Trolley for an energy storage and delivery system

Abstract

A trolley includes a front base and a rear base, where the rear base is connected to and rotatable about the front base via a hinge plate. The trolley may include one or more driven wheels. A first set of the driven wheels is connected to the front base and a second set of the driven wheels is coupled to the rear base. Additionally, the trolley can include one or more stepper motors operably coupled to and actuatable to rotate the one or more driven wheels to propel the trolley along a frame or row. Operating the trolley along the frame or row includes operating the one or more stepper motors to laterally shift the trolley relative to a frame or row as the trolley travels along the frame or row.

Description

TROLLEY FOR AN ENERGY STORAGE AND DELIVERY SYSTEMINCORPORATION BY REFERENCE TO ANY PRIORITY APPLICATIONS

[0001] Any and all applications for which a foreign or domestic priority claim is identified in the Application Data Sheet as filed with the present application are hereby incorporated by reference under 37 CFR 1.57. The present application claims priority to U.S. Provisional Patent Application No. 63 / 655437 filed June 3, 2024, titled TROLLEY FOR AN ENERGY STORAGE AND DELIVERY SYSTEM, the entirety of which is incorporated herein by reference.BACKGROUNDField

[0002] The present disclosure is directed to a trolley. The trolley can be used in an energy storage and delivery system. The present disclosure is also directed to methods for storing and delivering electricity by transporting blocks or bricks via the trolley.Description of the Related Art

[0003] There is an increased focus on reducing the use of fossil fuels to reduce the greenhouse gas emissions to the atmosphere. Power generation from renewable energy sources (e g., solar power, wind power, hydroelectric power, biomass, etc.) continues to grow. However, many of these renewable energy sources (e.g., solar power, wind power) are intermittent and unpredictable, limiting the amount of electricity that can be delivered to the grid from intermittent renewable energy sources.SUMMARY

[0004] Accordingly, there is a need for improved systems to capture electricity generated by renewable energy sources for predictable delivery to the electrical grid. As used herein, the electrical grid is an interconnected network for delivery of electricity from producers to consumers and spans a large geographical region, including cities, states and / or countries.

[0005] In accordance with an aspect of the disclosure, a trolley for use in an energy storage and delivery system is provided.

[0006] In some aspects, the techniques described herein relate to a trolley to move blocks along a frame or row. The trolley can include a front base and a rear base coupled to the front base via a hinge plate. The front base and the rear base can be configured to rotate about the hinge plate relative to each other. The trolley can have one or more driven wheels, where a first set of the one or more driven wheels can be coupled to the front base and a second set of the one or more driven wheels can be coupled to the rear base. The trolley can have one or more stepper motors, each of the one or more stepper motors are operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along the frame or row; wherein operating the trolley along the frame or row includes operating the one or more stepper motors to laterally shift the trolley relative to the frame or row as the trolley travels along the frame or row.

[0007] The trolley can include one or more sensors positioned on the front base or the rear base, the one or more sensors operable to detect a position of the trolley relative to the frame or row. Additionally, the one or more sensors can determine a position of the trolley relative to a left side of the row or a right side of the row and to communicate a signal on said position to a controller, the controller configured to operate the one or more stepper motors. The one or more sensors can scan the row to determine a profile of the row from one end of the row to an opposing end of the row, wherein the profile of the row is used to determine an optimal travel path of the trolley along the frame or row. In some implementations, one of the one or more stepper motors can rotate one of the one or more driven wheels faster than at least one of a remaining one or more driven wheels in order to move the trolley away from the left side or the right side of the row. A scan of the profile of the row can be stored in a data storage module and can be signaled to the one or more stepper motors to traverse the trolley along the optimal travel path. The row has an irregular or wavy profile.

[0008] The front base of the trolley can operatively hinge relative to the rear base of the trolley as the trolley traverses the irregular or wavy profile of the row and one side of the front base and pivot relative to an opposite side of the front base as trolley traverses the irregular or wavy profile of the row. The one or more driven wheels can be four driven wheels, and the one or more stepper motors can be four stepper motors. Each of the four driven wheels can be coupled to one of the four stepper motors. The trolley can support a block above the front base and the rear base and traverse the block from one end of the row to an opposing endof the row to deliver the block to an elevator cage. The trolley can also include one or more free wheels, where a first set of the one or more free wheels is coupled to the front base and a second set of the one or more free wheels is coupled to the rear base. The one or more sensors can be four sensors and two of the one or more sensors can be placed on the front base and two of the one or more sensors are placed on the rear base.

[0009] In another example, a trolley is disclosed. The trolley can move blocks along a frame or row. The trolley can include a front base and a rear base rotatably coupled to the front base. The trolley can include one or more driven wheels. A first set of the one or more driven wheels can be coupled to the front base and a second set of the one or more driven wheels can be coupled to the rear base. The trolley can include one or more stepper motors operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along the frame or row and laterally shift the trolley relative to the frame or row.

[0010] In another example, a trolley is disclosed. The trolley can include a front base and a rear base coupled to the front base via a hinge plate. The front base and the rear base can be configured to rotate about the hinge plate relative to each other. The trolley can include one or more driven wheels. A first set of the one or more driven wheels can be coupled to the front base and a second set of the one or more driven wheels can be coupled to the rear base. The trolley can include one or more stepper motors. Each of the one or more stepper motors can be operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along a frame or row. Operating the trolley along the frame or row can include operating the one or more stepper motors to laterally shift the trolley relative to the frame or row as the trolley travels along the frame or row.

[0011] In another example, a method of operating a trolley is disclosed. The method for operating the trolley can include traversing the trolley. The trolley can include a front base and a rear base rotatably coupled to the front base via a hinge plate. The trolley can traverse along a frame or row. The method for operating the trolley can include actuating one or more stepper motors to rotate one or more driven wheels coupled to the front base and the rear base to traverse the trolley along the frame or row. The method can include scanning a profile of the frame or row with one or more sensors positioned on the trolley and detecting a distance the trolley is laterally away from walls of the frame or row. The method can includeshifting the trolley in a lateral direction away from the walls of the frame or row when the distance detected indicates the trolley has deviated from a centerline of the frame or row.BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 A is a schematic bottom perspective view of a trolley for use in an energy storage and delivery system.

[0013] Figure IB is a schematic bottom perspective view of a trolley for use in an energy storage and delivery system.

[0014] Figure 1C is a schematic top perspective view of a trolley for use in an energy storage and delivery system.

[0015] Figure ID is a schematic top perspective view of a rear portion of a trolley for use in an energy storage and delivery system.

[0016] Figure 2 is a schematic top view of the trolley of Figures 1A-1D for use in an energy storage and delivery system.

[0017] Figure 3 is a schematic front view of the trolley of Figures 1A-1D for use in an energy storage and delivery system.

[0018] Figure 4 is a schematic view of multiple positions of the trolley of Figures1A-1D.

[0019] Figure 5 is a schematic perspective view of the trolley of Figures 1 A-1D for use in an energy storage and delivery system.

[0020] Figure 6 is a schematic perspective view of the trolley of Figures 1 A-1D for use in an energy storage and delivery system.

[0021] Figure 7 is a schematic front view of the trolley of Figures 1A-1D for use in an energy storage and delivery system.

[0022] Figure 8 is a schematic perspective view of the trolley of Figures 1 A-1D for use in an energy storage and delivery system.

[0023] Figure 9 is a schematic perspective view of the trolley of Figures 1 A-1D for use in an energy storage and delivery system.

[0024] Figure 10A is a graphical representation of sensor data collected from the trolley of Figures 1A-1D.

[0025] Figure 10B is a graphical representation of sensor data collected from the trolley of Figures 1A-1D.

[0026] Figure 1 1 is a schematic block diagram of electronics for the trolley of Figures 1A-1D.

[0027] Figure 12 is a flow chart diagram of a process for operating the trolley of Figures 1A-1D.DETAILED DESCRIPTION

[0028] Disclosed below is a trolley for use in an energy storage and delivery system. The energy storage and delivery system is operable to convert electricity into potential energy (e.g., by raising blocks from a lower elevation to a higher elevation), and generate electricity from the potential energy when electricity is in demand (e.g., by lowering blocks from a higher elevation to a lower elevation). The energy storage and delivery system can be operatively coupled to the electrical grid for stabilizing the electrical grid and delivering electricity for residential, commercial, and / or industrial consumers. Further details on energy storage and delivery systems that can be used with the trolleys disclosed herein can be found in U. S. Applications 17 / 304,980 fded June 29, 2021 , 17 / 810, 819 filed July 5, 2022, 18 / 063,919 filed December 9, 2022, 18 / 409,524 filed January 10, 2024, and in PCT Application No. PCT / US2023 / 020233 filed April 27, 2023, all of which are incorporated herein by reference in their entirety.

[0029] Figures 1A through ID show a trolley 100. The trolley 100 can be used in an energy storage and delivery system. The trolley 100 can also be used, for example, for transporting materials (e.g., masses, blocks, bricks, boxes, weights, packages, boulders, pillars, etc.) to a desired location (e.g., used as a delivery trolley, for example in a construction site). The trolley 100 has a front base 102 and a rear base 104, both of which can be planar. The trolley 100 also has one or more (e g., four) driven wheels 106. The driven wheels 106 can be plastic, rounded wheels. However, the wheels 106 can be made of other suitable materials (e.g., metal). The one or more driven wheels 106 located on the front base 102 and rear base 104 are designed to propel or move the trolley 100 over the top of a frame 170 (e.g., of a row or platform of a tower) (see Figure 2). For example, the driven wheels 106 can roll over the rails 174A, 174B of the frame 170, allowing the trolley 100 to move along the rails 174A, 174B (e.g., in the X-direction). A set of the driven wheels 106 can be coupled to the front base 102 and a different set of the driven wheels 106 can be coupled to the rear base 104. Forexample, the front base 102 can include two of the of the driven wheels 106 positioned on opposite sides of the front base 102 (e.g., side 108A, side 108B) and linearly spaced apart (e.g., coaxial driven wheels) along an axis (e.g., in the Y-direction). Similarly, the rear base 104 can include two of the driven wheels 106 positioned on opposite sides of the rear base 104 (e.g., side 109A, and side 109B) and linearly spaced apart along an axis (e.g., coaxial wheels along an axis in the Y-direction).

[0030] The trolley 100 has one or more stepper motors 110 attached to each of the driven wheels 106. The trolley 100 can include four stepper motors 110 and four driven wheels 106, where each stepper motor 110 is connected to a corresponding driven wheel 106. In another example, the trolley 100 can include two stepper motors 110 and four driven wheels 106, where one of the stepper motors 110 is connected to two driven wheels 106. The two stepper motors 110 can be located on opposing sides of the trolley 100. In another example, the trolley 100 can include one stepper motor 110 operably connected to four driven wheels 106.

[0031] Each of the stepper motors 110 include or can be coupled to a shaft 112 extending from the stepper motor 110. A belt 114 is attached (e.g., coupled) to both the shaft 112 and a drive shaft 118 of the corresponding driven wheel 106. Therefore, when the stepper motor 110 is powered, the stepper motor 110 rotates the shaft 112 and the belt 114 in a desired direction (e.g., clockwise, counterclockwise) to rotate the corresponding driven wheel 106 in the same direction. In this manner, the stepper motors 110 rotate the driven wheels 106 to move or propel the trolley 100 along the frame 170 in a desired direction (e.g., along the positive or negative X-axis or direction). For example, the stepper motor 110 can rotate (e.g., actuate) the corresponding driven wheel 106 at about 0.7 m / s. However, the stepper motor 110 can rotate the corresponding driven wheel 106 at other suitable speeds. Advantageously, since, in the illustrated example, each driven wheel 106 is coupled to a stepper motor 110, the speed (e.g., revolutions per minute) of each driven wheel 106 can be individually controlled and adjusted. For example, each of the stepper motors 110 coupled to the corresponding driven wheels 106 can rotate the shafts 112 at the same speed in order to move the trolley 100 in a straight line along the frame or row 170. Additionally, each of the stepper motors 110 can slow the rotation or stop rotating the shafts 112 (e g., simultaneously) in order to brake or stop the trolley 100. Further, increasing the speed of a stepper motor 110 connected to one or more driven wheels106 on a side (e.g., side 108 A) of the trolley 100, relative to the speed the stepper motors 1 10 coupled to the other driven wheels 106, will cause the trolley 100 to turn (e.g., rightward or leftward) and / or cause the trolley 100 to shift laterally (e.g., along the positive or negative Y- axis) and closer to a wall (e.g., frame wall 172A) of the frame 170 and farther from an opposite wall (e.g., frame wall 172B) of the frame 170). Other operational features of the steeper motors 110 and the trolley 100 described further below. One advantage of having separate stepper motors 110 coupled to each of the driven wheels 106 (e.g., having four stepper motors 110, each connected to one of four driven wheels 106) is that the motion of the trolley 100 can be finely controlled.

[0032] The trolley 100 can also have one or more (e.g., four) free wheels 130. The one or more free wheels 130 can be coupled to the front base 102 and rear base 104. For example, two of the free wheels 130 can be coupled to the front base 102 and another two of the free wheels can be coupled to the rear base 104. The free wheels 130 can be coupled proximate the ends of the front base 102 (e.g., front end of front base 102 on side 108A and side 108B) and the rear base 104 (e.g., rear end of the rear base 104 on the side 109A and the side 109B). Furthermore, the free wheels 130 coupled to the front base 102 are linearly spaced apart along an axis (e.g., coaxial along an axis in the Y-direction). Similarly, the free wheels 130 coupled to the rear base 104 are linearly spaced apart (e.g., coaxial along an axis in the Y- direction). The free wheels 130 are not directly connected (e.g., coupled) to a motor (e.g., stepper motor 110). Therefore, the free wheels 130 rotate only when the stepper motors 110 drive the driven wheels 106 to move or propel the trolley 100 (e.g., along the frame 170). Advantageously, the free wheels 130 can provide additional balance and stability for the trolley 100.

[0033] The trolley 100 has one or more (e.g., four) sensors 120. The sensors 120 can be distance sensors or position sensors and can include infrared, ultrasonic, or any other technology that can enable distance measurement (e.g., the distance to the walls of the frame 170). The sensors 120 can be LiDAR sensors. However, the one or more sensors 120 can be other suitable sensor types for sensing distance (e.g., sensing a distance to the walls of the frame 170). A subset of the one or more sensors 120 can be positioned on the front base 102 and the rear base 104. For example, two of the sensors 120 can be positioned on the front base 102, where one of the sensors 120 is on a left side (e.g., side 108 A) and the other sensor is onan opposing side (e.g., side 108B). Similarly, two sensors 120 can be positioned on the rear base 104, where one of the sensors 120 is on a left side (e.g., side 109A) and the other sensor is on a right, opposing side (e.g., side 109B). The sensors 120 (described further below) can determine the position of the trolley 100 (e.g., sides 108 A, 108B, 109 A, 109B) relative to the frame or row 170 and a frame wall 172A, 172B (see Figure 2).

[0034] The trolley 100 can include one or more safety limit switches 180 (e.g., two, four). The safety limit switches 180 can determine (e.g., be activated) if the trolley 100 contacts a mechanical stop located or positioned at an end of the frame or row 170 (e.g., at the end of the frame or row 170 in the positive or negative X-direction). The safety limit switches 180, if activated, can stop the trolley 100 from traversing (e.g., traveling) along the frame or row 170. The one or more safety limit switches 180 can be positioned on the front base 102 and the rear base 104. For example, two of the one or more safety limit switches 180 can be positioned on the front base 102, where one of the safety limit switches 180 is on a left side (e g.., side 108A) and the other safety limit switch 180 is positioned on an opposing side (e.g., side 108B). Similarly, two safety limit switches 180 can be positioned on the rear base 104, where one of the safety limit switches 180 is on a left side (e.g., side 109A) and the other safety limit switch 180 is on an opposing side (e.g., side 109B).

[0035] The trolley 100 may also include a homing position sensor 181. The homing position sensor 181 can detect the homing position (e.g., X-position) of the trolley 100. The homing position sensor 181 can determine and confirm that the trolley 100 is near or exactly at a zero meter position along the frame or row 170 (e.g., at an end of the frame or row 170 in the X-direction). The homing position sensor 181 can be positioned on the front base 102. The homing position sensor 181 can be positioned at the frontmost end of the front base 102. The trolley may also include a pick-up zone sensor 182. The pick-up zone sensor 182 can detect the position of the trolley 100 relative to an elevator cage in order to pick-up or drop-off a block 190 (described further below). The pick-up zone sensor 182 can be positioned on the front base 102 and / or the rear base 104. The pick-up zone sensor 182 can be positioned at a frontmost end of the front base 102 and a rearmost end of the rear base 104 (e.g., the outer edges of the trolley 100).

[0036] The trolley 100 can also include a hydraulic accumulator 150. The hydraulic accumulator 1 0 can be connected to the rear base 104 (e.g., near or adjacent to a rear end ofthe rear base 104). The hydraulic accumulator 150 can be connected to a hydraulic pump 153 (see Figures 1C-1D) and positioned inside the rear base 104 and operatively connected to hydraulic pipes 152. The hydraulic pump 153 can be shown when the cover 105 on the rear base 104 is removed. The hydraulic pump 153 can deliver a flow of oil from the hydraulic accumulator 150 through the hydraulic pipe 152, through the hydraulic pipe 132 (e.g., second hydraulic pipe), and to one or more lifting cylinders 192. The hydraulic pump 153, when it delivers the flow of oil from the hydraulic accumulator 150, can then raise (e.g., lift in the Z- direction) the one or more lifting cylinders 192. When the hydraulic pump 153 stops pumping the flow of oil, the hydraulic pump 153 can lower (e.g., lower in the Z-direction) the one or more lifting cylinders 192. Advantageously, operation of the hydraulic accumulator 150 and hydraulic pump 153 can raise and lower the one or more lifting cylinders 192 to raise or lower a block 190 (see Figure 7). The hydraulic pipe 152 can extend from underneath the hydraulic accumulator 150 (e.g., a bottom area of the hydraulic accumulator 150) and underneath a bottom area of the rear base 104. The hydraulic pipe 132 can extend along the bottom area of both the front base 102 and rear base 104.

[0037] The trolley 100 can include a controller (e.g., controller 218 described below) which can relay signals to and from the stepper motors 110 and sensors 120 to determine the position of the trolley 100 along the frame 170 and to adjust the power delivered to the stepper motors 110 in order to control the speed (e.g., speed up, speed down) of the corresponding driven wheels 106. Additionally, the trolley 100 can include a main cable conveyor 160. The main cable conveyor 160 can be connected to a front end of the front base 102. The main cable conveyor 160 can be connected to and support a main cable 161 which extends from the rear base 104 to the front base 102. The main cable 161 can extend from the trolley 100 and along the entire frame or row 170. The main cable 161 is fixed to the trolley 100 at a bottom portion of the rear base 104. The main cable 161 may be used to deliver (e.g., relay, communicate) signals to and from the stepper motors 110 and sensors 120. The main cable 161 may include a fiber optic cable. The main cable 161 may be used to deliver (e.g., relay, communicate) signals to and from the safety limit switches 180, the homing position sensor 181, and the pick-up zone sensor 182. Additionally, the main cable 161 may deliver power from a power source to various components in the trolley 100 (e.g., stepper motors 110, sensors 120, safety limit switches 180, pick-up zone sensor 182).

[0038] The trolley can also include a structural rope 134. The structural rope 134 can be made of a resilient material (e.g., steel). The structural rope 134 can extend from one side (e.g., side 108A, side 109A) of the trolley 100 to another side (e.g., side 108B, 109B) of the trolley 100. Additionally, the structural rope 134 can extend from the hinge plate 140 (described further below) positioned adjacent left side (e.g., side 108A) of the trolley 100 to the hinge plate 140 positioned on the right side (e.g., side 109B) of the trolley 100. The structural rope 134 can be positioned on both the front base 102 and the rear base 104. Advantageously, the structural rope 134 can improve the ability of the trolley 100 to withstand forces (e.g., tensile forces) acting on the sides (e.g., forces directed in the Y-direction) of the trolley 100.

[0039] Figures 2-3 show the trolley 100 on a frame or row 170. The frame or row170 can include a plurality of beams 171 (e g., I-beams, L-beams) which define the frame 170. The plurality of beams 171 can be metal or sheet metal. In another example, the plurality of beams 171 (including the rails 174A, 174B and frame walls 172A, 172B) can be made of concrete (e.g. steel reinforced concrete). The plurality of beams 171 can extend along the X- direction of the frame or row 170. Additionally, the plurality of beams 171 can include rails (e.g., rails 174A, 174B) and frame walls (e.g., frame walls 172A, 172B). In one example, the rails 174A, 174B can be flat surfaces (e.g., extending from the frame walls 172A, 172B to free ends) on which the driven wheels 106 and free wheels 130 travel. In another example, the frame or row 170 can have a platform (e g., planar platform) that extends between the frame walls 172A, 172B instead of separate spaced apart rails 174A, 174B. The trolley 100 can placed on the frame or row 170 and above the plurality of beams 171. The plurality of beams171 can include right beam having a right side wall 172B and a right rail 174B and a left beam having a left side wall 172A and a left rail 174A. The driven wheels 106 and free wheels 130 can roll over the left rails 174A and the right rails 174B when traversing along the frame or row 170.

[0040] The trolley 100 has one or more (e.g., two) hinge plates 140 to connect the front base 102 to the rear base 104. A front or distal portion of one of the hinge plates 140 is connected (e.g., pivotally coupled) to a side (e.g., side 108A) of the front base 102, and a rear or proximal portion of said hinge plates 140 is connected (e.g., pivotally coupled) to a side (e.g., side 109A) of the rear base 104. Correspondingly, a second hinge plate 140 can beattached (e.g., pivotally coupled) to an opposite side (e.g., side 108B) of the front base 102 and an opposite side (e.g., side 109B) of the rear base 104. Advantageously, the front base 102 and the rear base 104 can hinge (e.g., rotate, pivot) relative to each other via the hinge plates 140 (e.g., allowing one of the front base 102 and rear base 104 to move vertically relative to the other of the front base 102 and the rear base 104). Therefore, when the trolley 100 traverses along the frame or row 170, the front base 102 can move or rotate (e.g., vertically) relative to the rear base 104 without separating from each other. Advantageously, this can allow for the beams 171 (e.g., the rails 174A, 174B) to have an irregular (e.g., bumpy, wavy, non-planar) surface, reducing the cost and complexity of construction of the frame or row 170 while allowing the trolley 100 to effectively move along the frame or row 170, such as in a frame of an energy storage and delivery system. Therefore, when the driven wheels 106 roll over the rails 174A, 174B, the driven wheels 106 on the front base 102 and rear base 104 can remain attached to (e.g., do not lift from) the rails 174A, 174B since the front base 102 and rear base 104 of the trolley 100 can hinge about the hinge plates 140. Advantageously, having the front base 102 and rear base 104 hinge relative to one another inhibits (e.g., reduces, prevents) excessive loads from being experienced by portions of the trolley 100 (e.g., by the driven wheels 106, shaft 112, drive shaft 118, front base 102, rear base 104, etc.) during operation, which can increase the lifespan of the trolley 100 and decrease maintenance of the trolley 100, thereby reducing the cost of operating the trolley 100 (and the energy storage and delivery system that uses the trolley 100). Furthermore, one of the hinge plates 140 may hinge more than the second or opposite hinge plate 140 if one of the beams 171 along the frame or row 170 has a more irregular (e.g., nonplanar, wavy) surface than another beam 171. Therefore, the driven wheels 106 (and free wheels 130) remain in contact with the frame 170 as the trolley 100 moves along the frame 170, even though one side (e.g., side 108A, 109 A) of the front base 102 or rear base 104 may be inclined or (vertically) offset relative to the other side (e.g., side 108B, 109B) due to the irregular surface of the beams 171.

[0041] During the operation of the trolley 100, the stepper motors 110 are designed to control the speed and direction of the trolley 100 (e.g., to move the trolley 100 along a cartesian plane of the frame or row 170). For example, each of the stepper motors 110 (via shaft 112, belt 114, and drive shaft 118) can rotate each of the driven wheels 106 at the same speed or RPM. Therefore, when each of the driven wheels 106 is moving at the same speedthe trolley 100 can move or traverse in a straight line or along the X-axis or direction of the frame or row 170. Additionally, to turn the trolley 100 to the left or to the right along the frame or row 170 the stepper motors 110 on one side of the trolley 100 can rotate the wheels of the driven wheels 106 at different speeds from the stepper motors 110 on an opposite side of the trolley 100. For example, with reference to Figure 2, to move, laterally shift or turn the trolley 100 to the right or along the positive Y-axis or direction (e.g., toward the frame wall 172B), the stepper motor 110 coupled to the driven wheel 106 on the right side 108B of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the right side 109B of the rear base 104 can rotate the corresponding driven wheel 106 on the right side 108B of the front base 102 and / or on the right side 109B of the rear base 104 faster than each of the other driven wheels 106 (e.g., turning, shifting or moving the trolley to the right or closer to the frame wall 172B). Additionally, to move, laterally shift, or turn the trolley 100 to the left or along the negative Y-axis or direction (e.g., toward the frame wall 172A), the stepper motor 110 coupled to the driven wheel 106 on the left side 108 A of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the left side 109A of the rear base 104 can rotate the corresponding driven wheel 106 on the left side 108 A of the front base 102 and / or on the left side 109A of the rear base 104 faster than each of the other driven wheels 106 (e.g., pulling, shifting or moving the trolley 100 towards the left or closer to the frame wall 172A). Advantageously, by turning or shifting the trolley 100 to the left or to the right, the trolley 100 can be placed in a desired location along the frame or row 170. For example, it may be preferable to ensure that the trolley 100 is centered on the frame or row. Alternatively, it may be preferable in some cases to have the trolley 100 closer to the left side of the frame or row 170 (e.g., the left wall 172A) or the right side of the frame or row 170 (e.g., the right wall 172B). Additionally, operating the trolley 100 to turn or shift laterally as described above advantageously allows the trolley 100 to operate (e.g., move along, traverse) a frame 170 where the spacing between the frame walls 172A, 172B varies (e.g., is not constant) along the length of the frame 170, allowing the trolley 100 to operate on such a frame 170 while avoiding collisions with the frame walls 172A, 172B. This advantageously reduces the cost of manufacturing the frame 170 as well as reduces the cost of maintenance of the trolley 100 (and the energy storage and delivery system that uses the trolley 100), from avoiding collisions withthe frame walls 172A, 172B by moving or laterally shifting the trolley 100 as it travels along the frame 170.

[0042] The plurality of beams 171 may not be perfectly flat and instead may have an irregular or wavy surface. The irregular or wavy surface of the beams 171 (e.g., rails 174A, 174B) may cause the trolley 100 to move leftwards (e.g., towards the left wall 172A) or rightwards (e.g., towards the right wall 172B). However, it may be advantageous to keep the trolley 100 centered along the frame or row 170. Therefore, the stepper motors 110 can rotate each of the driven wheels 106 at an optimal or desired speed in order to keep the trolley 100 traveling along the center of the frame or row 170. The stepper motors 110 can rotate each of the driven wheels 106 at an optimal or desired speed to reposition the trolley 100 along the center of the frame or row 170. The sensors 120 on the front base 102 and rear base 104 can scan the frame or row 170 to determine how far the trolley 100 has deviated from the center of the frame or row 170 by detecting the distance each side (e.g., side 108A, 108B, 109A, 109B) is from a frame wall (e.g., wall 172A, 172B). For example, if the sensor 120 located on the side 108B detects that the side 108B is close to the right wall 172B (e.g., by deviating away from a centerline of the frame or row 170), the stepper motors 110 can operate to rotate one or more of the driven wheels 106 to turn, laterally shift or move the trolley 100 away from the right wall 172B. Additionally, if the sensors 120 determine that at a certain distance along the frame or row 170 the trolley 100 (e.g., 108A) should be a certain distance away from the wall then the stepper motors 110 can rotate the driven wheels 106 at an optimal speed to reposition the trolley 100. Advantageously, by determining where the trolley 100 should be located (in the Y-direction) as it travels along the frame or row based on a traveled distance in the X- direction can advantageously reduce the amount of wear and tear experienced by the trolley 100 and the amount of power required to operate the trolley 100.

[0043] In one example, the sensors 120 can scan the frame or row 170 to determine the profile of the beams 171 (e.g., rails 174A, 174B) from one end of the row to an opposite end of the row (see Figure 10B). The sensors 120 can send the beam profile data to a controller (e.g., controller / processor 218 discussed further below) in order to compute the optimal travel path of the trolley 100 along the frame or row 170. The optimal travel path can be stored in a memory and used by the controller to control the operation of the trolley 100 (e.g., control the operation of the stepper motors 110 to move or shift the trolley 100 as described herein) everytime it travels along the frame or row 170. For example, with the optimal travel path determined by the sensors 120 and controller, the stepper motors 110 drive the corresponding driven wheels 106 in order to move or rotate the trolley 100 along the optimal travel path (e.g., left or right based on the distance the trolley 100 has traveled along the track and how far the trolley 100 is away from the left or right wall 172A, 172B). Advantageously, having the trolley 100 travel along the optimal travel path can reduce wear and optimize power usage of the trolley 100. In another example, the optimal travel path is not stored in a memory and the controller computes the optimal travel path anew every time the trolley 100 travels along the frame or row 170 (e.g., before the trolley 100 begins moving along the frame or row 170). In another example, the controller controls the operation of the trolley 100 (e.g., controls the operation of the stepper motors 110 to move or shift the trolley 100 as described herein) in real time as the trolley 100 moves along the frame or row 170.

[0044] Figure 4 shows the trolley 100 moving along the frame or row 170 in the X-direction. The trolley 100 can be in a first trolley position 100A, a second trolley position 100B, a third trolley position 100C, and a fourth trolley position 100D. At first trolley position 100A, the trolley 100 is beginning to turn to the left (e g., negative Y-direction) along the frame or row 170. To move, laterally shift, or turn the trolley 100 to the left or along the negative Y- axis or direction (e.g., towards the frame wall 172A), the stepper motor 110 coupled to the driven wheel 106 on the right side 108B of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the right side 109B of the rear base 104 can rotate the corresponding driven wheel 106 on the right side 108B of the front base 102 and / or on the side 109B of the rear base 104 faster than each of the other driven wheels 106 (e.g., pulling, shifting or moving the trolley 100 towards the left or closer to the frame wall 172A).

[0045] At the second trolley position 100B, the trolley 100 has turned left (e.g., the negative Y -direction). To maintain the left turn and traverse further to the left side of the frame or row 170 (e.g., traveling in both the negative Y-direction and the X-direction) the stepper motor 110 coupled to the driven wheel 106 on the right side 108B of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the right side 109B of the rear base 104 reduces the rotational speed of the corresponding driven wheel 106 on the right side 108B of the front base 102 and / or on the right side 109B of the rear base 104 so that all the driven wheels 106 on the trolley 100 rotate at the same speed.

[0046] At the third trolley position 100C, the trolley 100 is beginning to turn to the right (e.g., positive Y-direction) along the frame or row 170 in order to straighten out (e.g., realign the trolley with the X-axis) the travel of the trolley 100. To move, laterally shift or turn the trolley 100 to the right or along the positive Y-axis or direction (e.g., toward the frame wall 172B), the stepper motor 110 coupled to the driven wheel 106 on the left side 108 A of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the left side 109A of the rear base 104 can rotate the corresponding driven wheel 106 on the left side 108 A of the front base 102 and / or on the left side 109A of the rear base 104 faster than each of the other driven wheels 106.

[0047] At the fourth trolley position 100D, the trolley 100 is realigned with the X- axis and is travelling along the X-axis without turning. In order to realign the trolley 100 with the X-axis, the stepper motor 110 coupled to the driven wheel 106 on the left side 108A of the front base 102 and / or the stepper motor 110 coupled to the driven wheel 106 on the left side 109A of the rear base 104 reduces the rotational speed of the corresponding driven wheel 106 on the left side 108A of the front base 102 and / or on the left side 109A of the rear base 104 so that all the driven wheels 106 on the trolley 100 rotate at the same speed.

[0048] Figure 5 shows the trolley 100 with one or more sensors 120 (e.g., distance sensors) mounted externally on the front base 102 and the rear base 104. The sensors 120 on the front base 102 and the rear base 104 can scan the frame or row 170 to determine how far the trolley 100 has deviated from the center of the frame or row 170 by detecting the distance each side (e.g., side 108A, 108B, 109A, 109B) is from a frame wall (e.g., wall 172A, 172B). The sensors 120 can be mounted outside the front base 102 and the rear base 104 and coupled to a coupling member 126 (e.g., a bracket). The coupling members 126 can place the sensors 120 located on the front base 102 further away from a front end of the front base 102. The coupling members 126 can also place the sensors 120 located on the rear base 102 further away from a rear end of the rear base 102. Advantageously, placing the sensors 120 on the left side (e g., side 108 A, side 109A) further away from each other or the sensors 120 on the right side (e.g., side 108B, side 109B) further away from each other can improve the ability to detect the relative position of the trolley 100 relative to the frame or row 170 (e.g., increasing the distance between the sensors 120 can improve the precision (e.g., accuracy) in interpreting angular positioning errors of the trolley 100 relative to the frame or row 170). Additionally, by placingthe sensors 120 further away from each other, the ability to scan the frame or row 170 and detect the position of the trolley 100 may be improved.

[0049] Figure 6 shows the trolley 100 with one or more sensors 120 (e.g., distance sensors) mounted within the front base 102 and rear base 104. The sensors 120 mounted within the front base 102 and rear base 104 can scan the frame or row 170 to determine how far the trolley 100 has deviated from the center of the frame or row 170 by detecting the distance each side (e.g., side 108A, 108B, 109 A, 109B) is from a frame wall (e.g., wall 172A, 172B). Advantageously, by positioning the sensors 120 within the front base 102 and rear base 104, there is no need for any coupling members (e.g., coupling member 126 in Figure 5).

[0050] Figure 7 shows a block 190 placed above the trolley 100. In some examples, the block 190 can be a box, a weight, a package, a mass, and / or a brick. The front base 102 and the rear base 104 can support the block 190 as the trolley 100 moves the block 190 along the frame or row 170. The front base 102 and the rear base 104 can support the block as the trolley 100 moves (e.g., transports) the block 190 to a desired location (e.g., a pick-up or drop-off location, a storage location, a brick depot). Additionally, the trolley 100 can move the blocks 190 (e.g., one at a time) along the frame 170 and into, for example, a cage (e.g., elevator cage). Additional details on the cage (e.g. elevator cage) can be found in U.S. Applications 17 / 304,980 fded June 29, 2021, 17 / 810,819 fded July 5, 2022, 18 / 063,919 fded December 9, 2022, 18 / 409,524 filed January 10, 2024, and in PCT Application No. PCT / US2023 / 020233 filed April 27, 2023 incorporated herein by reference. The pick-up zone sensor 182 can detect the position of the trolley 100 relative to the elevator cage. For example, the pick-up zone sensor 182 can detect when the trolley 100 is in an area (e.g., pick-up zone) where the cage (e.g., elevator cage) can deliver the block 190 to the trolley 100. When the pick-up zone sensor 182 detects the position of the trolley 100 relative to the cage, a signal can be delivered to the stepper motors 110 to move or adjust the orientation of the trolley 100. The pick-up zone sensor 182 can have safety functionality that prevents the trolley 100 from colliding with the cage (e g., elevator cage) due to incorrect positioning of the trolley 100 relative to the cage (e.g., the elevator cage or trolley 100 are in an incorrect zone where they could collide). Advantageously, the trolley 100 can move towards a right side or a left side in order to adjust to the position of the block 190 relative to the cage (e.g., elevator cage) to lower the block 190 into in the cage (e.g., elevator cage) so that the block 190 is aligned with the cage (e.g., elevator cage). Forexample, the trolley 100 can move, laterally shift or rotate (e g., twist 1-10 degrees) in order to align directly with the cage (e.g. elevator cage). The trolley 100 can also move towards a right side or a left side in order to adjust to the position of the block 190 in the cage (e.g., elevator cage). Although not shown, the cage (e.g. elevator cage) can have one or more sensors which can sense where the block 190 is located in the cage (e.g., elevator cage) and relative to the end of frame or row 170. The sensors in the cage (e.g., elevator cage) can relay (e.g., signal) the location of the block 190 relative to the trolley 100. The relayed signal from the cage (e.g., elevator cage) to the trolley 100 can provide instructions to the stepper motors 110 so that the trolley 100 can move, laterally shift, or rotate (e.g., to the left or to the right) to the position of the block 190 in order to pick up the block 190 from the cage (e.g., elevator cage) or to deliver the block 190 to the cage (e.g., the elevator cage).

[0051] Figure 8 shows the trolley 100 with one or more (e.g., four) first block distance sensors 121. For example, there can be four first block distance sensors 121. The one or more first block distance sensors 121 may positioned on or positioned within the front base 102 and rear base 104. A set of two of the first block distance sensors 121 can be positioned on the front base 102, where one of the first block distance sensors 121 is adjacent to a left side (e.g., side 108A) and the other distance sensor 121 is adjacent to an opposing side (e.g., side 108B). Similarly, two first block distance sensors 121 can be positioned on the rear base 104, where one of the first block distance sensors 121 is adjacent to a left side (e.g., side 109A) and the other distance sensor 121 is adjacent to a right, opposing side (e.g., side 109B). The first block distance sensors 121 can detect the distance between the trolley 100 (e.g., front base 102 and rear base 104) and the block 190 in the positive and negative X-direction. Advantageously, the first block distance sensors 121 can help facilitate picking up and lowering the block 190 relative to the cage (e.g., elevator cage). Additionally, the first block distance sensors 121 can be mounted at an angle (e.g., an angle relative to the Z-axis). When the first block distance sensors 121 are mounted at an angle, the first block distance sensors 121 can detect the Y- position of the block relative to the frame or row 170. Advantageously, mounting the first block distance sensors 121 at an angle can improve the ability (e.g., help facilitate) operation of the trolley 100 in order to pick up and lower the block 190 at the cage (e.g., elevator cage).

[0052] The trolley 100 also includes one or more lifting cylinders 192. The one or more lifting cylinders 192 can lift and lower a block on the trolley 100. The one or more liftingcylinders 192 can be in an engaged or disengaged position. When in the engaged position, the hydraulic pump 153 can deliver a flow of oil from the hydraulic accumulator 150, through the hydraulic pipes 132 and to the one or more lifting cylinders 192. The one or more lifting cylinders 192 can then move upward (e.g., in the positive Z-direction) to lift a block 190 positioned on the trolley. When in the disengaged position, the hydraulic pump 153 does not deliver a flow of oil from the hydraulic accumulator 150, through the hydraulic pipes 132 and to the one or more lifting cylinders 192. In the disengaged position, the block 190 is lowered (e.g., in the negative Z-direction) in order to be placed on or adjacent to the front base 102 and or rear base 104 of the trolley 100.

[0053] Figure 9 shows the trolley 100 with one or more (e.g., four) second block distance sensors 122. The one or more second block distance sensors 122 may positioned on or positioned within the front base 102 and rear base 104. A set of two of the second block distance sensors 122 can be positioned on the front base 102, where one of the second block distance sensors 122 is adjacent to a left side (e.g., side 108A) and the other distance sensor 122 is adjacent to an opposing side (e.g., side 108B). Similarly, two second block distance sensors 122 can be positioned on the rear base 104, where one of the second block distance sensors 122 is adjacent to a left side (e.g., side 109A) and the other distance sensor 122 is adjacent to a right, opposing side (e.g., side 109B). The second block distance sensors 122 can detect the distance between the trolley 100 (e.g., front base 102 and rear base 104) and the block 190 in the Z-direction (e.g., vertical distance) when the block 190 is lifted or lowered (see Figure 10A). Additionally, the second block distance sensors 122 can detect a gap between the block 190 and the trolley 100 in the X-direction cage side “pickup zone” and can detect a gap between the block 190 positioned above the trolley 100 in the X-direction. The second block distance sensors 122 can detect a gap between the trolley 100 and the block 190 positioned at the ends of the frame or row 170 in the X-direction.

[0054] Figure 10A is a graphical representation of the signals read by the second block distance sensors 122 (e.g., LiDAR sensor). Points 176A and 176B represent a signal relayed by the second block distance sensors 122 to the controller (e.g., controller 218) and displayed on a graph. Points 176A and 176B represent a profile of the block 190 placed on the frame or row 170. Advantageously, points 176A and 176B determine when the trolley 100 observes (e.g., senses via second block distance sensors 122) the block 190. Line 177 shows asignal relayed by the second block distance sensors 122 which represents a distance between two blocks 190 placed on the frame or row 170. Points 178A represent a signal related by the second block distance sensors 122 which shows the profile of the block 190 placed on the frame or row 170 before it is lifted above the trolley 100. Points 178B represent a signal relayed by the second block distance sensors 122 when the block 190 is lifted on the trolley 100.

[0055] Figure 10B is a graphical representation of the vertical track scan data of the frame or row 170 obtained by the sensors 120 (e.g., LiDAR sensors). Lines 179A are a graphical representation of a signal relayed by the sensors 120 showing the profde of the beams 171 (e.g., rails 174A, 174B). The profile of the beams 171, as represented by lines 179A, show the irregular (e.g., bumpy, wavy, non-planar) surface of the beams 171. Therefore, based on signals relayed from the sensors 120, the trolley 100 can adjust the speed of the stepper motors 110 in order to traverse the beams 171 (e.g., rails 174A, 174B) along an optimal travel path. Additionally, the sensors 120 can relay the signal to a controller and produce a graphical representation of the rails 174A, 174B at a particular X, Y position along the frame or row 170. Line 179B represents a signal relayed by the sensors 120 which shows a profde of the left or right wall 172A, 172B of the beams 171. The sensors 120 can relay the signal to a controller and produce a graphical representation of the left or right walls 172A, 172B at a particular X or Y position along the frame or row 170. Advantageously, the left or right wall 172A, 172B can have an irregular profde and the trolley 100 move laterally away from the left or right wall 172A, 172B (e.g., due the changing speeds of the driven wheels 106 coupled to the stepper motors 110).

[0056] Figure 11 illustrates a block diagram 200 of electronics for the trolley 100. The trolley 100 can have one or more sensors 202, a receiver 216 (e.g., wireless receiver), a controller 218 (e.g., including one or more processors), a data storage module 220 (e.g., memory), a transmitter 222 (e.g., wireless transmitter), one or more motor drivers 224, and one or more motos 226. In some examples, the receiver 216 and transmitter 222 can be included in or replaced by a transceiver. The operation of the receiver 216 and transmitter 222 correspond with the functions of the main data cable. The sensors 202 can include any of the sensors described earlier (e.g., sensor 120, first block distance sensors 121, second block distance sensors 122, homing position sensor 181, pick-up zone sensor 182) or a proximity sensor 204, a passive infrared sensor (PIR) 208, or a position sensor 210.

[0057] To operate the trolley, one or more inputs or parameters 214 may be necessary to determine general operational characteristics or aspects (e.g., location of the block 190, desired frame traversal time, etc.). Therefore, an operator may select and input these parameters 214. In another example, these inputs or parameters 214 can be automatedly provided to the trolley 100.

[0058] The controller 218 can operate the trolley 100 and control the operation of the one or more motos 226 (e.g., or stepper motors 110) in order to move the trolley 100 along the frame 170. When sensors 202 (which can correspond to sensors 120) detect that one or more sides of the trolley 100 (e.g., side 108 A, 108B, 109A, 109B) are too close to a frame wall 172A, 172B, the controller 218 can drive one or more motor drivers 224 to operate one or more of the motors 226 (or stepper motors 110) to move or shift the trolley 100 left or right along the rails 174A, 174B so that it avoids contacting the wall. Furthermore, when the trolley 100 approaches a cage (e.g., elevator cage), the controller 218 can drive the one or more motor drivers 224 to operate one or more of the motors 226 (or stepper motors 110) to move the trolley 100 in a desired position relative to the cage (e.g., elevator cage) to facilitate delivery of a block 190 to the cage (e g., elevator cage) or to receive a block 190 from the cage (e.g., elevator cage). In some cases, the block 190 can be positioned irregularly (e.g., non-centered, leftward, rightward, twisted, etc.) within the cage (e.g., elevator cage), so the controller 218 controls the trolley 100 to orient the trolley 100 so that it can pick up the block 190 from the cage (e.g., elevator cage).

[0059] The data storage module 220 can store information and data. The data storage module 220 will be able to store information about the speed of the trolley 100 along the rails 174A, 174B of the frame or row 170 at different locations (e.g., rearwards, frontwards). The data storage module 220 can store information about the general profile of a particular rails 174A, 174B. As discussed above, the data storage module 220 can also store the optimal path for the trolley 100 to traverse the frame or row 170. The data storage module 220 may have a read-only member for the process to execute programmed functions. Additionally, the data storage module 220, may also have a writeable member to store various programmed features. The data storage module 220 does not need to have both read-only memory and writeable memory.

[0060] The transmitter 222 (e.g., wireless transmitter) may be used to receive data from the controller or process to send signals to another location (e.g., computer, remote server for storage and / or analysis). For example, the transmitter 222 may be used to send information related to the trolley 100 travel time to determine if a motor is losing power or effectiveness.

[0061] The motor driver 224 may be able to receive instructions from the controller 218 to operate the one or more motors 226 (e.g., stepper motors 110) to adjust the speed of the driven wheels 106. For example, the motor driver 224 may receive instructions (from the controller 218) about the position of the block 190 and will adjust the speed of the driven wheels 106 to position the trolley 100 relative to the block 190.

[0062] The power source 250 may optionally be included in the trolley 100 to power each of the components and features of the trolley 100 via the main cable 161. Although no line is drawn from the power source to each component, each component is either directly or indirectly coupled to the power source 250 via the main cable 161. The power source 250 can, in one example, be one or more electric batteries, which may be recharged. In another example, the power source 250 can be other suitable sources, such as fossil fuel powered sources.

[0063] Figure 12 illustrates a flow chart diagram for operating the trolley 100. At block 302 the trolley 100 is powered on. After powering on the trolley 100 at block 304, the connected components (e.g., via main cable 161) and sensors 202 (or sensors 120 or second block distance sensors 122) are analyzed to determine if the components are working. At block 306, the trolley 100 may activate the components and sensors 202.

[0064] At block 308 any inputs or commands for the trolley 100 are placed (e.g., desired trolley speed). At block 310, the trolley 100 may also determine next steps based on inputs (e.g., commands) provided to a receiver 216 (e g., wired or wireless receiver). Data may be provided to the receiver 216 by the main cable 161.

[0065] At blocks 312 and 314, the commands received by the controller 218 may be converted into a signal to instruct the trolley 100. At block 316, the controller 218 may process the commands and sensor data to send signals to the various components of the trolley 100 (e.g., motors) to manipulate the components. After processing is complete, at block 322, the signals may be sent to the components to operate them. Additionally, not all of the components are necessarily driven at the same time. For example, operating the controller 218may include directing a determined amount of power or energy based on the signals to one or more of the stepper motors 110 to move or turn the trolley 100.

[0066] At block 318, the trolley 100 can then determine the requirements for the stepper motors 110 based on readings from the sensors 202 (e.g., frame or row 170 profile, location of block 190). At block 320, after determining what is necessary operating the trolley 100 based on the sensors 202, data may be sent to the controller 218.

[0067] At block 324, the data storage module 220 may also receive a processed signal from the controller 218. Additionally, at block 326, the transmitter 222 may receive a signal from the controller 218. At block 328, the data storage module 220 may store information and signals to be used later (e.g., scans of the profile of the row or frame 170). The transmitter 222 may send (e.g., communicate) the processed signal to another source (e.g., computer) for further analysis.

[0068] At block 334, the motor 226 or motor driver 224 may receive a signal from the controller 218 to adjust the speed and / or power delivered to the motors 226 (or stepper motors 110). At block 342, the motor driver 224 may activate to signal to a specific motor 226 of the trolley 100, for example, by adjusting the speed of the specific motor 226 based on the input signal, so that the speed of one of the driven wheels 106 changes to thereby turn, laterally shift, move or rotate the trolley 100 relative to the frame or row 170. Additionally, by adjusting the speed of at least one of the motors 226 via the motor drivers 224, the trolley 100 can pick up or drop-off the block 190.Additional Embodiments

[0069] In embodiments of the present disclosure, a trolley and method of operation and / or a system for operating the trolley may be in accordance with any of the following clauses:Clause 1. A trolley, comprising: a front base; a rear base rotatably coupled to the front base; one or more driven wheels, wherein a first set of the one or more driven wheels is coupled to the front base and a second set of the one or more driven wheels is coupled to the rear base; and one or more stepper motors operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along a frame or row and laterally shift the trolley relative to the frame or row.Clause 2. The trolley of clause 1, further comprising one or more sensors positioned on the front base or the rear base, the one or more sensors operable to detect a position of the trolley relative to the frame or row.Clause 3. The trolley of clause 2, wherein the one or more sensors are operable to scan and store a profile of the frame or row in a data storage module, the scan of the profile of the frame or row is signaled to the one or more stepper motors to traverse the trolley along an optimal travel path.Clause 4. A trolley, comprising: a front base; a rear base coupled to the front base via a hinge plate, the front base and the rear base configured to rotate about the hinge plate relative to each other; one or more driven wheels, wherein a first set of the one or more driven wheels is coupled to the front base and a second set of the one or more driven wheels is coupled to the rear base; and one or more stepper motors, each of the one or more stepper motors is operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along a frame or row; wherein operating the trolley along the frame or row includes operating the one or more stepper motors to laterally shift the trolley relative to the frame or row as the trolley travels along the frame or row.Clause 5. The trolley of clause 4, further comprising one or more sensors operable to detect a position of the trolley relative to the frame or row.Clause 6. The trolley as in any one of clauses 4 or 5, wherein the front base operably hinges relative to the rear base of the trolley as the trolley traverses an irregular or wavy profde of the frame or row, wherein one side of the front base can pivot relative to an opposite side of the front base as trolley traverses the irregular or wavy profile of the frame or row.Clause 7. The trolley as in any one of clauses 4-6, wherein the one or more driven wheels are four driven wheels, and the one or more stepper motors are four stepper motors, wherein each of the four driven wheels are coupled to one of the four stepper motors.Clause 8. The trolley as in any one of clauses 4-7, further comprising one or more lifting cylinders operable to move from a disengaged position to an engaged position when a hydraulic pump delivers a flow of fluid to the one or more lifting cylinders.Clause 9. The trolley as in any one of clauses 4-8, further comprising sensors operable to relay signals to a controller to produce a graphical representation of a section of rails detected by the sensors at a position along the frame or row.Clause 10. The trolley of clause 9, wherein the one or more stepper motors delivers power to the one or more driven wheels to move the trolley away from the section of rails detected by the sensors.Clause 11. The trolley as in any one of clauses 4-10, wherein the one or more stepper motors are operable to deliver greater power to a set of the one or more driven wheels on a left side of the trolley than to a set of wheels on a right side of the trolley to laterally shift the trolley.Clause 12. The trolley as in any one of clauses 4-11, wherein one or more sensors scan the row to determine a profile of the row from one end of the row to an opposing end of the row, wherein the profile of the row is used to determine an optimal travel path of the trolley along the frame or row.Clause 13. The trolley of clause 12, wherein the scan of the profile of the row is stored in a data storage module, the scan of the profile of the row is signaled to the one or more stepper motors to traverse the trolley along the optimal travel path.Clause 14. The trolley as in any one of clauses 4-13, wherein operating one or more sensors determines a position of the trolley relative to a left side of the row or a right side of the row and to communicate a signal on said position to a controller, the controller configured to operate the one or more stepper motors.Clause 15. The trolley as in any one of clauses 4-14, wherein one of the one or more stepper motors rotates one of the one or more driven wheels faster than at least one of a remaining one or more driven wheels in order to move the trolley away from a left side or a right side of the frame or row.Clause 16. The trolley as in any one of clauses 4-15, further comprising four sensors, wherein two of the four sensors are placed on the front base and two of the four sensors are placed on the rear base.Clause 17. The trolley as in any one of clauses 4-16, further comprising a homing position sensor configured to determine if the trolley is at a zero position along the frame or row.Clause 18. The trolley as in any one of clauses 4-17, further comprising a pick up zone sensor configured to determine a position of the trolley relative to an elevator cage.Clause 19. The trolley as in any one of clauses 4-18, further comprising a LiDAR sensor.Clause 20. The trolley as in any one of clauses 4-19, wherein the trolley supports a block above the front base and the rear base when one or more lifting cylinders are in a disengaged position, wherein the trolley traverses the block from one end of the row to an opposing end of the row to deliver the block to an elevator cage.Clause 21. The trolley as in any one of clauses 4-20, further comprising one or more free wheels, wherein a first set of the one or more free wheels is coupled to the front base and a second set of the one or more free wheels is coupled to the rear base.Clause 22. The trolley as in any one of clauses 4-21, wherein the trolley is configured for use in an energy storage and delivery system.Clause 23. A method of operating a trolley, comprising: traversing the trolley comprising a front base and a rear base rotatably coupled to the front base via a hinge plate along a frame or row; actuating one or more stepper motors to rotate one or more driven wheels coupled to the front base and the rear base to traverse the trolley along the frame or row; scanning a profile of the frame or row with one or more sensors positioned on the trolley and detecting a distance the trolley is laterally away from walls of the frame or row; and shifting the trolley in a lateral direction away from the walls of the frame or row when the distance detected indicates the trolley has deviated from a centerline of the frame or row.Clause 24. The method of clause 23, further comprising actuating the one or more stepper motors to rotate a first set of the one or more driven wheels on a left side of the trolley faster than a second set of the one or more driven wheels on a second side of the trolley.Clause 25. The method as in any one of clauses 23-24, further comprising carrying one or more blocks with the trolley and moving the one or more blocks from a first end of the row or frame to a second end of the row or frame.Clause 26. The method of clause 25, further comprising moving the one or more blocks into an elevator cage.Clause 27. The method of clause 26, further comprising picking up the one or more blocks from the elevator cage.Clause 28. The method as in any one of clauses 23-27, further comprising storing the profile in a data storage module for analysis.Clause 29. The method as in any one of clauses 23-28, further comprising operating a controller to deliver operational signals the one or more stepper motors.Clause 30. The method as in any one of clauses 23-29, further comprising operating the trolley for use in an energy storage and delivery system.

[0070] While certain embodiments of the inventions have been described, these embodiments have been presented by way of example only, and are not intended to limit the scope of the disclosure. Indeed, the novel methods and systems described herein may be embodied in a variety of other forms. Furthermore, various omissions, substitutions and changes in the systems and methods described herein may be made without departing from the spirit of the disclosure. The accompanying claims and their equivalents are intended to cover such forms or modifications as would fall within the scope and spirit of the disclosure. Accordingly, the scope of the present inventions is defined only by reference to the appended claims.

[0071] Features, materials, characteristics, or groups described in conjunction with a particular aspect, embodiment, or example are to be understood to be applicable to any other aspect, embodiment or example described in this section or elsewhere in this specification unless incompatible therewith. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and / or all of the steps of any method or process so disclosed, may be combined in any combination, except combinations where at least some of such features and / or steps are mutually exclusive. The protection is not restricted to the details of any foregoing embodiments. The protection extends to any novel one, or any novel combination, of the features disclosed in this specification (including any accompanying claims, abstract and drawings), or to any novel one, or any novel combination, of the steps of any method or process so disclosed.

[0072] Furthermore, certain features that are described in this disclosure in the context of separate implementations can also be implemented in combination in a single implementation. Conversely, various features that are described in the context of a single implementation can also be implemented in multiple implementations separately or in any suitable subcombination. Moreover, although features may be described above as acting in certain combinations, one or more features from a claimed combination can, in some cases, beexcised from the combination, and the combination may be claimed as a subcombination or variation of a subcombination.

[0073] Moreover, while operations may be depicted in the drawings or described in the specification in a particular order, such operations need not be performed in the particular order shown or in sequential order, or that all operations be performed, to achieve desirable results. Other operations that are not depicted or described can be incorporated in the example methods and processes. For example, one or more additional operations can be performed before, after, simultaneously, or between any of the described operations. Further, the operations may be rearranged or reordered in other implementations. Those skilled in the art will appreciate that in some embodiments, the actual steps taken in the processes illustrated and / or disclosed may differ from those shown in the figures. Depending on the embodiment, certain of the steps described above may be removed, others may be added. Furthermore, the features and attributes of the specific embodiments disclosed above may be combined in different ways to form additional embodiments, all of which fall within the scope of the present disclosure. Also, the separation of various system components in the implementations described above should not be understood as requiring such separation in all implementations, and it should be understood that the described components and systems can generally be integrated together in a single product or packaged into multiple products.

[0074] For purposes of this disclosure, certain aspects, advantages, and novel features are described herein. Not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, for example, those skilled in the art will recognize that the disclosure may be embodied or carried out in a manner that achieves one advantage or a group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

[0075] Conditional language, such as “can,” “could,” “might,” or “may,” unless specifically stated otherwise, or otherwise understood within the context as used, is generally intended to convey that certain embodiments include, while other embodiments do not include, certain features, elements, and / or steps. Thus, such conditional language is not generally intended to imply that features, elements, and / or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with orwithout user input or prompting, whether these features, elements, and / or steps are included or are to be performed in any particular embodiment.

[0076] Conjunctive language such as the phrase “at least one of X, Y, and Z,” unless specifically stated otherwise, is otherwise understood with the context as used in general to convey that an item, term, etc. may be either X, Y, or Z. Thus, such conjunctive language is not generally intended to imply that certain embodiments require the presence of at least one of X, at least one of Y, and at least one of Z.

[0077] Language of degree used herein, such as the terms “approximately,” “about,” “generally,” and “substantially” as used herein represent a value, amount, or characteristic close to the stated value, amount, or characteristic that still performs a desired function or achieves a desired result. For example, the terms “approximately”, “about”, “generally,” and “substantially” may refer to an amount that is within less than 10% of the stated amount. As another example, in certain embodiments, the terms “generally parallel” and “substantially parallel” refer to a value, amount, or characteristic that departs from exactly parallel by less than or equal to 15 degrees.

[0078] The scope of the present disclosure is not intended to be limited by the specific disclosures of preferred embodiments in this section or elsewhere in this specification, and may be defined by claims as presented in this section or elsewhere in this specification or as presented in the future. The language of the claims is to be interpreted broadly based on the language employed in the claims and not limited to the examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive.

[0079] Of course, the foregoing description is that of certain features, aspects and advantages of the present invention, to which various changes and modifications can be made without departing from the spirit and scope of the present invention. Moreover, the devices described herein need not feature all of the objects, advantages, features and aspects discussed above. Thus, for example, those of skill in the art will recognize that the invention can be embodied or carried out in a manner that achieves or optimizes one advantage or a group of advantages as taught herein without necessarily achieving other objects or advantages as may be taught or suggested herein. In addition, while a number of variations of the invention have been shown and described in detail, other modifications and methods of use, which are withinthe scope of this invention, will be readily apparent to those of skill in the art based upon this disclosure. It is contemplated that various combinations or subcombinations of these specific features and aspects of embodiments may be made and still fall within the scope of the invention. Accordingly, it should be understood that various features and aspects of the disclosed embodiments can be combined with or substituted for one another in order to form varying modes of the discussed devices.

Claims

WHAT IS CLAIMED IS:

1. A trolley, comprising: a front base; a rear base rotatably coupled to the front base; one or more driven wheels, wherein a first set of the one or more driven wheels is coupled to the front base and a second set of the one or more driven wheels is coupled to the rear base; and one or more stepper motors operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along a frame or row and laterally shift the trolley relative to the frame or row.

2. The trolley of claim 1, further comprising one or more sensors positioned on the front base or the rear base, the one or more sensors operable to detect a position of the trolley relative to the frame or row.

3. The trolley of claim 2, wherein the one or more sensors are operable to scan and store a profile of the frame or row in a data storage module, the scan of the profile of the frame or row is signaled to the one or more stepper motors to traverse the trolley along an optimal travel path.

4. A trolley, comprising: a front base; a rear base coupled to the front base via a hinge plate, the front base and the rear base configured to rotate about the hinge plate relative to each other; one or more driven wheels, wherein a first set of the one or more driven wheels is coupled to the front base and a second set of the one or more driven wheels is coupled to the rear base; and one or more stepper motors, each of the one or more stepper motors is operably coupled to and actuatable to rotate one of the one or more driven wheels to propel the trolley along a frame or row; wherein operating the trolley along the frame or row includes operating the one or more stepper motors to laterally shift the trolley relative to the frame or row as the trolley travels along the frame or row.

5. The trolley of claim 4, further comprising one or more sensors operable to detect a position of the trolley relative to the frame or row.

6. The trolley as in any one of claims 4-5, wherein the front base operably hinges relative to the rear base of the trolley as the trolley traverses an irregular or wavy profile of the frame or row, wherein one side of the front base can pivot relative to an opposite side of the front base as trolley traverses the irregular or wavy profile of the frame or row.

7. The trolley as in any one of claims 4-6, wherein the one or more driven wheels are four driven wheels, and the one or more stepper motors are four stepper motors, wherein each of the four driven wheels are coupled to one of the four stepper motors.

8. The trolley as in any one of claims 4-7, further comprising one or more lifting cylinders operable to move from a disengaged position to an engaged position when a hydraulic pump delivers a flow of fluid to the one or more lifting cylinders.

9. The trolley as in any one of claims 4-8, further comprising sensors operable to relay signals to a controller to produce a graphical representation of a section of rails detected by the sensors at a position along the frame or row.

10. The trolley of claim 9, wherein the one or more stepper motors delivers power to the one or more driven wheels to move the trolley away from the section of rails detected by the sensors.

11. The trolley as in any one of claims 4-10, wherein the one or more stepper motors are operable to deliver greater power to a set of the one or more driven wheels on a left side of the trolley than to a set of wheels on a right side of the trolley to laterally shift the trolley.

12. The trolley as in any one of claims 4-11, wherein one or more sensors scan the row to determine a profile of the row from one end of the row to an opposing end of the row, wherein the profile of the row is used to determine an optimal travel path of the trolley along the frame or row.

13. The trolley of claim 12, wherein the scan of the profile of the row is stored in a data storage module, the scan of the profile of the row is signaled to the one or more stepper motors to traverse the trolley along the optimal travel path.

14. The trolley as in any one of claims 4-13, wherein operating one or more sensors determines a position of the trolley relative to a left side of the row or a right side of the rowand to communicate a signal on said position to a controller, the controller configured to operate the one or more stepper motors.

15. The trolley as in any one of claims 4-14, wherein one of the one or more stepper motors rotates one of the one or more driven wheels faster than at least one of a remaining one or more driven wheels in order to move the trolley away from a left side or a right side of the frame or row.

16. The trolley as in any one of claims 4-15, further comprising four sensors, wherein two of the four sensors are placed on the front base and two of the four sensors are placed on the rear base.

17. The trolley as in any one of claims 4-16, further comprising a homing position sensor configured to determine if the trolley is at a zero position along the frame or row.

18. The trolley as in any one of claims 4-17, further comprising a pick up zone sensor configured to determine a position of the trolley relative to an elevator cage.

19. The trolley as in any one of claims 4-18, further comprising a LiDAR sensor.

20. The trolley as in any one of claims 4-19, wherein the trolley supports a block above the front base and the rear base when one or more lifting cylinders are in a disengaged position, wherein the trolley traverses the block from one end of the row to an opposing end of the row to deliver the block to an elevator cage.

21. The trolley as in any one of claims 4-20, further comprising one or more free wheels, wherein a first set of the one or more free wheels is coupled to the front base and a second set of the one or more free wheels is coupled to the rear base.

22. The trolley as in any one of claims 4-21, wherein the trolley is configured for use in an energy storage and delivery system.

23. A method of operating a trolley, comprising: traversing the trolley comprising a front base and a rear base rotatably coupled to the front base via a hinge plate along a frame or row; actuating one or more stepper motors to rotate one or more driven wheels coupled to the front base and the rear base to traverse the trolley along the frame or row; scanning a profile of the frame or row with one or more sensors positioned on the trolley and detecting a distance the trolley is laterally away from walls of the frame or row; andshifting the trolley in a lateral direction away from the walls of the frame or row when the distance detected indicates the trolley has deviated from a centerline of the frame or row.

24. The method of claim 23, further comprising actuating the one or more stepper motors to rotate a first set of the one or more driven wheels on a left side of the trolley faster than a second set of the one or more driven wheels on a second side of the trolley.

25. The method as in any one of claims 23-24, further comprising carrying one or more blocks with the trolley and moving the one or more blocks from a first end of the row or frame to a second end of the row or frame.

26. The method of claim 25, further comprising moving the one or more blocks into an elevator cage.

27. The method of claim 26, further comprising picking up the one or more blocks from the elevator cage.

28. The method as in any one of claims 23-27, further comprising storing the profile in a data storage module for analysis.

29. The method as in any one of claims 23-28, further comprising operating a controller to deliver operational signals the one or more stepper motors.

30. The method as in any one of claims 23-29, further comprising operating the trolley for use in an energy storage and delivery system.

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