Shelf Queuing Layout for Deadlock-Free Robot Sorting

The patent transforms the fixed queuing zone into a dynamic virtual queuing zone that can be flexibly allocated across multiple physical locations including passages and stations. The virtual queuing zone is not fixed in space but can be dynamically assigned based on system state, allowing unlimited robot accommodation without physical expansion of dedicated queuing space.

The patent introduces a virtual dimension for the queuing zone, moving from a single fixed physical location to a multi-location virtual space. Robots can queue at various stations and passages simultaneously, effectively adding spatial dimensions to the queuing function and resolving the capacity limitation of fixed zones.

The patent introduces a virtual queuing zone as an intermediary concept that decouples the physical passage from the queuing function. Instead of physically blocking passages, robots are assigned to virtual queue positions that may be located at stations or other non-obstructive locations, eliminating route obstruction while maintaining queue functionality.

The system dynamically assigns queuing locations based on real-time passage occupancy and robot positions. When passages are clear, robots can queue there; when occupied, robots queue at alternative locations, dynamically adapting to avoid obstruction while maintaining system capacity.

The patent makes stations multi-functional by enabling them to serve both as operation stations and as side-turning zones. Any station can accommodate robots needing side-turning operations, transforming a specialized single-function zone into multiple universal zones, thereby eliminating the bottleneck while maintaining structural simplicity.

The patent distributes the side-turning function across multiple spatial locations (stations) rather than concentrating it in a single fixed zone. This spatial distribution adds dimensional flexibility to the side-turning operation, allowing parallel operations at multiple stations simultaneously.

The patent segments the rotation zone entry into discrete grid cells rather than requiring continuous arc paths. Robots can enter and rotate within individual cells or small groups of cells, eliminating the need for large clearances while maintaining operational smoothness through stepwise movement and rotation.

The system dynamically plans robot paths and rotation sequences to optimize space usage. Instead of fixed arc paths requiring static margins, the system adaptively routes robots through available grid cells, dynamically adjusting paths to minimize space requirements while ensuring smooth entry and rotation operations.