Methods, systems and apparatus for controlling movement of transporting devices
A system and method for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility. A facility having pathways arranged in a grid-like structure above stacks, the transporting devices being configured to operate on the grid-like structure. A control unit configured to determine at least one task to be performed by at least one transporting device, wherein the at least one task is determined based on at least one of: transporting device battery condition, transporting device damage, transporting device maintenance issues, and transporting device service issues.
1 . A system for controlling movement of at least one transporting device arranged to transport at least one container, the system comprising:
one or more processors configured to:
determine a plurality of paths for a plurality of transporting devices to travel on pathways of a facility, the plurality of paths comprising a first path for travel by a first transporting device of the plurality of transporting devices to an ending point of the first path,
wherein the pathways form a grid frame above a plurality of containers arranged within the facility, the pathways comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction transverse to the first direction in a substantially horizontal plane,
wherein the plurality of transporting devices are configured to move laterally in the first direction and the second direction on the pathways, at least some of the plurality of transporting devices being configured to transport the plurality of containers; and
generate a command for the first transporting device to travel to a position on the grid frame; and
a memory device configured to store the command,
wherein at least one transporting device is configured to winch a container for internal stowage at least partially in the at least one transporting device.
2 . The system of claim 1 , wherein the at least one transporting device comprises a winch to retain the container for movement from one position on the grid frame to another position on the grid frame.
3 . The system of claim 1 , wherein the at least one transporting device comprises a cantilever robot.
4 . The system of claim 1 , wherein the at least one transporting device comprises a bridge robot.
5 . The system of claim 1 , wherein the at least one transporting device comprises a recovery robot.
6 . The system of claim 1 , wherein the one or more processors are configured to determine a clearance path so that two or more of the plurality of transporting devices may simultaneously travel on the plurality of paths.
7 . The system of claim 1 , wherein the one or more processors are configured to:
generate a plurality of clearance commands for the plurality of transporting devices to cause the plurality of transporting devices to travel on the pathways along portions of the plurality of paths, the plurality of clearance commands comprising a first clearance command for the first transporting device,
determine there is a potential for a collision between the first transporting device traveling along the first path and a second transporting device traveling along a second path, and
responsive to a determination that there is the potential for the collision:
withhold a second clearance command for the first transporting device that would cause the first transporting device to travel on the pathways along a portion of the first path,
wherein the memory device is configured to store the plurality of clearance commands.
8 . The system of claim 1 , wherein the one or more processors are configured to determine the first path from an expected level of transporting device congestion as the first transporting device travels along the first path.
9 . The system of claim 1 , wherein the one or more processors determine a plurality of paths using a graph traversal algorithm.
10 . The system of claim 1 , wherein the one or more processors determine a plurality of paths using branch and bound algorithm.
11 . The system of claim 1 , wherein the system is configured to perform central management of the plurality of transporting devices.
12 . The system of claim 1 , wherein the system is configured to provide real or near-real time control of the movement of the plurality of transporting devices on the grid frame.
13 . The system of claim 1 , wherein the system is configured to receive status reports from each of the plurality of transporting devices.
14 . A method for controlling movement of at least one transporting device arranged to transport at least one container, the method comprising:
determining, by one or more processors, a plurality of paths for a plurality of transporting devices to travel on pathways of a facility, the plurality of paths comprising a first path for travel by a first transporting device of the plurality of transporting devices to an ending point of the first path,
wherein the pathways form a grid frame above a plurality of containers arranged within the facility, the pathways comprising a first set of parallel rails extending in a first direction and a second set of parallel rails extending in a second direction transverse to the first direction in a substantially horizontal plane, and
wherein the plurality of transporting devices are configured to move laterally in the first direction and the second direction on the pathways, at least some of the plurality of transporting devices being configured to transport the plurality of containers;
generating, by one or more processors, a command for the first transporting device to travel to a position on the grid frame;
storing the command in a memory device; and
generating, by one or more processors, another command for at least one transporting device to winch a container for internal stowage at least partially in the at least one transporting device.
15 . The method of claim 14 , wherein the at least one transporting device comprises a winch to retain the container for movement from one position on the grid frame to another position on the grid frame.
16 . The method of claim 14 , wherein the at least one transporting device comprises a cantilever robot.
17 . The method of claim 14 , wherein the at least one transporting device comprises a bridge robot.
18 . The method of claim 14 , wherein the at least one transporting device comprises a recovery robot.
19 . The method of claim 14 , further comprising determining a clearance path so that two or more of the plurality of transporting devices may simultaneously travel on the plurality of paths.
20 . The method of claim 14 , further comprising:
generating, by one or more processors, a plurality of clearance commands for the plurality of transporting devices to cause the plurality of transporting devices to travel on the pathways along portions of the plurality of paths, the plurality of clearance commands comprising a first clearance command for the first transporting device,
determining, by one or more processors, there is a potential for a collision between the first transporting device traveling along the first path and a second transporting device traveling along a second path,
responsive to a determination that there is the potential for the collision:
withholding a second clearance command for the first transporting device that would cause the first transporting device to travel on the pathways along a portion of the first path, and
storing in the memory device the plurality of clearance commands.