Dynamic Working Area Redefinition for Anti-Collision in Shared Packaging Robots
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Solution Overview
Problem
Packaging machines with shared working areas face challenges in preventing collisions and optimizing mission allocation, leading to suboptimal robot utilization and performance, especially in high-flow and adaptable packaging lines.
Innovation Solution
A dynamic anti-collision control method that redefines the working area of each robot based on ongoing missions, using algorithms to allocate pick-up and delivery locations and prioritize downstream robots, thereby preventing collisions and optimizing resource allocation.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If robots are spaced apart with separate working areas, then collision risk is eliminated and control is simplified, but the packaging line becomes longer and wider with larger dark areas and reduced robot utilization
Solution Approach 1:
The patent implements dynamic working area redefinition where robot working areas are not fixed but are continuously adjusted based on real-time mission status. When a robot is executing a mission, its working area is temporarily reduced to prevent collisions, and this restriction is dynamically lifted when the mission completes, allowing flexible space sharing without physical separation
Solution Approach 2:
The control system acts as an intermediary that coordinates between multiple robots sharing working areas. It manages the dynamic allocation and redefinition of working areas, assigning temporary restrictions to robots based on their mission status, thereby enabling safe shared workspace without physical barriers or fixed separations
2Productivity
If robots are brought closer with shared working areas, then the packaging line becomes more compact and robot utilization improves, but collision risk increases and control complexity increases
Solution Approach 1:
The control system uses dynamic redefinition of working areas based on real-time robot mission status. Instead of complex static coordination, the system automatically adjusts each robot's accessible workspace boundaries in response to mission completion events, simplifying the control logic while enabling safe shared workspace
Solution Approach 2:
The system pre-establishes rules for working area redefinition based on mission status. When a robot completes a mission, the control system automatically and immediately redefines the working areas of affected robots according to predetermined criteria, eliminating the need for complex real-time negotiation or prediction algorithms
3Reliability
If working areas are defined as non-overlapping circles, then collision is avoided and control is simple, but dark areas are created that cannot be reached by any robot reducing overall efficiency
Solution Approach 1:
Instead of fixed circular working areas that create permanent dark zones, the patent implements dynamic working area redefinition. When one robot is occupied, another robot's working area is temporarily expanded into the shared region, dynamically eliminating dark areas while maintaining collision avoidance through coordinated access control
Solution Approach 2:
The shared working area serves multiple functions: it acts as operational space for different robots at different times, eliminates permanent dark zones, and provides flexible load balancing between robots. The same physical space is universally accessible to multiple robots based on real-time needs rather than being restricted to single-robot exclusive zones
Data Source
AI summary
Methods for anti-collision control of pickers in a packaging line are disclosed. The line includes linear conveyors for the inlet of items and for the outlet of items, robots or picking devices that operate with shared working areas. The anti-collision method comprises an algorithm to assign a pickup location or a delivery location to a generic first robot including: checking for a pickup or delivery location already assigned to other robots and in a working area shared with the first robot; dynamically redefining the working area of the first robot to obtain a new working area such that the locations already assigned to other robots are outside of the dynamically-redefined area; assigning of a respective pickup or delivery location belonging to the redefined working area to the first robot. A prediction algorithm is disclosed to improve management of items and balancing of work load between the robots.