Transport Robot Clearance Control for Grid Load Constraints
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Solution Overview
Problem
Existing robotic movement systems in storage and retrieval facilities lack safety ratings and do not account for the loading and fatigue of grid pathways, leading to potential non-safety-critical damage from excess loads and fatigue.
Innovation Solution
A controller system that determines routes and clearance for transporting devices based on constraint areas within a grid-like structure, calculating constraint limits to prevent overloading and fatigue by granting or withholding clearance to traverse specific areas.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robotic transporting devices operate freely on the grid-like structure without load limitations, then productivity and movement efficiency are improved, but the grid structure suffers from excess loads and fatigue leading to potential damage
Solution Approach 1:
The system dynamically changes the operational parameters of transporting devices by adjusting speed limits and acceleration rates based on real-time load calculations. The controller monitors the number of devices in each constraint area and modifies movement parameters to keep the total load within safe thresholds, thereby maintaining productivity while protecting grid structure integrity
Solution Approach 2:
The controller implements a feedback mechanism that continuously monitors the positions of all transporting devices, calculates the current load on each constraint area, and adjusts speed limits and route clearances accordingly. This closed-loop control ensures that productivity is maximized within the safety constraints of the grid structure
2Productivity
If more transporting devices are deployed to increase storage and retrieval capacity, then productivity is improved, but the load on the grid structure increases causing fatigue and potential damage
Solution Approach 1:
The system dynamically adjusts the operational capacity of the grid by implementing time-varying speed limits and area-specific constraints. As more transporting devices are deployed, the controller dynamically modifies movement parameters and route clearances to distribute loads appropriately, allowing high productivity with multiple devices while maintaining grid structure reliability through adaptive load management
3Productivity
If the grid structure is designed to support higher loads to accommodate more transporting devices, then productivity is improved, but the risk of fatigue and non-safety-critical damage increases
Solution Approach 1:
The system performs preliminary load calculations and route optimizations before transporting devices enter constraint areas. The controller pre-establishes speed limits and clearance decisions based on predicted load conditions, preventing excessive loads and fatigue before they occur, thereby maintaining high transport capacity while minimizing damage risk
Data Source
AI summary
A controller is provided to control movement of transporting devices. Embodiments limit the loads imparted on a grid of pathways structure of transporting devices to prevent non-safety-critical damage from excess loads and/or fatigue. A controller is arranged to control movement of transporting devices arranged to transport containers stored in a facility. The facility includes pathways arranged in cells to form a grid-like structure which extends in first and second directions. A route determination unit determines a route from one location to another, and a clearance unit to provide clearance for each transporting device to traverse a portion of the determined route. A constraint area determination unit determines constraint areas based on the grid-like structure and a calculation unit calculates a constraint limit in each constraint area.