Driverless Manipulator Coordination Using Shared Object Orientation
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Solution Overview
Problem
In logistics environments, multiple mobile driverless manipulator systems face challenges in efficiently operating together due to dynamic changes in their environment, where objects moved by one system can interfere with the orientation of others, leading to potential collisions and inefficient path planning.
Innovation Solution
A method and system where a central control unit provides environmental information, detects and updates the position and pose of objects, and integrates this information into the path planning of multiple driverless manipulator systems, ensuring that objects required for orientation by one system are not moved by another, using sensors like laser scanners and communication means to coordinate movements and avoid collisions.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multiple mobile driverless manipulator systems operate independently in a dynamic environment, then each system can perform its tasks autonomously, but objects moved by one system can interfere with the orientation of other systems, leading to collisions and inefficient path planning
Solution Approach 1:
The patent merges the control of multiple manipulator systems under a centralized control unit that coordinates their operations. The central control unit collects environmental information from all systems, updates a common environmental model, and distributes coordinated path plans to prevent conflicts. This combining of control functions resolves the contradiction by enabling both autonomous operation and collision prevention through centralized coordination.
Solution Approach 2:
The system implements continuous feedback loops where manipulator systems report their position, sensor data, and operational status to the central control unit. The central unit updates the environmental model based on this feedback and recalculates path plans dynamically. This feedback mechanism ensures that systems adapt to environmental changes caused by other systems, maintaining both productivity and safety.
2Adaptability or versatility
If manipulator systems use SLAM and sensors for autonomous navigation, then they can localize themselves and move safely, but the environment is continuously changing which causes conflicts when one system moves objects required for orientation by other systems
Solution Approach 1:
The patent creates a universal environmental model that serves all manipulator systems simultaneously. This centralized model integrates data from multiple SLAM systems and sensor inputs, providing a common reference frame for orientation that all systems can use. When objects are moved, the model is updated to reflect new positions, ensuring that orientation information remains accurate and available to all systems, thus preventing information loss while maintaining autonomous navigation capabilities.
3Measurement precision
If objects are used as orientation points for manipulator systems, then localization accuracy is improved, but when another system moves these objects, it creates uncertainty in the environment map and affects path planning
Solution Approach 1:
The central control unit acts as an intermediary between manipulator systems and the environmental model. It receives localization data from all systems, updates the environmental model centrally, and manages the status of objects as orientation points. When an object is moved, the intermediary coordinates the update across all systems, maintaining measurement precision while managing the complexity of environment map updates through centralized control.
Data Source
AI summary
The invention relates to a method for controlling a plurality of mobile driverless manipulator systems (10, 20), in particular driverless transport vehicles in a logistics environment (40) for manipulating objects (30). In the method, ambient information is provided by a central control device (50), and in one step, an object to be moved (30) in the surroundings is detected. The position and the pose of the detected object are used for updating the ambient information and are taken into account in the path planning of the mobile driverless manipulator systems (10, 20) in that, prior to a movement of the detected object (30), a first mobile driverless manipulator system (10) is used to check whether the detected object (30) is needed for the orientation of a second mobile driverless manipulator system (20).