Planning and Adapting Projects Based on a Buildability Analysis

Abstract

Disclosed herein is a worksite automation process that involves: generating a first sequence of tasks to build the product according to a model. The process further involves causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks. Further, during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks. Based on the analysis, determining that it is not feasible to complete the product by executing the first sequence of tasks, and in response, generating a second sequence of tasks to complete the product according to the model. Then, causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.

We claim: 
     
         1 . A computer-implemented method comprising:
 during a pre-build phase of building a product, generating a first sequence of tasks to build the product according to a model of the product;   during a build phase, causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks;   during the execution of the first sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the first sequence of tasks;   determining, based on the analysis, that it is not feasible to complete the product by executing the first sequence of tasks;   in response to determining that it is not feasible to complete the product by performing the first sequence of tasks, generating a second sequence of tasks to complete the product according to the model, wherein the second sequence of tasks is different from the first sequence of tasks; and   causing the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks.   
     
     
         2 . The computer-implemented method of  claim 1  further comprising:
 determining, based on the analysis, that it is feasible to complete the product by executing the first sequence of tasks; and 
 responsively causing the one or more robotic devices to continue building the product by continuing the execution of the first sequence of tasks. 
 
     
     
         3 . The computer-implemented method of  claim 1 , wherein generating a first sequence of tasks comprises:
 selecting a sequence of nodes between a root node and a final node of a tree structure, wherein each node is associated with a respective one of the tasks.   
     
     
         4 . The computer-implemented method of  claim 3 , wherein generating a second sequence of tasks comprises:
 determining (i) a last-performed task of the first sequence of tasks, and (ii) a last-performed node associated with the last-performed task; and   selecting one or more nodes between the last-performed node and a second final node such that the selected nodes comprise a sequence of nodes between the last-performed node and the second final node.   
     
     
         5 . The computer-implemented method of  claim 1 , wherein performing a buildability analysis of the first sequence of tasks comprises:
 determining that the first building process does not satisfy a specified performance constraint; and   responsively determining that it is not feasible to complete the product by performing the first sequence of tasks.   
     
     
         6 . The computer-implemented method of  claim 5 , wherein the specified performance constraint comprises at least one of: time, cost, and efficiency. 
     
     
         7 . The computer-implemented method of  claim 1 , wherein the product is being built in a worksite, and wherein the method further comprises:
 generating a map of the worksite, wherein the map of the worksite comprises a description of one or more resources available in the worksite and a description of a built portion of the product.   
     
     
         8 . The computer-implemented method of  claim 7 , wherein performing a buildability analysis of the first sequence of tasks comprises:
 based on the description of the built portion of the product, determining a deviation between the built portion and the model of the product;   determining whether the deviation affects the feasibility of completing the product; and   if the deviation affects the feasibility of completing the product, determining that it is not feasible to complete the product by executing the tasks of the first sequence of tasks.   
     
     
         9 . The computer-implemented method of  claim 7 , wherein performing a buildability analysis of the first sequence of tasks comprises:
 analyzing the map of the worksite;   based on the analysis, determining that it is not feasible to execute tasks of the first sequence of tasks that have not yet been executed.   
     
     
         10 . The computer-implemented method of  claim 9 , wherein analyzing the map of the worksite comprises at least one of:
 detecting obstacles in the worksite that impede a robotic device from executing a task of the first sequence of tasks, and detecting a geometry of the robotic device impedes the robotic device from executing a task of the first sequence of tasks.   
     
     
         11 . The computer-implemented method of  claim 1 , wherein the method further comprises:
 during the pre-build phase, simulating the one or more robotic devices executing the first sequence of tasks;   during the simulation, performing a simulation buildability analysis of the first sequence of tasks to determine the feasibility of executing the first sequence of tasks using the resources available in the worksite; and   based on the analysis, determining to generate a new sequence of tasks.   
     
     
         12 . The computer-implemented method of  claim 1  further comprising:
 during the execution of the second sequence of tasks, performing a buildability analysis to determine a feasibility of completing the product by executing the second sequence of tasks; 
 determining, based on the analysis, that it is not feasible to complete the product by executing the second sequence of tasks; 
 responsively generating a third sequence of tasks to complete the product according to the model, wherein the third sequence of tasks is different from the second sequence of tasks; and 
 causing the one or more robotic devices to continue building the product by beginning to execute the third sequence of tasks. 
 
     
     
         13 . A worksite automation system comprising:
 one or more robotic devices;   a control system including one or more processors and one or more data storage devices, the control system configured to:
 receive an instruction to build a product, wherein the instruction comprises one or more constraints on the product; 
 during a pre-build phase: (i) determine a model for the product, and (ii) generate a first sequence of tasks to build the product according to the model; 
 during a build phase, cause the one or more robotic devices to build the product by beginning to execute the tasks of the first sequence of tasks; 
 during the execution of the first sequence of tasks, perform a buildability analysis of the first sequence of tasks to determine a feasibility of completing the product by executing the first sequence of tasks; 
 based on the analysis, if it is not feasible to complete the product:
 generate a second sequence of tasks to complete the product according to the model, wherein the second sequence of tasks is different from the first sequence of tasks; and 
 cause the one or more robotic devices to continue building the product by beginning to execute the second sequence of tasks. 
 
   
     
     
         14 . The worksite automation system of  claim 13 , wherein the control system is further configured to:
 if it is feasible to complete the product by performing the first sequence of tasks:
 cause the one or more robotic devices to continue building the product by executing the first sequence of tasks. 
   
     
     
         15 . The worksite automation system of  claim 13 , wherein the constraints comprise design constraints and performance constraints on the model of the product. 
     
     
         16 . The worksite automation system of  claim 13 , wherein the control system configured to generate a first sequence of task comprises the control system configured to:
 select a sequence of nodes between a root node and first final node of a tree structure, wherein each node is associated with a respective one of the tasks.   
     
     
         17 . The worksite automation system of  claim 16 , wherein the control system configured to generate a second sequence of tasks for the model comprises the control system configured to:
 determine (i) a last-performed task of the first sequence of tasks, and (ii) a last-performed node associated with the last-performed task; and   select one or more nodes between the last-performed node and a second final node such that the selected nodes comprise a sequence of nodes between the last-performed node and the second final node.   
     
     
         18 . A computer-implemented method comprising:
 during a pre-build phase, generating a first sequence of tasks for a first model of a product;   during a build phase, causing one or more robotic devices to build the product by beginning to execute the first sequence of tasks;   during the execution of the first sequence of tasks, performing a first buildability analysis of the first model to determine a feasibility of building the product according to the first model;   based on the analysis, determining a second model; and   causing the one or more robotic devices to continue building the product according to the second model.   
     
     
         19 . The computer-implemented method of  claim 18 , wherein generating the second model comprises generating a second sequence of tasks for the second model, and wherein causing the one or more robotic devices to continue building the product according to the second model comprises causing the one or more robotic devices to execute the second sequence of tasks. 
     
     
         20 . The computer-implemented method of  claim 18 , wherein performing a buildability analysis of the first model comprises:
 determining a deviation between the built portion and the first model of the product;   determining whether the deviation affects the feasibility of completing the product; and   if the deviation affects the feasibility of completing the product according to the first model, determining that it is not feasible to complete the product according to the first model.