Systems and methods for industrial robotics

Systems and methods for industrial robotic platforms. Squads of industrial robots autonomously communicate and work together. A control center may monitor the autonomous operations. Software at the control center, squad, and robot levels forms a distributed control system that analyzes various data related to the platform for monitoring of the various systems. Artificial intelligence, such as machine learning, is implemented at the control center, squad, and/or robot levels for swarm behavior driven by intelligent decision making. Each robot includes a universal platform attached to a task-specific tooling system. The robots may be mining robots, with a mining-specific tooling system attached to the universal framework, and configured for mining tasks. The platform is modular and may be used for other industrial applications and/or robot types, such as construction, satellite swarms, fuel production, disaster recovery, communications, remote power, and others.

BACKGROUND

Field

Features for industrial robotics are described, in particular architectures, approaches and methods for operating swarms of autonomous, task specific robots, such as mining robots.

Description of the Related Art

Robots are used to perform various tasks. The use of robots may improve profitability and efficiency while reducing the risk to humans. However, existing solutions for performing industrial tasks require frequent repair, are cumbersome, and require high-degrees of close human involvement, and as a result are inefficient and expensive. Improvements in this field are therefore desirable.

SUMMARY

The embodiments disclosed herein each have several aspects, no single one of which is solely responsible for the disclosure's desirable attributes. Without limiting the scope of this disclosure, its more prominent features will now be briefly discussed. After considering this discussion, and particularly after reading the section entitled “Detailed Description” one will understand how the features of the embodiments described herein provide advantages over existing approaches to industrial robotics.

Systems and methods for industrial robotic system platforms are described. A colony of robots may operate autonomously as individual units and in varying degrees of collaboration with surrounding robots. The robots may be organized in squads or groups of robots, which in turn may be organized and grouped in platoons, forming the overall colony hierarchical structure. A control center communicates with the colony of robots to enable human monitoring and operational exception management, however the control center may not nominally or actively tele-operate the colony. Software at the control center, platoon, squad, and robot levels may analyze various data related to the platform and the external environment for monitoring, communication, and control of the various systems. Artificial intelligence, such as machine learning, may be implemented at the control center, platoon, squad, and robot levels for individual robot and swarm behavior driven by intelligent decision making. The robots may communicate with each other and with the control center to work autonomously to complete an industrial task. A remote control center geographically non-collocated may communicate with multiple colony control centers.

Further, each robot may consist of a universal platform integrated with a task-specific tooling system. The robots may be mining robots, with a mining-specific tooling system attached to the universal platform, also referred to herein as a framework etc., and configured for mining tasks. The platform is modular and may be used for other industrial applications and/or robot types, such as construction, manufacturing, demolition, satellite swarms, fuel production, disaster recovery, communications, remote power, and others, deployed terrestrially on-land and underwater, in free space, on the Moon, Mars and other celestial bodies. When a new species is identified to be added to the suite of species in the swarm robotic architecture catalog of species, payload modules dedicated to fulfill the new species may be developed to be integrated with the robotic universal platform both at the hardware and software level. The fact that the robotic architecture is modularized at the hardware and software subsystem level may accelerate the ability to easily build and integrate new robotic species into existing and new colonies to fulfill new functions and industrial tasks. In the hardware layer, key subsystems may be modularized in the universal platform; e.g., power, thermal management, mobility, data processing, structural support. In the software layer, the system may include a distributed layered architecture where firmware and software modules dedicated to universal and payload functions interface with the data processing layer through an API capable of handling different layers of operating protocols, such as CAN, RS232, ROS, UDP, TCP/IP, etc.

All operations and telemetry transacted in the system may be handled uniformly. Modules to manage processes, oversee data processing, perform housekeeping and logging of data may be part of the SW architecture in different layers of complexity, and completely modularized for scalability, flexibility and ease of integration of new payload modules. The colony is architected so that the robots may operate in complete autonomy as an individual unit, a squad, a platoon or the colony itself. Each robot may include a hardware and software stack configured to execute autonomously an industrial task, with no required human intervention. Algorithms and controls (e.g., hard coded, computer vision, linear, non-linear, machine learning, etc.) and an entire data processing infrastructure may handle the autonomous operation of the system, broadcasting throughout the communications network status and sensor data. In order to fulfill a certain industrial task, robots may be grouped in squads, so that each squad will comprise an optimized number of bots of a certain species in order to fulfill the task. Squad robots may be tagged to share bot data between each other in order to collaborate autonomously as a group and achieve the successful execution of the industrial task. Squads performing the same or different industrial tasks in a certain region of the deployment site, or to fulfill a specific function across the entire deployment site, may be organized in platoons. Bots belonging to the same platoon will be tagged so that data may be shared among them to perform collaborative tasks autonomously as a group.

Data packets with all relevant information and bot, squad, platoon and colony identifiers may be shared among the colony in a distributed data architecture. The algorithms and controls at each robot unit will filter and analyze the relevant data packets shared by the bots in the same squad, platoon and colony. Bots collaborating in the same squad may autonomously transmit and receive data packets dedicated to the squad, and may be shared at a higher frequency and volume based on proximity of operations than the data packets dedicated to the platoon or colony, to sustain operations at the squad level. Bots collaborating in the same platoon may autonomously transmit and receive data packets dedicated to the platoon. Bots collaborating in the same colony may autonomously transmit and receive data packets dedicated to the colony. The control center is primarily for monitoring of the autonomous operations. The control center may monitor all data packets in the network at low or high frequency rates depending on the priority level of the information contained in the data packet. The control center will have the ability to take over control of any bot unit in the colony at any given time to perform manual intervention, exception management, testing or training operations.

In one aspect, a system for operating industrial bots is described. The system comprises one or more colonies. Each colony comprises one or more squads. The squads may be grouped or not grouped in platoons. Each squad comprises a plurality of bots. Each bot is configured to operate autonomously and includes a universal platform coupled with a payload stack, the payload stack being one of a plurality of payload stacks with which the universal platform may be coupled, and where the bot is configured to perform a payload-specific industrial task using the payload stack. The system may further include a colony control center configured to remotely communicate with the one or more squads.

Various embodiments of the various aspects may be implemented. In some embodiments, the plurality of bots may be configured to communicate with each other and the colony control center via a colony communications network. Two or more of the squads may communicate with each other via a colony communications network. The universal platform further may include a mobility system configured to move each bot. According to another embodiment, the mobility system may include a tracked system, a wheeled system, or a legged system. The universal platform may include a control system configured to be operated by a robotic control algorithm. The robotic control algorithm may include an artificial intelligence or machine learning package. The universal platform may include a data processing system where each data packet includes a data packet header containing identification information related to each bot. The identification information may include one or more of the following: a colony identifier, a platoon identifier, a squad identifier, a bot identifier, a bot location identifier, a bot position identifier, health data, performance data, operational data, housekeeping data and/or sensor data. The universal platform may include a hardware platform stack and a software platform stack, and wherein the universal platform is configured to use the hardware platform stack and the software platform stack to autonomously operate the payload stack to perform the payload-specific industrial task and to communicate with other bots and/or the colony control center. A communication system may receive operational data from the one or more colonies and transmit update data to the one or more colonies via a colony communications network. A command and control system may monitor and support the plurality of bots, initialize systems, perform exception management, analyze the operational data and to generate the update data based on analysis of the operational data. A user interface may enable a user to monitor and control the one or more colonies.

According to another aspect, a system for operating autonomous industrial bots is described. The system comprises a control center, a plurality of first industrial bots configured to autonomously perform a first industrial task, and a plurality of second industrial bots configured to autonomously perform a second industrial task that is different from the first industrial task. One or more of the plurality of first industrial bots and one or more of the plurality of second industrial bots are configured to autonomously communicate with each other and with the control center, and the one or more of the plurality of first industrial bots and the one or more of the plurality of second industrial bots are configured to autonomously work together to achieve a collaborative industrial objective resulting from performance of the first industrial task and the second industrial task.

Various embodiments of the various aspects may be implemented. In some embodiments, each first industrial bot of the plurality of first industrial bots may include a universal platform coupled with a first payload stack, and each second industrial bot of the plurality of second industrial bots may include the universal platform coupled with a second payload stack. The first and second payload stacks may be one of a plurality of payload stacks which the universal platform may be coupled with, and wherein each first industrial bot may perform a first payload-specific industrial task using the first payload stack, and each second industrial bot may perform a second payload-specific industrial task using the second payload stack. Acceding to another embodiment, the plurality of first industrial bots may include a plurality of first mining bots. The plurality of second industrial bots may include a plurality of second mining bots. The collaborative industrial objective may include a collaborative mining objective.

In another aspect, an industrial bot is described. The bot is configured to operate autonomously in a swarm robotic system to complete a collaborative industrial objective. The industrial bot comprises a payload stack configured to perform a bot-specific industrial task, a universal platform stack comprising, a robotic hardware platform comprising a frame configured to support the universal and payload hardware stacks, a mobility system coupled with the frame and configured to move the mining bot, and a power system configured to power the universal and payload stack systems The bot further includes a control system comprising an on-board processor configured to operate the robotic hardware platform and a robotic software platform, a communications system configured to transmit and receive data across the colony communications network, and a data bus configured to interface with the on-board processor and one or more hardware platform control modules. The bot further includes a robotic software platform comprising a robot operating system configured to execute robotic control and/or machine learning algorithm(s) to operate the robotic hardware platform to perform the bot-specific industrial task, a data processing module configured to interface with firmware of the one or more hardware platform control modules, amongst the algorithm, health and housekeeping, logging and operational modules and the human-machine interface, a database configured to store operational data of the robotic hardware platform and the robotic software platform, and a user interface module configured to enable a user to remotely access and control the robot

In another aspect, a method of using autonomous industrial bots is described. The method comprises establishing autonomous communications between a first industrial bot and a second industrial bot, performing a first industrial task autonomously with the first industrial bot in response to the autonomous communications, performing a second industrial task autonomously with a second industrial bot in response to the autonomous communications, the second industrial task being different from the first industrial task, wherein performing the first and second industrial tasks results in achieving a collaborative industrial objective, and communicating autonomously using the first or second industrial bot first data related to the collaborative industrial objective with a control center.

In another aspect, one or more non-transient computer-readable mediums are described storing one or more sets of instructions thereon that when executed by one or more processors perform a method of mining using autonomous industrial bots. The method comprises establishing autonomous communications between a first industrial bot and a second industrial bot, performing a first industrial task autonomously with the first industrial bot in response to the autonomous communications, performing a second industrial task autonomously with a second industrial bot in response to the autonomous communications, the second industrial task being different from the first industrial task, wherein performing the first and second industrial tasks results in achieving a collaborative industrial objective, and communicating autonomously using the first or second industrial bot first data related to the collaborative industrial objective with a control center.

In another aspect, a system for mining using autonomous industrial bots is described. The system comprises a processor in communication with a memory, the memory storing instructions thereon that when executed by the processor performs a method using autonomous industrial bots. The method comprises transmitting first communications to a first industrial bot, and establishing autonomous communications between the first industrial bot and a second mining bot in response to the first communications, where the autonomous communications cause the first industrial bot to autonomously perform a first industrial task and cause the second industrial bot to autonomously perform a second industrial task different from the first industrial task, and where the first industrial task and the second industrial task together define a collaborative industrial objective.

In another aspect, a method of using autonomous industrial bots is described. The method comprises transmitting first communications to a first industrial bot, and establishing autonomous communications between the first industrial bot and a second industrial bot in response to the first communications, where the autonomous communications cause the first industrial bot to autonomously perform a first industrial task and cause the second industrial bot to autonomously perform a second industrial task different from the first industrial task, and where the first industrial task and the second industrial task together define a collaborative industrial objective.

In another aspect, a non-transient computer-readable medium is described storing instructions thereon that when executed by a processor performs a method using autonomous industrial bots. The method comprises transmitting first communications to a first industrial bot, and establishing autonomous communications between the first industrial bot and a second industrial bot in response to the first communications, where the autonomous communications cause the first industrial bot to autonomously perform a first industrial task and cause the second industrial bot to autonomously perform a second industrial task different from the first industrial task, and where the first industrial task and the second industrial task together define a collaborative industrial objective. In some embodiments, the first industrial bot may be a mining bot and the collaborative industrial objective may include a collaborative mining objective

In another aspect, an industrial bot configured to operate autonomously in a swarm robotic system to complete a collaborative industrial objective is described. The industrial bot comprises a universal platform stack comprising a robotic hardware platform comprising a frame configured to support the universal and payload stack, a mobility system coupled with the frame and configured to move the industrial bot, a power system configured to power the mobility system and the payload stack. The bot further comprises a control system comprising an on-board processor configured to operate the robotic hardware platform and a robotic software platform, a communications system configured to transmit and receive data across the colony communications network, and a data bus configured to interface with the on-board processor and one or more hardware platform control modules. The bot further comprises a robotic software platform comprising a robot operating system (ROS) configured to execute a robotic control algorithm to operate the robotic hardware platform to perform the bot-specific robotic task, a hardware processor module configured to interface with firmware of the one or more hardware platform control modules, a database configured to store operational data of the robotic hardware platform and the robotic software platform, and a user interface module configured to enable a user to remotely access and control the robotic operating system. The bot may further comprise a payload stack configured to perform a bot-specific industrial task.

DETAILED DESCRIPTION

The following detailed description is directed to certain specific examples of the development. Reference in this specification to “one example,” “an example,” or “In some implementations” means that a particular feature, structure, or characteristic described in connection with the example is included in at least one example of the invention. The appearances of the phrases “one example,” “an example,” or “In some implementations” in various places in the specification are not necessarily all referring to the same example, nor are separate or alternative examples necessarily mutually exclusive of other examples. Moreover, various features are described which may be exhibited by some examples and not by others. Similarly, various requirements are described which may be requirements for some examples but may not be requirements for other examples.

Various examples will now be described with reference to the accompanying figures, wherein like numerals refer to like elements throughout. The terminology used in the description presented herein is not intended to be interpreted in any limited or restrictive manner, simply because it is being utilized in conjunction with a detailed description of certain specific examples of the development. Furthermore, examples of the development may include several novel features, no single one of which is solely responsible for its desirable attributes or which is essential to practicing the invention described herein.

FIG.1is a schematic of an industrial robotic system10. The system10includes a remote control center100and a plurality of colonies110,140,170. Each colony110,140,170has a respective colony control center112,142,172in communication with a respective plurality of robotic squads. The colony110includes the squads114,122,130, the colony140includes the squads144,152,160, and the colony170includes the squads174,182,190. The robotic squads may also be grouped in platoons, which in turn work more collaboratively that the remaining squads or platoons in the colony at a higher hierarchical level in the colony.

The system10may be a distributed, autonomous system that is heavily intelligent at the unit levels, with the bots operating in a distributed architecture as a swarm individually or in collaboration, organized in subgroups as pertaining to specific tasks, and where the control centers primarily act as witnesses, e.g. monitoring and supporting the independent operation of the swarm. The control centers may thus be observational entities, not directors of actions. In some implementations, only in rare cases where operations deviate from the norm due to exceptions or anomalies (not status quo operations) does the control center's role change into supervisory control for brief periods. Also, there may be rare instances where bots (or any permutation of a combination of bots) require confirmation from a control center for the execution of a task or a series of tasks. In some implementations, colonies are deployed with no control centers at all. Thus the systems described herein may include the autonomous, intelligent actions of the bots, and correspondingly, the autonomous, intelligent actions and collaboration between and amongst various permutations of bot combinations.

The various systems and methods described herein may be used with, or use any of, the features described in the systems and methods described in U.S. Patent Application No. 62/923,376 and U.S. Patent Application No. 62/923,357, each of which is incorporated by reference herein in its entirety and forms a part of this specification for all purposes.

Each squad includes a respective plurality of industrial robots or “bots” configured for performing various industrial-specific tasks. The bots each include a universal platform with common structural, mechanical, electrical and computing systems, coupled with an interchangeable payload component. Each payload component is integrated with the universal platform and configured for a specific industrial task to be performed by the bot. The bots include one or more processors in communication with one or more memories storing instructions thereon that when executed by the one or more processors perform the industrial task. The task may be performed autonomously by the bot and/or in collaboration with other autonomous bots to achieve an overall collaborative industrial objective. The system10allows for management and control of the bots.

Any number of colonies, platoons, squads, and bots may be implemented, depending on the industrial objective. As shown, in the colony110, the squad114includes the bots116,118,120, the squad122includes the bots124,126,128, and the squad130includes the bots132,134,136. In the colony140, the squad144includes the bots146,148,150, the squad152includes the bots154,156,158, and the squad160includes the bots162,164,166. In the colony170, the squad174includes the bots176,178,180, the squad182includes the bots184,186,188, and the squad190includes the bots192,194,196.

The system10includes three colonies110,140,170. The system10may include fewer or more than three colonies. There may be one, two, four, five, six, seven, eight, nine, ten, twenty, thirty, forty, fifty, one hundred, five hundred, one thousand, or more colonies. Two or more of the colonies may be the same as each other. Some or all of the colonies may be different from the other colonies.

The bots may communicate with each other for autonomous actions. The control centers may be used for monitoring, etc. as described. The control centers may receive communications related to the bots, squads, platoons etc. for monitoring or other purposes. The remote control center100may thus be configured to communicate with each of the colonies110,140,170. The center100may communicate with the respective colony control center112,142,172. The colony control centers112,142,172may each be in communication with one or more of the squads of the respective colony. Each of the squads within a particular colony may be in communication with one or more of the other squads with the colony. As shown, the squad114is in communication with the squad122, which is in communication with the squad130. The squad144is in communication with the squad152, which is in communication with the squad160. The squad174is in communication with the squad182, which is in communication with the squad190. The squads may each be in communication with more than one other squad. Each squad may be in communication with all other squads within the particular colony. The squads may be in communication with one or more squads in other colonies. For example, the squad130may communicate with the squad144, etc. The squads may communicate with each other via a colony communications network and/or via the bots within the squads, as described.

The system10may be used to achieve an industrial objective. In some implementations, the system10may be used for mining where the bots are mining bots configured to achieve a mining objective. The system10may be used for construction, manufacturing, demolition, satellite swarms, fuel production, disaster recovery, communications, remote power, and others, deployed terrestrially on-land and underwater, in free space, on the Moon, Mars and other celestial bodies.

The system10may use a software-based approach to perform these and other industrial tasks using select combinations of the bots and supporting infrastructure. Each colony may include a group of the squads, deployed to a particular site, working individually and/or in a collaborative fashion to perform related tasks to achieve a collaborative industrial objective, and intertwined with supporting communications and operating software and hardware infrastructure. The system10and control features thereof may be used for modular, swarm, small form-factor robots that may be mass produced and that allow for significant reduction in human participation in industrial tasks. The bots may be of any size. The divide and conquer swarm approach may allow for any size bot regardless of the size and scope of the industrial task. The bots may range from bacteria to Battlestar Galatica size. Further details of example hardware and software configurations for the system10are provided herein, for example with respect toFIG.2.

In some implementations, the system10may not include the remote control center100. For example, the system10may just include one or more colony control centers112,142,172which communicates, monitors and supports the one or more colonies110,140,170. For example, the colony control center112may be used to monitor and support the colonies110,140,170. Further detail of monitor and support of one or more colonies using the colony control center is described herein, for example with respect toFIGS.3A-3B. Thus, the various “control” centers described herein may be used primarily for monitoring of autonomous bots, as opposed to active control of the bots.

Each colony110,140,170may be located in a particular geographic site. Each colony110,140,170may be in a different location from one or more of the other colonies. The colony control centers may be co-located with a respective colony, or in a different location. The remote control center100may be located in a different geographic site from one or more of the colonies110,140,170. The remote control center100may be co-located with one or more of the colonies110,140,170.

The system10may be used to perform a complex industrial task with a swarm of mobile robotic units, such as the squads114etc. of the bots116etc., where each bot performs a specific function to accomplish the overall objective. Each bot includes a common platform across all bots with a universal platform stack (e.g. hardware, firmware, and software) and a payload stack (i.e., a payload tool or set of tools) including hardware, firmware, and/or software to perform a task, as further described herein, for example with respect toFIGS.4-6C. Each bot may be assembled out of standard modules that are part of the universal and/or payload stacks.

Bots with the same payload stack are part of a robot species, as further described herein, for example with respect toFIG.5B-5D. One or more of a species of bots may be grouped in squads. Each squad may be defined as a group of bots that perform a set of collaborative or inter-connected functions to achieve an overall industrial objective or specific task.

Different types of squads are defined to perform different functions to fulfill the industrial objective, as further described herein, for example with respect toFIG.6A-6D. Each squad may have an optimized number of bots for each of the species required to perform the squad function. The total number of squads deployed at a specific geographic site may be defined as a site colony. The total number of squads of each type deployed in the colony may be optimized based on performance and economic metrics. The minimum set of bots required to perform an end-to-end industrial objective may be referred to as the minimum viable platoon (MVP).

In some implementations, the system10may not rely on any fixed infrastructure to perform some or all of the industrial tasks and overall objective. Non-mobile components (e.g. water pipes, electric cables, battery banks, etc.) may be laid out temporarily by the bots for as long as necessary to perform the industrial objective on the specific site and then removed once the industrial objective is accomplished. Further details of example industrial objectives as it relates to mining are described herein, for example with respect toFIGS.7A-7E.

B. Swarm Robotic Architecture—Example Hardware/Software for Remote Control Center, a Colony Control Center, and an Industrial Bot

FIG.2is a block diagram of an example of an industrial robotic system200. The industrial robotic system200may include a bot software platform and control center architecture, as further described. The industrial robotic system200may have the same or similar features as the industrial robotic system10ofFIG.1, and vice versa.FIG.2shows block diagrams for the industrial robotic system200including a remote control center280, a colony control center250, and one bot210of the plurality of bots deployed in the colony, that may also be used with the system10, and that may have the same or similar features as respectively the remote control center100, the colony control centers112,142,173, and the bots116, etc. ofFIG.1, and vice versa.

The bot210is shown as a block diagram with various modules. For each bot or “species” of bot, a configuration of hardware and software modules required for the specific universal and payload stacks (e.g., payload-specific tools or sets of tools) may be generated so that the bot may be assembled at the hardware and software level. All systems may be modularized so that simplicity in the hardware and software functional assembly is persistent across species of bots. Standard interfaces may be implemented so that integration overhead is minimal for structural, power and data interfaces. In some implementations, universal interfaces may control the data, power and consumables flow between modules.

The bot210includes a processor212, shown as a software processing framework. The processor212may be the main structural architecture that manages data processing across the different architectural modules, for example ensuring data integrity, minimal latency, delivery assurance, archiving and visualization. The processor212may be in communication with one or more modules for controlling and/or managing the bot210. As shown, the processor212is in communication with a controller area network (CAN) processing module214. The CAN processing module214interfaces with firmware controllers for those hardware modules integrated in the CAN bus. As shown, the CAN processing module214interfaces with sensors firmware216, payload firmware218, power firmware220, and thermal firmware222.

In some implementations, the underlying data processing architecture may include a data management module. The data management module may include an open source, in-memory data structure store, used as a database, cache and message broker, such as a redis database. The data management module may include interfaces and APIs configured to transact operations and telemetry with the CAN, the robot operating system (ROS), and other processing frameworks in the bot210. The architecture may also include a human machine interface (HMI) to operate robot missions, an injector to an influx DB relational database or equivalent to visualize operational data in. The processing/HMI architecture may follow a server/client architecture design, for example so that multiple bot clients may be visualized concurrently in the colony control center250and/or remote control center280.

The processor212is further in communication with a robot operating system (ROS) processing module224. The ROS processing module224interfaces with one or more processing modules for sensors and packages integrated into the ROS. As shown, the ROS processor224is in communication with sensor modules226, shown as Camera/Sensor Topics, and payload modules228, shown as a Payload Topics (robotics/controls/machine learning).

In some implementations, the payload modules228may include a Robotic Saw or robosaw module. The Robotic Saw or robosaw module may be used to control a saw or saw-like tool for material cutting, such as with a digger bot. The Robotic Saw or robosaw module may be configured for the autonomous robotic operation of a saw, such as a commercial off the shelf saw or custom saw. The Robotic Saw or robosaw module may be configured to control a robotic arm integrated with a saw. The Robotic Saw or robosaw module may include software packages, scripts and files to operate the saw, including the control systems to adjust the operation based on feedback loops using force, power, RGBD camera, and/or other inputs.

In some implementations, the payload module228may include a Robotic Chisel or robochisel module. The same or similar features as described for the robosaw module may apply to the robochisel module but for operation of a chisel or chisel-like tool for material excavation or demolition, such as with a digger bot. The robochisel module may be configured to autonomously control a chisel or similar tool for removing rock, concrete, or other materials in the course of mining, constructions, and other contexts to which the architecture and bots are applied. The robochisel module may include software packages, scripts and files to operate the chisel, including the control systems to adjust the operation based on feedback loops using force, power, RGBD camera, and/or other inputs. A robotic arm attached to the chisel may also be controlled.

The processor212is further in communication with an algorithms processing module230. The algorithms processing module230is in communication with an artificial intelligence module232, shown as machine learning (ML) packages, and a controls module234, shown as robotics/controls packages. In some implementations, the robotics, controls and ML Packages may be directly embedded in the main processing framework in Python or C++.

Artificial intelligence (AI), such as machine learning, may be persistent throughout a colony. Artificial intelligence may be implemented by means of robust robotic and controls algorithms and machine learning, e.g. reinforcement learning, deep reinforcement learning, and/or other methodologies. Machine learning agents may be embedded at the bot, squad and/or colony levels. The squads as a whole, and/or the colony as a whole, may behave as a swarm driven by intelligent decision making performed at every level in the colony.

In some implementations, the bot210may include a quadrant manager module. The quadrant manager module may be part of the artificial intelligence module232, the controls module234, or other modules. The quadrant manager module may be configured to autonomously break down an image collected by the bot of the topography of an excavation panel into contiguous individual panels for excavation. The quadrant dimensions may be configurable based on operator input.

In some implementations, the bot210may include a targeter module. The targeter module may be part of the artificial intelligence module232, the controls module234, or other modules. The targeter module may include ML or other AI algorithms for the use of various tools or combinations thereof, such as robot arms and/or demolition hammers, to intelligently target the regions in the panel to excavate/demolish.

The processor212is further in communication with one or more databases236. The database236may be a memory where data is stored. Data processing framework configuration data, real time operational data, and/or other data may be stored and archived in the one or more databases236for real-time operations, post-processing, visualization, etc. In some implementations, one or more of the databases236may be remotely located from the bot210, such as at the colony control center250(identified as262) or with the colony communications network.

The processor212is further in communication with a user interface module238. The user interface module238is in communication with a human-machine interface (HMI) module240, a data analytics module242, and/or a virtual reality/augmented reality (VR/AR) module244. These and/or other modules may enable a user to access the bot310to monitor and control the bot310and/or a colony. The user interface module238may be accessed directly in an on-board processor or remotely via a virtual private network (VPN) or secure encrypted connection.

The bot210may transmit data, for example via a colony communications network such as a wireless ad-hoc network, to the colony control center250, for example for monitoring and support of the bots210and/or a colony. The data may be monitored and managed in whole or in part by human operators performing supervisory control of the operations.

At the colony control center250, additional software modules are integrated. The colony control center250includes a processor252, shown as a data processing framework, in communication with a management and control (M&C) module254, a database262and a user interface module264. The M&C module254is in communication with a colony M&C module256, a simulation module258shown as a training and shadow operations module, and an algorithm testing module260. The M&C module254monitors and controls any hardware and software infrastructure required for the operation of the colony control center as well as the colony (control center computers, antennas, servers, databases, colony wireless network devices, etc.). The Training and Shadow Operations module258supports operator training and enables colony shadow operations to train and/or test new functionality without disruption to colony real-time operations. The Algorithm Testing module260performs simulations of the colony operations in a virtual environment or in a test squad of the colony to verify performances, optimize operations and test upgrades before promotion to the entire colony.

The user interface module264is in communication with a human-machine interface (HMI) module266, a data analytics module268, and a virtual reality/augmented reality (VR/AR) module270, which may have the same or similar features respectively as the HMI module240, the data analytics module242, and VR/AR module244. In some implementations, the module user interface module264is able to monitor and support a plurality of bots, as opposed to only a specific bot as in240,242and244, organized by species, squads, status or in any other meaningful way that may enhance the operator's colony situational awareness. The various modules of the user interface module264may support different types of interfaces for enhanced situational awareness. In some implementations, a user interface supported by the user interface module264may be the only interface between humans and the colony250. The colony control center250may include one or more tele-operator computers deployed on site, up to a multi-site, multi-computer, multi-tele-operator control center250. Thus the control center250may be partially or wholly co-located or partially or wholly distributed.

In some implementations, such as in initial or partial deployments of one or more squads of the bot310to conventional sites, humans may interact with the bots210in support roles, for example providing other functionality not addressed by respective bots. Planned and unplanned maintenance may be performed by humans in these instances, instead of the bots210that are configured for service.

The colony250may transmit data to the remote control center280. The colony250may transmit data via terrestrial or satellite communication networks. At the remote control center280, humans may monitor the swarm performance across colony sites, support the different colonies during contingencies and exception management, perform training, and develop and test new functionality in simulations, among other tasks. In some implementations, the bots may create a wireless network all by themselves and use a peer to peer relay of data throughout this network across to a control center co-located with the colony or otherwise not located remotely.

The remote control center280may include a processor282, shown as a data processing framework. The processor282is in communication with a simulation module284, a simulation database291, a real mirror copy database292, and a user interface module293. The simulation module284is in communication with an ML simulation module286, a robotics/controls simulation module288, and a network housekeeping and simulation module290. The simulation module284and its components may perform simulations in a virtual environment of new ML, robotics/controls and network functionality based on data collected from the different deployment site colonies. The collected data from different independent colonies may be used to identify patterns of behavior and performance optimizations across the different colonies based on individual or collective behavior for one or all colonies. The user interface module293is in communication with an HMI module294, a data analytics module296, and a VR/AR module298, which may have the same or similar features respectively as the HMI module266, the data analytics module268, and VR/AR module270, and vice versa.

In some implementations, the remote control center may include a remote communication system, a command and control system, and/or a user interface. The remote communication system may be configured to receive all data from the colony control center and transmit update data to the colony control center via a remote communications network. The command and control system may include one or more computers, servers, switches, databases, etc. configured to monitor, control, process, store and update the colony data. The user interface (e.g. displays, HMI, AR, VR, etc.) may be configured to enable a user to remotely monitor and control the colony and/or colony control center.

The colony control center250may include a colony communications network/communications system. The colony communications network/communications system may receive data of various types from any number of bots, squads, platoons, colonies. The command and control system may be supervisory and analyze the incoming data (among other tasks) and generate update data based thereon to achieve a general objective. The update data may include revisions to existing commands, priorities, behaviors, missions, plans, tasks, operational thresholds, virtual fences, environmental data (e.g., rainfall, temperature, etc.) and/or general high-level operating instructions. As an example of update data, a stop order, such as “cease all operations until go order is given,” may be sent to the bots and/or other nodes of the system, due to an anomaly, like a mine cave-in or mine shutdown or emergency on construction site. As another example, the bot mission area maybe updated from one designated mine quadrant or panel to another, such a with the command “find another suitable area instead of the current one.” As another example, the bot mission area may be updated from mining gold to silver, such as “go find silver instead of gold.” As another example, the system may be instructed to speed up or slow down task/behavior rate due to an interface with a human process step, such as “slow down excavation by 10% so the human process step of supervisory inspections can keep up.” As another example, tele-operational data may be instructed that allows a user to guide/drive a bot around a construction site, for example, using an interface for a tablet, mobile phone, laptop, etc. These and other kinds of update data may be communicated to any number of bots, squads, platoons, and/or colonies via the colony communications network/communications system. Communication of the update data may be continuous (e.g., not serial). Communication of the update data may occur in real-time, with an infinite number of parallel streams being communicated, multi-directionally.

The overall control system may be distributed, such that a single node in the system is not responsible for the overall control of the architecture. The control system may be distributed across any number of bots, squads, platoons, colonies and/or other nodes. The colony control center may not be a direct “command and control” type of system, but instead a “supervisory guidance” system, where general directions are provided and the system determines the best way to complete those general directions. The “industrial objective(s)” may be an example of an overall supervisory guidance provided. More specific guidances may be provided to help achieve any specific industrial objectives and may include revisions to existing tasks, behaviors, missions, plans. Examples of industrial objectives or tasks thereof may include supervision to locate and chisel a wall with soft rock hardness, to move away from rock above a threshold rock hardness, to find softer rock and/or a particular type of rock, to determine a size and shape for a virtual geo-fence within which to operate, other suitable supervisions, or combinations thereof.

In certain implementations, there is no one, single control center that performs the supervisory guidance provided by the control center250(e.g., the “supervisory guidance” described herein). The control center250may be distributed among and be formed by the collective of all the bots, nodes, network centers, etc. Some embodiments may use “edge” computing where it happens at each node in a system. Edge computing may include a distributed computing paradigm that brings computation and data storage closer to the location where it is needed, for example to improve response times and save bandwidth.

The divide and conquer approach to swarm operations described herein may include a system where a single organism does not have to do everything nor be only one size. The specialization allows for each bot to do one or a select number of tasks proficiently. It may thus be easy to train on one function where there is a flexibility in collaboration of functions. The system may allow for rapid reconfiguration of the weighting of each function to respond quickly to changes or progress in the execution of a particular industrial objective. These may manifest in various ways, e.g., not only changing the functions of each bot as needed but adapting and improving and especially right sizing the workforce to the size of the job permanently, so that there is never an overcapacity.

C. Swarm Robotic Architecture—Example Hardware/Software for Colony Control Center and Squads of Industrial Bots

FIG.3Ais a block diagram of an example of an industrial robotic system300. The system300may have the same or similar features or functions as the systems10,200, and vice versa. The system300may be used with the systems10,200. The system300may be used as the colony250or colonies110,140,170. The system300may be a stand-alone system used to control one or more colonies. The system300may be included as part of a larger system, for example where one or more of the systems300communicate with a remote control center, such as the remote control centers100or280.

The system300includes a colony control center302, a colony communications network316, and a plurality of robotic squads320,330. The squads320and330each have a plurality of industrial bots322,324and332,334respectively, that are configured for performing various industrial-specific tasks.

The colony control center302includes a processor304in communication with a memory306. The memory306may include instructions stored thereon that when executed by the processor304, perform various methods for monitoring, and supporting the colonies and/or bots. The memory306may be co-located with the colony control center302, or it may be remotely located. There may be multiple memories accessed by the processor304. There may be more than one processor304. The colony control center302, such as the processor304or memory306, may include the features described with respect to the colony control center250, such as the data processor282or database262respectively, or the other modules shown in and described with respect toFIG.2.

The processor304is in communication with a communications system314. The communications system314is configured to communicate, e.g. wirelessly communicate, with the squads320,330via the colony communications network316.

The processor304is in communication with various modules308,310,312. The first and second modules308,310may be configured to provide various functions, such as those described with respect to the colony control center250ofFIG.2. There may be any number “N” of the modules, as indicated by the module N312.

The squads320and330each include two bots322,324and332,334respectively, as shown. As mentioned, the squads320,330may each include any number of the bots, from 1 to N. Further, there may be any number of the squads320,330. The squads320,330and bots322,324,332,334may have the same or similar features as the squads and bots, respectively, as shown in and described with respect toFIG.1.

The squads and/or bots may be in communication with one another. As shown, the squad320is in communication with the squad330. The squad320may be in communication with the squad330via the colony communications networks. The squads320,330may be in communication with each other via one or more bots of each squad320,330. As shown, each bot is in communication with every other bot. Thus, the bot322is in communication with the bots324,332,334, the bot324is in communication with the bots322,332,334, the bot332is in communication with the bots322,324,334, and the bot334is in communication with the bots322,324,332. Further, each of the bots322,324,332,334is in communication with the colony communications network. Any combination of these various communication pathways may be implemented. The combination may change as industrial tasks or objectives are completed, as the bots move around within a colony, due to maintenance or repair, etc. In some implementations, there may not be a colony communications network316, for example where one or more of the bots communicate directly with each other and the colony control center302by means of hardware and software directly implemented in the bots.

FIG.3Bis a block diagram of an example of an industrial robotic system350. The industrial robotic system350may be used as the industrial robotic system300ofFIG.3A, and vice versa. The industrial robotic system350may have the same or similar features and/or functions as the industrial robotic system300ofFIG.3A, and vice versa. The industrial robotic system350includes a colony control center380, a colony communications network370, and an industrial bot352, which may be used as, and/or have the same or similar features and/or functions as, respectively the colony control center302, the colony communications network316, and one or more of the bots322,324,332,334.

The bot352includes a subsystem firmware354. The subsystem firmware includes an operations module360, a status module362, a position module364, and a sensor or sensor module366. Subsystem data may be generated in the bot subsystem firmware and analyzed using the various modules. The operations module360may analyze subsystem data that includes data related to operational status of the bot352, such as mining subsystem data, for instance excavation parameters, etc. The status module362may analyze subsystem data that includes data related to bot system housekeeping, temperature, fault status, etc. The position module364may analyze subsystem data that includes data related to bot geo-location, relative subsystem position such as positions or orientations of articulated components such as arms, legs, tools, etc. The sensor module366may analyze subsystem data that includes data related to video and data streams.

The bot352includes a bus processing system356. The bus processing system356is the platform bus that distributes the data for subsequent operation. The bus processing system356may process the data based on application of a swarm algorithm to the firmware data received from the subsystem firmware354of the bot352. The data may be received from the bot352and/or from other bots, such as neighboring bots, bots within the same squad and/or colony. The data may be received from one or more control centers, such as the colony or remote control centers, and may be via one or more of the communication networks described herein.

The bot352includes a communications system358. The communications system358may be configured to transmit and receive the various data from and to the bot352. The communications system358may package the data for transmission. The communications system358may relay data received, for example data received from neighboring bots. The communications system358may identify and/or decommutate relevant data received for processing by the bus processing system356. The communications system358may communicate with the colony communications network370.

The colony communications network370is in communication with the bot352. Various approaches to the communications network may be implemented, as described herein. As shown, the colony communications network370may include a MANET/Mesh network. The colony communications network370may transmit data packets hopping from bot to bot with a squad to neighboring squads, for example from the squad114to the squad122such as via respectively the bots116,118and/or120to the bots124,126and/or128(seeFIG.1). The data may be transmitted from the bot352, to the colony communications network370, and to the colony control center380. The data may be received by the bot352, from the colony communications network370, which may receive the data from the colony control center380.

In the context of industrial mining operations, such data transmission may be from one or more bots352within a mine shaft (vertical, inclined, helix or other geometry), stope, panel, tunnel or equivalent, to one or more bots352within a neighboring or access shaft (vertical, inclined, helix or other geometry), stope, panel, tunnel or equivalent all the way to the surface to the colony control center380by means of communications from bot to bot and/or via the communications network370. The colony control center380may communicate via terrestrial or satellite relay communication networks to a remote control center. In some implementations, the transmit and receive paths as shown in the figure may require a much larger bandwidth at the mine site. Cable or communication bots may be deployed at the mine shaft (vertical, inclined, helix or other geometry), stope, panel, tunnel or equivalent to increase bandwidth. Further details of example use of the systems in mining operations are provided herein, for example with respect toFIGS.7A-7E.

The colony control center380includes a command and control module382. The command and control module382receives the data and processes the data for storage in a big data storage system. The command and control module382may provide a visual user interface for user services, such as control and monitoring, for testing and updating, such as algorithm and other system updates/upgrades, and network enterprise management, such as infrastructure elements at the control centers and as needed at a colony such as at a mine site. The command and control module382also sends data to the colony, such as to a mine site, for example commands, updates, and upgrades.

The colony control center380includes a simulation module384. The simulation module384generates virtual worlds based on the big data stored by the command and control module382. The simulation module384may create parallel scenarios for further robotic controls and machine learning assessment to refine and optimize operations.

The colony control center380includes a machine learning module386. The machine learning module386refines, updates, and upgrades swarm algorithms (controls or machine learning based) to improve functionality and productivity. The machine learning module386may promote new or updated algorithms, after they are analyzed and deemed ready through amongst other methods the simulation module384, to the command and control module382to be transmitted to the bot352, for example to the bus processing system356, for improved operations.

Data may be transmitted/received to/from the bot352, the colony communications network370, and the colony control center380. Various approaches to the communications networks describe herein may be implemented. The colony communications network370or316, the remote communications networks, bot-to-bot direct communications, and other communications systems used in the overall system may use a variety of different approaches or combinations thereof.

In some implementations, networking is accomplished by means of a mobile ad-hoc network. It may be a fixed network. The network may be set up by humans, or by one or more of the bots. All or some data transfer may be supported at the bot, squad and/or colony level of the architecture.

Each bot may include a data packet bot node subscription. Each data packet may have a header that provides identification information related to the bot, squad, platoon and packet type. Neighboring bots within a squad may subscribe to, receive, process, and transmit data packets necessary for swarm behavior. Neighboring squads within a colony, such as within platoons, may subscribe to, receive, process, and transmit data packets necessary for mid-scale situational awareness, such as at the squad level. Neighboring platoons within a colony may subscribe to, receive, process, and transmit data packets necessary for mid-scale situational awareness, such as at the platoon level. Neighboring colonies may subscribe to, receive, process, and transmit data packets necessary for macro-scale situational awareness, such as at the colony level.

The communications network may evolve as the systems are implemented and used. In some implementations, for example in initial or partial deployments at conventional sites, the network may be established through fixed infrastructure by humans. For more mature colonies, the ad-hoc network grid may be established by bots with networking payloads. The network may be dynamically updated so that high density operation regions in the colony, for example at a particular deployment, site are supported at all times with the required bandwidth, etc. A manned control center, such as the colony control centers described herein, may be deployed at the colony site and may be the only human interface to the bots. The colony control center may be connected to bots in the colony through the colony communications network. The colony control center may also be connected to a remote control center, for example located offsite, via satellite or terrestrial networks. The colony control center may be where humans perform monitoring and exception management as well as other offline support functions.

The remote control center, for example the remote control center100, may be a central repository of the data generated by all colonies. The remote control center100may optimize performance of the system10, for example performance of individual colonies. Such optimization may be accomplished through the development of new functionality driven by machine learning and/or using robotics and controls algorithms run in simulation. Once new functionality is ready for deployment, the remote control center releases the functionality to the target colonies. The algorithms may be tested in localized simulation, or in real operations in selected areas of the colony before being promoted to real time operations.

D. Industrial Robot—Example Computing Hardware for Industrial Bot

FIG.4is a block diagram of an example of a bot400. The bot400may be used with any of the various systems described herein, such as the systems10,200,300,350. The bot400may have the same or similar features and/or functions as the bots shown in and described with respect to these other systems10,200,300,350inFIGS.1-3A, and vice versa, and the robotic hardware platform that may be used with the systems ofFIGS.1-3B.

The bot400includes an overall hardware platform412. The hardware platform412integrates hardware subsystems, each of which may include subsystem and structural hardware, computer hardware, and/or software that may be architected as described in210.

The bot400includes a mobility platform414. The mobility platform414may include one or more of the following: a 2-track module416, an N-wheeled module418, an N-legged module420, and a hybrid module422. The hybrid module422may include a combination of tracks, wheels and/or legs. The mobility platform414is configured to be operated to cause the bot400to move, such as by commanding an actuator to move the track, wheel, leg, etc. The various mobility modules are dedicated to moving the bot400. Different types of modules may be integrated with the universal platform structural frame.

The bot400includes a power platform424. The power platform424may include one or more of the following: a power bus and sensor module426, a voltage/current up/down converter module428, and one or more power control modules430. The various power modules may include power buses and/or wiring harnesses, controllers and hardware to supply power to the different hardware modules at the right voltage and with the necessary protections against over/under currents, shorts, and electro static discharge (ESD).

The bot400includes a data platform432, shown as a bus. The data platform432may include one or more of the following: a CAN bus and processors module434, one or more on-board processor modules436, a data harness module438, and one or more antenna modules440for transmitting and/or receiving communication signals. The data platform432may be a CAN, UDP, RS232, TCP/IP or equivalent, or a combination of the above type bus. The various data bus modules may include data processing controllers and firmware, an on-board processor required to control and operate all modules in the bot400, and/or communications components such as an antenna to transmit and receive data.

The bot400includes a structure platform442. The structure platform442may include one or more of the following: a payload rack module444such as an enclosure, and a payload support module446. The structure platform442may provide a universal platform configured to support a variety of different task-specific payloads, such as different tools used for specific tasks for achieving an industrial objective. The structure platform442may include a payload rack enclosure, such as a flat bed with side walls and cover, in or with which the other modules, such as the payload and universal modules, may be integrated and enclosed, for environmental control, etc.

The bot400includes a thermal platform448. The thermal platform448may include one or more of the following: a thermal management module or set of modules450shown as a refrigeration module, and a thermal sensor module452. The module450may be a heating module. The thermal sensor module452may include a variety of thermal sensors providing data related to temperature of various components of the bot400that the thermal management module450may use to increase or decrease heating or cooling to the various components. The various thermal modules may include heating or cooling units, pipes or conduits, and/or thermal sensors required to thermally control the hardware modules of the hardware platform412.

The bot400includes a payload platform454. The payload platform454includes one or more payload modules456. The payload modules456may include one or more payload tools that may or may not be collocated on the same structure, for performing one or more specific industrial tasks. Each tool may be used for performing a specific industrial task, which in collaboration with other bots400performing other specific industrial tasks, may be performed to achieve an industrial objective, for example mining, as further described herein. The various payload modules may be integrated with the universal platform stack to fulfill the specific task for that payload.

In some implementations, the bot400may include a universal platform that comprises a robotic hardware platform. The robotic hardware platform may include a structural frame configured to support the universal platform and payload stacks/tools. The robotic hardware platform may include the mobility platform414coupled with the frame and configured to move the bot400. The robotic hardware platform may include the power system424configured to power the mobility platform414and the payload platform454. The robotic hardware platform may include the thermal system448configured to thermally control the universal and payload stacks. The robotic hardware platform may include the data processing system432configured to control the universal and payload stacks. The robotic hardware platform may include the antenna module440configured to transmit first data from, and receive second data to, the bot400. The robotic hardware platform may include a data bus configured to interface with the data processing system432.

In some implementations, the bot400may include a universal platform that comprises a robotic software platform. The bot400may include the hardware and software platforms. The robotic software platform may comprise of the modules described in the bot210. The robotic software platform may comprise of a controller layer having firmware configured to operate the universal and payload stacks using universal and payload control algorithms. The robotic software platform may comprise an architecture stack including one or several data protocol layers configured to monitor data from the universal and payload control algorithms and to transmit the data to the hardware firmware controllers. The robotic software platform may comprise a robotic control algorithm layer dedicated to control, monitor and operate the universal and payload hardware to perform the bot-specific robotic task. The robotic software platform may comprise a database system, for supporting software packages and components dedicated to support the operation of the system and configured to store and process the system operational data.

FIGS.5A-5Dare schematics of various bots that may be used with the systems and methods described herein, such as the systems and methods shown and described with respect toFIGS.1-4. Further, the systems and methods described herein are applicable to a variety of different industrial tasks and objectives. Various example examples are described herein with respect the mining industrial task. The systems and methods may be used for other industrial tasks such as construction, manufacturing, demolition, satellite swarms, fuel production, disaster recovery, communications, remote power, and others, deployed terrestrially on-land and underwater, in free space, on the Moon, Mars and other celestial bodies.

In some implementations, the systems and methods may be used for swarm robotic mining (SRM). SRM may refer to the application of a swarm robotic architecture concept, such as the systems and methods shown and described with respect toFIGS.1-4, to the mining industrial task. The SRM colony may include functional squads that perform the end-to-end mining function. The primary squad may be the mining squad, which may include multiple “species,” as further described. The functional squads may be grouped in platoons, where squads of the same or different function are grouped based on the topography of the site and economic performance metrics defined for the colony.

The mining squad may be used to replace drill-blast-mine and primary concentration function of conventional mining approaches. No macro-blasting may be required. Instead, the swarm squads deploy in the mine panels to pre-condition and excavate rock through the use of different payload technologies optimized for ultra-precision mining. Mining is followed by in-situ concentration of the material by means of crushing it into fine particulate concentrate that can be moved out of the mine or fed into a fluidized bed for in-situ flotation of the material. The flotation product is either hydro-hoisted, conveyed or transported by sweeper/hauler bots out of the mine.

In some implementations, and as further described, one or more of the bots may be a digger bot configured to pre-condition and break rock. In some implementations, one or more of the bots may be a crusher bot configured to collect and/or crush the rock. In some implementations, one or more of the bots may be a flotation bot configured to float the concentrated particulate to extract target material. Other filtration approaches may be implemented.

E. Industrial Robot—Example Modular Bot Squads and Species

FIG.5Ais a schematic of an example of a universal platform500. The universal platform500may be used for various types of bots in the mining context, or other contexts. The universal platform500may be used with the bot400, such as the robotic hardware platform412, ofFIG.4. The universal platform500may be used with the bots shown in and described with respect to the systems ofFIGS.1-3B. For example, the universal platform500may be used with the bots114, etc. of the system10, with the bot310of the system200, with the bots322,324,332,334of the system300, and/or with the bot352of the system350.

The universal platform500may provide a single system having uniform structural, computing, and support systems and that is configured to couple with a variety of different interchangeable payloads. In this manner, the various control system architectures shown in and described with respect toFIGS.1-4may be used with numerous bots each using the universal platform500but having different particular payloads. This allows for mass production of a common bus system, and consequent lower cost, for achieving industrial objectives that require a large number of bots, such as mining, construction, manufacturing, demolition, satellite swarms, fuel production, disaster recovery, communications, remote power, and others, deployed terrestrially on-land and underwater, in free space, on the Moon, Mars and other celestial bodies. The universal platform500may have a common mechanical interface for interchangeably attaching to a variety of different payloads, as further described herein.

FIGS.5B-5Dare schematics of various examples of various industrial robotic squads501,530,560having various payloads configured to perform a bot-specific industrial task. One or more of the squads501,530,560, or other squads, may comprise a combination of the same or different species of bots fulfilling specific industrial tasks, integrated with the universal platform500and the systems ofFIGS.1-3B. The following is one example of how the bot species may be grouped in squads and how squads501,530,560may be configured. There may be any number of bots within the squads501,530,560. Other functions may be provided by other bots within the squads501,530,560besides those explicitly described herein.

Each bot may include the universal platform500, having a hardware platform and a software platform, and that has integrated with it specific payload modules to fulfill the bot species function. The universal platform500is thus modularized for use with a wide variety of different type of payloads. This modular platform design for the bots allows for many swarm robotic architectural design drivers, such as flexibility, scalability, operability, reliability, robustness, and intelligence. Among other advantages, the design ensures high performance and low cost.

FIG.5Bis a schematic of a first bot squad501, which in this example is a mining squad. The first squad species501includes five different bots, including for example a digger bot502, a crusher bot506, a flotation or concentration bot510, a sweeper/hauler bot514, and a battery bot518, each including the universal platform500coupled with respectively a digger payload502, a crusher payload508, a flotation/concentration payload512, a hauler payload516, and a battery payload520.

FIG.5Cis a schematic of a second bot squad530, which in this example is a transport squad. The second squad530includes seven different bots, including for example a sweeper/hauler bot532, a pump bot536, a pipe bot540, a cable bot544, an energy bot548, a power bot552, and a treasure bot556, each including the universal platform500coupled with respectively a hauler payload534, a pump payload538, a pipe payload542, a cable payload546, an energy payload550, a power payload554, and a treasure payload558.

FIG.5Dis a schematic of a third bot squad560, which in this example is a transport squad. The third squad560includes five different bots, including for example a service bot562, a survey bot566, a builder bot570, a pillar bot574, and a communications bot578, each including the universal platform500coupled with respectively a service payload564, a survey payload568, a builder payload572, a pillar payload576, and a communications payload580.

The particular squads501,530,560described herein are for illustration only and are not limiting on the scope of the squads and bots that may be used with the systems and methods ofFIGS.1-4. Various combinations of the bots from the various squads501,530,560may be implemented for particular tasks, as further described. Additional bots may be included in the squads501,530,560.

There are various uniquely desirable features of the architecture systems and methods using the autonomous bots. For example, the required infrastructure may be minimized, for instance due to fewer humans in the loop. There may be significant reduction in safety costs due to fewer humans. In the mining context, there may be greater ability to access ore bodies that are not currently accessible for economic and other reasons. There may be greater ability to access ore bodies that are not currently accessible by human miners.

As further example, within the mining context, the bot form factor may be optimized based on the ore body and payload requirements, so that the bot may follow the ore body with minimal waste excavation. This approach enables several key advantages over conventional mining. For example, avoiding the need for macro-blasting means less impact to the structural integrity of the mine, leading to less bolting and bracing on the mine structure. Further, conventional mining requires structurally providing access to human miners and heavy machinery. In contrast, the robotic approaches described herein provide for minimal waste rock excavation through bot form factor and ultra-precise mining, which allows for increased productivity and reduced mine structural complexity. Further, in-situ concentration means that the excavated material does not need to be moved out of the mine and trucked into a concentration plant sometimes a large distance away, but rather it may be done on-site reducing material transport complexity. Given that minimal waste rock is excavated, the total volume of rock that is moved is reduced as well. Further, the use of in-situ flotation In some implementations means the excavated rock is further concentrated so that only the target material in the ore is moved out of the mine. This further reduces the total volume of material excavated out of the mine, sometimes to a small fraction of the total excavated ore.

FIGS.6A-6Dare schematics of various examples of various industrial robotic squads600,602,604,606each having various industrial bots with various payload tools and together configured to perform a collaborative industrial objective for the respective squad. The squads600,602,604,606may be used as the squads shown in and described with respect toFIGS.1-3B. For example, one or more of the squads600,602,604,606may be used as one or more of the squads114,122,130,144,152,160,174,182,190,320and330.

The squads600,602,604,606may include any combination of the various bots within the various bot squads501,530,560shown in and described with respect toFIGS.5B-5D. The squads600,602,604,606may include other bots besides those described with respect to the species501,530,560. The following is thus one example of how the squads600,602,604,606may be configured. There may be any number of bots within the squads600,602,604,606. Other functions may be provided by other bots within the squads600,602,604,606besides those explicitly described herein. Further, there may be other squads besides those explicitly described herein.

FIG.6Ais a schematic of a first squad600, shown in this example as a mining squad. The first squad600includes three different bots, including for example the digger bot502, the crusher bot506, and the sorter bot510, which may be a flotation bot. The first squad600may be used, for example, for excavating rock from underground for mining resources therefrom. The digger bot502may break rock and dig through rock. The crusher bot506may collect the broken rock and crush it for further processing. The sorter bot510may collect the crushed rock and sort it for diverting desirable material to one location and undesired material to a second location.

FIG.6Bis a schematic of a second squad602, shown in this example as a tunneling squad. The second squad602includes seven different bots, including for example the digger bot502, the sweeper/hauler bot532, a shotcrete bot582, a welding bot584, a manipulator bot586, a bolting bot588, and the pump bot536. The second squad602may apply the swarm robotic architecture and other systems and methods described herein to the tunnel excavation task. The second squad602may be used, for example, for tunneling to form a tunnel into or through a mine site underground. The digger bot502may pre-condition and break the rock to excavate the tunnel. The sweeper/hauler bot532may collect and transport the excavated rock. The sweeper/hauler bot532may sweep up and/or haul away rock dug by the digger bot502. The shotcrete bot582may applies cementitious material to the tunnel, which may be applied with precision. The shotcrete bot582may provide structural reinforcement such as shotcrete to stabilize the mine site underground. The welding bot584may provide welding or other structural reinforcement at select locations within the mine site. The welding bot584may clean, repair and reinforce rebar. The manipulator bot586may be used to manipulate building materials such as beams, bolts, etc. The welding bot and manipulator bot586may together perform tunnel reinforcement truss welding. The bolting bot588may fasten bolts or other fasteners to secure the structures put up by the other bots. The pump bot536may pump out water or other waste, such as debris, unusable materials, etc., out of the tunnel.

FIG.6Cis a schematic of a third squad604, shown in this example as a demolition squad. The third squad604includes three different bots, including for example the digger bot502, the sweeper/hauler bot532, and a suction bot590. The third squad604may be used, for example, for selective bridge deck demolition. The third squad604may apply the swarm robotic architecture and other systems and methods described herein to selective bridge deck demolition tasks. The digger bot502may saw and break the bridge deck or other structure. The sweeper/hauler bot532may collect and transport the demolished deck debris. The suction bot590may collects and/or transport away deck concrete slabs, and/or provide suction functions for holding and/or securing various features of the structures that are removed by the third squad604, for example after a mining operation is completed.

FIG.6Dis a schematic of a fourth squad606, shown in this example as a repair squad. The fourth squad606includes five different bots, including for example a digger and suction bot591, the sweeper/hauler bot532, a sandblaster and sprayer bot592, a rebar repair bot593, and the shotcrete bot582. The third squad604may be used, for example, for selective bridge column and beam repairs. The third squad604may apply the swarm robotic architecture and other systems and methods described herein to selective bridge column and beam repair tasks. The digger and suction bot591may raises a chisel or other tool to a column or beam repair area, anchor with concrete suction cups to the column or beam, and selectively chip away exposed or damaged concrete areas. The sweeper/hauler bot532may collect and transport chipped concrete. The sandblaster and sprayer bot592may removes corrosion and/or apply passivating coating to various structures. The shotcrete bot582may apply shotcrete mix selectively to repaired areas for completing repairs.

Other squads and bots may be implemented. Further, the various bots may be fitted with sensors configured to continuously monitor the structural integrity of the tunnel. A survey bot may also be deployed to perform more active survey of the tunnel face to determine potential issues/obstacles prior to excavation, as well as perform precision measurements to ensure proper tunnel orientation and alignment.

In some implementations, additional squads may be used to support the end-to-end mining function for a fully operated SRM mine. For example, a backfill squad may be used that moves the discarded concentrated material to the back of the panel, dealing with material swell and compaction, so it is left behind providing support and minimizing discarded material move once the target material has been transported out of the mine. A service squad may be used that services the robots in the colony. An energy squad may be used that supplies energy to the colony by means of laying out temporary cables and battery banks and swapping robot batteries in each bot. A survey squad may be used that performs mine exploration functions, such as mapping and geotechnical surveying. Additional squads and robotic species may be defined in support of additional functions, such as water supply and piping, networking, etc.

F. Swarm Robotic Architecture—Example Application to Industrial Mining

FIGS.7A-7Eare schematics of various examples of colonies having one or more squads of industrial mining bots performing one or more mining bot-specific industrial tasks to achieve a collaborative mining objective. The systems, methods, and bots shown in and described with respect toFIGS.1-6Dmay be used in the colonies ofFIGS.7A-7E. The mining squads may be deployed in shaft (vertical, inclined, helix or other geometry), stope, panel, tunnel or equivalent, based on the mine architecture design, so that each panel has several mining squads operating ensuring no collision or disruption of operations. The particular mining panels shown inFIGS.7A-7Eare merely some examples, and they may include any of the combinations of squads and bots, and associated functions, described herein.

The systems and methods described herein may be used for terrestrial mining, for example surface opencast, open pit and underground mining, for example platinum, kimberlite, e.g. diamond ore, copper and gold mining. The systems and methods may be used for in-situ processing to improve the efficiency of these and other mining operations. Conventional terrestrial mining involves removal of large volumes and masses of waste rock, either from underground or open pit mines. The systems and methods described herein may eliminate the need for the removal of the vast majority of waste rock, thus reducing energy costs significantly, among other advantages.

In some implementations, a digger bot, a sweeper/crusher bot, and a sorter or flotation bot may be used. These and other bots may be small-form factor mining bots that may be mass-produced replace humans at the rock-face in mines. In some implementations, processing may include in-situ metal refining. For example, utilization of molecular separation techniques may be implemented to achieve 99% or more recovery of metals which may take place within a matter of minutes, as opposed to days or weeks. In some implementations, the systems and methods may be used for mining larger materials directly in situ such as nuggets of precious metals and diamonds. such as kimberlite, e.g. diamond ore, copper and gold.

FIG.7Ais a schematic of an example of a colony700or portion thereof including a squad comprising the digger bot502and the crusher bot504. The colony includes a mining panel having a rock floor702, a rock face704, and a rock ceiling706. For clarity, only part of the floor702, face704, and ceiling706are shown. For example, the ceiling706may extend over the entire floor702, etc.

The digger bot502and the crusher bot504are deployed in the mine. The bot may be deployed in a newly dug mine or in a mine that is already supplying a swarm robotic mining function. The digger bot502and the crusher bot504may be deployed in mine panels that are sized based on the deposit geometry and economic metrics, which may be driven by the existing mine engineering plan or the swarm mine engineering plan. The digger bot502excavates the rock alongside the rock face704leaving the excavated material behind so that the crusher bot504may collect it. The bots may be deployed individually to perform one of the specified tasks within the conventional process chain, or as an end-to-end system performing all of the tasks in the industrial function autonomously.

The total material excavated at one time before the digger bot502moves may be referred to as the “excavation quadrant,” which may be defined as the width, height and depth of the rock face704excavated at any given time before the bot or bots move to the next location. The excavation quadrant dimensions may be optimized using the systems and methods describe herein, and which may be based on mine performance and economic metrics as well as local topography of the rock face.

FIG.7Bis a schematic of an example of a colony710or portion thereof including a squad comprising the digger bot502, the crusher bot504, and the sorter bot510, which may be a flotation bot. The bots are shown on a rock floor712having a rock ceiling714and the digger bot502digging a rock face713. The digger bot502has moved along the rock face713with the crusher bot504following behind to crush the broken rock. The crusher bot504is connected to the sorter bot510via a hose or pipe716. The crushed rock is transmitted from the crusher bot504to the sorter bot510, for example using a pump or hydro-hoist. The sorter bot510beneficiates or concentrates the target mineral to be mined, for example it filters the crushed rock, for example using flotation techniques, to separate desired from undesirable material. Desirable material may then be transmitted along a first hose718for further processing. Undesirable material may be transmitted along a second hose or pipe720as waste or for other purposes, for example to a collector at the surface, to a location at the back of the panel or in a previously-processed area, etc. The crusher bot may directly input material into the sorter bot instead of using hoses or pipes. An additional bot species, a hauler bot, may collect the material from the sorter bot to move it out of the mine or to a location at the back of the panel or in a previously-processed area, etc.

FIG.7Cis a schematic of an example of a colony722or portion thereof including a squad comprising multiple digger bots502and crusher bots504. There are four digger bots502and two crusher bots504. There may be any number of the respective bots. One or more crusher bots504may service the broken rock from one or more digger bots502. As shown, a single crusher bot504services the broken rock from two digger bots502. Other combinations may be implemented.

FIG.7Dis a schematic of an example of a colony724or portion thereof including a squad comprising multiple digger bots502, crusher bots504, and sorter bots510. As shown, a first crusher bot504A services the rock broken by the digger bots502and is connected to a first sorter bot510A via a first hose716A. A second crusher bot504B services the rock broken by the digger bots502and is connected to a second sorter bot510A via a second hose716A. The crusher bots may directly input material into the sorter bots instead of using hoses or pipes. An additional bot species, a hauler bot, may collect the material from the sorter bot to move it out of the mine or to a location at the back of the panel or in a previously-processed area, etc.

FIG.7Eis a schematic of an example of a colony726or portion thereof including multiple squads724A,724B,724C,724D,724E. The squads may be similar to the squads described with respect toFIGS.7A-7D. Each squad may include comprising one or more digger bots502, crusher bots504, and/or sorter bots510. Each squad may be servicing a portion or panel of the mine site. The bots may create tunnels728,730,732,734for accessing the various locations with the mine site. The hoses or pipes may extend along the tunnels. An un-serviced panel733may next be serviced by the squads, for example the squad724E.

Any of the various architectures described herein may be used for managing and operating a wide variety of industrial robotic systems, such as the mining colonies ofFIGS.7A-7E. For example, the system10may be applied to the colony726. The remote control center100may communicate with the colony control center112, which may be located at the colony726. The squad724A may include the bots116,210,322,352,502, etc. The bots may include the processor212ofFIG.2and/or the hardware platform412ofFIG.4. The processing module214and/or224and/or230may use imaging, thermal, environmental, and other sensors to locate and, target and excavate rock, e.g. on the face704ofFIG.7A. The processing module214may control a saw, chisel, and/or other tools to excavate, rock, for example with the digger bot502. The processing modules214,224and230may control the digger, including the excavation payload stack functions and the universal platform functions. The algorithms230may be used for intelligent and collaborative mining operations in conjunction with the other bots, such as the crusher bot506. The bots502,506of the squad724A may communicate with bots from the neighboring squads724B,724C,724D and/or724E. The communications system358may be used by the bots for communicating. The bots may include the hardware platforms414,424,432,442,448and/or454ofFIG.4to move the bot, structurally support the bot, power the bot, analyze data, thermally manage the bot, and/or integrate payload subsystems/tools, such as chisel or saw.

As further example, the colony control centers142,250,302or380may be located at the colony726. The squads and colony control center may communicate via the colony communications network316. The network may be the network370ofFIG.3B. The network316may be provided by communications systems located with the bots of the squads724A, etc. The bots in the colony726may communicate with each other and/or with the network316, such as shown by the bots322,324,332,334ofFIG.3A. The network316may be located along the tunnels728,730,732,734, which may be deployed by networking or communication bots. The bot modules308,310,312ofFIG.3Amay be used for analyzing the data provided by the squads and/or bots. The simulation modules284ofFIG.2may be used for running simulations of the squads or bots for improving control algorithms applied to the squads or bots. The modules286,288,290may be used for simulating machine learning algorithms, robotics controls simulations, and networking simulations, which may be applied to control of the squads724A, etc. The colony control center may communicate this and other data to the remote control center100, to the squads or bots, and/or to other colony control centers. The progress of the mining operation may be supervised, analyzed and supported in this manner to complete the industrial objectives, for example, locating the mine site, forming the mine site, excavating the mine, and closing the mine site. These and other operations may be performed by the squads and bots autonomously with little or no user input from the control centers other than in a planning, supervisory and exception management manner.

The systems and methods for industrial robotics described herein may be implemented as a service package (e.g., including software and bots) for particular industrial projects, such as mining. In some implementations, a “Robotics-as-a-Service” (RaaS) package may be implemented using the architectures described herein. The various management and control architectures and systems may be delivered or otherwise accessible as software for specific use cases. The bots may or may not be included as part of the RaaS package.

For example, within the construction sector, one RaaS service package may be a concrete demolition software package. Based on the specific requirements, squads of bots may be deployed to accomplish the service at hand.

The RaaS approach using the systems and method described herein provides several advantages. For example, customers may not have to be well-versed in robot operations. There may not be a need to carry the capital cost of robots or deal with robot ownership. There may be reduced liability and risk of service delivery to users. There may be flexibility to repurpose and use universal platforms and payload stacks depending on real-time demand from users. There may be flexibility to customize the size and makeup of colony and squad deployments. Value-based pricing may be used which reflects market pricing for the service delivery for a particular task, not robot cost-centric pricing.

H. Example Mining Bots—Example Modular Industrial Bots

FIG.8shows an example of a modular mining bot1100. The mining bot1100may include a universal platform1105. The universal platform1105may be an example of the universal platform500described above and may have the same or similar features and/or functions thereof, and vice versa. The universal platform1105may be used in conjunction with the bot400and other bots described herein. The universal platform1105may provide a single system having uniform structural, computing and support systems that is configured to couple with a variety of interchangeable payload stacks.

The universal platform1105may include a structural frame or platform1106. The structural platform1106may be similar to the structural platform442described above. The structural platform1106may include an upper enclosure1106A and lower support frame1106B with a variety of different mechanical and electrical mounting locations and configurations. The frame1106B may support the various modules and other components of the universal platform, such as the universal bus, etc. The enclosure1106A may house the various modules and components.

The universal platform1105may further include a data module1107. The data module1107may be similar to the data platform432described above. The data module1107may include one or more buses and processors and memory system for storing instructions and one or more antennae and communication modules for communicating with other bots and/or other central or de-centralized control systems such as the colony control system. The various components of data module1107may include controllers in firmware for operating all modules connected with the mining bot1100.

The universal platform1105may further include a power module1108. The power module1108may be similar to the power platform424described above. The power module1108may include one or more of the following: a power supply (e.g., one or more batteries), a wiring and/or a power bus, a voltage or current converter module, controllers, and hardware to provide power to the various other modules of the bot1100. The power module1108may also include a power supply1115. Optionally, the power supply1115may be mounted in conjunction with other modules of the universal platform1105such as within a mobility platform1110.

The universal platform1105may include a thermal module1109. The thermal module1109may be similar to the thermal platform448described above. The thermal module1109may be located with the data module, as shown, or separately or with other components of the platform. The thermal module1109may include one or more of the thermal management module or set of modules, such as a refrigeration or thermal sensor module. Optionally the module may include a heating module. The thermal module1109may generally function to manage a temperature of the mining bot1100which may include one or more heating or cooling components.

The universal platform1105may be connected with the mobility platform1110. The mobility platform1110may be similar to the mobility platform414described above. The mobility platform1110may be coupled with the structural platform1106. Three different possible components for the mobility platform are shown. The mobility platform1110may comprise a tracked module1111, a wheeled module1112, and/or a legged module1113. The completed track module1111with portions on both sides of the universal platform1106are shown. For clarity, only one side of the wheeled module1112and legged module113are shown. Variously, each of the mobility modules may comprise any number of requisite tracks, wheels, or legs (or a hybrid of any of these systems) for providing mobility for the industrial bot500. The mobility platform1110may allow any of the mobility modules1111-1113to be coupled with the structural platform1106providing mobility to the mining bot1100. Accordingly, the structural platform1106may include requisite common mechanical and electrical connection points for installing the mobility modules.

The universal platform1105may comprise a robotic software platform. The robotic software platform may be similar to the software platform of the bot210described above. The robotic software platform may comprise of a controller layer having firmware configured to operate the universal and payload stacks using universal and payload control algorithms, etc., as described herein.

In certain embodiments of the bot, the universal platforms1105may come in different sizes (e.g., a large, medium, or small size). The size utilized may depend on the application for the particular bot. The payload stack1120and the mobility platform1110may also come in different sizes and be interchangeable for each of the corresponding sizes of universal platforms1105. Example sizes and ranges of sizes for the overall bot when assembled include lengths from about 1 foot to about 15 feet, widths from about 1 foot to about 10 feet, and heights from about 2 feet to about 10 feet. In some embodiments, the bots may be from about 5-7 feet long, and/or 3-5 feet wide, and/or 2-4 feet tall.

The mining bot1100may include a payload stack1120. The payload stack1120may include one or a set of payload tools for performing specific industrial tasks. The payload tools may be used for achieving industrial objectives such as specific mining tasks (e.g., excavating, sweeping, etc.). The payload stack1120may be integrated in various areas of the universal platform1105. For example, in some implementations components of the payload stack may be coupled with the structural platform1106on the front rear top, bottom, or sides thereof. Optionally, one or more of the components of the payload stack1120may be coupled with the mobility platform1110or any of the modules thereof. As shown in certain examples, the payload stack1120may include a digger module1121including a digging tool (e.g., a robotic chisel, robotic saw, robotic drill, etc.), a robotic arm module1122including articulable joint and connecting linkages, a dozer module1123including a blade and lift mechanism, a mixer module1124(e.g., for cementious mixtures) including a vessel that may be rotatable, and/or a fluid container module1125including a fluid carrying vessel.

The payload stack1120may be selected in accordance with the specific industrial tasks that are performed by the specific mining bot1100. The following examples of mining bots shown in and described with respect toFIGS.9A-17Bmay each include a universal platform1105and carry a different payload stack1120selected from a plurality of different payload stack types. In addition, the mining bots may also vary in the selected mobility platform1110and/or other of the above modules selected respectively from a plurality of mobility platform types and a plurality of module types.

FIG.9Ashows an embodiment of a digger bot1200. The digger bot1200may have the same or similar features and/or function as the digger bot502described above, and vice versa. The digger bot1200includes the universal platform1105. As shown, the universal platform1105is attached with the mobility platform1110. The mobility platform1110is implemented as the tracked module1111, shown as a two-track system. The digger bot1200may include a digger payload stack1220. The digger payload stack1220may include a digger tool1221, the digger tool1221may comprise a robotic rock removal tool. The robotic rock removal tool may be a drill or a chisel or similar tools for mechanically breaking rock (e.g., from a rock face). The digger tool1221may be electric, pneumatic or otherwise powered. The digger tool1221may provide reciprocating action to the drill or the chisel tip.

The digger payload stack1220may further include a robotic arm1222. The digger tool1221may be mounted on the robotic arm1222. The robotic arm1222may comprise a plurality of articulable joints and linkages. The joints of the robotic arm1222may include servo-actuated rotational or translational joints. The robotic arm1222may be mounted on the universal platform1105.

The digger payload stack1220may further include a sensor1223. The sensor1223may be an optical, infrared, laser or any other type of sensor. The sensor1223may be used for mapping the rock face or other environmental features. The sensor1223may be used in conjunction with the machine learning algorithms for facilitating the removal of excavation of the rock face using the digger tool1221.

In certain embodiments of the bot including the digger payload stack1220, only the single robotic arm1222and the digger tool1221are included. Another embodiment of the digger bot1201, is shown inFIG.9B, where the digger payload stack1220may further include a cutter tool1225. The cutter tool1225may include a reciprocating or rotating blade for cutting into the rock face and breaking the rock thereof. The cutter tool1225may be powered by an electric motor or other type of actuator. The cutter tool1225being mounted on a robotic arm1226. The robotic arm1226may include a plurality of joints and linkages for articulating the position of the cutter tool1225. The digger payload stack1220may be used for bot-specific industrial tasks that include pre-conditioning rock or concrete or any other construction material and breaking rock, concrete or any other construction material.

The digger payload stack1220may also include a second sensor1227. The second sensor1227may be mounted on the second robotic arm1226. Similar to the first sensor1223, the second sensor1227may be used for mapping the rock face and controlling the cutter tool1225. Optionally the sensors1223/1227may be mounted directly on another portion of the universal platform1105.

FIGS.10A-10Cshow an example of a sweeper bot1300and components thereof. The sweeper bot1300may have the same or similar features and/or function as the sweeper/hauler bot514described above, and vice versa. The sweeper bot1300may include the universal platform1105. The sweeper bot1300may include the mobility platform1110. The mobility platform1310may include the tracked module1111. The track module1111may extend along and surround rotating wheels or pulleys to propel the bot1300forward and backward. The sweeper bot1300may include a sweeper payload stack1320. The sweeper payload stack1320may collect loose materials such as excavated rock. The rock may be material that has been excavated from the rock face by the digger bot1200.

The sweeper payload stack1320may include a first sweeper1321. The first sweepers1321may be mounted on a scraper or ramp1321a. The ramp1321amay be a generally planar member. The ramp1321amay be oriented downward at an angle and to contact with a ground surface. The sweeper1321may include a plurality of outwardly oriented brush members. The sweeper1321may rotate to sweep material onto the ramp1321a. The sweeper1321may rotate in a counterclockwise direction. The sweeper payload stack1320may include a second sweeper1322. The second sweeper1322may be mounted on the ramp1321aopposite the first sweeper1321. The second sweeper1322may rotate in a clockwise direction to generally sweep material between the first and second sweepers1321,1322.

The sweeper payload stack1320may include a conveyor1323. The conveyor1323may be located generally between the first and second sweepers1321,1322. The conveyor1323may include a belt mounted on one or more rollers for gathering the swept rock material from the ramp1321aand depositing it inside a receptacle. The receptacle may be located on or in the sweeper bot1300. The sweeper payload stack1320may be used in conjunction with the digger bot1200for excavating purposes. The sweeper payload stack1320may be used for bot-specific industrial tasks that include collecting excavated rock, concrete or any other construction material and transporting excavated rock, concrete or any other construction material.

As shown inFIGS.10B and10C, the sweeper payload stack1320may further include a crusher1324. Alternatively, the crusher1324may be mounted on a separate mining bot from the sweeper bot1300(e.g., a dedicated crusher bot). The gathered rock material may be conveyed into the crusher1324by the conveyor1323. The rock material may be received within an inlet1327into a chip entrainment drum of the crusher1324. The chip entrainment drum may include an outlet1328. The outlet1328may connect with a material bag1329. The crusher1324may include an internal rotor1325. The rotor1325may be rotatably mounted and powered by a motor1326. The rotor1325may include one or more grinding or crushing elements for crushing the contents of the crusher1324. The crusher1324may pulverize the rock fragments into smaller pieces by rotation of the rotor1325. The crushed material of the crusher1324may be blown into the material collection bag1329. The crusher payload stack may be used for bot-specific industrial tasks that include filtering/concentrating excavated rock.

FIG.11Ashows a flotation bot1400. The flotation bot1400may have the same or similar features and/or function as the sorter bot510described above, and vice versa. The flotation bot1400may include the universal platform1105and the mobility platform1110. The flotation bot1400may include the tracked module1111. The flotation bot1400may further include a flotation payload stack1420. The flotation payload stack1420may include a flotation unit1421. The flotation unit1421may be used for separating crushed rock material into target materials and undesirable materials. Crushed rock materials may be received within the flotation payload stack1420. The crushed rock material may then be pumped through the flotation unit1421via a hose. The flotation unit1421may separate the desirable and undesirable materials. The desirable materials may be transmitted along a first pipe or hose. The undesirable materials may be transmitted along another pipe or hose. The flotation payload stack1420may transmit waste or undesirable material such as to another location or area within the mine. The flotation payload stack1420may be used for bot-specific industrial tasks that include filtering/concentrating excavated rock.

FIG.11Bshows an example of a suction bot1500. The suction bot1500may have the same or similar features and/or function as the digger and suction bot591described above, and vice versa. The suction bot1500may include the universal platform1105. The suction bot1500may include the mobility platform1110. The mobility platform may include the tracked module1111. The suction bot1500may further include a suction payload stack1520. The suction payload stack1520may include a suction member1521. The suction member1521may be mounted to a robotic arm1522. The robotic arm1522may comprise a plurality of joint and linkages for articulating and manipulating the position of the suction member1521. Optionally, a second suction member and/or robotic arm1523may be included. The suction payload stack1520may be used to transport and/or lift material (e.g., concrete slabs). The suction bot1500for example may raise tools or materials into position for being secured therein. For example, they may raise reinforcing materials that may then be secured in place by other types of bots in a repair squad. As a part of the demolition squad the suction bot1500may sweep and haul away materials that are undesirable to have inside of the operating area. The suction payload stack1520may be used for bot-specific industrial tasks that include suctioning or supporting rock, concrete or any other construction material.

FIG.12Ashows another example of a sweeper bot1600. The sweeper bot1600may include the universal platform1105. The sweeper bot1600may include a mobility platform1110and/or the tracked module1111. The sweeper bot1600may include a sweeper payload stack1620. The sweeper payload stack1620may be identical to the sweeper payload stack1320, with the following features: a first sweeper member1621, a second sweeper member1622a scraper1626on which the first and second sweeper members1621.1622are mounted, and/or a conveyor1623coupled with the scraper1626between the first and second sweeper member1621,1622. The sweeper payload stack1620may further include a first arm1624. The first arm1624may include plurality of linkages and joints. The first arm1624may be mounted on the scraper1626. The first arm1624may be generally be articulable to retrieve materials and push them into the first sweeper1621. A distal end of the first arm1624may extend outward from the sweeper1621, gather material, and push it into the bristles of the sweeper1621. This may facilitate faster and more efficient recovery of materials into the conveyor1623. Similarly, the second side may include a second robotic arm1625that operates similar to the first robotic arm with respect to the second sweeper1622.

FIG.12Bshows an example of a shotcrete bot1700. The shotcrete bot1700may have the same or similar features and/or function as the shotcrete bot582described above, and vice versa. Shotcrete may comprise a sprayed concrete compound or other sprayed hardening compound. The shotcrete bot1700may include the universal platform1105. The shotcrete bot1700may include the mobility platform1110and/or the tracked module1111. The shotcrete bot1700may include a shotcrete payload stack1720. A shotcrete payload stack may include a nozzle1721for spraying the shotcrete compound. The nozzle1721may be controllable by a robotic arm1722including a plurality of joint and linkages. The shotcrete payload stack1720may further include a supply hose1723. The supply hose1723may be coupled with a reservoir of the shotcrete compound either on the shotcrete bot1700or on another bot or other supply source through the supply hose1723. The shotcrete payload stack1720may generally be used for construction such as applying cementitious material to a mine section (for example panel or tunnel). The shotcrete payload stack1720may form part of a tunneling/repair squad or other type of squad. The shotcrete payload stack1720may be used for bot-specific industrial tasks that include applying cementitious material to supporting rock, concrete or any other construction material, reinforcing rebar, and applying passivating coating.

FIG.12Cshows an example of a bolting bot1800. The bolting bot1800may have the same or similar features and/or function as the bolting bot588described above, and vice versa. The bolting bot1800may include the universal platform1105. The bolting bot1800may include the mobility platform1110and/or the tracked module1111. The bolting bot1800may include a bolt payload stack1820. The bolt payload stack1820may include a bolt inserter1821. The bolt inserter1821may comprise a magazine of mechanical fasteners such as bolts, screws, nails, anchors, or the like. The mechanical fasteners may be fed into an actuator by the magazine. The actuator may apply a force to the fasteners for inserting the fasteners into a substrate. The bolt inserter1821may be articulable via a robotic arm and may comprise one or more joints and linkages. The bolting bot1800may form part of a tunneling or repair robotic squad or other type of squads. The bolt payload stack1820may generally be used to insert reinforcement bolting a mine section (for example panel or tunnel). The bolting payload stack1820may be used for bot-specific industrial tasks that include reinforcement bolting of supporting rock, concrete or any other construction material.

FIG.12Dshows an example of a welding bot1900. The welding bot1900may have the same or similar features and/or function as the welding bot584described above, and vice versa. The welding bot1900may include the universal platform1105. The welding bot1900may include the mobility platform1110and/or the tracked module1111. The welding bot1900may include a welding payload stack1920. The welding payload stack1920may include a weld head1921. The weld head1921may comprise one or more welding members that are powered by an electrical source and connected thereto with one or more wires. The weld head1921may be articulable by a robotic arm1922. The robotic arm1922may comprise one or more joints and linkages for manipulating the position of the weld head1921. The welding payload stack1920may function as a welding unit for connecting to metallic materials. The welding bot1900may form part of tunneling, repair or similar types of robotic squads. The welding payload stack1920may be used for bot-specific industrial tasks that include welding or repairing and reinforcing rebar or tunnel support materials.

FIGS.13A-13Cshow, respectively, three different embodiments of digger bots2000,2001,2002. The digger bots2000,2001,2002may include the universal platform1105and the mobility platform1110. The digger bots2000,2001,2002may include a digger payload stack2020. The digger payload stack2020may include excavating tools such as those described above. The digger bot2000, as shown inFIG.13A, may have the mobility platform1110that includes the tracked module1111. The digger bot2001, as shown inFIG.13B, my have the mobility platform2010bthat includes the wheeled module1112. In the example shown, each side of the wheeled module1112includes three wheels. The digger bot2002, as shown inFIG.13C, may include the mobility platform1110that includes the legged module1113. Each side of the legged module1113includes three legs that may be articulated to provide mobility to the digger bot2002. Each of the different mobility module of the mobility platform1110may be interchangeable with the same universal platform1105and the digger payload stack2020.

FIG.14Ashows an example of a dozer bot2100. The dozer bot2100may include the universal platform1105. The dozer bot2100may include the mobility platform1110and/or the tracked module1111. The dozer bot2100may include a dozer payload stack2120. The dozer payload stack2120may include a blade and/or lift module2121. The dozer payload stack2120may be generally used for moving loose materials such as crushed rock. The dozer payload stack2120may be used in various robotic squads such as tunneling, demolition, repair, and clean-up squads.

FIG.14Bshows an embodiment of a pump bot2200. The pump bot2200may have the same or similar features and/or function as the pump bot536described above, and vice versa. The pump bot2200may include the universal platform1105. The pump bot2200may include the mobility platform1110having wheeled module1112. The pump bot2200may include a fluid payload stack2220. The fluid payload stack2220may include a suction nozzle2221. The fluid payload stack2220may include a robotic arm2222. The suction nozzle2221may be mounted on the robotic arm2222. The fluid payload stack2220may include one or more reservoirs2223. The reservoirs2223may be coupled with the hose attached with the suction nozzle2221and use the suction nozzle2221may suck up fluids into the fluid reservoirs2223. Alternatively, or in addition, the suction nozzle2221may be a spray nozzle. The fluid payload stack2220may be used in various robotic squads such as tunneling, demolition, repair, and clean-up squads. The fluid payload stack2220may be used for suctioning water from a mine section (for example stope or tunnel). In another implementation, the pump bot2200may be configured as a sandblaster & sprayer bot (not shown). The sandblaster & sprayer bot may include a nozzle configured for spraying a substance to aid in the excavation, cleanup, or other mining-related tasks. The fluid payload stack2220may be used for bot-specific industrial tasks that include suctioning or pumping water, cleaning, and applying passivating coating.

FIG.14Cshows a 3D construction bot2300. The 3D construction bot2300may have the same or similar features and/or function as the builder bot570described above, and vice versa. The 3D construction bot2300may include the universal platform1105. The 3D construction bot2300may include the mobility platform1110and/or the tracked module1111. The 3D construction bot2300may include a 3D construction payload stack2320. The 3D construction payload stack2320may include a nozzle2321. The nozzle2321may be mounted on a robotic arm2322. The robotic arm2322may comprise one or more joints and linkages for moving the nozzle232. A hose may extend along the robotic arm2322and couple with the nozzle2321. The hose may be coupled with a 3D compound reservoir2323. The reservoir2323may be coupled with a pump for pumping a 3D construction compound to the nozzle2321. The 3D construction compound may be a cement, polymer or other type of compound used for construction of new materials, filling in gaps, application of adhesives, and similar activities. The 3D construction bot2300may be used in various robotic squads such as tunneling and repair squads. The 3D construction payload stack2320may be used for bot-specific industrial tasks that include applying cementitious material or reinforcement to supporting rock, concrete or any other construction material.

FIG.14Dshows an example of a manipulator bot2400. The manipulator bot2400may have the same or similar features and/or function as the manipulator bot586described above, and vice versa. The manipulator bot2400may include the universal platform1105. The manipulator bot2400may include the mobility platform1110and/or tracked module1111. The manipulator bot2400may include a repair payload stack2420. The repair payload stack2420may include a robotic manipulator2421. The robotic manipulator2421may include one or more articulable members such as a clamping mechanism for grasping an manipulating other objects. The robotic manipulator2421may be coupled with a robotic arm2423. The robotic arm2423may include a plurality of joints and linkages for moving the robotic manipulator2421. Optionally, the repair payload stack2420may include second robotic manipulator2422and robotic arm2424. The manipulator bot2400may be used in various robotic squads such tunneling, demolition, repair, and clean-up squads. The repair payload stack2420may be used for bot-specific industrial tasks that include cleaning, repairing, reinforcing rebar and removing corrosion.

FIGS.15A-15Cshow, respectively, example embodiments of survey bots2500,2501,2502. The survey bots2500,2501,2502may have the same or similar features and/or function as the survey bot566described above, and vice versa. The survey bots2500,2501,2502may include the universal platform1105and the mobility platform1110. The survey bots2500,2501,2502may include a survey payload stack2520. The survey payload stack2520may include a survey module2521. The survey module2521may include one or more sensors such as lasers, infrared, GPS or similar for performing survey tasks. The survey payload stack2520may further include a robotic arm2522. The robotic arm2522may include an end effector2523. The end effector2523may include a positioning system wherein the end of the end effector2523may be used for taking measurements of other objects and environments in conjunction with these survey tasks of the survey bot2500.FIG.15Ashows the survey bot2500with the mobility platform1110including the tracked module1111.FIG.15Bshows the survey bot2501with the mobility platform1110including the wheeled module1112.FIG.15Cshows the survey bot2502with the mobility platform1110having the legged module1113.

FIG.16Ashows an example of a lunar tanker bot2600. The lunar tanker bot2600may include the universal platform1105. The lunar tanker bot2600may include the mobility platform1110. The mobility platform1110may include lunar tracked module1114including a pair of tracks having a plurality of flanges extending therefrom and configured for use in a lunar environment. The lunar tanker bot2600may include a fluid payload stack2620, similar to the fluid payload stack2220.

FIG.16Bshows an example of a lunar bulldozer2700. The lunar bulldozer2700may include the universal platform1105. The lunar bulldozer2700may include the mobility platform1110. The mobility platform1110may include a lunar wheeled module1115having one or more wheels on each side. The wheels may include flanges that extend outwardly from a center radius. The wheels may be designed for use on the surface of the moon. The lunar bulldozer2700may include a dozer payload stack2720, similar to the dozer payload stack2120.

FIG.16Cshows an example of a lunar digger bot2800. The lunar digger bot2800may include the universal platform1105. The lunar digger bot2800may include the mobility platform1110. The mobility platform1110may include the lunar wheeled module1115. The lunar digger bot2800may include a digger payload stack2820, similar to the digger payload stack1220described above.

FIG.17Ashows a microgravity service bot2900. The microgravity service bot2900may include the universal platform1105. The microgravity service bot2900may include the mobility platform21110. The mobility platform1110may include a booster module1116having a plurality of boosters on front, rear, left, right, upper and/or lower sides. The booster module1116may be configured to provide propulsion and navigation in a microgravity environment, such as on the moon or an asteroid. The microgravity service bot2900may include a repair payload stack2920. The repair payload stack2920may comprise one or more robotic grippers coupled with corresponding robotic arm, similar to the repair payload stack2420.

FIG.17Bshows an example of a hauler bot3000. The hauler bot3000may include the universal platform1105. The hauler bot3000may include the mobility platform1110having the booster module1116. The hauler bot3000may include a solar payload stack3020. The solar payload stack3020be configured to gather solar energy through one or more solar cell arrays.

While the above detailed description has shown, described, and pointed out novel features of the development as applied to various examples, it will be understood that various omissions, substitutions, and changes in the form and details of the systems or processes illustrated may be made by those skilled in the art without departing from the spirit of the development. As will be recognized, the present development may be embodied within a form that does not provide all of the features and benefits set forth herein, as some features may be used or practiced separately from others. The scope of the invention is indicated by the appended claims rather than by the foregoing description. All changes which come within the meaning and range of equivalency of the claims are to be embraced within their scope. The systems, devices, and methods may thus be practiced in many ways.

It will also be appreciated by those of skill in the art that parts included in one example are interchangeable with other examples; one or more parts from a depicted example may be included with other depicted examples in any combination. For example, any of the various components described herein and/or depicted in the Figures may be combined, interchanged or excluded from other examples. The use of headings is for ease of reading only, and is not meant to limit the scope of the disclosure in any way. Any features or examples from one heading section may be applied to any other features or examples of other heading sections.

The flow chart sequences are illustrative only. A person of skill in the art will understand that the steps, decisions, and processes embodied in the flowcharts described herein may be performed in an order other than that described herein. Thus, the particular flowcharts and descriptions are not intended to limit the associated processes to being performed in the specific order described.

It will be understood by those within the art that, in general, terms used herein are generally intended as “open” terms (e.g., the term “including” should be interpreted as “including but not limited to,” the term “having” should be interpreted as “having at least,” the term “includes” should be interpreted as “includes but is not limited to,” etc.). The term “comprising” as used herein is synonymous with “including,” “containing,” or “characterized by,” and is inclusive or open-ended and does not exclude additional, unrecited elements or method steps.

All numbers expressing quantities used in the specification and claims are to be understood as being modified in all instances by the term “about,” unless otherwise indicated. Accordingly, unless indicated to the contrary, the numerical parameters set forth in the specification and attached claims are approximations that may vary depending upon the desired properties sought to be obtained by the present invention. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should be construed in light of the number of significant digits and ordinary rounding approaches. For example, terms such as about, approximately, substantially, and the like may represent a percentage relative deviation, in various examples, of ±1%, ±5%, ±10%, or ±20%.