Warehouse Robot Task Sequencing for Simultaneous Return and Picking

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Solution Overview

Problem

Existing warehousing robot systems face inefficiencies in goods transferring due to a rigid 'returning before taking' policy, which limits flexibility and reduces transferring efficiency.

Innovation Solution

A robot system with a movable base, a robot shelving unit, a lifting device, and an object transferring device that allows for flexible task sequencing, enabling the robot to perform goods taking and returning tasks simultaneously by dynamically adjusting its path and storage positions based on real-time position and slot information.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Productivity

If the robot adopts a 'returning before taking' policy to transfer multiple goods containers, then the goods containers can be returned to shelving units in batches, but the transferring flexibility is reduced and the goods transferring efficiency becomes relatively low

Engineering Contradiction:

Improvegoods transferring efficiencyVSAvoidtransferring flexibility

Core Design Contradiction:

ProductivityVSAdaptability or versatility

Solution Approach 1:

The patent implements dynamic task sequencing where the robot can flexibly switch between returning tasks and taking tasks based on real-time conditions. The controller dynamically adjusts the task execution order, allowing the robot to perform taking tasks immediately when storage spaces are available, rather than following a rigid 'returning before taking' sequence. This dynamic approach resolves the contradiction by making the transferring policy adaptable while maintaining high efficiency.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robot performs preliminary detection of storage space availability before executing taking tasks. By提前 detecting whether storage spaces are available in shelving units, the robot can proactively plan and execute taking tasks without waiting for returning tasks to complete, thus improving flexibility and efficiency simultaneously.

Inventive Principle:

Principle #10Preliminary action

2Ease of operation

If the robot returns all goods containers to shelving units before taking new ones, then the storage management is simplified, but the operation time and movement distance increase

Engineering Contradiction:

Improvestorage management simplicityVSAvoidoperation time

Core Design Contradiction:

Ease of operationVSLoss of time

Solution Approach 1:

The patent enables continuous useful action by allowing the robot to interleave returning tasks and taking tasks. Instead of completing all returning actions before starting taking actions, the robot continuously performs useful operations by switching between task types based on storage space availability. This eliminates idle waiting time and reduces total operation time while maintaining manageable storage operations.

Inventive Principle:

Principle #20Continuity of useful action

Solution Approach 2:

The robot performs preliminary detection of storage space availability before executing taking tasks. By提前 checking whether storage spaces are available, the robot can immediately proceed with taking tasks when spaces exist, avoiding the time loss associated with completing all returning tasks first. This preliminary action maintains storage management simplicity while significantly reducing operation time.

Inventive Principle:

Principle #10Preliminary action

3Device complexity

If the robot follows a fixed task sequence for returning and taking goods, then the control logic is simplified, but the energy consumption increases due to unnecessary movement

Engineering Contradiction:

Improvecontrol logic complexityVSAvoidenergy consumption

Core Design Contradiction:

Device complexityVSUse of energy by moving object

Solution Approach 1:

The patent implements dynamic task sequencing that adjusts the execution order of returning and taking tasks based on real-time storage space availability. The controller uses simple conditional logic to determine whether to perform taking tasks immediately or wait for returning tasks, avoiding complex optimization algorithms while reducing unnecessary movement and energy consumption.

Inventive Principle:

Principle #15Dynamics

Solution Approach 2:

The robot performs preliminary detection of storage space availability using simple sensing mechanisms before deciding on the next task. This preliminary action enables the robot to make energy-efficient decisions based on basic conditional logic rather than following a fixed task sequence, reducing unnecessary movement while keeping the control system relatively simple.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS20230150769A1Robot, goods transferring method, server, and warehousing system

Publication Date: 2023.05.18 HAI ROBOTICS CO LTD

AI summary

This application provides a robot, a goods transferring method, a server, and a warehousing system The robot in this embodiment includes: a movable base, a robot shelving unit, a lifting device, and an object transferring device, where the robot shelving unit is mounted on the movable base; the movable base is configured to move to a first target object position included in a first transferring task and move to a second target object position included in a second transferring task, where one of the first transferring task and the second transferring task is a goods taking task, and the other one is a returning task; and the lifting device and the object transferring device are mounted on the robot shelving unit, and the robot is configured to perform the second carrying task during performance of the first carrying task. Therefore, a transferring policy may be flexibly set, and goods are returned while goods are taken during goods transferring, to effectively improve the goods transferring efficiency.