Multi-Robot Work Planning With Interference-Aware Station Layout
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Solution Overview
Problem
Existing methods for creating work plans for robots in production lines are not optimal as they do not consider the optimal placement of robots with respect to workpieces and stations, leading to suboptimal production line efficiency and longer cycle times.
Innovation Solution
A method and device that calculate the distribution of work parts to robots based on their positions and capabilities, determine the work order and moving paths for each robot, and optimize the placement of robots to avoid inter-robot interference, while also considering the number of stations and cycle time to achieve space-saving and shorter production cycles.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Loss of time
If robot disposed locations and station allocations are determined in advance, then work plan creation time is reduced, but production line optimality deteriorates
Solution Approach 1:
The work plan creation process is segmented into three independent calculation stages: (1) work distribution calculation that assigns work parts to robots based on positions and capabilities, (2) robot operation calculation that determines work orders and moving paths, and (3) robot layout calculation that optimizes disposed locations and station allocations. This segmentation allows each stage to be processed independently and efficiently, reducing overall computation time while maintaining optimization quality.
Solution Approach 2:
The work distribution is calculated in advance as a preliminary step, determining which robots perform which work parts based on their capabilities and the work part positions. This preliminary determination of work distribution enables subsequent robot operation and layout calculations to proceed more efficiently, as the foundation for optimization is already established before detailed planning begins.
2Productivity
If robot disposed locations are optimized to avoid inter-robot interference, then production line efficiency is improved, but calculation complexity increases
Solution Approach 1:
The robot layout calculation focuses on local optimization by determining specific disposed locations for each robot relative to the workpiece and station allocations. Instead of optimizing the entire system simultaneously, the method calculates optimal positions for individual robots based on their specific work distributions and potential interference zones, reducing overall calculation complexity while maintaining production efficiency.
Solution Approach 2:
The problem of avoiding inter-robot interference is solved by introducing station allocation as an additional dimension. Robots are not only positioned in space but also assigned to specific stations, creating a multi-dimensional solution space. This allows interference avoidance to be achieved by allocating robots to different stations or time slots rather than merely adjusting spatial positions, reducing calculation complexity.
3Area of stationary object
If the number of stations is reduced for space-saving, then facility space is optimized, but robot layout complexity increases
Solution Approach 1:
Multiple functions are merged into the robot layout calculation module, which simultaneously determines disposed locations, station allocations, and interference avoidance strategies. By combining these related calculations into a single integrated process, the method reduces facility space requirements without proportionally increasing complexity, as the merged calculation shares computational resources and logic across multiple optimization goals.
Solution Approach 2:
The robot layout calculation module serves multiple functions: it optimizes disposed locations, determines station allocations, prevents inter-robot interference, and reduces the number of stations required. This multi-functional approach allows a single calculation process to achieve space-saving goals while managing complexity through unified logic rather than separate specialized calculations.
Data Source
AI summary
A method of planning works for robots includes creating a work plan for a plurality of robots, each having a work tool, sharing at at least one station a work to a plurality of work parts of the workpiece. The method includes the steps of calculating a distribution of the work parts to the robots, calculating, as a robot operation, a work order of the work parts and a moving path of the work tool for each of the robots based on the calculated work distribution, and calculating a disposed location of each of the robots with respect to the workpiece and a station where the robot is disposed so that an inter-robot interference does not occur during execution of the calculated robot operation.