Robotic Vehicle Turn Coordination for Oversized Article Routing
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Solution Overview
Problem
Existing computer-controlled vehicle navigation systems in industrial facilities face challenges in efficiently managing the transportation of oversized articles due to the risk of mechanical interference and collisions during turning maneuvers, which limits the size of articles that can be carried and the efficiency of grid-based sorting systems.
Innovation Solution
A system that includes a server, computer-controlled vehicles, and a grid with a routing engine that assigns travel routes and controls turning maneuvers to prevent contact between vehicles carrying oversized articles, by ensuring that only one vehicle can turn at a time in adjacent grid cells or by delaying turns to avoid overlapping turn radii.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Area of stationary object
If the grid size is minimized to increase the number of receiving and delivering locations, then the footprint of the sorting system is reduced, but the ability to accommodate larger articles is limited
Solution Approach 1:
The system dynamically adjusts grid cell boundaries and reconfigures the grid layout based on the size and dimensions of articles being transported. This allows the grid to adapt its structure to accommodate larger articles while maintaining an efficient overall footprint, resolving the contradiction between minimizing system area and maximizing article carrying capacity
Solution Approach 2:
The system changes the parameters of grid cells (size, shape, boundaries) based on the specific article being transported. By dynamically modifying grid parameters rather than using fixed uniform cells, the system can optimize both the footprint and the ability to accommodate articles of varying sizes
2Productivity
If multiple vehicles are allowed to turn simultaneously in adjacent grid cells to increase productivity, then the sorting operation efficiency is improved, but mechanical interference and collisions between vehicles occur
Solution Approach 1:
The routing engine performs preliminary planning and coordination of turning maneuvers for multiple vehicles. By pre-scheduling and sequencing turns in advance, the system allows multiple vehicles to turn in adjacent cells without collision, as the turns are coordinated to occur in a safe sequence rather than simultaneously
Solution Approach 2:
The system uses real-time feedback from vehicle positions, orientations, and turn progress to dynamically adjust and coordinate turning maneuvers. This feedback mechanism ensures that vehicles can turn in adjacent cells safely by monitoring each other's status and adjusting turn timing to prevent interference
3Area of moving object
If the grid cell size is increased to accommodate larger articles, then the ability to carry oversized items is improved, but the number of receiving and delivering locations that can be provided is reduced
Solution Approach 1:
The system segments the grid into dynamically adjustable cell boundaries rather than using fixed uniform cells. This segmentation allows the grid to be divided into smaller cells in areas where large turns are not needed, thereby accommodating more locations overall while still providing sufficient space for article turns where required
Data Source
AI summary
System is configured to receive article information corresponding to articles to be transported by computer-controlled vehicles, the articles comprising a first article and a second article, each having a maximum article dimension. System is also configured to assign travel routes about a grid comprising grid cells for the vehicles to travel thereon. The travel route of a first vehicle carrying the first article includes a turning maneuver at a first grid cell. System is configured to control the turning maneuver of the first vehicle in the first grid cell such that there is no contact between the first article carried on the first vehicle with a second article carried on a second vehicle present in a second grid cell that is adjacent to the first grid cell when the first vehicle is undertaking the turning maneuver.