Robot Entry Sequencing for Deadlock-Free Shared Movement Areas
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Solution Overview
Problem
Existing robotic systems face challenges in managing overlapping movement routes, leading to deadlocks and inefficiencies, especially in areas with multiple robots operating simultaneously.
Innovation Solution
An electronic device and control method that determine the entry sequence of robots into main and sub areas, using a communication device for data conversion and user input to set areas, thereby preventing deadlocks and ensuring safe and efficient robot movement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If robots move freely in main areas without route management, then robot mobility and productivity are improved, but deadlocks occur in areas where robots move in different directions
Solution Approach 1:
The system segments the movement area into a main area and a sub area, allowing robots to transition through the sub area before entering the main area. This segmentation enables sequence control of robot entries while maintaining overall mobility, resolving the contradiction between free movement and deadlock prevention.
Solution Approach 2:
The control server determines the entry sequence of robots to the main area in advance, before robots actually enter. By pre-establishing the entry order based on robot types and locations, the system prevents deadlocks before they occur while maintaining efficient robot mobility throughout the facility.
2Reliability
If detour routes are set for robots, then deadlock prevention is improved, but areas for safe standby cannot be designated and robot efficiency decreases
Solution Approach 1:
The system separates the standby function from the detour route by creating a distinct sub area where robots can wait before entering the main area. This segmentation allows robots to standby safely without interfering with pedestrian areas while maintaining efficient routes through the main area.
Solution Approach 2:
The system adds a temporal dimension to route management by controlling the sequence of robot entries into the main area. Instead of spatial detours, robots are managed in time sequence through the sub area, allowing efficient spatial routes while preventing deadlocks through temporal coordination.
3Reliability
If entry sequence control is implemented, then deadlock prevention is improved, but system complexity increases
Solution Approach 1:
The control system is segmented into a control server that manages high-level entry sequence logic and robot controllers that execute specific commands. This segmentation simplifies the overall system by distributing complexity, with the server handling sequence determination and individual robots handling execution.
Solution Approach 2:
The control server acts as an intermediary between robot controllers and the facility management system. It receives information about robot locations and types, determines appropriate entry sequences, and transmits control commands, simplifying the interface complexity while maintaining reliable deadlock prevention.
Data Source
AI summary
An electronic device can include a communication device, one or more processors and a storage medium storing computer-readable instructions that enable the one or more processors to set a first sub area in which a first robot is movable in a first direction and in which a second robot is movable in a second direction, where the first sub area includes a first partial area of a main area, determine a first entry condition for whether the first robot is permitted to enter the main area, based on a location of the second robot and based on the first robot having entered the first sub area, where the main area is where a deadlock can occur, and transmit a first entry command for causing the first robot to enter the main area to the first robot, based on the first entry condition being determined.