3D Transporting Vessel Coordination for Self-Reconfigurable Routing

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Solution Overview

Problem

Existing object handling systems require robotic load handlers that traverse a grid structure above storage bins, leading to inefficiencies, increased costs, and difficulties in accessing stuck or faulty units, and do not effectively manage complex routing and kinematics.

Innovation Solution

A self-reconfigurable object handling coordination system with a three-dimensional cluster of relocatable transporting vessels, where each vessel is addressable and can reconfigure its topology to facilitate efficient movement within the cluster, using a motion control system that determines optimal paths and coordinates the movement of vessels to avoid collisions and optimize routes.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Ease of operation

If robotic load handlers traverse a grid structure above storage bins, then object handling and retrieval is enabled, but system complexity and cost increase

Engineering Contradiction:

Improveobject handling capabilityVSAvoidgrid structure and robotic system

Core Design Contradiction:

Ease of operationVSDevice complexity

Solution Approach 1:

Instead of having robotic load handlers traverse above storage bins on a grid structure, the patent inverts the approach by enabling the storage bins themselves to move autonomously along conveyor paths. This eliminates the need for complex overhead robotic systems while achieving the same object handling capability through autonomous container movement and self-positioning.

Inventive Principle:

Principle #13The other way round (Inversion)

Solution Approach 2:

The patent replaces the mechanical robotic load handling system with an automated conveyor-based transport system. Storage bins are equipped with autonomous navigation capabilities and move along predefined paths using automated guidance, substituting complex robotic mechanics with simpler automated transport mechanisms.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

2Ease of operation

If robotic load handlers are used to access storage bins, then retrieval is possible, but time and energy overhead increases

Engineering Contradiction:

Improvestorage bin accessibilityVSAvoidretrieval time overhead

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

Storage bins are equipped with autonomous navigation capabilities, sensors, and communication systems that enable them to self-position, self-navigate to designated locations, and self-coordinate with the transport system without requiring external robotic intervention. This self-service capability eliminates the time overhead associated with robotic digging and manipulation.

Inventive Principle:

Principle #25Self-service

3Stability of the object's composition

If a peripheral frame structure with grid is used to support load handlers, then structural stability is provided, but system cost and complexity increase

Engineering Contradiction:

Improvestructural stabilityVSAvoidframe structure

Core Design Contradiction:

Stability of the object's compositionVSDevice complexity

Solution Approach 1:

The patent extracts and removes the complex peripheral frame structure and overhead grid system from the design. Instead of building a stable structure above storage bins to support robots, the system achieves stability through the conveyor infrastructure and controlled movement of storage bins along fixed paths, eliminating the need for expensive overhead support structures.

Inventive Principle:

Principle #2Taking out (Extraction)

4Ease of operation

If robotic load handlers traverse above stacks, then multiple bins can be accessed, but difficulty in accessing stuck or faulty units arises

Engineering Contradiction:

Improvemulti-bin access capabilityVSAvoidaccess to stuck or faulty units

Core Design Contradiction:

Ease of operationVSEase of repair

Solution Approach 1:

The system transitions from static storage bins on fixed stacks to dynamic, mobile storage bins that can autonomously move along conveyor paths. This dynamic capability allows any storage bin to be accessed by directing it to a designated pickup location, eliminating the accessibility problems inherent in fixed stack configurations where robots must physically reach into stacks.

Inventive Principle:

Principle #15Dynamics

Data Source

PatentUS11673743B2Object handling coordination system and method of relocating a transporting vessel

Publication Date: 2023.06.13 OCADO INNOVATION LTD

AI summary

An object handling coordination system includes a plurality of transporting vessels arranged as a three-dimensional cluster of transporting vessels. The plurality of transporting vessels is addressable and the cluster has a self-reconfigurable physical topology. A relocatable transporting vessel is configured to be relocatable within the. A motion control system is configured to determine a path from a start location of the relocatable transporting vessel within the cluster to a destination location within the cluster and arranged to execute movement of the relocatable transporting vessel within the cluster using the determined path.