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Method of and apparatus for determining optimum delivery route for articles

  • US 6,246,931 B1
  • Filed: 06/22/1999
  • Issued: 06/12/2001
  • Est. Priority Date: 06/24/1998
  • Status: Expired due to Fees
First Claim
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1. A method of determining an optimum delivery route for delivering an article from a delivery start position to a delivery destination position with a delivery robot capable of lifting the workpiece with an end effector at the delivery start position, delivering the workpiece in forward, backward, left, and right directions, and lowering the workpiece at the delivery destination position, comprising the steps of:

  • describing a spatial structure in which the delivery robot is movable, from said delivery start position to said delivery destination position according to a quadtree method, and storing the described spatial structure as a map; and

    determining an optimum delivery route according to neutral network processing by referring to said map taking into account the safety of a direction of delivery and a shortest delivery distance.

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