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1. WO2020194249 - CONGESTION AVOIDANCE AND COMMON RESOURCE ACCESS MANAGEMENT FOR MULTIPLE ROBOTS

Publication Number WO/2020/194249
Publication Date 01.10.2020
International Application No. PCT/IB2020/052906
International Filing Date 27.03.2020
IPC
G05D 1/02 2020.01
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course, altitude, or attitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
CPC
B65G 1/1373
BPERFORMING OPERATIONS; TRANSPORTING
65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
1Storing articles, individually or in orderly arrangement, in warehouses or magazines
02Storage devices
04mechanical
137with arrangements or automatic control means for selecting which articles are to be removed
1373for fulfilling orders in warehouses
G05D 1/0027
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
0011associated with a remote control arrangement
0027involving a plurality of vehicles, e.g. fleet or convoy travelling
G05D 1/0214
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0212with means for defining a desired trajectory
0214in accordance with safety or protection criteria, e.g. avoiding hazardous areas
G05D 1/0289
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
1Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
02Control of position or course in two dimensions
021specially adapted to land vehicles
0287involving a plurality of land vehicles, e.g. fleet or convoy travelling
0289with means for avoiding collisions between vehicles
G05D 2201/0216
GPHYSICS
05CONTROLLING; REGULATING
DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
2201Application
02Control of position of land vehicles
0216Vehicle for transporting goods in a warehouse, factory or similar
Applicants
  • RAPYUTA ROBOTICS CO., LTD. [JP]/[JP]
Inventors
  • SKUBCH, Hendrik
Priority Data
16/366,44427.03.2019US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) CONGESTION AVOIDANCE AND COMMON RESOURCE ACCESS MANAGEMENT FOR MULTIPLE ROBOTS
(FR) ÉVITEMENT DE CONGESTION ET GESTION D'ACCÈS À UNE RESSOURCE COMMUNE POUR DE MULTIPLES ROBOTS
Abstract
(EN)
Embodiments herein disclose methods and systems to avoid congestion in an area by plurality of robots awaiting access to common resource. A current robot action and sensor data of one of plurality of robots is received at cloud node from plan execution engine executing at processor of one of plurality of robots. Based on received current robot action and sensor data, determination is made whether one of plurality of robots has to access common resource. Next spatial query is executed to determine location in area for positioning one of plurality of robots awaiting access to common resource based on static spatial condition that requires congestion-free movement in area when robot is positioned at location in area. Next priority order for accessing common resource is determined by plan execution engine. Finally, based on determined priority order, common resource is accessed by one of plurality of robots.
(FR)
Selon divers modes de réalisation, la présente invention concerne des procédés et des systèmes permettant d'éviter une congestion dans une zone par une pluralité de robots en attente d'accès à une ressource commune. Une action de robot courante et des données de capteur d'un robot d'une pluralité de robots sont reçues au niveau d'un nœud de nuage en provenance d'un moteur d'exécution de plan s'exécutant au niveau d'un processeur de ce robot de la pluralité de robots. Sur la base de l'action de robot courante et des données de capteur reçues, il est déterminé si un robot de la pluralité de robots doit accéder à une ressource commune. Puis, une interrogation spatiale est exécutée pour déterminer un emplacement dans la zone auquel positionner un robot de la pluralité de robots en attente d'accés à la ressource commune sur la base d'une condition spatiale statique qui requiert un mouvement sans congestion dans la zone lorsque le robot est positionné à l'emplacement dans la zone. Un ordre de priorité d'accès à la ressource commune est ensuite déterminé par le moteur d'exécution de plan. Enfin, sur la base de l'ordre de priorité déterminé, un robot de la pluralité de robots accède à la ressource commune.
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