US 12,384,037 B2
Control system with task manager
Huan Tan, Niskayuna, NY (US); John Michael Lizzi, Wilton, NY (US); Charles Burton Theurer, Alplaus, NY (US); Balajee Kannan, Niskayuna, NY (US); Romano Patrick, Atlanta, GA (US); Mark Bachman, Albia, IA (US); Michael VanderLinden, Knoxville, IA (US); Mark Bradshaw Kraeling, Melbourne, FL (US); and Norman Wellings, Agency, IA (US)
Assigned to Transportation IP Holdings, LLC, Norwalk, CT (US)
Filed by Transportation IP Holdings, LLC, Norwalk, CT (US)
Filed on Apr. 22, 2022, as Appl. No. 17/726,594.
Application 17/726,594 is a continuation in part of application No. 17/461,930, filed on Aug. 30, 2021, abandoned.
Application 17/726,594 is a continuation in part of application No. 16/692,784, filed on Nov. 22, 2019, granted, now 11,312,018.
Application 17/461,930 is a continuation in part of application No. 16/411,788, filed on May 14, 2019, granted, now 11,358,615.
Application 16/411,788 is a continuation in part of application No. 16/379,976, filed on Apr. 10, 2019, granted, now 11,660,756.
Application 16/379,976 is a continuation of application No. 16/114,318, filed on Aug. 28, 2018, granted, now 10,300,601.
Application 16/114,318 is a continuation in part of application No. 15/872,582, filed on Jan. 16, 2018, granted, now 10,739,770.
Application 16/114,318 is a continuation in part of application No. 15/809,515, filed on Nov. 10, 2017, abandoned.
Application 16/114,318 is a continuation in part of application No. 15/804,767, filed on Nov. 6, 2017, granted, now 10,761,526.
Application 16/114,318 is a continuation in part of application No. 15/587,950, filed on May 5, 2017, granted, now 10,633,093.
Application 16/114,318 is a continuation in part of application No. 15/585,502, filed on May 3, 2017, granted, now 10,521,960.
Application 16/114,318 is a continuation in part of application No. 15/584,995, filed on May 2, 2017, abandoned.
Application 16/114,318 is a continuation in part of application No. 15/473,384, filed on Mar. 29, 2017, granted, now 10,518,411.
Application 16/114,318 is a continuation in part of application No. 15/473,345, filed on Mar. 29, 2017, granted, now 10,618,168.
Application 16/114,318 is a continuation in part of application No. 15/399,313, filed on Jan. 5, 2017, granted, now 10,493,629.
Application 16/114,318 is a continuation in part of application No. 15/198,673, filed on Jun. 30, 2016, granted, now 10,065,317, issued on Sep. 4, 2018.
Application 16/114,318 is a continuation in part of application No. 15/183,850, filed on Jun. 16, 2016, granted, now 10,105,844, issued on Oct. 23, 2018.
Application 16/114,318 is a continuation in part of application No. 15/058,494, filed on Mar. 2, 2016, granted, now 10,093,022, issued on Oct. 9, 2018.
Application 16/114,318 is a continuation in part of application No. 14/541,370, filed on Nov. 14, 2014, granted, now 10,110,795, issued on Oct. 23, 2018.
Claims priority of provisional application 63/072,586, filed on Aug. 31, 2020.
Claims priority of provisional application 62/343,615, filed on May 31, 2016.
Claims priority of provisional application 62/336,332, filed on May 13, 2016.
Claims priority of provisional application 62/269,425, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,481, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,377, filed on Dec. 18, 2015.
Claims priority of provisional application 62/269,523, filed on Dec. 18, 2015.
Prior Publication US 2022/0241975 A1, Aug. 4, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. B25J 9/16 (2006.01); B61G 7/04 (2006.01); B61J 99/00 (2006.01)
CPC B25J 9/1682 (2013.01) [B25J 9/16 (2013.01); B25J 9/1666 (2013.01); B61G 7/04 (2013.01); B61J 99/00 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A system comprising:
a task manager having one or more processors configured to initiate performance of a task on a target object, the task having an associated series of sub-tasks, with the sub-tasks having one or more capability requirements, and
the task manager configured to evaluate a plurality of robotic machines to identify a subset of robotic machines available for task assignment,
the task manager configured to determine rankings of the available robotic machines for each of the sub-tasks of the associated series of sub-tasks,
the task manager configured to select a first robotic machine of plural robotic machines and assign a first sequence of sub-tasks within the associated series of sub-tasks to the first robotic machine based on the ranking of the first robotic machine for the first sequence of sub-tasks, the first robotic machine having a first set of capabilities for interacting with the target object and configured to operate according a first mode of operation,
the task manager configured to select a second robotic machine of the plural robotic machines and assign a second sequence of sub-tasks within the associated series of sub tasks to the second robotic machine based on the ranking of the second robotic machine for the second sequence of sub-tasks, the second robotic machine having a second set of capabilities for interacting with the target object and configured to operate according to a second mode of operation,
the task manager configured to operate at least one of the first robotic machine to identify the target object and determine information comprising at least two of: a position of the target object, a position of the first robotic machine, or a position of the second robotic machine,
the task manager to receive the identity of the target objection and the information from the first robotic machine,
the task manager configured to send a command to at least one of the first robotic machine or the second robotic machine to move from a first location to a second location such that the second location is closer to the target object than the first location,
the task manager configured to determine whether the second robotic machine is to proceed with the second sequence of sub-tasks based on the information from the first robotic machine, and
the task manager being configured to operate the first robotic machine in the first mode of operation, and based on the task manager determining that the second robotic machine is to proceed, the task manager is configured to operate the second robotic machine in the second mode of operation to manipulate the target object, and
wherein at least one of the first robotic machine or the second robotic machine moves from a first location to a second location such that the second location is closer to the target object than the first location, and
wherein the first robotic machine is configured to perform one or more sub-tasks of the first sequence of sub-tasks by moving the second robotic machine from a first location to a second location such that the second robotic machine in the second location is positioned relative to a zone of the target object to complete one or more sub-tasks of the second sequence of sub-tasks.