Robotic Load Handler Coordination via A* Pathfinding
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Solution Overview
Problem
Existing robotic load handling systems face limitations in scalability and efficiency due to the risk of collision and inadequate consideration of velocity, acceleration, and kinematics, which restricts the size of the grid and increases the risk of collisions as traffic increases.
Innovation Solution
A robotic load handler coordination system using an A* pathfinding algorithm that incorporates cost functions based on acceleration, velocity, direction change, and cell reservation status, allowing for iterative route determination and selection of an optimum route while accounting for physical constraints and kinematic tolerances, enabling scalable and efficient movement of multiple load handlers across a grid.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Quantity of substance
If the grid size is increased to improve storage capacity, then the number of containers that can be stored increases, but the risk of collision between load handlers increases
Solution Approach 1:
The system performs preliminary route planning and cell reservation before load handler movement occurs. The coordination system calculates optimal paths and reserves cells in advance, allowing load handlers to move through the grid without collision risk while maintaining high storage capacity
Solution Approach 2:
The coordination system acts as an intermediary between load handlers, managing communication and coordination. It receives movement requests, calculates conflict-free routes, and coordinates cell reservations, enabling multiple load handlers to operate simultaneously without collision
2Productivity
If more load handlers are added to increase throughput, then the productivity improves, but the complexity of coordinating their movement increases
Solution Approach 1:
The grid is segmented into discrete cells that can be independently reserved and managed. Each load handler operates within the context of these segmented cells, and the coordination system manages reservations at the cell level, reducing overall coordination complexity while supporting high throughput
Solution Approach 2:
The system implements feedback mechanisms where load handlers report their positions and movement intentions, and the coordination system responds with route adjustments or cell reservations. This feedback loop enables scalable coordination as more load handlers are added to the system
3Adaptability or versatility
If the tube height is increased to accommodate the highest stack, then the load handler can extract containers from deeper stacks, but the available space in enclosed warehouses is reduced
Solution Approach 1:
The load handler tube is designed to be dynamically adjustable in height rather than fixed. It can extend to the required height to access deep stacks when needed, and retract when not needed, adapting to varying stack heights while minimizing space occupation in the warehouse environment
Data Source
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AI summary
A robotic load handler coordination system comprises a robotic load handler (114) capable of traversing, when in use, a plurality of cells arranged in a grid formation. The load handler (114) is arranged to receive an instruction associated with execution of a selected determined route from a starting cell to a destination cell. A processing resource is arranged to support a movement optimiser, the movement optimiser being arranged to determine a plurality of routes iteratively using an A* pathfinding algorithm in order to determine a number of sets of routes respectively from a number of the plurality of cells to the destination cell. The number of the plurality of cells comprises the starting cell, and the movement optimiser is arranged to select an optimum route to the destination cell from the set of routes in respect of the starting cell.