobile machine after Claim 9 wherein generating a sensor signal indicative of a property of the work surface comprises: detecting a position of the respective tool relative to a position of the work surface; generating a position signal indicative of the detected position of the respective tool relative to the position of the work surface; detecting a state of the work surface, the state indicating whether the respective tool has completed its corresponding work operation, and generating a status signal indicating the detected state of the work surface.

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