# US 10,118,292 B2 · Systems and methods for configuring field devices using a configuration device > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,118,292 B2 - Document ID: US10118292B2 - Status: Granted - Kind: B2 - Application number: 15/240,530 - Filed: 2016-08-18 - Published: 2018-02-22 - Granted: 2018-11-06 - Earliest claimed: 2016-08-18 - Assignees: Saudi Arabian Oil Company - Applicants: Saudi Arabian Oil Company - Inventors: Brian Parrott; Pablo Carrasco Zanini - Web page: https://patentgrep.com/patent/US10118292B2 ## CPC - B25J 9/0084: {comprising a plurality of manipulators} - B25J 11/0085: {Cleaning} - G05D 1/695: for maintaining a fixed relative position of the vehicles, e.g. for convoy travelling or formation flight - G05D 1/6987: {by centralised control off-board any of the vehicles} - H02S 40/10: Cleaning arrangements - H04W 4/02: Services making use of location information - H04W 4/026: {using orientation information, e.g. compass} - H04W 4/027: {using movement velocity, acceleration information} - H04W 4/30: Services specially adapted for particular environments, situations or purposes - H04W 4/80: Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication - H04W 8/005: {Discovery of network devices, e.g. terminals} - H04W 8/26: Network addressing or numbering for mobility support - G05B 2219/23161: Hand held terminal PDA displays machine control program when user is near that machine - G05B 2219/23406: Programmer device, portable, handheld detachable programmer - G05B 2219/31034: Component identifier and location indicator corresponding to component - G05D 2105/10: for cleaning, vacuuming or polishing - G05D 2105/80: for information gathering, e.g. for academic research - G05D 2107/75: {Electric power generation plants} - G05D 2109/10: Land vehicles - G05D 2109/20: Aircraft, e.g. drones - Y02E 10/50: Photovoltaic [PV] energy - Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS] - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - H02S: GENERATION OF ELECTRIC POWER BY CONVERSION OF INFRARED RADIATION, VISIBLE LIGHT OR ULTRAVIOLET LIGHT, e.g. USING PHOTOVOLTAIC [PV] MODULES (obtaining electrical energy from radioactive sources G21H1/12; light sensitive inorganic semiconductor devices H10F; light sensitive organic semiconductor devices H10K30/00; thermoelectric devices H10N10/00; pyroelectric devices H10N15/00) - H04W: WIRELESS COMMUNICATION NETWORKS (broadcast communication H04H; communication systems using wireless links for non-selective communication, e.g. wireless extensions H04M1/72) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - Y02E: REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION - Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS ## Abstract A system and method is disclosed for configuring a group of mobile field devices using a configuration device (an HMI) is provided. In particular, the HMI is programmed to configure identically programmed field devices that are arbitrarily arranged in an application-dependent formation by defining and providing configuration parameters to the devices via wired and/or wireless communication. In particular, the HMI assigns a unique identifier to respective robots as a function of the position of the robot within the formation or the layout of the environment. Accordingly each robot can be efficiently configured by the HMI to operate independently yet as a coordinated member of the group and without requiring the robots to be placed in specific positions during the initial deployment. This obviates the need for constant independent control commands for each robot by a central controller or providing a customized control program to each robot during deployment. ## Claims ### Claim 1 A method for configuring a plurality of mobile field devices to perform non-identical operations in a coordinated manner according to a control program, each field device including a non-transitory computer readable memory storing the control program, a wireless transceiver and a processor that is configured by executing the control program, comprising: arranging, in an operational environment, a plurality of field devices to occupy respective starting positions in an application-dependent formation, wherein the field devices are programmed with the same control program and are arranged without regard to which particular field device occupies which starting position in the formation, and wherein the control program on each field device is configured to use a field-assigned respective device identifier (ID) to coordinate non-identical operation by a respective field device and coordinate application-dependent, formation-based operations by the plurality of field devices; prompting, with an HMI using an associated display, the operator to sequentially configure the plurality of field devices according to a prescribed formation-dependent order beginning with a first starting position in the formation, wherein the HMI is a portable computing device including a computer-readable storage medium having executable instructions stored therein, one or more position sensors, the display, a wireless transceiver and a processor that is configured by executing the instructions; and configuring each of the plurality of field devices, wherein, for each of the plurality of field devices, configuring comprises: positioning a human-machine interface (HMI) and a particular field device in proximity, establishing, by the HMI using the transceiver, wireless communication between the HMI and the particular field device, determining, by the HMI, the respective starting position occupied by the particular field device in the formation, wherein the respective starting position is a relative position within the formation, and wherein the HMI determines the respective starting position occupied by the particular field device as a function of the prescribed formation-dependent order and a record of any previous configurations of one or more field devices among the plurality of field devices, and, wherein the device ID is incremented by the HMI as each field device is configured automatically defining, by the HMI, configuration settings for the particular field device including at least a respective device identifier (ID), wherein the device IDs are defined incrementally and as a function of the respective starting position within the formation, and transferring, by the HMI using the wireless transceiver, the configuration settings to the particular robot to configure the particular robot; and initiating coordinated operation of the plurality of field devices according to the control program and the respective configuration settings. ### Claim 2 (depends on 1) The method of claim 1, wherein the HMI wireless transceiver is a radio frequency transceiver configured for short-range inductive wireless communication. ### Claim 3 (depends on 1) The method of claim 1, wherein the configuration settings also includes information concerning the formation including one or more of: a number of field devices in the formation, relative positions of the plurality of field devices, a layout of the formation, a layout of the environment. ### Claim 4 (depends on 1) The method of claim 1, wherein the respective device ID is defined irrespective of any pre-existing unique identifier assigned to the particular field device. ### Claim 5 (depends on 1) The method of claim 1, wherein the control program is identical for each of the plurality of field devices and wherein the respective device ID is unique such that, during operation based on the control program, the respective device ID enables unique operation of the respective field devices and coordinated operation of the respective field device relative to the operation of one or more other field devices as a function of the particular position in the formation. ### Claim 6 (depends on 1) The method of claim 1, wherein the one or more position sensors are selected from the group consisting of: a GPS receiver, an accelerometer, and a gravity magnetometer, and wherein determining the respective starting position further comprises: detecting, with the HMI using the position sensor, a current position of the HMI; comparing, with the processor, the current position to a reference layout of one or more of the formation and the operational environment; and identifying, by the HMI, the respective starting position based on the comparison. ### Claim 7 (depends on 6) The method of claim 6, further comprising, updating the reference layout in the memory of the HMI according to the detected current position and the assigned device ID. ### Claim 8 (depends on 6) The method of claim 6, wherein defining configuration settings further comprises: determining, by the HMI using the one or more position sensors, position data for the HMI; and translating the position data into localization data for the particular field device for transmission to the field device, wherein the localization data includes one or more of an orientation, an absolute location, a direction, and a position relative to one or more other devices or landmarks in the reference layout. ### Claim 9 (depends on 8) The method of claim 8, further comprising: determining, at the HMI, application-dependent parameters relating to the particular position of the particular field device in the formation including one or more of: a layout of at least a portion of the operational environment and control settings that serve to enable communication between the particular field device and other devices within the operational environment; and transmitting, by the HMI using the wireless transceiver, the application-dependent parameters to the particular field device. ### Claim 10 (depends on 9) The method of claim 9, wherein the other devices include one or more stand-alone control computers configured to assist the operation of the plurality of robots according to the control program, and further comprising: establishing, with the HMI using the wireless transceiver, communication with the one or more stand-alone control computers; receiving, with the HMI from the one or more stand-alone control computers, the control settings. ### Claim 11 (depends on 1) The method of claim 1, further comprising: receiving, with the processor from the respective field device, data identifying a type of the field device; and launching, with the HMI processor, a configuration application specific to the identified robot type, and wherein the configuration settings are defined according to the configuration application and as a function of any preceding configurations of one or more other field devices. ### Claim 12 (depends on 1) The method of claim 1, further comprising: acquiring, with the HMI from the respective field device, operational data including one or more of: an operational history, a power consumption level, an operational status, and sensor readings; recording, with the HMI in the storage, the acquired operational data; modifying, with the HMI, the configuration settings according to the acquired operational data; and providing, with the HMI using the wireless transceiver, the operational data to one or more of stand-alone control computers and field devices. ### Claim 13 (depends on 1) The method of claim 1, wherein the field devices are identical mobile robotic devices. ### Claim 14 (depends on 1) The method of claim 1, wherein the field devices are multiple groups of different types of field devices and wherein each group of field devices is comprised of multiple robots of identical type, and further comprising: performing the configuring step for each of the multiple groups of field devices, and wherein the control program coordinates application-dependent, formation-based operations by the plurality of groups of field devices based on the assigned device IDs and a respective type of field device. ### Claim 15 (depends on 1) The method of claim 1, wherein the HMI serves as a control station for the one or more field devices once configuration is complete. ### Claim 16 (depends on 1) The method of claim 1, wherein the control program coordinates non-identical operation by a respective field device and coordinates application-dependent, formation-based operations by the group of field devices as a function of one or more of: deployment-specific configuration data, sensor data, data detected from a sensor on board the respective field device, and commands received by the respective field device from another device during operation. ### Claim 17 (depends on 1) The method of claim 1, wherein the step of determining the respective starting position occupied by the particular field device in the formation is determined as a function of a user input. ### Claim 18 (depends on 16) The method of claim 16, wherein the HMI transmits operational commands to a particular field device that are addressed using a respective assigned device ID. ### Claim 19 (depends on 1) The method of claim 1, further comprising: receiving, by the HMI from one or more of the plurality of mobile devices, operational data; displaying, the operational data with the HMI using an associated display. ### Claim 20 (depends on 1) The method of claim 1, further comprising: replacing, a particular field device among the plurality of field devices with a replacement field device; determining, with the HMI, a particular respective device ID assigned to the particular field device being replaced; and repeating the steps of: positioning the HMI and a replacement field device in proximity, establishing, by the HMI using the transceiver, wireless communication between the HMI and the replacement field device, automatically defining, by the HMI, configuration settings for the replacement field device including at least the particular respective device ID, and transferring, by the HMI using the wireless transceiver, the configuration settings to the replacement field device to configure the replacement field device.