Some Cognitive Robotics Applications and Challenges at...
Transcript of Some Cognitive Robotics Applications and Challenges at...
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Dr Graham Deacon
Robotics Research Team Leader
Ocado Technology
Some Cognitive Robotics Applications and
Challenges at Ocado
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Outline of Talk
• A bit of background about Ocado.
• A brief look at the automation currently used in our warehouses to fulfil orders.
• Two case studies:-
• Maintenance technician assistant: EU H2020 project SecondHands
• Dolly marshalling using intelligent autonomous vehicles
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Ocado’s business
Online only grocery retailer
No shops!
Orders placed online
Highly automated warehouses in Hatfield (Hertfordshire) and Dordon
(Warwickshire)
Delivered to customers by our own fleet in guaranteed 1 hour time slots
Scale
~2 million items picked per day
~270,000 orders per week
~45,000 distinct SKUs
10,000 employees
650 in Ocado Technology (want 800 this time next year)
(Very unusual profile for a retailer.)
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Customer Fulfilment Centre Automation
Hub and spoke model – 2 large warehouses (CFCs), 10 spokes.
• Hatfield CFC contains >25km of conveyor, with 275 pick stations, ~1000 crossover
points, ~3000 barcode scanners.
• Dordon CFC contains >25km of conveyor, with 250 pick stations, ~1000 crossover
points, ~3000 barcode scanners.
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Video of delivery totes in the Hatfield CFC
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Case study 1: Maintenance Technician
Assistant – H2020 project SecondHands
• Currently Ocado use a team of human
maintenance technicians to maintain the
warehouse automation (conveyor, transfers,
lifts and cranes)
• The idea for SecondHands originates from
the realization that most of the tasks
involved in the maintenance work are quite
predictable (semi structured environment),
and would actually benefit from two people
cooperating to perform them.
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Ocado Technology (Coordinator)
University College London
Karlsruhe Institute of Technology
École Polytechnique Fédérale de
Lausanne
Sapienza University of Rome
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• Humans working collaboratively on
a task like maintenance of
automation, predominantly do so
without needing to form an
agreement about who does what for
every activity. Humans anticipate in
order to work pro-actively.
• Called “SecondHands” because we
want the robot to act as a second
pair of hands that a maintenance
technician can rely on.
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We are developing a framework for
modelling technician behaviour so that
the robot can:-
• Understand the scope of the task
• Recognise where in a task the
technician is
• Understand when it can usefully
provide assistance.
• Dynamically replan when conditions
change
• Know if it doesn’t know something
In essence the robot needs to know what
to do, when to do it, and how to do it, in a
manner that a human can depend on.
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Case study 2: Dolly Marshalling
What is a dolly?
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Use AGVs to automate marshalling
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Frameloading
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Dekit and storage
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Loading bay
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Problems to be addressed
Large scale model construction of static environmental elements.
Vision systems need to be robust in the face of variation in illumination and
reflective objects.
Localisation, navigation, path planning and obstacle avoidance in a dynamic
environment.
Need to identify and track people and dollies and predict their behaviour.
Learning what is “normal” in order to perform anomaly detection.
Division of decisions between global and local perspectives.
Degree of competition versus cooperation.
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Questions?