Rail Robot Control System Using Graph Theory for Multi-Level Navigation
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Solution Overview
Problem
Existing control systems for rail-mounted driving robots in complex rail networks are inflexible and limited to a single horizontal plane, unable to define different levels, leading to restrictions and inefficient route calculations.
Innovation Solution
A control system utilizing graph theory to map the rail network with nodes and edges, allowing transport robots to calculate their routes through a virtual evaluation system that assigns virtual costs to routes, enabling efficient navigation across multiple levels and intersection points.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a strict street management system with one-way streets and crossings is used to control rail robots, then collision-free traffic is guaranteed, but the system becomes inflexible and cannot define different levels
Solution Approach 1:
The patent introduces a vertical dimension (levels) to the traditional two-dimensional rail network control system. By assigning different levels to different rail routes and allowing robots to operate on multiple levels, the system achieves three-dimensional spatial management while maintaining collision-free operation through level-based separation
2Adaptability or versatility
If traffic rules are changed for a certain rail route, then the system becomes more adaptable, but the entire software has to be changed
Solution Approach 1:
The patent segments the control system into modular components: route definitions, level assignments, and robot control. Each rail route can be independently configured with specific level assignments and access rules, allowing local modifications without requiring changes to the entire software system
Solution Approach 2:
The system dynamically assigns levels to different routes and allows real-time modification of route configurations. The control software adapts to changes in traffic rules by reconfiguring level assignments and access permissions for specific routes without requiring complete software replacement
3Measurement precision
If RFID tags are used to mark junctions and routes, then position determination is achieved, but the system requires frequent updates and maintenance of physical tags
Solution Approach 1:
The patent creates a virtual copy of the physical rail network structure within the control system software. This virtual model includes all junctions, routes, and level assignments, allowing the system to determine positions and calculate routes based on the virtual representation rather than relying on frequent updates of physical RFID tags
Data Source
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AI summary
Method for controlling the route of rail-bound transport robots (2a, 2b) in a widely branched rail network (1) in which, in particular, switches (4), lifts (10, 11) and other rail-integrated units, especially also loading and unloading stations, are arranged, wherein the rail network (1) with all rail-integrated units (4; 10, 11; 13-16; 20, 21, 33) is represented in the control system of the transport robot (2a, 2b) using nodes (7-9; 22-25) and edges (26-31) in the sense of graph theory.