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公开(公告)号：US08005561B2
公开(公告)日：2011-08-23
申请号：US12372534
申请日：2009-02-17
IPC分类号： G06F19/00
CPC分类号： G05B19/4189 , Y02P90/14 , Y02P90/16 , Y02P90/20 , Y02P90/28
摘要： A system and method for self-synchronization of modular production systems having components with various alternative capabilities for processing and transporting work units along transport highways, for various component/transport highway configurations. The method includes determining jobs of interest, with each job requiring the production of at least one work unit. The configuration of the components, including at least one machine module, and the transport highway is determined. Each component duration time is determined and a default self-synchronization time is identified. The default self-synchronization time is optimized by adjusting not less than one component duration time.
摘要翻译： 一种用于模块化生产系统的自同步的系统和方法，其具有用于处理和运输工作单元沿着运输高速公路，用于各种部件/运输公路配置的各种替代能力的部件。 该方法包括确定感兴趣的工作，每个工作需要生产至少一个工作单元。 确定包括至少一个机器模块和运输公路的部件的构造。 确定每个组件持续时间，并且识别出默认的自同步时间。 通过调整不少于一个组件持续时间来优化默认自同步时间。
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2.发明授权Distributed control systems and methods that selectively activate respective coordinators for respective tasks 有权分布式控制系统和方法，其选择性地激活相应任务的各个协调器公开(公告)号：US07873962B2
公开(公告)日：2011-01-18
申请号：US11102910
申请日：2005-04-08
申请人： Lara S. Crawford , Haitham A. Hindi , Markus P. J. Fromherz , Craig Eldershaw , Wheeler Ruml , Kimon D. Roufas
发明人： Lara S. Crawford , Haitham A. Hindi , Markus P. J. Fromherz , Craig Eldershaw , Wheeler Ruml , Kimon D. Roufas
CPC分类号： G05B19/41865 , G05B2219/32297 , G05B2219/33273 , G05B2219/45187 , G06F3/1296 , Y02P90/20
摘要： Respective coordinators are spawned or activated to coordinate activities with regard to respective tasks. Where the respective tasks require cooperative efforts of a plurality of controllers, the respective coordinators ensure cooperative efforts by generating and communicating cooperative commands to the plurality of controllers. The coordinators may act as clearinghouses for system data, selectively requesting and relaying system information to appropriate controllers. For example, a document processing system activates respective coordinators for respective sheets of print media. The respective coordinators orchestrate the transportation of the sheets by sequentially orchestrating the activities of sequentially selected pluralities of transportation actuator controllers. Selected sheet position information from sensors and/or from models maintained by the actuator controllers may be relayed by the coordinators to selected actuator controllers as appropriate to the sheet transportation tasks.
摘要翻译： 产生或激活相应的协调员，以协调相关任务的活动。 在各个任务需要多个控制器的协同努力的情况下，各个协调器通过生成并向多个控制器传送协作命令来确保合作努力。 协调员可以充当系统数据的清算所，选择性地请求和将系统信息中继到适当的控制器。 例如，文档处理系统激活相应的打印介质的协调器。 相应的协调员通过顺序地编排顺序选择的多个运输执行器控制器的活动来协调运输。 来自传感器和/或由致动器控制器维护的模型的选择的纸张位置信息可以由协调器被中继到选择的执行器控制器，以适合于纸张传送任务。
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3.发明授权Predictive and preemptive planning and scheduling for different job priorities system and method 有权不同工作优先级系统和方法的预测和抢先计划和调度公开(公告)号：US06895292B2
公开(公告)日：2005-05-17
申请号：US10424661
申请日：2003-04-28
IPC分类号： G05B19/418 , G06F9/46 , G06Q10/06 , G06F19/00
摘要： For an automated manufacturing system having a number of modules with numerous alternative capabilities, a computer-controlled system provides for configuration-specific reprioritization of jobs. The computer-controlled system includes at least one system controller for planning and scheduling utilization of selected module capabilities in the production of jobs having not less than one work unit. Module capabilities include the relative costs of the module capabilities.
摘要翻译： 对于具有许多具有许多备选能力的模块的自动化制造系统，计算机控制的系统提供对配置特定的作业重新优先化。 计算机控制系统包括至少一个系统控制器，用于在生产具有不少于一个工作单元的作业中规划和调度所选模块能力的利用。 模块功能包括模块功能的相对成本。
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公开(公告)号：US06411864B1
公开(公告)日：2002-06-25
申请号：US09460387
申请日：1999-12-13
IPC分类号： G06F700
CPC分类号： B65H7/00 , B65H2301/4452 , B65H2511/52 , B65H2513/40 , B65H2513/50 , B65H2513/51 , B65H2557/24 , B65H2220/01 , B65H2220/03 , B65H2220/02
摘要： A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries. However, by predetermining the trajectories and trajectory envelopes, and comparing the current state of an object with the predetermined trajectory envelopes, the system controller can even more quickly determine the extent to which the state satisfies the criteria. Thus, this system simplifies on-line determinations to merely include a comparison between a particular object, a particular trajectory and the corresponding trajectory envelope. It is also desirable to predetermine multiple trajectories, as well as trajectory envelopes associated with each of the multiple trajectories, for each object. The apparatus and methods of the invention can then monitor the status of each object, and switch between the multiple predetermined trajectories in order to actively improve energy usage efficiency. The apparatus and methods can also modify the trajectories of other objects to avoid collisions with the object whose trajectory was originally switched. Other exemplary embodiments of the invention include determining the multiple trajectories, as well as the trajectory envelopes associated with each of the multiple trajectories, by taking various requirements of the trajectory envelopes into account.
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公开(公告)号：US06308110B1
公开(公告)日：2001-10-23
申请号：US09449341
申请日：1999-11-24
IPC分类号： G06F700
CPC分类号： B65H43/00 , B65H2301/4452 , B65H2511/24 , B65H2513/40 , B65H2513/50 , B65H2220/01 , B65H2220/03
摘要： A modular object handling system has a multi-level control architecture, which includes a system controller that coordinates the functions and/or operations of individual module controllers, that in turn control corresponding actuators, to provide a desired system function. The system controller performs the overall trajectory planning by taking the constraints of each of the module actuators into account. The system controller may compensate for deviations of objects from their planned trajectories by contemporaneously redetermining trajectories and trajectory envelopes to encode the various combinations of the system constraints and task requirements. The trajectory envelopes can denote regions around other trajectories to indicate control criteria of interest, such as control and collision boundaries. However, by predetermining the trajectories and trajectory envelopes, and comparing the current state of an object with the predetermined trajectory envelopes, the system controller can even more quickly determine the extent to which the state satisfies the criteria. Thus, this system simplifies on-line determinations to merely include a comparison between a particular object, a particular trajectory and the corresponding trajectory envelope.
摘要翻译： 模块化对象处理系统具有多级控制架构，其包括系统控制器，该系统控制器协调各个模块控制器的功能和/或操作，所述控制器又控制对应的致动器，以提供期望的系统功能。 系统控制器通过考虑每个模块执行器的约束来执行总体轨迹规划。 系统控制器可以通过同时重新确定轨迹和轨迹包络来对物体偏离其计划的轨迹进行补偿，以对系统约束和任务要求的各种组合进行编码。 轨迹包络可以表示围绕其他轨迹的区域，以指示感兴趣的控制标准，例如控制和碰撞边界。 然而，通过预先确定轨迹和轨迹包络，并将对象的当前状态与预定轨迹包络进行比较，系统控制器甚至可以更快地确定状态满足标准的程度。 因此，该系统简化了在线确定，仅包括特定对象，特定轨迹和对应的轨迹包络之间的比较。
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公开(公告)号：US5631740A
公开(公告)日：1997-05-20
申请号：US563873
申请日：1995-11-28
申请人： Marc W. Webster , Vijay A. Saraswat , John C. Austin , Daniel L. McCue, III , Markus P. J. Fromherz
发明人： Marc W. Webster , Vijay A. Saraswat , John C. Austin , Daniel L. McCue, III , Markus P. J. Fromherz
CPC分类号： G03G21/14 , G06K15/00 , G06K2215/0082
摘要： An electronic image processing apparatus has a controller and a plurality of resources in an arbitrary configuration. Each of the resources includes an associated processor storing data related to operational constraints of the associated resource and a bus interconnects the processors to the controller for directing the operation of the resources. The controller is adapted to operate independent of a particular configuration of the plurality of resources by receiving from each of the processors the data related to the operational constraints of each associated resource and interrogating each of the processors to determine the geometrical relationship of the interconnection of the resources. The controller then responds to the data related to the operational constraints of each of the processors and to the geometrical relationship of the interconnection of the resources to dynamically configure the image processing apparatus to operate in accordance with the the operational constraints of each of the processors and to the geometrical relationship of the interconnection of the resources.
摘要翻译： 电子图像处理装置具有控制器和任意配置的多个资源。 每个资源包括相关联的处理器，其存储与相关资源的操作约束相关的数据，并且总线将处理器与控制器互连以指导资源的操作。 控制器适于独立于多个资源的特定配置来操作，从每个处理器接收与每个相关联的资源的操作约束有关的数据，并且询问每个处理器以确定所述多个资源的互连的几何关系 资源。 然后，控制器响应与每个处理器的操作约束有关的数据以及资源的互连的几何关系，以动态地配置图像处理装置，以根据每个处理器的操作约束进行操作;以及 对资源互连的几何关系。
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7.发明授权System and method for production planning utilizing on-line state-space planning 有权使用在线状态空间规划的生产计划的系统和方法公开(公告)号：US07451132B2
公开(公告)日：2008-11-11
申请号：US10855936
申请日：2004-05-27
申请人： Wheeler Ruml , Markus P J. Fromherz
发明人： Wheeler Ruml , Markus P J. Fromherz
CPC分类号： G06Q10/06 , Y10S707/99933 , Y10S707/99934 , Y10S707/99935
摘要： A combinatorial search method implemented in a computer control system utilizes on-line state-space planning of operations for multi-step production processes. The planner considers various possible combinations of actions, searching for one that correctly transforms the initial state of the object into the specified desired final state. Each combination of actions the planner considers is called a search node, with each node containing a plan representing a series of actions of various machines on a single object and also containing the predicted state of the object with those actions applied either forward or backward. The method includes determining which of the search nodes to extend further at each search iteration and if the object state in the chosen search node conforms to the desired state of the object, or whether actions should be added to the node's plan. Actions that are applicable to the chosen node's object state are selected, transformations are applied to the attributes, and the resulting plan is returned to the system.
摘要翻译： 在计算机控制系统中实现的组合搜索方法利用多步骤生产过程的在线状态空间规划操作。 计划员考虑各种可能的动作组合，搜索正确地将对象的初始状态转换为指定的期望最终状态的组合。 计划者认为的每个动作组合称为搜索节点，每个节点包含一个计划，该计划表示单个对象上各种机器的一系列动作，并且还包含具有向前或向后应用的动作的预测状态。 该方法包括确定哪些搜索节点在每个搜索迭代中进一步扩展，并且如果所选择的搜索节点中的对象状态符合对象的期望状态，或者是否应该将动作添加到节点的计划中。 选择适用于所选节点的对象状态的动作，将变换应用于属性，并将生成的计划返回给系统。
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8.发明授权Exception handling in manufacturing systems combining on-line planning and predetermined rules 有权组合在线规划和预定规则的制造系统异常处理公开(公告)号：US07043321B2
公开(公告)日：2006-05-09
申请号：US10855938
申请日：2004-05-27
IPC分类号： G06F19/00
CPC分类号： G05B19/41865 , G06Q10/06 , Y02P90/20
摘要： A method for performing exception handling operates within a computer controlled multi-step production system for producing objects. The system includes a system controller, within which reside a planner/scheduler and module controller(s). The system controller receives a stream of object specifications for objects to be produced including the jobs to which they belong. The planner/scheduler plans and schedules the jobs incrementally, and the system controller sends commands to the module controller(s) directing production of the planned and scheduled objects by production system modules. The method includes receiving notice in the system controller of a problem situation present within the multi-step production system and halting planning for the production of subsequent objects. Plans are canceled plans for all objects that have not begun production, and all objects affected by the problem situation are marked as bad objects. The system controller planned exception handling/recovery or module controller directed exception handling/recovery is applied and normal operation is resumed.
摘要翻译： 用于执行异常处理的方法在用于生成对象的计算机控制的多步骤生产系统中操作。 该系统包括系统控制器，其中驻留有计划器/调度器和模块控制器。 系统控制器接收要生产的对象的对象规范流，包括它们所属的作业。 计划员/调度员逐渐计划和调度作业，系统控制器向模块控制器发送命令，指导生产系统模块生产计划和计划的对象。 该方法包括在系统控制器中接收在多步生产系统中存在的问题状况的通知，并停止生产后续对象的规划。 计划被取消所有尚未开始生产的对象的计划，受问题情况影响的所有对象都被标记为不良对象。 系统控制器计划的异常处理/恢复或模块控制器定向异常处理/恢复，并恢复正常操作。
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公开(公告)号：US06922681B2
公开(公告)日：2005-07-26
申请号：US10022719
申请日：2001-12-20
摘要： In a problem partitioning method for problem solving in a computer system, a definition of a system to be controlled, a hierarchical control structure definition, problem definitions for a plurality of control nodes in the hierarchical control structure, and a structure evaluation function are used in partitioning the system problem. The partitioning method defines an instantiation of the hierarchical control structure by decomposing the system into a plurality of hierarchical control structure instances, with each control structure instance having a plurality of control levels. The performance of each of the hierarchical control structure instances is evaluated with the structure evaluation function and an optimal hierarchical control structure instance is selected.
摘要翻译： 在用于计算机系统中的问题解决的问题分割方法中，使用要控制的系统的定义，分级控制结构定义，分层控制结构中的多个控制节点的问题定义以及结构评估功能 划分系统问题。 分割方法通过将系统分解成多个分级控制结构实例来定义分级控制结构的实例化，其中每个控制结构实例具有多个控制级别。 使用结构评估函数评估每个分层控制结构实例的性能，并选择最优层次控制结构实例。
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10.发明授权System and method utilizing temporal constraints to coordinate multiple planning sessions 有权利用时间约束来协调多个规划会话的系统和方法公开(公告)号：US06898475B1
公开(公告)日：2005-05-24
申请号：US10855937
申请日：2004-05-27
申请人： Wheeler Ruml , Markus P J. Fromherz
发明人： Wheeler Ruml , Markus P J. Fromherz
IPC分类号： G05B19/418 , G06Q10/00 , G06Q50/00 , G06F19/00
CPC分类号： G05B19/41865 , G06Q10/06 , Y02P90/20
摘要： A method implemented in a computer control system utilizes temporal constraints to coordinate multiple planning sessions for multi-step production processes such that scheduling constraints are satisfied and flexibility for individual job planning is retained. The computer control system includes an outer planner loop module, which manages the queue of planned and unplanned jobs and interacts with the computer control system, and an individual job planner. The method includes checking the queue of planned jobs for imminent planned jobs, performing a temporal clamping process for planned jobs scheduled to begin soon, and releasing planned jobs for production. Checking is performed for additional imminent planned jobs and the individual job planner is called to produce a plan for the next job if no imminent planned jobs are identified. A plan is produced for the next job by the individual job planner.
摘要翻译： 在计算机控制系统中实现的方法利用时间约束来协调用于多步骤生产过程的多个规划会话，使得满足调度约束并且保持单个作业计划的灵活性。 计算机控制系统包括外部计划器循环模块，其管理计划和计划外作业的队列并与计算机控制系统交互，以及单独的作业计划器。 该方法包括检查即将来临的计划作业的计划作业的队列，对计划的即将开始的计划作业进行临时夹紧过程，并释放计划的作业进行生产。 执行附加即将来临的计划作业的检查，并且如果没有确定即将来临的计划作业，则调用单个作业计划器来为下一个作业生成计划。 由个人工作计划员制定下一份工作的计划。
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