Customized robotic installation based on measurements collected on site

Patent metadata

Field	Value
Publication number	US-10220511-B2
Application number	US-201615222583-A
Country	US
Kind code	B2
Filing date	Jul 28, 2016
Priority date	Jul 28, 2016
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

A robotic system includes one or more end-effectors that combine, according to a production process, at least one object and structure(s) at a production site. Sensor(s) generate, from the production site, sensor data relating to the production process. A control system stores specifications for the production process based on a model of the production site and/or the at least one object. The control system: receives, from the sensor(s), the sensor data; determines, from the sensor data, properties of at least one of: the production site or the at least one object; determines difference(s) between the properties and the model; determine(s) adjustment(s) to the production process based on the difference(s); and sends, for the end-effector(s), instruction(s) for combining the at least one object and the structure(s) based on the specifications and the one or more adjustments to the production process.

First claim

What is claimed is:

1. A method for a robotic system, comprising:
positioning one or more end-effectors of a robot at a production site, the one or more end-effectors configured to combine, according to a production process, at least one object and one or more structures at the production site;
determining, with one or more sensors at the production site, sensor data relating to the production process;
storing, on one or more data storage devices, specifications for the production process based on a model of at least one of the production site or the at least one object, the specifications indicating constraints that have to be satisfied, and preferences that do not have to be satisfied, wherein each preference indicated by the specifications includes indicia indicating an importance of satisfying the preference relative to satisfying other preferences indicated by the specifications;
determining, from the sensor data, properties of at least one of the production site or the at least one object;
determining one or more differences between the properties and the model;
identifying, by an automated control system for the robot, multiple different approaches for customizing the production process to yield a physical structure that satisfies the constraints despite the one or more differences between the properties and the model;
selecting, by the automated control system for the robot and from among the multiple different approaches for customizing the production process, a particular approach for customizing the production process that satisfies the constraints indicated by the specifications and that satisfies one or more of the specifications having a highest relative importance of satisfying the preference;
determining one or more adjustments to the production process based on the one or more differences and the selected, particular approach for customizing the production process; and
sending, for the one or more end-effectors, one or more instructions for combining the at least one object and the one or more structures based on the specifications and the one or more adjustments to the production process.

2. The method of claim 1 , wherein the one or more structures is a part of the production site, and combining the at least one object and the one or more structures includes installing the at least one object into or onto the one or more structures.

3. The method of claim 1 , further comprising determining, with the one or more sensors, additional sensor data relating to the one or more structures wherein the one or more adjustments to the production process are determined further on the additional sensor data.

4. The method of claim 1 , wherein determining the sensor data includes measuring physical dimensions of at least one of the production site or the at least one object.

5. The method of claim 1 , wherein determining the sensor data includes measuring environmental conditions at the production site.

6. The method of claim 5 , further comprising sending a report relating to combining the at least one object and the one or more structures based on the specifications and the one or more adjustments.

7. A robotic system comprising one or more computers and one or more storage devices storing instructions that are operable, when executed by the one or more computers, to cause the one or more computers to perform operations comprising:
positioning one or more end-effectors of a robot at a production site, the one or more end-effectors configured to combine, according to a production process, at least one object and one or more structures at the production site;
determining, with one or more sensors at the production site, sensor data relating to the production process;
storing, on one or more data storage devices, specifications for the production process based on a model of at least one of the production site or the at least one object, the specifications indicating constraints that have to be satisfied, and preferences that do not have to be satisfied, wherein each preference indicated by the specifications includes indicia indicating an importance of satisfying the preference relative to satisfying other preferences indicated by the specifications;
determining, from the sensor data, properties of at least one of the production site or the at least one object;
determining one or more differences between the properties and the model;
identifying, by an automated control system for the robot, multiple different approaches for customizing the production process to yield a physical structure that satisfies the constraints despite the one or more differences between the properties and the model;
selecting, by the automated control system for the robot and from among the multiple different approaches for customizing the production process, a particular approach for customizing the production process that satisfies the constraints indicated by the specifications and that satisfies one or more of the specifications having a highest relative importance of satisfying the preference;
determining one or more adjustments to the production process based on the one or more differences and the selected, particular approach for customizing the production process; and
sending, for the one or more end-effectors, one or more instructions for combining the at least one object and the one or more structures based on the specifications and the one or more adjustments to the production process.

8. The system of claim 7 , wherein the one or more structures is a part of the production site, and combining the at least one object and the one or more structures includes installing the at least one object into or onto the one or more structures.

9. The system of claim 7 , wherein the operations comprise determining, with the one or more sensors, additional sensor data relating to the one or more structures wherein the one or more adjustments to the production process are determined further on the additional sensor data.

10. The system of claim 7 , wherein determining the sensor data includes measuring physical dimensions of at least one of the production site or the at least one object.

11. The system of claim 7 , wherein determining the sensor data includes measuring environmental conditions at the production site.

12. The system of claim 11 , wherein the operations comprise sending a report relating to combining the at least one object and the one or more structures based on the specifications and the one or more adjustments.

13. A non-transitory computer-readable storage device storing instructions executable by one or more computers which, upon such execution, cause the one or more computers to perform operations comprising:
positioning one or more end-effectors of a robot at a production site, the one or more end-effectors configured to combine, according to a production process, at least one object and one or more structures at the production site;
determining, with one or more sensors at the production site, sensor data relating to the production process;
storing, on one or more data storage devices, specifications for the production process based on a model of at least one of the production site or the at least one object, the specifications indicating constraints that have to be satisfied, and preferences that do not have to be satisfied, wherein each preference indicated by the specifications includes indicia indicating an importance of satisfying the preference relative to satisfying other preferences indicated by the specifications;
determining, from the sensor data, properties of at least one of the production site or the at least one object;
determining o

Assignees

• X Dev Llc

Inventors

• Linnell Jeff
• Jules Anthony
• Michalowski Marek
• Byrne Kendra
• Proto Jonathan
• Kruysman Brandon
• Reekmans Eli

Classifications

• B25J9/163 Primary

  learning, adaptive, model based, rule based expert control · CPC title

• G05B17/02

  electric · CPC title

• B25J9/1669 Primary

  characterised by special application, e.g. multi-arm co-operation, assembly, grasping · CPC title

• B25J9/1671

  characterised by simulation, either to verify existing program or to create and verify new program, CAD/CAM oriented, graphic oriented programming systems · CPC title

• G05B2219/45086

  Brick laying, masonry robot · CPC title