Multi-Robot Object Handling With Shared Imaging and Task Sequencing
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Solution Overview
Problem
The assembly of large structures, such as aircraft components, is challenging due to the complexity of coordinating multiple robots working collectively, which requires high processing power and time, particularly when handling large, flexible objects that need precise positioning and monitoring to avoid collisions.
Innovation Solution
A robot arrangement where multiple robots sequentially and simultaneously interact with an object, sharing a single device (like an image capture device) and a mounting point, allowing for reduced processing power and equipment costs by minimizing the need for multiple devices and trackers.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots work collectively on the same component simultaneously, then productivity increases, but processing power requirements and system complexity increase
Solution Approach 1:
The patent divides the assembly process into distinct sequential tasks (first task, second task, third task) that can be performed by different robots at different times. This segmentation allows the system to achieve high productivity through parallel task execution while maintaining manageable complexity by having each robot handle specific, well-defined portions of the overall process.
Solution Approach 2:
The patent implements dynamic task allocation where robots can transition between different tasks based on completion status. The system dynamically adjusts which robot performs which task at any given moment, allowing optimal utilization of available robots while reducing the need for complex simultaneous coordination of all robots on all tasks.
2Measurement precision
If multiple image capture devices are used to monitor multiple robots, then measurement precision improves, but device complexity and processing power requirements increase
Solution Approach 1:
The patent makes the image capture device universal by having multiple robots share a single device for imaging tasks. The device is used sequentially by different robots for different tasks, eliminating the need for each robot to have its own dedicated imaging device. This reduces device complexity while maintaining measurement precision through proper calibration and positioning.
Solution Approach 2:
The patent introduces a mounting point as an intermediary structure that enables the image capture device to be transferred between robots. This mediator facilitates the sharing of the imaging device without requiring direct integration with each robot, simplifying the overall system architecture while maintaining the ability to capture images from multiple robotic perspectives.
3Adaptability or versatility
If each robot has its own end effector with imaging device, then adaptability improves, but device complexity and costs increase
Solution Approach 1:
The patent implements universality by creating a shared image capture device that serves multiple robots. The device can be mounted on different robots and used for various imaging tasks, providing the same functionality that would otherwise require separate dedicated devices for each robot. This maintains adaptability while significantly reducing equipment complexity and costs.
Solution Approach 2:
The patent enables robots to perform imaging functions themselves by equipping them with the ability to carry and operate the shared image capture device. Rather than requiring external imaging systems for each robot, the robots serve their own imaging needs by sequentially utilizing the shared device, reducing overall system complexity.
4Device complexity
If a single image capture device is shared between robots, then device complexity reduces, but loss of time during device transfer increases
Solution Approach 1:
The patent applies preliminary action by having robots position themselves and prepare to receive the image capture device before the current robot completes its imaging task. This anticipation of the device transfer reduces actual transfer time, as the receiving robot is already in position and ready to accept the device immediately when the current robot finishes.
Solution Approach 2:
The patent maintains continuity of useful action by overlapping the imaging task completion with the device transfer process. Rather than having complete idle time between imaging tasks on different robots, the system ensures that as one robot finishes using the device, another robot is ready to take it immediately, minimizing non-productive transition time and maintaining continuous utilization of the imaging device.
Data Source
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AI summary
A robot arrangement for interacting with an object, comprising: a plurality of robots adjacent an object; the plurality of robots configured to interact with the object sequentially such that: a first robot of the plurality of robots is configured to perform a first portion of a first task on the object and then, whilst the first robot is not interacting with the object, a second robot of the plurality of robots is configured to perform a second portion of the first task on the object, and the plurality of robots are configured to simultaneously interact with the object, before or after completion of the first task, so as to collectively perform a second task on the object.