Automatic Conveyor Arc Turning for Faster Grid Sorting
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Solution Overview
Problem
Existing parcel sorting robot systems face inefficiencies due to the need for robots to decelerate, stop, and rotate in situ when making turns, leading to decreased average running speed and potential congestion, as the number of turns increases and deceleration has a chain effect on other robots.
Innovation Solution
A motion control method and apparatus that allows automatic conveying units to make turns in an arc instead of in situ, by configuring a second basic unit as a turn unit and controlling the unit to move along an arc centered on a predetermined point, thereby completing the turn without occupying additional cells and reducing congestion.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If robots rotate in situ to make turns in the grid coordinate system, then the turning operation can be completed, but the average running speed decreases due to multiple accelerations and decelerations
Solution Approach 1:
The patent applies curvature by replacing the traditional in-situ rotation with arc-shaped motion paths. Robots follow curved trajectories with specific radii (e.g., R1, R2, R3) to transition between grid cells, eliminating the need to stop and rotate in place. This curved motion allows continuous movement while changing direction, thereby maintaining higher average speeds.
Solution Approach 2:
The patent introduces dynamic turning control where robots adjust their motion parameters continuously during the turning process. Instead of static in-situ rotation, robots dynamically modify their velocity and trajectory along arc paths, enabling smooth transitions that reduce acceleration and deceleration cycles.
2Measurement precision
If robots decelerate to make turns in the grid system, then the turn can be executed precisely, but deceleration has a chain effect causing other robots to decelerate, reducing overall system efficiency
Solution Approach 1:
The patent implements preliminary action by pre-planning arc-shaped routes for robots before they enter turning zones. The system assigns specific arc paths (with defined radii and centers) to robots in advance, allowing them to maintain higher speeds throughout the turning process. This pre-planned curved trajectory eliminates the need for reactive deceleration and reduces chain effects on other robots.
3Reliability
If robots stop and wait for turns in congested areas, then collision can be avoided, but the time taken for turns increases and congestion is exacerbated
Solution Approach 1:
The patent resolves spatial conflicts by introducing arc-shaped paths that utilize intermediate spaces between grid cells. Instead of stopping at cell boundaries, robots move along curved trajectories that pass through transitional zones, effectively adding a dimensional aspect to the turning maneuver. This allows robots to bypass congested areas and maintain flow without stopping.
Data Source
AI summary
A motion control method and apparatus, an automatic conveyor unit, and an automatic sorting system are provided. The method includes: determining that the automatic conveying unit is to make a turn; configuring a second basic unit in front of a first basic unit where the automatic conveying unit is located to be a basic unit for making the turn; and controlling the automatic conveying unit to move in an arc centered on a predetermined point.