Controller and method for a transport device

Abstract

A controller for controlling movement of a plurality of transport devices is provided. In particular, the controller limits the load delivered by the plurality of transport devices onto a grid of a pathway structure to prevent non-critical safety damage due to overloading and / or fatigue. In particular, a controller configured to control movement of a plurality of transport devices is provided, the controller comprising a route determination unit configured to determine a route for each transport device from one location on a grid structure to another location on the grid structure; and a permission unit configured to provide each transport device with a permission to pass through a portion of the determined route. The controller further comprises a constraint area determination unit configured to determine a plurality of constraint areas based on static load, dynamic load and / or shear load of the grid structure; and a calculation unit configured to calculate a constraint limit in each constraint area.

Description

[0001] This application is a divisional application of Chinese invention patent application No. 201980007667.5, filed on January 15, 2019, entitled "Controller and Method for Transportation Equipment" filed by the same applicant.

[0002] This application claims priority to UK Patent Application No. GB1800408.5, filed January 10, 2018, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This invention relates generally to the field of controlling transport equipment. More specifically, it relates to apparatus and methods for controlling the movement of transport equipment based on constraints. Background Technology

[0004] Certain commercial and industrial activities require systems capable of storing and retrieving large quantities of different products. One known system for storing and retrieving goods across multiple product lines involves arranging storage bins or containers on rows of shelves, which in turn are arranged in aisles. Each storage bin or container holds one or more products of one or more product types. The aisles provide passageways between the rows of shelves, allowing desired products to be retrieved by operators or robots circulating within the aisles. However, it should be understood that the need to provide aisle space for product access implies a relatively low storage density for such systems. In other words, the actual space used for storing products is relatively small compared to the total space required for the entire storage system.

[0005] For example, online retail businesses that sell multiple product lines, such as online grocery stores and supermarkets, need systems capable of storing dozens or even hundreds or thousands of different product lines. The operation of these businesses' supply chains and warehouses depends heavily on their ability to organize, retrieve, and return goods to various containers.

[0006] In particular, in the implementation of various warehouse and storage facility designs, containers can be stacked on top of each other, and the stacks can be arranged in rows. The containers can then be accessed from above, eliminating the need for aisles in the middle of the rows, and enabling more containers to be stored in a given volume or area.

[0007] In WO-A2-2015 / 185628 (which is incorporated herein by reference), containers are accessed by one or more robots or automated tools that navigate through a network of pathways to access the containers and perform various operations, such as moving the containers from one location to another for processing, manipulating the containers, returning the containers to their location in the warehouse, and so on.

[0008] When determining the overall efficiency and scalability of a system for storing and retrieving large numbers of different products, the coordination of movement of one or more robots or other types of automated tools may be an important consideration.

[0009] However, existing solutions lack a "safety level," making it impossible to rely on mobility functions for personal safety. Personal safety must be guaranteed through the integrity of the pathway mesh. Currently, there is no solution to limit robot movement based on the load and / or fatigue of the pathway mesh. Summary of the Invention

[0010] In view of these problems, the present invention aims to provide apparatus and methods for such robotic mobility systems that limit the load transferred by the robotic mobility tool to the pathway structure mesh to prevent non-critical safety damage due to overload and / or fatigue.

[0011] In summary, the present invention introduces a controller that limits the load and / or fatigue of the path grid when determining robot movement.

[0012] This invention provides a controller configured to control the movement of a plurality of transport devices. The plurality of transport devices are transport containers stored in a facility, which is configured to store containers in a plurality of stacks. The facility includes a plurality of pathways arranged in units to form a grid structure above the stacks, wherein the grid structure extends along a first direction and a second direction, and the plurality of transport devices are configured to operate on the grid structure. The controller includes a route determination unit and a permission unit. The route determination unit is configured to determine a route for each transport device from one part of the grid structure to another part of the grid structure; the permission unit is configured to grant permission for each transport device to traverse a portion of the determined route. The controller further includes a constraint region determination unit and a calculation unit. The constraint region determination unit is configured to determine a plurality of constraint regions based on the grid structure; the calculation unit is configured to calculate constraint restrictions in each constraint region. The following configurations are employed: the permission unit is further configured to grant or deny permission for the transport equipment to pass through a portion of the determined route based on computational constraints in a specific constraint area; the route determination unit is further configured to determine a route for the transport equipment from one location to another, passing through or not passing through the specific constraint area, based on computational constraints in a specific constraint area.

[0013] The present invention also provides a storage system. The storage system includes a first set of parallel tracks or rails extending in the X direction and a second set of parallel tracks or rails extending in the Y direction, the second set of parallel tracks or rails transversely intersecting the first set on a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces. The storage system also includes a plurality of container stacks located below the tracks, arranged such that each stack is within the coverage area of ​​a single grid space. Furthermore, a plurality of loading and processing devices are provided, each configured to selectively move laterally in the X and Y directions above the stacks and on the tracks. The storage system also includes a controller as described above.

[0014] The present invention also provides a method for controlling the movement of a plurality of transport devices. The plurality of transport devices are configured as transport containers, which are stored in a facility, which is configured to store containers in a plurality of stacks. The facility includes a plurality of pathways arranged in units to form a grid structure above the stacks, wherein the grid structure extends along a first direction and a second direction, and the plurality of transport devices are configured to operate on the grid structure. The method includes the steps of determining a plurality of constraint regions based on the grid structure, and calculating constraint limits in each constraint region. The method further includes the steps of determining a route for each transport device from one part of the grid structure to another part of the grid structure, whether crossing or not crossing a specific constraint region, and granting or denying permission for each transport device to cross a portion of the determined route. Furthermore, at least one of the route determination step or permission step is based on the calculated constraint limits in the specific constraint regions. Attached Figure Description

[0015] Embodiments of the present invention will now be described with reference to the accompanying drawings, which are merely illustrative. Similar reference numerals in the drawings denote the same or corresponding parts. In the drawings:

[0016] Figure 1 This is a schematic diagram of the controller according to the first embodiment of the present invention;

[0017] Figure 2 This is a schematic diagram showing the transportation equipment and its defined route to the target on the grid.

[0018] Figure 3 This is a schematic diagram showing the transport equipment, its defined route to the destination, and the permitted portion of the route along which the transport equipment is allowed to travel;

[0019] Figure 4 This is a schematic diagram showing three constraint regions located on the mesh;

[0020] Figure 5 This is a schematic diagram showing four overlapping constraint regions located on the mesh;

[0021] Figure 6This is a schematic diagram showing the transport equipment and the route defined for crossing the restricted area, through which the transport equipment is permitted to pass.

[0022] Figure 7 To illustrate the transport equipment, permission for the transport equipment to pass through the restricted area is denied; the transport equipment is not permitted to pass through the restricted area.

[0023] Figure 8 To illustrate the defined routes around the restricted area, transport equipment is not permitted to pass through the restricted area;

[0024] Figure 9 To illustrate the constrained area, the constrained area includes three transport devices and a fourth transport device that is about to move into the constrained area;

[0025] Figure 10 To illustrate the constrained area, the constrained area includes three transport devices moving and / or accelerating in the first direction, and a fourth transport device preparing to move and / or accelerate in the first direction.

[0026] Figure 11 To illustrate the constrained area, the constrained area includes three transport devices accelerating in the first direction and a fourth transport device preparing to accelerate in the first direction;

[0027] Figure 12 A flowchart of the method steps executed by the controller according to the first embodiment;

[0028] Figure 13 It is a schematic perspective view of a frame structure that houses a plurality of stacked boxes in a known storage system;

[0029] Figure 14 for Figure 13 A partial schematic plan view of the mid-frame structure;

[0030] Figures 15(a) and 15(b) are schematic perspective views, respectively, of a form of processor-loaded device viewed from the rear and front, which is related to... Figure 13 and Figure 14 The frame structure is used together, and Figure 15(c) is a schematic perspective view of lifting the box using a known loading processor device;

[0031] Figure 16 A schematic perspective view of a storage system is known, the storage system including a plurality of load processor devices of the type shown in Figures 15(a), 15(b) and 15(c), the load processor devices being mounted on... Figure 13 and Figure 14 The framework structure in the system includes a plurality of drop-off points or output ports. Detailed Implementation

[0032] First Implementation Method

[0033] Figure 1 A controller according to a first embodiment of the present invention is depicted. The controller may be a stand-alone component.

[0034] The controller may (but is not limiting) be configured to operate in fully automated and semi-automated merchandise storage and retrieval systems. Various aspects of fully automated and semi-automated merchandise storage and retrieval systems, sometimes referred to as “order fulfillment,” “storage and retrieval,” and / or “order picking” systems, may be implemented in various types and forms. One method of providing access to merchandise stored for fully automated and / or semi-automated retrieval includes, for example, placing merchandise of any desired type in boxes or other containers (hereinafter collectively referred to as containers) and stacking and / or otherwise disposing of containers in shelves or vertically arranged in layers, such that individual containers are accessible by the fully automated or semi-automated container retrieval system. In some embodiments, the system may include systems other than merchandise storage and retrieval, such as systems in which merchandise is handled, repaired, manipulated, assembled, sorted, etc., within a facility and / or to other facilities or for transport requiring the movement of merchandise, products, parts, components, or sub-components. In this specification, storage facilities used for the storage, retrieval, processing, and / or fulfillment of orders, wherein the passage of such goods is provided by fully or semi-automatic retrieval, are referred to as “honeycombs.” A “honeycomb” may consist of a grid layout with possible pathways for robotic units or devices (“robots” or “transportation equipment”) to move to traverse and perform operations at various points within the “honeycomb” (also referred to as a “grid” or “grid structure”).

[0035] This specification is not limited to systems with "honeycomb," "grid," and / or "robot" features, but also considers systems that broadly control and / or coordinate the movement and / or activities of multiple devices. These devices can be configured to transport various goods, such as merchandise and / or products, and / or containers that may be empty or contain such goods and / or products. These devices can also participate in order fulfillment and any other type of activity, such as transporting containers to and from workstations, moving items from a source location to a destination location, and so on.

[0036] As described above, the equipment may be a robot, and it may be configured to move around a hive and / or communicate with a control system to coordinate / receive movement instructions. In some embodiments, the equipment may be configured to communicate between devices and / or coordinate movement between devices. Accordingly, the equipment may have various transport tools, communication tools, power supply tools, processing tools, processor tools, sensor tools, monitoring tools, vehicle-mounted workstations, electronic / physical storage tools, and / or lifting / transportation tools (such as winches, booms, etc.).

[0037] While devices can be configured to receive instructions from the system, there may be instances where communication between the device and the system is lost, communication channels degrade, and / or communication is not received from the system within a specific time frame. In some implementations, devices may also be configured to communicate with each other and / or sense each other's presence. These communication and / or sensing inputs can be used, for example, to crowdsource information about the environment, provide redundant communication channels, verify instructions, etc. Order fulfillment may include various operations, such as, but not limited to: collecting orders, purchasing and consolidating various products for delivery to customers, as in chain grocery stores; collecting products with various sub-components; performing various operations on products (such as welding components together), sorting products, etc. For example, orders may be returned if they are cancelled or delivery fails. In some cases, an order may be cancelled while it is in the process of being fulfilled within the hive, and the products may need to be returned. In some cases, it may be necessary to put the goods back into containers and move the containers to various locations. In some cases, when an order is returned or cancelled, the workstation may need to perform the task of rejecting / reprocessing the products.

[0038] Additionally, as mentioned above, a single container can be located in a vertical layer, and its position within the "honeycomb" can be represented by three-dimensional coordinates to represent the position and depth of the robot or container (e.g., the container is located at (X, Y, Z) at a depth of W). Alternatively, in some embodiments, the position within the "honeycomb" can be represented in two dimensions to represent the position and depth of the robot or container (e.g., the container is located at (X, Y) at a depth of Z).

[0039] Robots and workstations may be associated with different parts of the honeycomb to engage in motion; in this sense, the "honeycomb" itself can be a "dynamic" environment. For example, a robot might need to access a specific container at a specific location within the honeycomb's range (e.g., a container located at (X, Y, Z), depth W) to fulfill an order or to store products within the "honeycomb." This involves the robot moving along various possible paths, such as along the top of a grid and then accessing certain containers at a selected depth within the stack.

[0040] Accessing certain containers at a selected depth in a stack may require moving containers, which could otherwise impede the ability to access a particular container (e.g., if containers are stacked, several containers must be moved first to access a container not at an accessible end of the stack). In some implementations, it may be advantageous to configure the system to provide an assessment and optimization of the new location of each container that needs to be moved to access the target container.

[0041] Containers removed from the stack are not moved back to their original stacking location, but are instead placed in an optimized location. One potential advantage is the ability to modify the distribution of containers, placing them in more accessible or otherwise more convenient locations.

[0042] This can help maintain optimal container distribution within the facility, for example, by favoring containers with higher anticipated demand in more accessible locations, such as near workstations or internal areas, to reduce travel distances.

[0043] Robots may have various shapes, sizes, and configurations, and may also have various communication tools, sensors, and implements. In some implementations, each robot may be able to communicate with the control system through a set of channels established by a set of base stations and base station controllers. Robots can utilize various implements to move from stacks and access containers, such as winches that carry containers. The grid is not limited to rectangular grid cells and may consist of curved tracks, upper and lower tracks, etc. Grid paths may have intersections and can be entered by more than one robot.

[0044] Each grid can be physically or logically segmented into one or more subgrids. A grid can consist of one or more workstations. Workstations can be manual, semi-automatic, or fully automatic, and can consist of parts or areas where operations are performed within the honeycomb or in relation to the honeycomb, container, or product, such as moving products into or out of the honeycomb, manufacturing products, assembling products, processing products onto their components, or providing temporary storage areas to support other steps or operations.

[0045] Workstations may include, for example, areas where goods are moved in from inbound transport vehicles, areas where various operations are performed on products (e.g., component assembly, painting, sorting, packaging, disassembly, reprocessing products, securing packaging, replacing products in canceled orders, rejecting returned products, disposing of products), areas where products are moved to outbound transport vehicles, areas with refrigeration capabilities, areas for assembling components or items, areas for temporarily storing or pre-retrieving products, areas for repairing and maintaining robots, areas for charging robots, areas where workers "pick" products to be placed in containers, areas where workers "pick" products to be removed from containers to fulfill orders, and areas where bags are placed in containers, etc.

[0046] When goods / products are returned to the hive, the system can support and / or control the process of retrieving the product, reprocessing the product, and / or disposing of the product if it is rejected. In some implementations, this may involve processing the returned container (which may be a delivery package or other object) at a workstation to determine whether it is acceptable to return it to the system, whether it needs reprocessing / repackaging, and / or whether the product should be discarded (e.g., if perishable products have expired).

[0047] A workstation may have one or more workers or robots on site to perform various tasks, such as picking goods to fulfill orders.

[0048] In some implementations, the workstation may also be a site equipped with conveyors, cold storage, various equipment and / or other technologies for handling, painting, hardening, repairing, freezing, heating, exposing to chemicals, refrigerating, filtering, assembling, disassembling, sorting, packaging, scanning, testing, transporting, storing or handling goods, containers, etc.

[0049] Workstations can have their own access within the facility, share access with the facility, etc. Workstations can also have various input and output access points or other types of entry / exit points within the facility.

[0050] In some implementations, the workstation communicates with one or more warehouse management systems to provide information and data related to workstation status, workflow, required containers, issues, and the status of products placed or otherwise manipulated (e.g., assembled sub-components).

[0051] Specifically, refer to the features of the first embodiment. The controller is configured to control the transport equipment, and the transport equipment is configured to be a transport container. (Refer to...) Figure 1 The controller 100 includes a route determination unit 101, a permission unit 102, a constraint area determination unit 103, and a calculation unit 104.

[0052] The route determination unit 101 is configured to determine a route for each transport device from one location on the grid to another location on the grid. More specifically, a transport device may start at the origin and need to cross the grid to reach a target location. In this regard, the route determination unit 101 can determine the route required to cross the grid based on any number of factors, such as the locations of other transport devices, routes determined for other transport devices, and other external factors of the transport device, as well as internal factors of the transport device, such as battery level, acceleration graph, deceleration graph, and the shortest distance on the grid between the origin and the target.

[0053] Permission unit 102 is configured to grant permission for each transport device to pass through a portion of a defined route. Due to inaccurate measurements of each transport device—for example, due to different acceleration profiles or speeds between transport devices, and other errors such as communication losses and transport device malfunctions—the exact position of each transport device at a given moment cannot be known. Therefore, these inaccurate measurements need to be considered. Thus, permission unit 102 is used to grant permission to a transport device for a portion of the defined route, allowing the transport device to pass through only that portion of the route at a time. For example, for a straight segment of the defined route with a length of 10 grid cells, the permission unit can be configured to determine whether to grant permission to pass through the next 3 grid cells based on the amount of time required for the transport device to pass through 3 grid cells, thereby allowing the transport device to proceed, thus granting permission to pass through only 3 grid cells at a time. For example, permission can be determined based on whether other transport devices are expected to collide simultaneously on the same grid cell. It should be understood that permission results in each grid cell being successfully passed by the transport device, and the next grid cell of the permitted portion is then permitted for the transport device to pass through. In another example, when a transport vehicle needs to change direction, it may be permitted to proceed until the corner where the change of direction is required. In this way, portions of the defined route are permitted to be traversed step by step by the transport vehicle.

[0054] In a preferred embodiment, although permission unit 102 is required to grant permission for the transport device to traverse portions of the determined route, the inventors have found a preferred method to fundamentally resolve composite errors. Specifically, the transport device moves from the origin on the grid to the target, completing the movement by traversing one or more segments. In other words, the determined route is divided into one or more segments, each segment resetting its composite error at its start. Each segment is a traversal in a constant first direction (e.g., in a constant X direction) or a constant second direction (e.g., in a constant Y direction). Controller 100 is configured to allow sufficient tolerance on each segment to allow for error-free statistical variations in the transport device's performance throughout the transport device; in terms of translation in the first / second direction; wheel variations; and internal clock variations; as well as potential transmission delays from wheel transport device commands to the transport device and status messages from the transport device. Thus, the determined route provides sufficient time tolerance to allow the (error-free) transport device to arrive late at the end of a segment to begin the next segment at the planned time, thereby resolving accumulated errors. For transport equipment that arrives at the end of a segment ahead of schedule, the transport equipment simply needs to wait for the scheduled start time of the next segment before starting that segment.

[0055] The constraint region determination unit 103 is configured to determine a plurality of constraint regions based on a mesh. Specifically, the constraint region determination unit 103 may be configured to define the constraint region as part of the entire mesh, or the entire mesh itself. The constraint determination unit 103 may be configured to define the region as a predetermined number of mesh cells in a first direction and a second predetermined number of mesh cells in a second direction, for example, 10 mesh cells in the first direction and 5 mesh cells in the second direction. Similarly, if the mesh consists of 20 cells in the first direction and 20 cells in the second direction, the constraint determination unit 103 may define the constraint region as having 20 cells in the first direction and 20 cells in the second direction, thereby encompassing the entire mesh.

[0056] Multiple constrained regions may be configured to overlap with at least one other constrained region. Furthermore, the determined constrained regions may be based on structural and / or fatigue analysis of the space frame to identify areas of the space frame susceptible to structural / fatigue fracture under overload. Similarly, constrained regions may be determined alternatively / additionally based on structural and / or fatigue analysis of any mezzanine or peripheral equipment associated with the mesh. For example, the mesh may have several layers providing services or support to the mesh. Similarly, the mesh may also include peripheral equipment, such as equipment that allows transport equipment to retrieve containers from and / or store containers at locations outside the mesh. Peripheral equipment may be configured to remove / store containers from the mesh onto the mesh.

[0057] By using constrained regions, mesh segments susceptible to overload and / or fatigue are identified. More specifically, static loads, dynamic loads, and / or shear loads can be considered separately when determining constrained regions.

[0058] The calculation unit 104 is configured to calculate the constraint limits in each constraint region. In one non-limiting example, the calculation unit 104 is configured to calculate the constraint limits as the number of transport devices in the constraint region. For example, the calculation unit 104 calculates the number of transport devices currently located in a particular constraint region. In another non-limiting example, the calculation unit 104 may be configured to calculate the number of transport devices moving and / or accelerating in a first or second direction within a particular constraint region. Additionally or alternatively, the calculation unit 104 may be configured to calculate the expected force acting on the constraint region based on the number of transport devices accelerating and / or decelerating in a first or second direction within a particular constraint region.

[0059] Based on the constraints calculated by the calculation unit 104, at least one of the permission unit and / or route determination unit is set to perform the next action.

[0060] In particular, in a non-limiting embodiment, the permission unit is further configured to grant or deny permission for the transport equipment to pass through a portion of the determined route based on calculated constraint limits within a specific constraint region. More specifically, as explained above, the permission unit is configured to grant permission to the transport equipment. However, the permission unit may grant or deny permission based on constraint limits within a specific constraint region. For example, for a transport equipment whose determined route passes through a specific constraint region, if the constraint limit of that specific constraint region is determined to be greater than or equal to a preset threshold, then the permission unit may be configured to deny permission for the transport equipment to pass through that specific constraint region. In this way, the transport equipment is prevented from entering a constraint region where the constraint limit (related to the load and / or fatigue of the constraint region) is greater than or equal to the preset threshold. When the constraint region is less than the preset threshold, the permission unit may be configured to grant permission for the transport equipment to pass through the constraint region at an appropriate time. In this way, the transport equipment can pass through the constraint region because the load of the constraint region has not reached / exceeded its maximum rated value. The inventors of this invention envision that permission does not need to be granted / denied at the edge of the constraint region. Instead, permission may be denied / granted before the transport equipment reaches the constraint region. For example, if the next grid cell to be permitted for a transport device is located inside the constraint area, but the transport device itself is still several grid cells away from the constraint area, then if the constraint limit is greater than or equal to a preset threshold, the permitted cell may refuse to be permitted.

[0061] In another non-limiting embodiment, the route determination unit 101 is further configured to determine, based on calculated constraint limits within a specific constraint region, a route for the transport equipment to travel from one location to another, whether or not it passes through the specific constraint region. More specifically, as explained above, the route determination unit 101 is configured to determine a route from the origin on the grid to the target. However, when the constraint limit is, for example, greater than or equal to a preset threshold, the route determination unit may be configured to determine a route that does not pass through the constraint region exceeding the constraint limit. On the other hand, when the constraint limit of a specific constraint region is less than the preset threshold, the route determination unit 101 may be configured to determine a route that passes through the specific constraint region or allow the transport equipment to continue along the already determined route. In this way, because the load of the constraint region reaches / exceeds its maximum rated value, the route is determined to not pass through the specific constraint region.

[0062] Figure 2 The image shows the transportation equipment located at the origin 201 on the grid, which will pass through to the target 202. The target 202 is depicted with a shaded line from the lower left to the upper right. As described above, the route determination unit 101 is configured to determine the route from the origin 201 to the target 202. Figure 2As shown, route determination unit 101 has determined route 203. Route 203 is depicted by a shading line from the upper left to the lower right. When determining route 203, route determination unit 101 may consider many factors, such as the shortest distance between origin 201 and target 202, the movement of other transportation equipment, the number of required direction changes, and the constraints of specific constraint areas.

[0063] Although route determination unit 101 plans route 203, due to the uncertainty of the exact location of each transport device and the variations in acceleration, deceleration, and constant speed of each transport device, each transport device may not be able to follow only the determined route 203 in order to avoid the risk of collision between two transport devices. Therefore, permission unit 102 is configured to permit only a portion of the determined route 203, thereby ensuring that a preset number of grid blocks are free of other transport devices before the current movement of the transport device (based on the latest transport device location information). This avoids the risk of transport device collisions.

[0064] Generally, for example, permission is granted on straight segments of the defined route 203 to the minimum number of grid cells required for the transport equipment to stop without the risk of collision. For instance, if the transport equipment requires two grid cells to come to a complete stop, then permission cell 102 is configured to permit two cells in front of the current transport equipment, so that the transport equipment can stop without the risk of collision when needed. In another example, if the transport equipment requires 2.5 grid cells to stop, then permission cell 102 permits three grid cells in front of the transport equipment to ensure that the transport equipment is completely contained within a single grid cell when it stops, thereby ensuring that the transport equipment does not overlap with other grid cells once it stops.

[0065] In addition, such as Figure 3 As shown, when a change of direction is required for the transport equipment at a preset distance in front of it, the permission unit 102 is configured to allow a path 203 to be determined until the corner where the change of direction occurs. Figure 3 In the example shown, the permitted portion 204 of route 203 is indicated by a crosshair.

[0066] Figure 4Examples of a plurality of constraint regions determined by constraint region determination unit 103 are shown. In this example, a first constraint region 401 is formed by two grid cells in a first direction and two grid cells in a second direction. A second constraint region 402 is formed by three grid cells in the first direction and two grid cells in the second direction. It should be understood that the first and second constraint regions can be formed by any number of grid cells in the first direction and any number of grid cells in the second direction. In this example, the first and second constraint regions do not overlap. In one example, based on structural analysis of the mesh, the first constraint region 401 and the second constraint region 402 can be determined to have shapes and locations assigned to them to limit, for example, shear forces on the mesh at specific locations. Additionally or alternatively, constraint regions can be determined based on fatigue analysis of the mesh. A third constraint region 401 is configured to cover the entire mesh, thereby overlapping with the first and second constraint regions. In this way, the measurement of the total shear force acting on the mesh can be estimated and limited by ensuring that no permission for movement is granted to the transport equipment or that the transport equipment is not routed at a specific location.

[0067] Similarly, the constrained region may be determined, alternatively / also based on structural and / or fatigue analysis of any mezzanine or peripheral devices associated with the mesh. For example, the mesh may have several layers providing services or support to the mesh. Similarly, the mesh may also include peripheral devices, such as those allowing transport equipment to retrieve containers from and / or store containers at locations outside the mesh. Peripheral devices may be configured to remove containers from / store them on the mesh.

[0068] Figure 5 Another example of a constraint region determined by constraint region determination unit 103 is shown. In this example, four constraint regions of equal size are determined, each of which overlaps with at least one other constraint region. More specifically, a first constraint region 501 is determined to extend 3 grid cells in a first direction and 3 grid cells in a second direction. A second constraint region 502 overlaps with the first constraint region 501, and similarly, the second constraint region 502 is formed by 3 grid cells extending in the first direction and 3 grid cells extending in the second direction. A third constraint region 503 is the same size as the first constraint region 501 and the second constraint region 502, and overlaps with both the first and second constraint regions 501 and 502. A fourth constraint region 504 overlaps with each of the first, second, and third constraint regions 501, and extends 3 grid cells in the first direction and 3 grid cells in the second direction. In this way, each constraint region overlaps with at least one other constraint region.

[0069] Figure 6A non-limiting example of transport equipment traversing a grid is shown. In particular, Figure 6 The image shows a transport vehicle located at origin 601, planned to travel to target 602. As explained above, route determination unit 101 determines a route 603 for the transport vehicle from origin 601 to target 602. Figure 6 In the example shown, the determined route 603 traverses a constrained area that includes three transport devices 605. It should be understood that these three transport devices are provided as an example only, and the constrained area may contain any number of transport devices or even none at all. In this example, a preset threshold is set to limit the number of transport devices in the constrained area to four. In other words, the constraint limit for the number of transport devices in the example constrained area cannot exceed four. It should be understood that the preset threshold of four transport devices is only an example and does not need to be limited to four or the number of transport devices. It can be limited to other measures of activity in the constrained area, such as the number of transport devices moving / accelerating in a specific direction, the number of transport devices accelerating / decelerating in a specific direction, or any combination of the above factors.

[0070] Figure 6 The permitted portion 604 of the determined route 603 is also shown. As explained above, the permitted unit 102 is configured to permit a portion of the determined route 603. Figure 6 In this context, permission unit 102 has granted permission up to the corner of the determined route, which corresponds to a change in the direction of the transport equipment. For example... Figure 6 As shown, once the transport equipment reaches the permitted portion 604, the permitting unit 102 will grant permission for the next portion of the determined route 603. For example, if the number of transport equipment does not exceed 4, the permitting unit 102 will permit the portion of the determined route 603 to pass through the restricted area.

[0071] Figure 7 Showing Figure 6 The corresponding example, but with an additional transport device 606 in the constrained area, so the current number of transport devices in the constrained area is equal to 4. In this non-restrictive example, because the constraint limit on the number of transport devices in the constrained area is equal to a preset threshold of 4 transport devices, the permission unit 102 is also set to deny permission for transport devices to pass through the constrained area. Accordingly, as Figure 7 As shown, the permission unit will refuse permission for the transport equipment to pass through the restricted area. Figure 7 The “X” 607 shown depicts a portion of the determined route 603, for which the permission unit 102 has denied permission for the transport equipment.

[0072] Accordingly, transport equipment will be prevented from entering the constrained area; in this example, the transport equipment will be permitted up to the edge of the constrained area. However, it should be understood that permission for any number of mesh cells can be denied before the transport equipment reaches the constrained area. For example, permission can be denied before the transport equipment reaches the edge of the constrained area.

[0073] Optionally, when the permission unit 102 denies permission for the transport device to cross the restricted area, several actions can be performed. In particular, once permission is denied, there is no permitted route for the transport device to move, so one option is for the transport device to simply stop moving. However, this poses a danger to other transport devices on the grid that must navigate around. Furthermore, the functions currently being performed by the transport device still need to be completed. Therefore, the inventors have implemented several advantageous solutions to control the movement of transport devices once permission is denied.

[0074] For example, route determination unit 101 may be configured to redetermine routes for transport devices across a grid. Route redetermining performed at a new time may result in similar routes being redetermined, possibly even traversing the same constraint areas, because the constraint limits may have fallen below a preset threshold. Alternatively, routes may be redetermined to avoid constraint areas that have been rejected. Additionally or alternatively, route determination tool 101 may be configured to redetermine routes for at least two of a plurality of transport devices. Similar to the description above, by redetermining routes for at least two of a plurality of transport devices, transport devices can be assigned to routes that avoid other routes.

[0075] Additionally or alternatively, controller 100 may be configured to perform controlled stopping of transport equipment whose permission has been denied. In this respect, controlled stopping of a transport equipment is defined as stopping the transport equipment within the first complete grid cell, whereby the transport equipment can stop without risk of collision; in other words, not stopping halfway between one grid cell and the other. For example, if the transport equipment can stop in two grid cells at a specific speed, then controlled stopping of the transport equipment will be commanded, causing the transport equipment to stop in two grid cells so that it is completely contained within one grid cell without protruding into any other grid cell. Alternatively, if the transport equipment requires 2.5 grid cells to stop at a specific speed without risk of collision, then the transport equipment will be commanded to stop in three grid cells—rounded to the number of grid cells. In this way, the transport equipment stops within a complete grid cell without protruding into any other grid cell. Additionally or alternatively, controller 101 may be configured to command controlled stopping of at least two of a plurality of transport equipment. In this way, when transport equipment is denied permission to enter a restricted area, several transport devices can be stopped without creating a risk of collision.

[0076] Figure 8 Another example is shown, which may be related to Figure 7 The operations shown may be combined, but may not be combined with... Figure 7 The operations shown are combined. In particular, Figure 8 In the constrained area, the constraints on four transport devices exceeded a preset threshold. Consequently, the transport device at origin 601 could not cross the constrained area. Figure 7 As shown, this is achieved by denying permission for transport equipment to enter the restricted area. But Figure 8 In this configuration, the route determination tool 101 is set to determine a route 608 for the transport equipment from the origin 601 to the target 602 that does not cross the constraint area. In this way, the transport equipment is successfully guided onto the route 608 that avoids the constraint area.

[0077] The inventors of this invention envisioned that it could be implemented. Figure 7 or / and Figure 8 The operation described herein. In other words, when the constraint limit of a specific constraint area is greater than or equal to a preset threshold, the route determination unit 101 can determine a route 608 that does not pass through the constraint area. Alternatively or additionally, the permission unit 102 can be set to deny permission for the transport equipment to pass through the constraint area.

[0078] Figures 9 to 11 Different methods for measuring constraint limits are displayed, at least one of which is that the calculation unit 104 calculates the constraint limits for a specific constraint region.

[0079] More specifically, Figure 9 This involves constraints on the number of transport devices 902 within the indicated constraint area. For example, Figure 9 The example shows a constrained area containing three transport devices (902). In this example, the preset threshold is set to four transport devices. Accordingly, when the number of transport devices in the constrained area equals four, no more transport devices are permitted to enter the constrained area, but transport devices already in the constrained area can leave or move to other locations within the constrained area. Figure 9 Only one more transport device is permitted to enter the constrained area, since the constrained area already includes three transport devices. Therefore, empty grid cell 903 can be filled by transport device 904, after which any other transport device determined to enter the constrained area will be denied permission and / or its route will be redefined.

[0080] Figure 10 This shows another constraint limit calculated for the number of transport devices 1004 moving and / or accelerating in a specific direction within the constrained area. Figure 10 and 11 In the diagram, a single arrow indicates transport equipment moving at a constant speed, while a double arrow indicates transport equipment accelerating / decelerating. Furthermore, Figure 10 and Figure 11 The image shows the transport equipment moving and / or accelerating in a first direction. Therefore, the constraints apply to the first direction. However, it should be understood that the constraints and movements of the transport equipment can also be applied in the second direction.

[0081] For ease of understanding, downward movement / acceleration of the page is defined as negative movement / acceleration, while upward movement / acceleration of the page is defined as positive movement / acceleration. Figure 10 In this example, the constrained area includes four transport devices. Initially, three of the transport devices 1004 move and / or accelerate along a first direction. Specifically, the two leftmost transport devices are accelerating negatively 1005. The middle transport device is moving positively at a constant speed. Transport device 1002 is stationary. In this example, the constraint limit is defined based on the number of transport devices moving and / or accelerating along the first direction (positive or negative). However, the constraint limit can be defined as the number of transport devices moving and / or accelerating along a second direction.

[0082] based on Figure 10 Three transport devices are moving and / or accelerating in the first direction. More specifically, two transport devices are accelerating in the negative direction, and one transport device is moving in the positive direction, for a total of three transport devices. In this example, a preset threshold can be defined as four transport devices moving in the first direction. Therefore, when four transport devices are moving / accelerating within the constraint area, other transport devices will be denied permission and / or routes will be determined to avoid the constraint area. For example, a previously stationary fourth transport device 1002 may begin moving in the negative direction within the constraint area (as depicted by arrow 1003). Thus, the preset threshold of four transport devices moving / accelerating in the first direction has been reached. Accordingly, a fifth transport device (not shown) will be denied permission and / or routes will be determined to avoid the constraint area. However, transport devices already moving / accelerating within the constraint area may continue to move / accelerate within the constraint area and leave the constraint area.

[0083] It should be understood that although the foregoing description relates to transport equipment moving / accelerating in the first direction, the inventors of this invention envision that, alternatively / additionally, the constraint may be the number of transport equipment moving / accelerating in the second direction.

[0084] Figure 11 This illustrates another non-limiting example of constraint determination. The constraint calculation is based on the expected force exerted by the accelerating / decelerating transport equipment on a specific constraint area. More specifically, Figure 11In this diagram, the expected force is calculated based on the transport equipment accelerating / decelerating along a first direction within the constraint region 1101. For example, three transport devices 1104 are shown accelerating / decelerating within the constraint region 1101. A fourth transport device 1102 is shown as stationary. Double arrows 1105 indicate that transport device 1104 is accelerating / decelerating. For clarity, acceleration downwards is defined as negative acceleration, and acceleration upwards is defined as positive acceleration. Therefore, refer to... Figure 11 The two leftmost transport devices are accelerating in the negative direction, while the middle transport device is accelerating in the positive direction.

[0085] The constraint limit of the expected force applied to the constrained area is calculated based on the overall acceleration of the transport equipment. In particular, in this simplified example, since two of the transport equipment are accelerating in opposite directions, the calculation unit 104 is configured to counteract the effective acceleration of the transport equipment accelerating in the opposite direction. Therefore, in Figure 11 In the simplified example, the force applied to the constrained area depends only on the negative acceleration of one transport device, because the forces of two other transport devices may cancel each other out. A preset threshold for the force applied to the constrained area can be set to two accelerating / decelerating transport devices. Therefore, since the force applied to the constrained area is based only on one transport device, permission can be granted for another transport device to pass through the constrained area and / or the route determination unit 101 can determine the route through the constrained area.

[0086] In another example, transport device 1102 may accelerate in the negative direction 1103. Therefore, calculation unit 104 can now calculate the force applied to constraint region 1101 based on the two accelerating transport devices, because, as previously stated, the acceleration forces from the two transport devices accelerating in opposite directions can cancel each other out. Therefore, if a preset threshold is set so that the force applied to constraint region 1101 equals the force from the two accelerating transport devices, then this other example equals that preset threshold. Therefore, in this example, a fifth transport device (not shown) will be denied entry into the constraint region and / or its route will be determined not to cross constraint region 1101. However, transport devices already in the constraint region may continue to accelerate and leave the constraint region. In this way, the force applied to constraint region 1101 is suppressed so that it does not exceed structural and / or fatigue load limits.

[0087] The simplified example described above precisely approximates the acceleration of each transport device with that of every other transport device, such that two transport devices accelerating in opposite directions exactly cancel each other out. However, in reality, multiple factors can be considered to determine the overall force on constraint region 1101 and whether it is equal to or greater than a preset threshold. More specifically, the force calculated by calculation unit 104 can be based on at least one of the following: the direction of motion of each transport device, the mass of the transport device, the mass of the payload carried by the transport device, the expected acceleration pattern of the transport device, the expected deceleration pattern of the transport device, the probability that a plurality of transport devices on the grid are commanded to stop simultaneously, and the probability that any one of the plurality of transport devices on the grid is commanded to stop at any time.

[0088] It should be understood that although the above description relates to transport equipment that accelerates / decelerates along a first direction, the inventors of this invention envision that, alternatively / additionally, the constraint may be the number of transport equipment that accelerates / decelerates along a second direction.

[0089] Figure 12 Showing according to Figure 1 The flow executed by the controller 100 in the first embodiment shown. In particular, Figure 12 Flowchart S1200 shows the control of at least one transport device based on calculated constraint limits in a defined constraint region.

[0090] Step S1201 determines a plurality of constraint regions based on the mesh. The constraint regions apply to areas of the mesh in which method S1200 controls the number of transport devices and / or how they move. In this way, method S1200 can limit structural loads and / or fatigue loads in specific areas of the mesh. For example, the arrangement of constraint regions can be determined based on structural analysis and / or fatigue analysis of at least one of the mesh, mezzanines associated with the mesh, or any peripheral equipment associated with the mesh. Based on the analysis, constraint regions can be determined to be arranged throughout the mesh. In this way, static loads, dynamic loads, and / or shear loads throughout the mesh can be controlled. In other examples, constraint regions may be formed by a predetermined number of elements in a first direction and a predetermined number of elements in a second direction. Furthermore, each constraint region may be determined to overlap with at least one other constraint region.

[0091] Step S1202 calculates the constraint limits in each defined constraint region. For example, the constraint limits may be calculated based on the number of transport equipment in the constraint region, the number of transport equipment moving and / or accelerating in the constraint region along the first / second direction, or the expected force caused by the number of transport equipment accelerating along the first / second direction.

[0092] More specifically, the constraint limit may be the absolute value of the transport equipment within a specific constraint region. Additionally or alternatively, the constraint limit may be the absolute value of the transport equipment moving / accelerating along a first / second direction within the constraint region. Additionally or alternatively, the constraint limit may be an expected force acting on the constraint region, caused by the number of transport equipment accelerating along the first / second direction. For the calculation of the expected force, step S1202 considers the individual acceleration of each transport equipment. For example, if two transport equipment accelerate in opposite directions with the same magnitude and mass, the forces exerted by each transport equipment on the constraint region of the grid will exactly cancel each other out; therefore, step S1202 may take this into account when calculating the expected force.

[0093] In addition, in step S1202, when calculating the expected force, at least one of the following can be considered: the direction of motion of each transport device, the mass of the transport device, the mass of the effective load carried by the transport device, the expected acceleration diagram of the transport device, the expected deceleration diagram of the transport device, the probability that multiple transport devices on the grid are ordered to stop simultaneously, and the probability that any one of the multiple transport devices on the grid is ordered to stop at any time.

[0094] In step S1203, the controller determines a route for each transport device from one location on the grid to another, traversing or not traversing a specific constraint region. More specifically, transport devices planning to traverse the grid from one location to another need a route determined for their traversal to avoid other transport devices. Accordingly, step S1203 determines the route, for example, based on the transport device's current location information and future information about the transport device's expected location based on its planned route. Furthermore, route determination may use other information, such as battery charge level, service level, acceleration / deceleration map, maximum speed, or the shortest distance between locations on the grid. As will be described with respect to step S1205, the route may be determined based on computational constraints within the specific constraint region.

[0095] Step S1204 grants or denies permission for each transport device to traverse a portion of the determined route. Although the route for each transport device is determined in step S1203, small errors in the exact position of each transport device will compound when traversing the route. For example, different acceleration profiles and / or velocities of each transport device compared to the expected values ​​may cause positional errors for each transport device. Therefore, the compounded errors in the position of each transport device must be addressed. Step S1204 grants or denies permission for each transport device to traverse a portion of the determined route. In this way, step S1204 ensures that each transport device only moves into grid cells known to not contain another transport device, thus avoiding conflicts between transport devices.

[0096] In the preferred embodiment, although step S1204 is required to grant / deny permission for the transport device to traverse a portion of the determined route, the inventors have found a preferred method to fundamentally address composite errors. Specifically, a transport device moving from the origin to the target on a grid completes the movement by traversing one or more segments. In other words, the determined route is divided into one or more segments. Each segment traverses either a constant first direction (e.g., in a constant X direction) or a constant second direction (e.g., in a constant Y direction). Method S1200 is configured to allow sufficient tolerance in each segment to allow for error-free statistical variations in the overall transport device performance; in terms of translation in the first / second direction; wheel variations; and internal clock variations; as well as potential transmission delays from wheel transport device commands to the transport device and status messages from the transport device. Thus, the determined route provides sufficient time tolerance to allow (error-free) transport devices to arrive late at the end of a segment in order to begin the next segment at the planned time. For transport devices arriving early at the end of a segment, the transport device simply needs to wait for the calibrated start time of the subsequent segment before starting that segment.

[0097] The number of grid cells permitted for each transport device may depend on the speed of the transport device and the expected acceleration / deceleration diagram. In particular, the number of permitted grid cells may depend on the number of grid cells required for the transport device to stop from its current speed. For example, if it is known, based on the current speed of the transport device, that it (e.g., based on its deceleration diagram) requires 2.5 grid cells to stop, then step S1204 may permit 3 grid cells to ensure that the transport device can come to a complete stop within a distance of 3 grid cells if necessary. In this way, the transport device also comes to a complete stop within one grid cell, without protruding into other grid cells, which would pose a danger to other transport devices. In another example, if the transport device requires 2 grid cells for a direction change operation, step S1204 may permit only those two grid cells to permit the transport device until the direction change. As will be described with respect to step S1205, permission may be granted or denied based on computational constraints in a specific constraint region.

[0098] In step 1205, at least one of steps S1203 and / or S1204 performs its respective action based on calculated constraint restrictions in a specific constraint area. More specifically, permission for the transport equipment is granted or denied based on calculated constraint restrictions, and / or a route is determined based on calculated constraint restrictions to pass through or not pass through the constraint area.

[0099] Regarding the granting or denying permission step, based on calculated constraint limits, permission is granted or denied for the transport equipment to traverse a portion of the route defined within a specific constraint area. In one example, step S1204 denies permission for the transport equipment when the constraint limit within the specific constraint area is greater than or equal to a preset threshold. When the constraint limit is less than the preset threshold, step S1204 grants permission to the transport equipment. In this way, the constraint area is not overloaded for static, dynamic, and / or shear loads.

[0100] Furthermore, when permission is denied, several actions can be performed to move the transport equipment from the last permitted grid cell. Specifically, step S1203 can determine the route of the transport equipment from the last permitted grid cell. In this way, step S1203 can determine a route to avoid restricted areas where the transport equipment is not permitted to pass. Similarly, step S1203 can determine routes for at least two of a plurality of transport equipment. In this way, routes for potentially conflicting transport equipment are determined to avoid each other. Alternatively, a controlled stop can be performed on the transport equipment to completely halt it within a single grid cell without creating a collision risk, for example, halting the transport equipment in the last permitted grid cell. Similarly, a controlled stop can be performed on at least two of a plurality of transport equipment to ensure that two transport equipment do not conflict with each other.

[0101] Alternatively or additionally, to grant / deny permission, step S1203 may occur when the constraint limit in a specific constraint area is greater than or equal to a preset threshold. In this case, step S1203 may determine a route for the transport equipment from one location to another that does not cross the specific constraint area. Alternatively, when the constraint limit is less than the preset threshold, step S1203 may determine a route that crosses the specific constraint area or allow the transport equipment to continue along the already determined route. In this way, the route can be determined to avoid the specific constraint area.

[0102] Modification and Change

[0103] Numerous modifications and alterations can be made to the above embodiments without departing from the scope of the present invention.

[0104] In particular, the transport equipment can be configured to communicate with the controller 100 via status reports to provide information such as its location, battery charge level, service issues, current direction of movement, whether it is stationary, or moving at a constant speed or accelerating / decelerating. Accordingly, in one modification, when the calculation unit is calculating constraint limits for a specific constraint area based on the number of transport equipment in the constraint area, the calculation unit can utilize status reports from each transport equipment to determine, for example, the number of transport equipment in the specific constraint area. In this way, the controller 100 can use messages already transmitted by the transport equipment to the controller 100 to determine the number of transport equipment in the constraint area. Therefore, no additional messages need to be communicated with the controller 100.

[0105] In another modification, controller 100 may also include a motion control unit configured to control the movement of a plurality of transport devices. In this modification, controller 100 directly controls how each transport device moves, rather than issuing general commands such as which route to take across a grid or whether a transport device is permitted to cross a specific restricted area. In this modification, controller 100 may also command each transport device whether to move in a specific direction, whether to accelerate / decelerate, or whether to continue moving at a constant speed. In this way, controller 100 exerts direct control over each transport device. Because controller 100 has information on all transport devices, this can be useful, as it may be necessary to issue direct commands to the engines and mechanisms of the transport devices to avoid other transport devices, or to plan the routes of the transport devices in other ways when it is not possible to control each transport device individually.

[0106] In another modification, controller 100 may be designed and certified to prevent loads and / or fatigue that would pose a risk to human safety. Safety-grade equipment ensures that personnel working around the machine are not harmed by the machine due to normal operation or malfunction. Typically, human-grade equipment requires more in-depth and rigorous testing than non-safety-grade equipment. Furthermore, alternative computer functional architectures are often employed. In alternative computer functional architectures, typically two separate processes perform the same running task. In some examples, each process runs on a different CPU. Each process will be programmed differently so that there are no identical faults in the two processes. A comparator is provided at the process outputs to compare the outputs. If the outputs match, the result is used to control the transport equipment. However, if the outputs do not match, in one non-limiting example, the transport equipment will be automatically commanded to stop under controlled conditions and a fault will be declared. In another non-limiting example, if the outputs do not match, the performance of the transport equipment may be degraded, for example, operating at a lower speed. The degraded performance of the transport equipment is typically maintained until the fault is resolved.

[0107] Online retail businesses selling multiple product lines, such as online grocery stores and supermarkets, need systems capable of storing dozens or even hundreds or thousands of different product lines. Using single-product stacking is impractical in this context because it would require a very large floor space to accommodate all the necessary stacks. Furthermore, for some items, such as perishable goods or infrequently ordered items, only small quantities may be desired for storage, making single-product stacking an inefficient solution.

[0108] International patent application WO 98 / 049075A (Autostore) describes a system for arranging multi-product stacking of containers within a frame structure, which is incorporated herein by reference.

[0109] PCT Publication No. WO2015 / 185628A (Ocado) describes another known storage and order fulfillment system in which stacks of lockers and containers are arranged within a frame structure. Loading and handling equipment running on tracks located above the frame structure accesses the lockers or containers. The loading and handling equipment lifts the lockers or containers from the stack, and multiple loading and handling equipment work together to access the lockers or containers located at the lowest point of the stack. This type of system is illustrated in the accompanying drawings. Figures 13 to 16 A schematic diagram is provided.

[0110] like Figure 13 and Figure 14 As shown, stackable containers, also known as boxes 10, are stacked to form a stack 12. The stack 12 is arranged in a grid frame structure 14 in a storage or manufacturing environment. Figure 13 This is a schematic perspective view of frame structure 14. Figure 14 This is a top view showing a stack 12 of boxes 10 arranged within a frame structure 14. Each box 10 typically holds a plurality of product items (not shown), and the product items within the box 10 may be the same or may be different product types, depending on the application.

[0111] The frame structure 14 includes a plurality of upright members 16 supporting the horizontal members 18 and 20. A first set of parallel horizontal members 18 is positioned perpendicular to a second set of parallel horizontal members 20 to form a plurality of horizontal grid structures supported by the upright members 16. Members 16, 18, and 20 are generally made of metal. Boxes 10 are stacked between members 16, 18, and 20 of the frame structure 14, such that the frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of boxes 10.

[0112] The top layer of frame structure 14 includes rails 22, which are arranged in a grid pattern covering the top of stack 12. See also Figure 15 and... Figure 16The track 22 supports a plurality of robotic loading and handling devices 30. A first set 22a of parallel tracks 22 guides the loading and handling devices 30 to move along a first direction (X) at various points on the top of the frame structure 14. A second set 22b of parallel tracks 22, perpendicular to the first set 22a, guides the loading and handling devices 30 to move in a second direction (Y), which is perpendicular to the first direction. In this way, the track 22 enables two-dimensional lateral movement of the loading and handling devices 30 in the horizontal XY plane, allowing the loading and handling devices 30 to move to any position above the stack 12.

[0113] Norwegian Patent No. 317366 further describes a form of loading and handling device 30, the contents of which are incorporated herein by reference. Figures 15(a) and 3(b) are schematic perspective views of the loading and handling device 30 from the rear and front, respectively, and Figure 15(c) is a schematic front perspective view of the loading and handling device 30 lifting the box 10. However, there are other forms of loading and handling devices that can be used in combination with the system described in this invention. For example, another form of robotic loading and handling device is described in PCT Patent Publication WO2015 / 019055 (Ocado), in which each robotic loading processor covers only one grid space of the frame structure, which allows for a higher density of loading processors, thereby enabling a higher workload for a system of a given size, the disclosure of which is incorporated herein by reference.

[0114] Each loading and handling device 30 includes a vehicle 32, which is configured to travel in the X and Y directions on tracks 22 of the frame structure 14 above the stack 12. A first set of wheels 34 consists of a pair of wheels 34 at the front of the vehicle 32 and a pair of wheels 34 at the rear of the vehicle 32, and is configured to engage with two adjacent tracks of the first set of tracks 22a. Similarly, a second set of wheels 36 consists of two pairs of wheels 36 on either side of the vehicle 32, and is configured to engage with two adjacent tracks of the second set of tracks 22b. Each set of wheels 34, 36 can be raised or lowered, allowing either the first set of wheels 34 or the second set of wheels 36 to engage with their respective sets of tracks 22a, 22b at any time.

[0115] When the first set of wheels 34 engages with the first set of rails 22a and the second set of wheels 36 is lifted off the rails 22, the loading and handling device 30 can be moved in the X direction by driving the wheels 34 through a drive mechanism (not shown) housed within the vehicle 32. To move the loading and handling device 30 in the Y direction, the first set of wheels 34 is lifted off the rails 22, and the second set of wheels 36 is lowered to engage with the second set of rails 22a. The second set of wheels 36 can then be driven using the drive mechanism to achieve movement in the Y direction.

[0116] The loading and handling equipment 30 is equipped with a lifting device. The lifting device 40 includes a clamping plate 39 suspended from the main body of the loading and handling equipment 32 by four cables 38. The cables 38 are connected to a winding mechanism (not shown) housed within the vehicle 32. The cables 38 can be retracted or released from the loading and handling equipment 32, allowing adjustment of the position of the clamping plate 39 relative to the vehicle 32 in the Z direction.

[0117] The clamping plate 39 is adapted to engage with the top of the case 10. For example, the clamping plate 39 may include pins (not shown) that engage with corresponding holes (not shown) in the edge forming the upper surface of the case 10, and sliding clamps (not shown) that engage with the edge to clamp the case 10. The clamps are driven by a suitable drive mechanism disposed within the clamping plate 39 to engage the case 10, the drive mechanism being powered and controlled by a signal transmitted via the cable 38 itself or via a separate control cable (not shown).

[0118] To remove the box 10 from the top of the stack 12, the loading and handling device 30 is moved in the X and Y directions, if necessary, so that the clamping plate 39 is positioned above the stack 12. The clamping plate 39 is then lowered vertically in the Z direction to engage the box 10 on top of the stack 12, as shown in Figure 15(c). The clamping plate 39 clamps the box 10, and with the box 10 attached to the clamping plate 39, the cable 38 pulls it upwards. At the top of its vertical travel, the box 10 is housed within the vehicle body 32 and positioned above the high position of the track 22. In this way, the loading and handling device 30 can be moved to different positions in the XY plane, carrying the box 10 during movement to transport the box 10 to another location. The cable 38 is long enough to allow the loading and handling device 30 to retrieve the box from any high position (including the ground position) of the stack 12 and to place the box at any high position (including the ground position) of the stack 52. The weight of vehicle 32 is sufficient to balance the weight of box 10 and remain stable during lifting. Batteries powering the drive mechanism of wheels 34 and 36 contribute to the weight of vehicle 32. For example... Figure 16 As shown, a plurality of identical loading and processing devices 30 are set up so that each loading and processing device 30 can operate simultaneously, thereby increasing the workload of the system. Figure 16 The system shown includes two specific locations, also known as ports 24, where boxes 10 can be transferred into or out of the system. An additional conveyor system (not shown) is associated with each port 24, enabling the transfer of boxes 10 transported to port 24 by loading and handling equipment 30 to another location, such as a picking station (not shown). Similarly, the conveyor system can move boxes 10 from external locations, such as a storage box filling station (not shown), to port 24 and transport them to stack 12 via loading and handling equipment 30 to refill the system's inventory.

[0119] Each loading and handling device 30 is capable of lifting and moving one box 10 at a time. If it is necessary to retrieve a box 10 that is not on top of the stack 12 (“target box”), the box 10 covering it (“non-target box”) must first be moved to make access to the target box 10 possible. This is achieved in the operation referred to below as “digging”.

[0120] Reference Figure 16 During the excavation operation, one of the loading and processing devices 30 successively lifts each non-target container 10a from the stack 12 containing the target container 10b and places it in an empty space within another stack 12. The target container 10b can then be accessed by the loading and processing device 30 and moved to port 24 for further transport.

[0121] Each loading and processing device 30 is controlled by a central computer, which can be conceived as a controller according to the first embodiment. Each individual box 10 within the system is tracked so that appropriate boxes 10 can be retrieved, transported, and replaced as needed. For example, during excavation operations, the location of each non-target box 10a is recorded so that non-target boxes 10a can be tracked.

[0122] Reference Figures 13 to 16 The described system offers numerous advantages and is suitable for a wide range of storage and retrieval operations. In particular, it enables very dense product storage and provides a very economical way to store large quantities of different goods in box 10 while allowing access to box 10 at a reasonable cost when picking is required.

[0123] However, this type of system still has shortcomings, which are entirely due to the digging operation described above, which must be performed when the target box 10b is not on top of the stack 12.

[0124] The foregoing description of embodiments of the invention has been presented for purposes of explanation and description. The foregoing description is not intended to be exhaustive or to limit the invention to the precise forms disclosed. Modifications and alterations may be made without departing from the spirit and scope of the invention.

Claims

1. A controller configured to control the movement of a plurality of transport devices, the plurality of transport devices configured for transporting containers stored in a facility, the facility configured to store the containers in a plurality of stacks, the facility including a plurality of aisles arranged in units to form a grid structure above the stacks, wherein the grid structure extends along a first direction and a second direction, the plurality of transport devices configured to operate on the grid structure, the controller comprising: The route determination unit is configured to determine a route for each transportation device from one location on the grid structure to another location on the grid structure. The permission unit is configured to grant permission for each transport device to traverse a portion of a defined route; The constraint region determination unit is configured to determine a plurality of constraint regions based on the static load, dynamic load, and / or shear load of the grid structure. as well as The calculation unit is configured to calculate the constraints in each constraint region. The controller described above performs at least one of the following: The permission unit is further configured to grant or deny permission for a transport device to traverse a portion of the defined route based on a calculated constraint limit in one of the plurality of constraint regions, and The route determination unit is further configured to determine a route for the transport equipment from one location to another, passing through or not passing through one of the plurality of constraint regions, based on the computational constraint restrictions in one of the constraint regions.

2. The controller according to claim 1, characterized in that, The defined constraint region includes the constraint region extending throughout the entire mesh structure.

3. The controller according to claim 1, characterized in that, The constraint region determination unit is configured to determine the constraint region formed by a preset number of units in the first direction and a preset number of units in the second direction.

4. The controller according to any one of the preceding claims, characterized in that, Each constraint region is determined to overlap with at least one other constraint region.

5. The controller according to any one of claims 1-3, characterized in that, The controller performs at least one of the following: The permission unit is configured to: deny permission for the transport device to pass through a portion of the defined route when the constraint limit in one of the plurality of constraint regions is greater than or equal to a preset threshold; and grant permission for the transport device to pass through a portion of the defined route when the constraint limit in one of the plurality of constraint regions is less than the preset threshold; and The route determination unit is configured to determine a route for the transportation device from one location to another without passing through one of the multiple constraint regions when the calculated constraint limit in one of the constraint regions is greater than or equal to a preset threshold, and to determine a route for the transportation device from one location to another that passes through one of the multiple constraint regions when the calculated constraint limit in a specific constraint region is less than the preset threshold.

6. The controller according to any one of claims 1-3, characterized in that, The calculation unit is configured to calculate the constraint limit based on the number of transportation equipment in one of the plurality of constraint regions.

7. The controller according to any one of claims 1-3, characterized in that, The calculation unit is further configured to calculate the constraint limit based on the number of transport devices moving or accelerating at a constant speed along the first direction and / or the second direction in one of the plurality of constraint regions.

8. The controller according to any one of claims 1-3, characterized in that, The calculation unit is further configured to calculate the constraint limit based on the expected force exerted by the transport equipment accelerating or decelerating along the first direction and / or the second direction on one of the plurality of constraint regions.

9. The controller according to claim 8, characterized in that, The calculation unit is further configured to calculate the expected force applied to one of the plurality of constraint regions based on at least one of the following: the direction of motion of each transport device, the mass of the transport device, the mass of the effective load carried by the transport device, the expected acceleration diagram of the transport device, the expected deceleration diagram of the transport device, the probability that the plurality of transport devices on the grid structure are ordered to stop simultaneously, and the probability that any one of the plurality of transport devices on the grid structure is ordered to stop at any time.

10. The controller according to any one of claims 1-3, characterized in that, When the permission unit determines to deny permission for the transport equipment, the route determination unit is configured to perform at least one of the following: redetermine the route of the transport equipment, redetermine the routes of at least two of the plurality of transport equipment, execute a controlled stop of the transport equipment, or execute a controlled stop of at least two of the plurality of transport equipment.

11. The controller according to any one of claims 1-3, characterized in that, The computing unit is configured to determine the number of transport devices in response to status reports received from each transport device.

12. A storage system, comprising: A first set of parallel tracks or rails extending along the X direction and a second set of parallel tracks or rails extending along the Y direction, the second set of parallel tracks or rails transversely cutting the first set on a substantially horizontal plane, forming a grid pattern comprising a plurality of grid spaces. A plurality of container stacks located below the track are arranged such that each stack is within the coverage area of ​​a single grid space; Multiple loading and handling devices, each of which is positioned above the stack and selectively moves laterally along the X and Y directions on the track; and The controller according to any one of the preceding claims.

13. The storage system according to claim 12, characterized in that, Each of the loading processing devices has a coverage area that occupies only a single grid space in the storage system, such that a loading processing device occupying one grid space does not obstruct loading processing devices occupying or traversing adjacent grid spaces in the X and Y directions.

14. A method for controlling the movement of a plurality of transport devices, the plurality of transport devices being configured as transport containers stored in a facility, the facility being configured to store the containers in a plurality of stacks, the facility including a plurality of aisles arranged in units to form a grid structure above the stacks, wherein the grid structure extends along a first direction and a second direction, the plurality of transport devices being configured to operate on the grid structure, the method comprising the steps of: Based on the static load, dynamic load, and / or shear load of the aforementioned grid structure, a plurality of constraint regions are determined; as well as Calculate the constraint limits for each constraint region; For each transport device, determine a route from one location on the grid structure to another location on the grid structure, which may or may not pass through one of the plurality of constraint regions; as well as Granting or denying permission for each piece of transport to pass through a defined section of the route. Among them, at least one of the route determination step or permission step is based on the computational constraint limit in one of the plurality of constraint regions.

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