Virtual slots for independent cart system

Patent metadata

Field	Value
Publication number	US-12448230-B2
Application number	US-202418422474-A
Country	US
Kind code	B2
Filing date	Jan 25, 2024
Priority date	Jan 25, 2024
Publication date	Oct 21, 2025
Grant date	Oct 21, 2025

Abstract

Virtual slots are provided to coordinate traffic flow in an independent cart system. Multiple virtual slots are defined along a length of a track for the independent cart system. The track includes multiple track segments, and the independent cart system includes a linear drive system to propel movers along the track. Each of the virtual slots are controlled to travel along the length of the track. The virtual slots are spaced apart at a first distance and are controlled to travel synchronously at a desired speed. Each of the movers is controlled to travel within one of the virtual slots at the desired speed, and each of the movers has a minimum stopping distance greater than the first distance when travelling at the desired speed.

First claim

We claim:

1. A method of coordinating traffic flow in an independent cart system, the system comprising:
assigning a plurality of virtual slots to travel along a first portion of a track for the independent cart system;
controlling each of the plurality of virtual slots to continually move along the first portion of the track;
assigning a mover to a first virtual slot, selected from the plurality of virtual slots;
controlling the mover to enter the first virtual slot from a second portion of the track for the independent cart system;
synchronizing motion of the mover to travel within the first virtual slot along the first portion of the track; and
controlling the mover to exit the first virtual slot to a third portion of the track for the independent cart system.

2. The method of claim 1 , wherein:
the second portion of the track is separate from but connects to the first portion of the track, and
the mover enters the first virtual slot as the first virtual slot moves past the second portion of the track.

3. The method of claim 2 , further comprising the step of synchronizing a speed of the mover to a speed of the first virtual slot along a transition region on the second portion of the track, wherein the first mover enters the first virtual slot from the transition region at the speed of the first virtual slot.

4. The method of claim 1 , wherein:
the third portion of the track is separate from but connects to the first portion of the track, and
the mover exits the first virtual slot as the first virtual slot moves past the third portion of the track.

5. The method of claim 4 further comprising the steps of:
controlling the mover along a transition region on the third portion of the track to continue travelling at a speed of the first virtual slot until the mover completely exits the first virtual slot; and
changing a speed of the mover within the transition region from the speed of the first virtual slot to a desired speed along the third portion of the track.

6. The method of claim 1 , wherein:
each of the plurality of virtual slots are controlled to move along the first portion of the track at a desired velocity,
each of the plurality of virtual slots are spaced apart by a first distance, and
when the mover is controlled to travel within the first virtual slot, the mover travels at the desired velocity and the mover has a stopping distance greater than the first distance.

7. The method of claim 1 further comprising the step of controlling the mover forward or reverse to a second virtual slot as the mover travels along the first portion of the track, wherein the second virtual slot is adjacent to the first virtual slot.

8. The method of claim 1 , wherein each of the plurality of virtual slots are initially controlled to move along the first portion of the track at a first speed, the method further comprising the steps of:
receiving a second speed command for each of the plurality of virtual slots, and
synchronously transitioning each of the plurality of slots between the first speed and the second speed, wherein the mover is present in the first virtual slot and the motion of the mover remains synchronized with the first virtual slot as each of the plurality of slots transitions between the first speed and the second speed.

9. A system of coordinating traffic flow in an independent cart system, the system comprising:
a track including at least a first portion, a second portion, and a third portion, wherein a plurality of coils are spaced along each of the first, second, and third portions of the track as part of a linear drive system for the independent cart system;
a plurality of movers operative to travel along the track, wherein each of the plurality of movers include at least one drive magnet mounted to the mover as part of the linear drive system for the independent cart system;
a plurality of virtual slots defined along the first portion of the track, wherein each of the plurality of virtual slots:
defines a space along the first portion of the track,
has a first spacing defined between adjacent virtual slots,
are controlled to move synchronously along the first portion of the track, and
selectively receives one of the plurality of movers from the second portion of the track; and

a controller operative to:
assign a first mover, selected from the plurality of movers, to a first virtual slot, selected from the plurality of virtual slots,
command the first mover to enter the first portion of the track as the first virtual slot passes a connection with the second portion of the track, and
command the first mover to exit the first portion of the track as the first virtual slot passes a connection with a third portion of the track.

10. The system of claim 9 , wherein the controller is further operative to command the first mover to move at a common speed with the plurality of virtual slots along a transition region of the second portion of the track.

11. The system of claim 10 , wherein the controller is further operative to:
control the mover along a transition region on the third portion of the track to continue travelling at a speed of the first virtual slot until the mover completely exits the first virtual slot; and
change a speed of the mover within the transition region from the speed of the first virtual slot to a desired speed along the third portion of the track.

12. The system of claim 9 , wherein:
each of the plurality of virtual slots are controlled to move along the first portion of the track at a desired velocity, and
when the first mover is controlled to travel within the first virtual slot, the first mover travels at the desired velocity and the first mover has a stopping distance greater than the first spacing.

13. The system of claim 9 wherein the controller is further operative to command the mover forward or reverse to a second virtual slot as the mover travels along the first portion of the track, wherein the second virtual slot is adjacent to the first virtual slot.

14. A method of coordinating traffic flow in an independent cart system, the method comprising the steps of:
defining a plurality of virtual slots along a length of a track for the independent cart system, wherein:
the track includes a plurality of track segments,
each track segment includes a plurality of coils spaced along the track segment and a segment controller to regulate current in the plurality of coils, and
the plurality of coils are a first portion of a linear drive system for the independent cart system;

controlling each of the plurality of virtual slots to travel along the length of the track, wherein:
the plurality of virtual slots are spaced apart at a first distance, and
the plurality of virtual slots are controlled to travel synchronously at a desired speed; and

controlling operation of a plurality of movers to travel along the track, wherein:
each of the plurality of movers includes at least one drive magnet,
the at least one drive magnet is a second portion of the linear drive system,
an electromagnetic field sequentially generated by the plurality of coils interacts with a magnetic field generated by the at least one drive magnet on each mover to propel the corresponding mover along the track,
each of the plurality of movers is controlled to travel within one of the plurality of virtual slots at the desired speed, and
each of the plurality of movers has a minimum stopping distance greater than the first distance when travelling at the desired speed.

15. The method of claim 14 , wherein:
the track is a first portion of the track for the

Assignees

• Rockwell Automation Tech Inc

Inventors

• Perreault Brian M
• Huang Yuhong
• Lanier Daniel I

Classifications

• B60L15/005

  for control of propulsion for vehicles propelled by linear motors · CPC title

• B60L13/03

  Electric propulsion by linear motors · CPC title

• H02K41/031 Primary

  of the permanent magnet type · CPC title

• B65G43/10

  Sequence control of conveyors operating in combination · CPC title

• B65G2811/095

  Speed variation control means · CPC title