US 10,882,181 B2Granted

Customized robotic installation based on measurements collected on site

AssigneeX Development LLC

InventorsJeff Linnell, Anthony Jules, Marek Michalowski, Kendra Byrne, Jonathan Proto, Brandon Kruysman, Eli Reekmans

Life of this patent

Estimating the term…

Loading patent…

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.

Claims18

Dependent claims

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.

3 more elements

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.

6 more elements

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.

3 more elements

Dependencies are inferred from the claim text.

Facts

Application: 16/251,175Filed 18 Jan 2019 · continuation
Priority: 28 Jul 2016
Published: US 2019/0184555 A120 Jun 2019
Granted: 5 Jan 2021
Term ends: Not estimatedThe source records don’t support an estimate.

Classification13 codes

B25J 9/163
Characterised by the control loop: learning, adaptive, model based, rule based expert control
B25J 9/1669
Characterised by programming, planning systems for manipulators: characterised by special application, e.g. multi-arm co-operation, assembly, grasping
B25J 9/1671
Characterised by programming, planning systems for manipulators: characterised by simulation, either to verify existing program or to create and…
B25J 9/1674
Program controls: characterised by safety, monitoring, diagnostic

Family

Application15/222,583Parent of this continuation · filed 28 Jul 2016
US 2019/0184555 A1Pre-grant publication · published 20 Jun 2019
US 10,220,511 B2Parent of this continuation
US 2018/0029227 A1Published application
US 10,882,181 B2This patent

From the US filing history. Foreign family members aren’t listed.