Multi-Tool Scheduling for Cooperative 3D Manufacturing
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Solution Overview
Problem
Existing manufacturing processes using multiple tools in a shared build volume face challenges in coordinating tasks among robots to avoid collisions and optimize manufacturing time, particularly in additive and subtractive manufacturing processes like FFF 3D printing, where thermal contraction and accessibility issues arise.
Innovation Solution
A method is implemented to determine and assign tasks to robots based on spatial and temporal dimensions, generating wait times, and reassigning tasks to minimize overlap and total manufacturing time, using a manufacturing conductor program that splits layers into smaller regions and adjusts tool paths to prevent collisions and enhance process mixing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple robots work simultaneously in a shared build volume, then productivity increases, but collision risk and coordination complexity increase
Solution Approach 1:
The patent segments the build volume into discrete task regions and divides manufacturing tasks among multiple robots. Each robot is assigned specific spatial regions and task sequences, allowing simultaneous operation without collision. The system partitions layers into multiple regions and assigns them to different robots based on spatial coordinates and tool capabilities.
Solution Approach 2:
The patent implements dynamic task assignment and queue management where robots can adapt their task sequences based on real-time build state. The system dynamically adjusts task queues, wait times, and robot assignments during manufacturing to optimize throughput and avoid collisions, rather than using fixed predetermined sequences.
2Loss of time
If tasks are assigned to multiple robot queues, then manufacturing time is reduced, but task ordering and timing coordination become more complex
Solution Approach 1:
The patent performs preliminary task analysis and queue assignment before manufacturing begins. The system pre-calculates task dependencies, spatial overlaps, and timing requirements to create optimized task queues for each robot. Wait times are pre-determined based on layer completion requirements and robot synchronization needs.
Solution Approach 2:
The patent implements feedback mechanisms where the system continuously monitors robot progress, layer completion status, and task queue states. Based on this feedback, the system adjusts task assignments, adds wait times, and reorders queues to maintain synchronization and minimize total manufacturing time while avoiding collisions.
3Productivity
If layers are split into smaller regions for multi-robot processing, then task parallelization improves, but process coordination overhead increases
Solution Approach 1:
The patent automatically segments each layer into multiple processing regions based on spatial coordinates, robot workspaces, and tool capabilities. The segmentation algorithm considers layer geometry, material deposition requirements, and robot accessibility to create optimal task partitions that maximize parallel processing while minimizing coordination overhead.
Solution Approach 2:
The patent creates a universal task management framework that handles diverse manufacturing operations (additive, subtractive, hybrid) across multiple robots through a common queue system. The system uses standardized task descriptors and coordination protocols that work across different robot types and tool configurations, reducing the complexity of coordinating heterogeneous processes.
4Reliability
If wait times are added to task queues to avoid spatial overlap, then collision risk is reduced, but manufacturing efficiency decreases
Solution Approach 1:
The patent uses dynamic wait time calculation based on real-time robot positions, task progress, and spatial overlap analysis. Rather than adding fixed wait times, the system calculates minimum necessary wait periods to prevent collisions while maximizing parallel execution. Wait times are adjusted dynamically as robots complete tasks and free up spatial regions.
Solution Approach 2:
The patent changes the parameters of task execution by adjusting start times, durations, and sequencing based on spatial conflict analysis. The system optimizes task parameters such as robot speed, tool path timing, and queue ordering to minimize wait times while maintaining collision-free operation, thereby preserving manufacturing efficiency.
Data Source
AI summary
Methods, systems, and apparatus, including medium-encoded computer program products, for synchronizing the manufacture of objects using two or more separate tools include, in at least one aspect, determining tasks to be performed in a shared build volume to manufacture a 3D object, assigning the tasks to respective queues, ordering the tasks within each queue of assigned tasks based on a spatial dimension extent, generating wait times within the queues in accordance with timing dependencies, identifying which of the queues of assigned tasks takes a most amount of time in accordance with temporal dimension extents and the wait times, creating at least one variant of the queues of assigned tasks, repeating the ordering, the adding, and the identifying to reduce a total time of manufacturing, and providing a finalized version of the queues of assigned tasks for conducting synchronized activities of manufacturing in the shared build volume.