Mover system

Patent metadata

Field	Value
Publication number	US-11829144-B2
Application number	US-202016991946-A
Country	US
Kind code	B2
Filing date	Aug 12, 2020
Priority date	May 27, 2016
Publication date	Nov 28, 2023
Grant date	Nov 28, 2023

Abstract

A moving system comprising a master controller for monitoring and controlling a master operation comprising one or more individual movers such that each mover arrives at predefined end point at selected times. Each mover includes a mover control system that interacts with the master controller and has a predefined virtual vector path with one or more defined end points. The predefined virtual vector path comprises a plurality of discrete points, wherein each discrete point has a vector axis for use by the master controller and the mover control system to direct the mover to move such that it arrives at each defined end point at a selected time. In operation, the master controller functions to modify the predefined virtual path and sends commands to the mover control system in response to changes in the master operations.

First claim

The invention claimed is:

1. A system, comprising:
a communication interface configured to communicate with one or more movers; and
a processor coupled to the communication interface and configured to:
determine a corresponding predefined path of travel for each of the one or more movers, wherein the corresponding predefined path of travel comprises a corresponding plurality of coordinates;
monitor a corresponding actual path of travel for each of the one or more movers including determining whether the corresponding predefined path of travel for a first mover of the one or more movers matches the corresponding actual path of travel for the first mover by comparing a calculated position of the first mover that is based on the coordinates associated with the corresponding predefined path of travel for the first mover with an actual position associated with the corresponding actual path of travel for the first mover;
modify the corresponding predefined path of travel for the first mover to be a modified predefined path of travel in response to a determination that the calculated position of the first mover differs from the actual position associated with the corresponding actual path of travel for the first mover by a threshold; and
control the one or more movers at least in part by sending to at least the first mover of the one or more movers, via the communication interface, one or more motion commands to prevent a collision by implementing the modified predefined path of travel, wherein the one or more motion commands cause the at least the first mover of the one or more movers to arrive at its corresponding end destination of its corresponding predefined path of travel at a predetermined scheduled time.

2. The system of claim 1 , wherein the one or more motion commands are provided to prevent the collision between at least two movers.

3. The system of claim 1 , wherein the one or more motion commands are provided to prevent the collision between the first mover of the one or more movers and an obstruction.

4. The system of claim 1 , wherein the corresponding predefined path of travel include a corresponding start point and a corresponding end point.

5. The system of claim 1 , wherein the corresponding predefined path of travel is associated with a corresponding predetermined scheduled arrival time.

6. The system of claim 1 , wherein the processor is configured to compare the corresponding predefined path of travel to the corresponding actual path of travel for each of the one or more movers.

7. The system of claim 1 , wherein the processor is configured to compare a scheduled position of the corresponding predefined path of travel to an actual position of the corresponding actual path of travel for each of the one or more movers.

8. The system of claim 1 , wherein the one or more motion commands increase or decrease an amount of time for the at least one of the one or more movers to arrive at its corresponding end point.

9. The system of claim 1 , wherein the processor is configured to generate a new predefined path of travel to prevent a second collision.

10. The system of claim 1 , wherein the one or more motion commands cause the at least first mover of the one or more movers to travel along the new predefined path of travel.

11. The system of claim 1 , wherein the one or more movers include corresponding tracking sensors.

12. The system of claim 1 , wherein the corresponding predefined path of travel is associated with corresponding plan parameters.

13. The system of claim 12 , wherein the corresponding plan parameters include at least one of a speed, an acceleration, a deceleration, and/or a time.

14. The system of claim 1 , wherein the processor is configured to synchronize operations of the one or more movers with secondary equipment.

15. The system of claim 14 , wherein the secondary equipment includes one or more of loading equipment, unloading equipment, packaging equipment, assembly equipment, or machining equipment.

16. The system of claim 1 , wherein the one or more motion commands include a combination of straight and curved motion commands.

17. The system of claim 1 , wherein the processor is configured to provide corresponding position commands via the communication interface to the one or more movers.

18. The system of claim 1 , wherein the one or more motion commands cause a propulsion system of the at least first mover of the one or more movers to adjust its plan parameters.

19. A method, comprising:
determining, by a processor, a corresponding predefined path of travel for each of one or more movers, wherein the corresponding predefined path of travel comprises a corresponding plurality of coordinates;
monitoring, by the processor, a corresponding actual path of travel for each of the one or more movers including determining whether the corresponding predefined path of travel for a first mover of the one or more movers matches the corresponding actual path of travel for the first mover by comparing a calculated position of the first mover that is based on the coordinates associated with the corresponding predefined path of travel for the first mover with an actual position associated with the corresponding actual path of travel for the first mover;
modifying, by the processor, the corresponding predefined path of travel for the first mover to be a modified predefined path of travel in response to a determination that the calculated position of the first mover differs from the actual position associated with the corresponding actual path of travel for the first mover by a threshold; and
controlling, by the processor, the one or more movers at least in part by sending to at least the first mover of the one or more movers, via a communication interface over a communication network, one or more motion commands to prevent a collision by implementing the modified predefined path of travel, wherein the one or more motion commands cause the at least the first mover of the one or more movers to arrive at its corresponding end destination of its corresponding predefined path of travel at a predetermined scheduled time, wherein the one or more motion commands prevent the collision in part by increasing or decreasing an amount of time for the at least first mover to arrive at its corresponding end destination.

20. A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
determining a corresponding predefined path of travel for each of one or more movers, wherein the corresponding predefined path of travel comprises a corresponding plurality of coordinates;
monitoring a corresponding actual path of travel for each of the one or more movers including determining whether the corresponding predefined path of travel for a first mover of the one or more movers matches the corresponding actual path of travel for the first mover by comparing a calculated position of the first mover that is based on the coordinates associated with the corresponding predefined path of travel for the first mover with an actual position associated with the corresponding actual path of travel for the first mover that is based on sensor data associated with the first mover;
modifying the corresponding predefined path of travel for the first mover to be a modified predefined path of travel in response to a determination that the calculated position of the first mover differs from the actual position associated with the corresponding actual path of travel for the first mover

Assignees

• Dexterity Inc

Inventors

• Wernersbach Glen C

Classifications

• G05D1/0212 Primary

  with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287) · CPC title

• B66F9/00

  Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes (mobile or transportable lifts in, or associated with, buildings and specially adapted to be shifted from one part of a building or other structure to another part or to another building or structure B66B9/16; cranes B66C) · CPC title

• G05D1/0011

  associated with a remote control arrangement · CPC title

• G05D1/0297 Primary

  by controlling means in a control room · CPC title

• G08G1/00

  Traffic control systems for road vehicles (arrangement of road signs or traffic signals E01F9/00 {; automatic vehicle control B62D}) · CPC title