Customized robotic installation based on measurements collected on site

Patent metadata

Field	Value
Publication number	US-10882181-B2
Application number	US-201916251175-A
Country	US
Kind code	B2
Filing date	Jan 18, 2019
Priority date	Jul 28, 2016
Publication date	Jan 5, 2021
Grant date	Jan 5, 2021

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 computer-implemented method comprising:
accessing a design specification that references (i) modeled characteristics of one or more physical objects that are to be assembled into a physical structure, (ii) a production process for assembling the physical objects into the physical structure, and (iii) a range of allowable modifications to the production process for satisfying an overall design intent associated with the physical object while accounting for differences between the modeled characteristics of the one or more physical objects and corresponding, actual characteristics of the one or more physical objects;
before or during assembly of the physical objects into the physical structure using the production process, assessing the one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
selecting a particular, allowable modification for satisfying the overall design intent associated with the physical object based at least on the assessed one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
modifying the production process according to the selected, particular, allowable modification; and
using, by a control system of a robot, the modified production process to assemble the physical objects into the physical structure.

2. The method of claim 1 , comprising measuring the actual characteristics of the one or more physical objects.

3. The method of claim 1 , wherein the modified production process uses an articulated robotic arm is used to assemble the physical objects into the physical structure.

4. The method of claim 1 , wherein selecting the particular, allowable modification comprises determining that, based at least on the assessed one or more differences, the physical structure can still satisfy the overall design intent.

5. The method of claim 1 , wherein selecting the particular, allowable modification comprises identifying multiple, candidate modifications to the production process that each satisfy the overall design intent, and selecting, as the particular, allowable modification, a highest ranked candidate modification.

6. The method of claim 1 , wherein the overall design intent is specified as a mechanical constraint or capability of the physical structure.

7. A system comprising:
one or more processing devices; and
one or more non-transitory machine-readable storage devices storing instructions that are executable by the one or more processing devices to perform operations comprising:
accessing a design specification that references (i) modeled characteristics of one or more physical objects that are to be assembled into a physical structure, (ii) a production process for assembling the physical objects into the physical structure, and (iii) a range of allowable modifications to the production process for satisfying an overall design intent associated with the physical object while accounting for differences between the modeled characteristics of the one or more physical objects and corresponding, actual characteristics of the one or more physical objects;
before or during assembly of the physical objects into the physical structure using the production process, assessing the one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
selecting a particular, allowable modification for satisfying the overall design intent associated with the physical object based at least on the assessed one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
modifying the production process according to the selected, particular, allowable modification; and
using, by a control system of a robot, the modified production process to assemble the physical objects into the physical structure.

8. The system of claim 7 , wherein the operations comprise measuring the actual characteristics of the one or more physical objects.

9. The system of claim 7 , wherein the modified production process uses an articulated robotic arm is used to assemble the physical objects into the physical structure.

10. The system of claim 7 , wherein selecting the particular, allowable modification comprises determining that, based at least on the assessed one or more differences, the physical structure can still satisfy the overall design intent.

11. The system of claim 7 , wherein selecting the particular, allowable modification comprises identifying multiple, candidate modifications to the production process that each satisfy the overall design intent, and selecting, as the particular, allowable modification, a highest ranked candidate modification.

12. The system of claim 7 , wherein the overall design intent is specified as a mechanical constraint or capability of the physical structure.

13. A non-transitory computer storage device encoded with a computer program, the program comprising instructions that when executed by one or more processors cause performance of operations comprising:
accessing a design specification that references (i) modeled characteristics of one or more physical objects that are to be assembled into a physical structure, (ii) a production process for assembling the physical objects into the physical structure, and (iii) a range of allowable modifications to the production process for satisfying an overall design intent associated with the physical object while accounting for differences between the modeled characteristics of the one or more physical objects and corresponding, actual characteristics of the one or more physical objects;
before or during assembly of the physical objects into the physical structure using the production process, assessing the one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
selecting a particular, allowable modification for satisfying the overall design intent associated with the physical object based at least on the assessed one or more differences between the modeled characteristics of the one or more physical objects and the corresponding, actual characteristics of the one or more physical objects;
modifying the production process according to the selected, particular, allowable modification; and
using, by a control system of a robot, the modified production process to assemble the physical objects into the physical structure.

14. The device of claim 13 , wherein the operations comprise measuring the actual characteristics of the one or more physical objects.

15. The device of claim 13 , wherein the modified production process uses an articulated robotic arm is used to assemble the physical objects into the physical structure.

16. The device of claim 13 , wherein selecting the particular, allowable modification comprises determining that, based at least on the assessed one or more differences, the physical structure can still satisfy the overall design intent.

17. The device of claim 13 , wherein selecting the particular, allowable modification comprises identifying multiple, candidate modifications to the production process that each satisfy the overall design intent, and selecting, as the particular, allowabl

Assignees

• X Dev Llc

Inventors

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

Classifications

• B25J9/1694

  characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion · CPC title

• B25J9/1602 Primary

  characterised by the control system, structure, architecture · CPC title

• B25J9/16 Primary

  Program controls (total factory control, i.e. centrally controlling a plurality of machines, G05B19/418) · CPC title

• B25J9/1669 Primary

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

• B25J9/1674

  characterised by safety, monitoring, diagnostic · CPC title