NZ778488B2 - Robot congestion management - Google Patents
Robot congestion management Download PDFInfo
- Publication number
- NZ778488B2 NZ778488B2 NZ778488A NZ77848820A NZ778488B2 NZ 778488 B2 NZ778488 B2 NZ 778488B2 NZ 778488 A NZ778488 A NZ 778488A NZ 77848820 A NZ77848820 A NZ 77848820A NZ 778488 B2 NZ778488 B2 NZ 778488B2
- Authority
- NZ
- New Zealand
- Prior art keywords
- robot
- item
- order set
- pose location
- monitoring server
- Prior art date
Links
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/0084—Program-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1656—Program controls characterised by programming, planning systems for manipulators
- B25J9/1661—Program controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1656—Program controls characterised by programming, planning systems for manipulators
- B25J9/1664—Program controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Program-controlled manipulators
- B25J9/16—Program controls
- B25J9/1679—Program controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- G—PHYSICS
- G06—COMPUTING OR CALCULATING; COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
Abstract
Systems and methods are provided for robot congestion management including a robot monitoring server configured to track a location of a plurality of robots within a navigational space and a plurality of robots in communication with the robot monitoring server, each robot including a processor and a memory, the memory storing instructions that, when executed by the processor, cause the autonomous robot to determine, from a task list assigned to the robot, a first pose location corresponding to a first task, receive, from the robot monitoring server, congestion information associated with the first pose location, identify a congested state of the first pose location indicated by the congestion information, select, responsive to the identification of the congested state, a second task from the task list, and navigate to a second pose location corresponding to the second task.
Claims (12)
1. A robot congestion management system comprising: a robot monitoring server configured to track a location of a plurality of robots and a plurality of human operators within a warehouse; wherein for each of the plurality of robots, the robot monitoring server is configured to group a plurality of orders from an order queue of a warehouse management system to form an order set, each order set including one or more items and each item being associated with a pose location in the warehouse; wherein the robot monitoring server is configured to assign an order set to each of the plurality of robots; wherein each of the plurality of robots is configured to pick a plurality of items from the order set assigned to it by the robot monitoring server with the assistance of the plurality of human operators, each robot including: a robot processor; and a robot memory, the robot memory storing instructions that, when executed by the robot processor, causes the robot to: determine, from the order set, a first pose location corresponding to a first item to be picked, receive, from the robot monitoring server, congestion information in an area about the first pose location, wherein the congestion information includes a number of human operators or a combined number of robots and human operators in the area about the first pose location, determine, based on the congestion information, if the area about the first pose location is in a congested state, select a second pose location corresponding to a second item from the order set, the second pose location being selected responsive to the determination of the congested state in the area about the first pose location and responsive to a plurality of efficiency factors regarding the second pose location, including the second pose location not being in a congested state and at least one human operator being detected proximate the second pose location, and navigate the robot to the second pose location; and wherein the step of grouping by the robot monitoring server a plurality of orders for each robot from an order queue of a warehouse management system to form an order set, includes: retrieving, by the robot monitoring server processor from a data structure, two dimensional coordinates (x,y) of each of the items in the order set in a coordinate space defined by the warehouse associated with the pose location of each of the items in the warehouse; forming, by the robot monitoring server processor for each order set, at least one cluster region defined by a radius, R, about the two dimensional coordinates (x,y) of at least one item from a respective order set; grouping, by the robot monitoring server processor, the order set based on the physical locations of the cluster regions in the warehouse to form the order set; and assigning, by the robot monitoring server processor, the order set to a robot by electronically transmitting the order set to an onboard electronic device for the robot.
2. The system of claim 1, wherein the plurality of efficiency factors further include one or more of the following: the second item being a next sequential item, the second item being a next highest priority item, a proximity of the second item to the first item.
3. The system of claim 1, wherein the congestion information in the congested area about the respective pose location, further includes a number of manually disabled robots, a number and type of non-robot, non-human objects, vehicles, or other obstructions, dimensions of the warehouse, or combinations thereof.
4. The system of claim 1, the robot memory further storing instructions that, when executed by the robot processor, causes the robot to re-insert the first item into an item list after the second item.
5. The system of claim 1, wherein the robot monitoring server further comprises one or more of a warehouse management system, an order-server, a standalone server, a distributed system comprising the memory of at least two of the plurality of robots, or combinations thereof.
6. A method for robot congestion management comprising: using a robot monitoring server to track a location of a plurality of robots and a plurality of human operators within a warehouse; wherein for each of the plurality of robots, grouping a plurality of orders from an order queue of a warehouse management system to form an order set, each order set including one or more items and each item being associated with a pose location in the warehouse, and assigning an order set to each of the plurality of robots; for each of the plurality of robots, picking a plurality of items from the order set assigned to it by with the assistance of the plurality of human operators, each robot: determining, from the order set a first pose location corresponding to a first item to be picked; receiving, from the robot monitoring server, congestion information in an area about the first pose location, wherein the congestion information includes a number of human operators or a combined number of robots and human operators in the area about the first pose location, determining, based on the congestion information, if the area about the first pose location is in a congested state, selecting a second pose location corresponding to a second item from the order set, the second pose location being selected responsive to the determination of the congested state in the area about the first pose location and responsive to a plurality of efficiency factors regarding the second pose location, including the second pose location not being in a congested state and at least one human operator being detected proximate the second pose location, and navigating the robot to the second pose location; and wherein the step of grouping by the robot monitoring server a plurality of orders for each robot from an order queue of a warehouse management system to form an order set, includes: retrieving, by the robot monitoring server processor from a data structure, two dimensional coordinates (x, y) of each of the items in the order set in a coordinate space defined by the warehouse associated with the pose location of each of the items in the warehouse; forming, by the robot monitoring server processor for each order set, at least one cluster region defined by a radius, R, about the two dimensional coordinates (x,y) of at least one item from a respective order set; grouping, by the robot monitoring server processor, the order set based on the physical locations of the cluster regions in the warehouse to form the order set; and assigning, by the robot monitoring server processor, the order set to a robot by electronically transmitting the order set to an onboard electronic device for the robot.
7. The method of claim 6, wherein the plurality of efficiency factors further include one or more of the following: the second item being a next sequential item, the second item being a next highest priority item, a proximity of the second item to the first item.
8. The method of claim 6, further comprising: wherein the congestion information in the congested area about the respective pose location, further includes a number of manually disabled robots, a number and type of non-robot, non-human objects, vehicles, or other obstructions, dimensions of the warehouse, or combinations thereof.
9. The method of claim 6, further comprising: re-inserting the first item into the item list after the second item.
10. The method of claim 6, wherein the robot monitoring server includes one or more of a warehouse management system, an order-server, a standalone server, a distributed system comprising the memory of at least two of the plurality of robots, or combinations thereof.
11. The system of claim 1, wherein the plurality of efficiency factors includes minimizing dwell time of the robot at the second pose location.
12. The method of claim 6, wherein the plurality of efficiency factors further includes minimizing dwell time of the robot at the second pose location.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US16/265,703 US11724395B2 (en) | 2019-02-01 | 2019-02-01 | Robot congestion management |
| PCT/US2020/016193 WO2020160459A1 (en) | 2019-02-01 | 2020-01-31 | Robot congestion management |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| NZ778488A NZ778488A (en) | 2023-11-24 |
| NZ778488B2 true NZ778488B2 (en) | 2024-02-27 |
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