Dynamic Task Sequencing for Mobile Robots in Multi-Zone Facilities
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Solution Overview
Problem
Determining an efficient path for a mobile automation apparatus in complex and dynamic environments, such as retail or distribution facilities, is computationally intensive due to the presence of various obstacles and tasks that require data capture and navigation across multiple sub-regions.
Innovation Solution
A method and apparatus that utilize task fragments to identify sub-regions, select an active task fragment, generate paths with taxi and execution portions, and dynamically update the sequence based on the apparatus's pose to optimize data capture and reduce travel time, incorporating sensors like cameras and LIDAR for navigation and data capture.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a mobile apparatus determines an efficient path in a complex facility with multiple locations and dynamic obstacles, then navigation accuracy is improved, but computational complexity increases
Solution Approach 1:
The patent divides the facility into multiple zones and breaks down the path determination into discrete path segments between these zones. Each segment is evaluated independently based on current conditions, allowing the system to achieve accurate navigation without computing all possible paths simultaneously. The mobile apparatus determines paths segment-by-segment as it moves through the facility.
2Productivity
If the mobile apparatus performs tasks at multiple locations, then productivity is improved, but travel time increases
Solution Approach 1:
The patent implements dynamic path determination that adapts to the mobile apparatus's current position and conditions. As the apparatus moves through the facility and enters new zones, the system dynamically updates the next target location and path segments. This allows the apparatus to optimize travel routes in real-time, reducing unnecessary travel time while ensuring all required tasks are completed at the appropriate locations.
Solution Approach 2:
The system pre-identifies multiple zones and potential task locations within the facility before the mobile apparatus begins operation. By having the path segments and target zones predetermined, the system can quickly determine optimal routes without performing complex calculations during movement, thus reducing travel time while maintaining productivity.
3Reliability
If the system accounts for dynamic obstacles like people and vehicles, then navigation reliability is improved, but processing requirements increase
Solution Approach 1:
The patent divides the facility into multiple zones and breaks down the path determination into discrete path segments between these zones. Each segment is evaluated independently based on current conditions, allowing the system to achieve accurate navigation without computing all possible paths simultaneously. The mobile apparatus determines paths segment-by-segment as it moves through the facility.
Data Source
AI summary
A method in a navigational controller includes: obtaining (i) a plurality of task fragments identifying respective sets of sub-regions in a facility, and (ii) an identifier of a task to be performed by a mobile automation apparatus at each of the sets of sub-regions; selecting an active one of the task fragments according to a sequence specifying an order of execution of the task fragments; generating a path including (i) a taxi portion from a current position of the mobile automation apparatus to the sub-regions identified by the active task fragment, and (ii) an execution portion traversing the sub-regions identified by the active task fragment; during travel along the taxi portion, determining, based on a current pose of the mobile automation apparatus, whether to initiate execution of another task fragment; and when the determination is affirmative, updating the sequence to mark the other task fragment as the active task fragment.