Coordinating robotic apparatus deliveries

• US 10,576,634 B2
• Filed: 07/09/2018
• Issued: 03/03/2020
• Est. Priority Date: 03/25/2016
• Status: Active Grant

• Current Assignee: International Business Machines Corporation
• Original Assignee: International Business Machines Corporation
• Inventors: Bhageria, Gopal K., Ekambaram, Vijay, Rakshit, Sarbajit K.
• Primary Examiner(s): Wiltey, Nicholas K
• Application Number:
  US16/030,040
• Publication Number:
  US 20180314246A1
• Time in Patent Office: 603 Days
• Field of Search: None
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: G05B 19/41815 characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
• CPC Class Codes: G05B 2219/32388 Autonomous flexible system, cells and agv autonomous
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G06Q 10/00 Administration; Management
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method and system for automatically supplying parts for an assembly line is provided. The method includes generating and executing an action plan specifying movements associated with a robotic apparatus associated with the assembly line, items required for the assembly line, and a vehicle associated with providing the items for the robotic apparatus. The vehicle is directed to a location comprising the items and a first item is selected and retrieved upon arriving at the location. A measured weight of the first item is compared to a predetermined maximum weight threshold for delivery by the vehicle and a resulting delivery process with respect to the vehicle, first item, and robotic apparatus is executed. A notification indicating details associated with the delivery process is transmitted to the robotic apparatus.

Claims

1. An automated assembly line delivery method comprising:

generating, by a processor of an embedded computing device, an action plan specifying movements associated with a robotic apparatus associated with an assembly line, items required for said assembly line, and a vehicle associated with providing said items for said robotic apparatus, wherein said vehicle comprises a remotely or autonomously controlled aerial vehicle configured to aerially provide said items for said robotic apparatus;

executing, by said processor, said action plan;

directing, by said processor in response to a command from a user, said vehicle to a location comprising said items such that said vehicle initiates motion and navigates in a specified direction towards said location;

selecting, by said processor via said vehicle upon arriving at said location, a first item of said items;

determining, by said processor based on a feedback signal generated by a weight sensor of said vehicle in response to retrieving said first item, a measured weight of said first item;

comparing, by said processor, said measured weight to a predetermined maximum weight threshold for delivery by said vehicle; and

executing, by said processor based on results of said comparing, a delivery process with respect to said vehicle, said first item, and said robotic apparatus, wherein said executing said delivery process comprises generating a flight based travel route for said vehicle for travel from said location to said robotic apparatus, wherein said travel route is generated based on a maximum number of robotic apparatuses capable of being supported by said vehicle and a calculated robotic arm movement path configured to prevent a collision between said vehicle and said robotic apparatus such that said robotic apparatus is determined to not be an obstacle to said vehicle.

2. The method of claim 1, wherein said results of said comparing indicate that said measured weight is less than said predetermined maximum weight threshold, and wherein said delivery process comprises:

transmitting, by said processor to said vehicle, a command instructing said vehicle to secure said first item, wherein said vehicle secures said first item in response to said command;

directing, by said processor in response to said command, said vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle at said assembly location, said item to said robotic apparatus.

3. The method of claim 1, wherein said results of said comparing indicate that said measured weight exceeds said predetermined maximum weight threshold, and wherein said delivery process comprises:

requesting, by said processor, at least one additional vehicle for said executing said delivery process;

detecting, by said processor, said at least one additional vehicle arriving at said location comprising said items;

transmitting, by said processor to said vehicle, a command instructing said vehicle and said least one additional vehicle to secure said first item, wherein said vehicle and said least one additional vehicle secure, in combination, said first item in response to said command;

directing, by said processor in response to said command, said vehicle and said at least one additional vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle and said least one additional vehicle, said item to said robotic apparatus.

4. The method of claim 1, wherein said notification indicates a specified receiving position for said robotic apparatus during delivery of said first item.

5. The method of claim 1, wherein said notification indicates a specified time period for delivery of said first item to said robotic apparatus.

6. The method of claim 1, wherein said generating said action plan comprises:

generating an estimated timeframe associated with movement of a robotic arm of said robotic apparatus with respect to a movement distance from a first coordinate to a second coordinate to fetch any of said items from said vehicle providing said items for said robotic apparatus.

7. The method of claim 1, further comprising:

retrieving, by said processor, current locations, a current power, and a current speed of multiple vehicles that in combination with said vehicle are further associated with providing said items for said robotic apparatus, and wherein said action plan comprises said current locations, said current power, and said current speed of multiple vehicles.

8. The method of claim 1, further comprising:

providing at least one support service for at least one of creating, integrating, hosting, maintaining, and deploying computer-readable code in the control hardware, said code being executed by the computer processor to implement;

said generating, said executing said action plan, said directing, said selecting, said determining, said comparing, and said executing said delivery process.

9. A computer program product, comprising a computer readable hardware storage device storing a computer readable program code, said computer readable program code comprising an algorithm that when executed by a processor of an embedded computing device implements an automated assembly line delivery method, said method comprising:

generating, by said processor, an action plan specifying movements associated with a robotic apparatus associated with an assembly line, items required for said assembly line, and a vehicle associated with providing said items for said robotic apparatus, wherein said vehicle comprises a remotely or autonomously controlled aerial vehicle configured to aerially provide said items for said robotic apparatus;

executing, by said processor, said action plan;

directing, by said processor in response to a command from a user, said vehicle to a location comprising said items such that said vehicle initiates motion and navigates in a specified direction towards said location;

selecting, by said processor via said vehicle upon arriving at said location, a first item of said items;

determining, by said processor based on a feedback signal generated by a weight sensor of said vehicle in response to retrieving said first item, a measured weight of said first item;

comparing, by said processor, said measured weight to a predetermined maximum weight threshold for delivery by said vehicle; and

executing, by said processor based on results of said comparing, a delivery process with respect to said vehicle, said first item, and said robotic apparatus, wherein said executing said delivery process comprises generating a flight based travel route for said vehicle for travel from said location to said robotic apparatus, wherein said travel route is generated based on a maximum number of robotic apparatuses capable of being supported by said vehicle and a calculated robotic arm movement path configured to prevent a collision between said vehicle and said robotic apparatus such that said robotic apparatus is determined to not be an obstacle to said vehicle.

10. The computer program product of claim 9, wherein said results of said comparing indicate that said measured weight is less than said predetermined maximum weight threshold, and wherein said delivery process comprises:

transmitting, by said processor to said vehicle, a command instructing said vehicle to secure said first item, wherein said vehicle secures said first item in response to said command;

directing, by said processor in response to said command, said vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle at said assembly location, said item to said robotic apparatus.

11. The computer program product of claim 9, wherein said results of said comparing indicate that said measured weight exceeds said predetermined maximum weight threshold, and wherein said delivery process comprises:

requesting, by said processor, at least one additional vehicle for said executing said delivery process;

detecting, by said processor, said at least one additional vehicle arriving at said location comprising said items;

transmitting, by said processor to said vehicle, a command instructing said vehicle and said least one additional vehicle to secure said first item, wherein said vehicle and said least one additional vehicle secure, in combination, said first item in response to said command;

directing, by said processor in response to said command, said vehicle and said at least one additional vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle and said least one additional vehicle, said item to said robotic apparatus.

12. The computer program product of claim 9, wherein said notification indicates a specified receiving position for said robotic apparatus during delivery of said first item.

13. The computer program product of claim 9, wherein said notification indicates a specified time period for delivery of said first item to said robotic apparatus.

14. The computer program product of claim 9, wherein said generating said action plan comprises:

generating an estimated timeframe associated with movement of a robotic arm of said robotic apparatus with respect to a movement distance from a first coordinate to a second coordinate to fetch any of said items from said vehicle providing said items for said robotic apparatus.

15. The computer program product of claim 9, further comprising:

retrieving, by said processor, current locations, a current power, and a current speed of multiple vehicles that in combination with said vehicle are further associated with providing said items for said robotic apparatus, and wherein said action plan comprises said current locations, said current power, and said current speed of multiple vehicles.

16. An embedded computer device comprising a processor coupled to a computer-readable memory unit, said memory unit comprising instructions that when executed by the processor executes an automated assembly line delivery method comprising:

generating, by said processor, an action plan specifying movements associated with a robotic apparatus associated with an assembly line, items required for said assembly line, and a vehicle associated with providing said items for said robotic apparatus, wherein said vehicle comprises a remotely or autonomously controlled aerial vehicle configured to aerially provide said items for said robotic apparatus;

executing, by said processor, said action plan;

directing, by said processor in response to a command from a user, said vehicle to a location comprising said items such that said vehicle initiates motion and navigates in a specified direction towards said location;

selecting, by said processor via said vehicle upon arriving at said location, a first item of said items;

determining, by said processor based on a feedback signal generated by a weight sensor of said vehicle in response to retrieving said first item, a measured weight of said first item;

comparing, by said processor, said measured weight to a predetermined maximum weight threshold for delivery by said vehicle; and

executing, by said processor based on results of said comparing, a delivery process with respect to said vehicle, said first item, and said robotic apparatus, wherein said executing said delivery process comprises generating a flight based travel route for said vehicle for travel from said location to said robotic apparatus, wherein said travel route is generated based on a maximum number of robotic apparatuses capable of being supported by said vehicle and a calculated robotic arm movement path configured to prevent a collision between said vehicle and said robotic apparatus such that said robotic apparatus is determined to not be an obstacle to said vehicle.

17. The embedded computer device of claim 16, wherein said results of said comparing indicate that said measured weight is less than said predetermined maximum weight threshold, and wherein said delivery process comprises:

transmitting, by said processor to said vehicle, a command instructing said vehicle to secure said first item, wherein said vehicle secures said first item in response to said command;

directing, by said processor in response to said command, said vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle at said assembly location, said item to said robotic apparatus.

18. The embedded computer device of claim 16, wherein said results of said comparing indicate that said measured weight exceeds said predetermined maximum weight threshold, and wherein said delivery process comprises:

requesting, by said processor, at least one additional vehicle for said executing said delivery process;

detecting, by said processor, said at least one additional vehicle arriving at said location comprising said items;

transmitting, by said processor to said vehicle, a command instructing said vehicle and said least one additional vehicle to secure said first item, wherein said vehicle and said least one additional vehicle secure, in combination, said first item in response to said command;

directing, by said processor in response to said command, said vehicle and said at least one additional vehicle comprising said first item secured, to an assembly location of said robotic apparatus; and

releasing, by said processor via said vehicle and said least one additional vehicle, said item to said robotic apparatus.

19. The embedded computer device of claim 16, wherein said notification indicates a specified receiving position for said robotic apparatus during delivery of said first item.

20. The embedded computer device of claim 16, wherein said notification indicates a specified time period for delivery of said first item to said robotic apparatus.