Robot Positioning in Robotic Tape Libraries
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Solution Overview
Problem
In robotic storage libraries where multiple robots share a common axis of motion, determining their relative positions without specific hardware indicators is challenging, leading to potential malfunctions and increased service times during maintenance.
Innovation Solution
A system and method where the library controller initializes robots by driving them in a predetermined pattern and receiving responses to identify their relative positions, allowing for generic and transparent positioning without the need for specific hardware indicators.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If hardware indicators are used to identify robot positions, then robot positioning can be determined, but device complexity increases and ease of operation deteriorates due to installation confusion
Solution Approach 1:
The patent removes hardware indicators from the robot design and extracts the positioning function to the software layer. The controller determines robot positions through software-based observation of movement patterns and responses, eliminating the need for physical hardware indicators on each robot.
Solution Approach 2:
The patent replaces the mechanical hardware indicator system with a software-based control system. Instead of using physical markers or indicators on robots, the system uses software to track and determine robot positions through commanded movements and response analysis.
2Measurement precision
If specific hardware indicators are required on robots, then relative positions can be identified, but device complexity and manufacturing precision requirements increase
Solution Approach 1:
The patent makes all robots universal and interchangeable by removing specific hardware indicators. Each robot has identical hardware configuration, and the controller universally applies the same software algorithm to determine positions of any robot in the system, making the system adaptable to different robot configurations.
Solution Approach 2:
The patent changes the parameter space from hardware-based physical indicators to software-based virtual indicators. The positioning information is no longer encoded in physical hardware parameters but in software-controlled movement parameters and response data.
3Reliability
If robots are loaded in specific order during installation, then correct positioning can be achieved, but ease of repair deteriorates due to service time increases
Solution Approach 1:
The system performs self-positioning determination through automated software algorithms. When robots are replaced or serviced, the controller automatically determines their positions through the software-based method, eliminating the need for technicians to manually configure or track robot positions.
Solution Approach 2:
The patent implements feedback mechanisms where robots report their movement capabilities and responses to controller commands. The controller uses this feedback information to automatically determine robot positions, providing real-time position verification without manual intervention.
Data Source
AI summary
A system and method for determining relative positions of robots constrained to move along a common axis of motion, where a controller of the system has no prior knowledge of the relative positions. The robots are ordered to move in defined directions and distances and report their ability to move in the desired directions. From this information, a controller of the system can determine their relative positions.