Load Handling Kinematic State Detection Using Wheel Creep
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Solution Overview
Problem
Existing storage and fulfilment systems face challenges in accurately determining the kinematic state of load handling devices, which is crucial for efficient operation and accurate positioning within the grid framework structure.
Innovation Solution
A method and system for determining the kinematic state of a load handling device by obtaining wheel state data from sensors, using a trained model to calculate a creep value, and then determining the kinematic state based on this creep value, without the need for additional position sensors.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If traditional position sensors are used to determine kinematic state, then positioning accuracy is improved, but device complexity and cost increase
Solution Approach 1:
The patent extracts the positioning function from dedicated position sensors and implements it through the existing wheel encoder system. By processing encoder data through creep value calculation, the system achieves positioning accuracy without adding position sensors, thus reducing device complexity while maintaining measurement precision.
Solution Approach 2:
The wheel encoder system is made multi-functional by using it not only for speed measurement but also for position determination through creep value calculation. This universal approach eliminates the need for separate position sensors, reducing system complexity while maintaining positioning accuracy.
2Measurement precision
If additional position sensors are installed on load handling devices, then positioning accuracy is improved, but manufacturing cost and device complexity increase
Solution Approach 1:
The patent extracts the positioning capability from additional sensors and implements it through the existing encoder system with creep value processing. This approach maintains positioning accuracy while avoiding the manufacturing costs associated with additional position sensors and their integration.
Solution Approach 2:
Instead of using physical position sensors, the system creates a virtual position model by calculating creep values from encoder data. This computational copy of position information achieves the same function as physical sensors without the associated manufacturing costs and complexity.
3Device complexity
If wheel slip is not compensated, then system simplicity is maintained, but positioning accuracy deteriorates
Solution Approach 1:
The patent replaces mechanical position sensing with a computational approach that calculates creep values from encoder data. This substitution maintains system simplicity by using existing components while improving positioning accuracy through mathematical modeling of wheel slip effects.
Solution Approach 2:
The system changes the parameter being measured from direct position (requiring position sensors) to wheel rotation and creep characteristics (measurable by existing encoders). By processing these parameters through creep value calculation, the system achieves accurate positioning while maintaining simplicity.
Data Source
AI summary
A method of determining a kinematic state of a load handling device in a storage system. Wheel state data, representative of a state of a wheel of the load handling device, from one or more sensors communicatively coupled to the wheel is obtained. A creep value for the load handling device is determined based on the wheel state data and using a trained model. The kinematic state of the load handling device is determined based on the creep value and kinematic data, representative of the kinematic state of the load handling device, is outputted. A positioning system to employ the method for the load handling device is also provided.