Sorting Vehicle Route Planning With Dynamic Speed Collision Avoidance
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Solution Overview
Problem
Existing vehicle-based sorting systems face challenges in maintaining smooth operations due to potential collisions, traffic jams, and livelocks, especially in multi-robot systems, which hinder efficient high-speed transportation of goods.
Innovation Solution
The system employs a dynamic route planning approach that allows for the modification of pre-determined trajectories and speed profiles to avoid collisions and adapt to changing conditions, enabling flexible and high-speed movement of vehicles in the sorting system.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If vehicles travel at high speed with large safety distances, then collision avoidance is improved, but system throughput and transportation efficiency deteriorate
Solution Approach 1:
The patent implements dynamic speed adjustment where vehicles modify their speed profiles in real-time based on the positions and speeds of other vehicles. Instead of maintaining constant large safety distances, the system dynamically calculates optimal speeds to maintain safe separation while maximizing throughput. This is achieved through continuous monitoring and adjustment of velocity parameters based on relative positions of vehicles in the system.
Solution Approach 2:
The system changes the speed parameter dynamically based on the operational state of the sorting system. By adjusting speed profiles rather than maintaining fixed safety distances, the system optimizes both collision avoidance and throughput. The speed parameter is modified according to real-time conditions, allowing vehicles to travel closer when safe and maintain larger effective distances when needed.
2Device complexity
If vehicles follow fixed pre-calculated trajectories, then route planning complexity is reduced, but adaptability to changing conditions and collision avoidance deteriorates
Solution Approach 1:
The patent transforms static trajectory following into dynamic trajectory adjustment. Vehicles start with pre-calculated trajectories but continuously modify their path and speed parameters based on real-time system state. This dynamic approach maintains the simplicity of pre-calculated routes while adding adaptability through real-time modifications to trajectory parameters.
Solution Approach 2:
The system implements feedback mechanisms where vehicles continuously monitor the positions, speeds, and trajectories of other vehicles, and adjust their own trajectories accordingly. This feedback loop allows the system to adapt to changing conditions while maintaining overall route structure, balancing complexity and adaptability.
3Adaptability or versatility
If multiple vehicles operate in confined space with free movement, then system flexibility is improved, but collision risk and traffic jams increase
Solution Approach 1:
The patent introduces a central control system that acts as an intermediary between vehicles. This mediator calculates and adjusts speed profiles and trajectories for all vehicles to prevent collisions while maintaining flexible movement. The intermediary system coordinates vehicle movements to ensure safe operation in confined spaces without restricting overall system flexibility.
Solution Approach 2:
The system performs preliminary calculations of speed profiles and trajectories before vehicles begin movement. By pre-calculating safe paths and speed adjustments based on current system state, the system prevents collisions before they occur while maintaining flexible vehicle operation. This preliminary planning reduces the need for emergency maneuvers.
Data Source
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AI summary
The invention relates to a sorting system comprising a plurality of vehicles which are designed to move in the sorting system along trajectories. The sorting system comprises a calculation device in order to calculate, between a first number of start points and a second number of end points, a third number of trajectories, wherein each trajectory is assigned a speed specification for a vehicle along the trajectory. The sorting system comprises a coordination device which is designed to transmit travel assignments to the plurality of vehicles, wherein each travel assignment comprises a journey from one of the start points to one of the end points along one of the trajectories. The sorting system further comprises a collision avoidance apparatus which is designed, for a new travel assignment, to examine a trajectory for potential collisions with a further vehicle of the sorting system in order to obtain collision information that indicates a potential collision; and to change the speed specification assigned to the trajectory on the basis of the collision information in order to obtain a changed speed specification and avoid the potential collision. The sorting system is designed to transmit to a vehicle the new travel assignment comprising an instruction which includes the trajectory and the changed speed specification.