Robot Task Sequencing for Overlap-Aware Multi-Arm Planning
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Solution Overview
Problem
Existing task planning systems for assembly lines face challenges in efficiently assigning and ordering tasks for robots with multiple arms, particularly in avoiding interferences and minimizing task time, which requires complex optimization calculations that are time-consuming.
Innovation Solution
An information processing apparatus that determines the appropriate order of tasks for two or more robot arms by judging potential overlaps, comparing end times for different task orders, and selecting the order with the earlier completion time to avoid interferences, thereby minimizing task time without requiring extensive optimization calculations.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If complex optimization calculations are used to determine task order for robot arms, then task planning accuracy is improved, but calculation time increases significantly
Solution Approach 1:
The patent segments the complex optimization problem into two stages: first, generate an initial task order using a simple algorithm; second, perform localized optimization only when interference is detected. This segmentation avoids the need for exhaustive optimization calculations while maintaining planning accuracy where needed.
Solution Approach 2:
The patent uses a lightweight, simple task ordering algorithm as a disposable initial solution that can be quickly generated and discarded if interference occurs. This cheap initial ordering method provides a starting point without investing significant computational resources, allowing rapid iteration when needed.
2Reliability
If task order is optimized to avoid interference between robot arms, then reliability is improved, but productivity decreases due to additional calculation requirements
Solution Approach 1:
The patent implements a dynamic task planning approach where the optimization depth adapts based on detected interference. When no interference is found, the system accepts the simple initial ordering immediately. When interference is detected, optimization is applied selectively. This dynamic adjustment maintains reliability while maximizing productivity.
Solution Approach 2:
The system performs self-checking for interference and self-optimization only when necessary. The simple initial ordering serves itself as a sufficient solution in most cases, and the system automatically activates more complex optimization only when the self-check reveals problems, eliminating the need for continuous heavy optimization.
3Speed
If simple task ordering algorithms are used, then calculation speed is improved, but task planning precision deteriorates due to interference
Solution Approach 1:
The patent incorporates feedback through an interference detection mechanism that evaluates the output of the simple ordering algorithm. When interference is detected, the system triggers optimization processing to correct the precision issues. This feedback loop ensures that the simple algorithm's speed advantages are maintained while precision is restored when needed.
Solution Approach 2:
The patent performs preliminary task ordering using a fast algorithm to establish an initial schedule before checking for interference. This preliminary action provides a quick baseline solution that can be accepted if correct, or improved upon if interference is found, ensuring that most tasks benefit from rapid processing without sacrificing overall precision.
Data Source
AI summary
A method includes: executing judgment processing for judging whether a site to carry out a first task assigned to a first robot and a site to carry out a second task assigned to a second robot are likely to overlap each other; executing comparison processing for comparing first end time with second end time when the sites to carry out the first task and the second task are likely to overlap each other; and executing determination processing for selecting the first task order when the first end time is earlier than the second end time, and selecting the second task order when the second end time is earlier than the first end time.