Methods, systems and apparatus for controlling movement of transporting devices

Patent metadata

Field	Value
Publication number	US-11635769-B2
Application number	US-202117357121-A
Country	US
Kind code	B2
Filing date	Jun 24, 2021
Priority date	Jun 3, 2014
Publication date	Apr 25, 2023
Grant date	Apr 25, 2023

Abstract

A system and method for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility. A facility having pathways arranged in a grid-like structure above stacks, the transporting devices being configured to operate on the grid-like structure. A control unit configured to determine at least one task to be performed by at least one transporting device, wherein the at least one task is determined based on at least one of: transporting device battery condition, transporting device damage, transporting device maintenance issues, and transporting device service issues.

First claim

The invention claimed is:

1. A system for controlling movement of at least one transporting device arranged to transport at least one container, the system comprising:
one or more processors configured to:
determine a plurality of paths for a plurality of transporting devices to travel on pathways of a facility, the plurality of paths comprising a first path for travel by a first transporting device of the plurality of transporting devices and a second path for travel by a second transporting device of the plurality of transporting devices,
wherein the pathways form a grid-like structure above a plurality of containers arranged within the facility, the pathways comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction transverse to the first direction in a substantially horizontal plane, at least some of the plurality of containers being stored in stacks,
wherein the plurality of transporting devices are configured to selectively move laterally in the first direction and the second direction on the pathways, at least some of the plurality of transporting devices being configured to transport the plurality of containers, and
generate a plurality of commands for the plurality of transporting devices to cause the plurality of transporting devices to travel on the pathways along the plurality of paths; and

a memory device configured to store the plurality of commands,
wherein the one or more processors are configured to determine the first path from an expected level of transporting device congestion as the first transporting device travels along the first path.

2. The system of claim 1 , wherein the expected level of transporting device congestion comprises an expected level of transporting device congestion at an area adjacent to the first path.

3. The system of claim 1 , wherein the expected level of transporting device congestion comprises an expected level of transporting device congestion along a portion of the first path.

4. The system of claim 1 , wherein the expected level of transporting device congestion comprises an expected level of transporting device congestion at an intersection of the pathways on the first path.

5. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from a condition of a battery of the first transporting device.

6. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from an estimated time for the first transporting device to complete an operation with one of the plurality of containers.

7. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from an estimated time for the first transporting device to arrive at a location on the pathways.

8. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from an estimated time to dig one of the plurality of containers from the facility for transportation by the first transporting device.

9. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from a characteristic of an item that is held in the first transporting device.

10. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from a potential for collision between the first transporting device and the plurality of transporting devices other than the first transporting device.

11. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from a maximum speed of the first transporting device.

12. The system of claim 1 , wherein the one or more processors are configured to:
determine an order in which the plurality of transporting devices should transport a set of the plurality of containers to a station,
instruct the plurality of transporting devices to transport the set of the plurality of containers to the station so that the set of the plurality of containers arrive at the station in the order, and
determine the first path further from a determination that the station is in use by one of the plurality of transporting devices other than the first transporting device.

13. The system of claim 1 , wherein the one or more processors are configured to:
determine the plurality of paths using an optimization algorithm,
instruct the plurality of transporting devices to perform a plurality of operations with the plurality of containers at ending points of the plurality of paths,
determine the plurality of paths so that no two of the plurality of transporting devices have locations while traveling along the plurality of paths that would cause the plurality of transporting devices to overlap at the same time,
determine the plurality of paths so that all of the plurality of transporting devices may simultaneously travel on the pathways, and control operations of the plurality of transporting devices in real time.

14. The system of claim 1 , further comprising a control interface configured to communicate with the plurality of transporting devices via an application programmable interface, the one or more processors being configured to cause the control interface to transmit the plurality of commands via the application programmable interface.

15. The system of claim 1 , wherein the one or more processors are configured to determine the first path further from a capability of the first transporting device.

16. The system of claim 15 , wherein the capability of the first transporting device depends on whether the first transporting device is a first robot type or a second robot type different from the first robot type.

17. The system of claim 15 , wherein the capability of the first transporting device comprises a weight carrying capacity of the first transporting device.

18. The system of claim 15 , wherein the capability of the first transporting device comprises an availability of the first transporting device to a perform an operation with one of the plurality of containers.

19. The system of claim 15 , wherein the capability of the first transporting device depends on a physical structure of the first transporting device.

20. The system of claim 19 , wherein the physical structure comprises a footprint of the first transporting device on the pathways.

21. A method for controlling movement of at least one transporting device arranged to transport at least one container, the method comprising:
determining, by one or more processors, a plurality of paths for a plurality of transporting devices to travel on pathways of a facility, the plurality of paths comprising a first path for travel by a first transporting device of the plurality of transporting devices and a second path for travel by a second transporting device of the plurality of transporting devices,
wherein the pathways form a grid-like structure above a plurality of containers arranged within the facility, the pathways comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction transverse to the first direction in a substantially horizontal plane, at least some of the plurality of containers being stored in stacks,
wherein the plurality of transporting devices are configured to selectively move laterally in the first direction and the second direction on the pathways, at leas

Assignees

• Ocado Innovation Ltd

Inventors

• Stadie Robert
• Whelan Matthew
• Brett Christopher

Classifications

• G05D1/692

  involving a plurality of disparate vehicles · CPC title

• G05D1/693

  for avoiding collisions between vehicles · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D2111/20

  Acoustic signals, e.g. ultrasonic signals · CPC title

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title