Methods, apparatuses and computer program products for movement of rectangular prisms through a multi-dimensional space
Methods, apparatuses and computer program products for movement of rectangular prisms in a multi-dimensional space are provided.
1. A smart rack for transporting a rectangular prism comprising:
a rack frame comprising a plurality of rack plates; and
at least one rack actuator secured to at least an inner surface of at least one of the plurality of rack plates, wherein the at least one rack actuator comprises:
a slider movably disposed on a lead screw; and
an arm connected to the slider, wherein the arm is configured to operate in an engaged mode or a disengaged mode relative to the rectangular prism; and
a swing plate that is moveable between a distal end of a swing bar and a proximal end of the swing bar, wherein the swing plate is connected to the lead screw, wherein:
when the swing plate is at the distal end of the swing bar, the arm is in the disengaged mode; and
when the swing plate is at the proximal end of the swing bar, the arm is in the engaged mode.
2. The smart rack of claim 1 further comprising:
a linear motor configured to exert a linear motion; and
a hinge plate defining a first groove and a second groove, wherein the linear motor comprises an actuator pin moveable along the first groove, wherein the swing plate is connected to a connector pin moveable along the second groove, wherein the first groove and the second groove are at a 90-degree angle with one another, such that the hinge plate transfers the linear motion exerted by the linear motor to movements of the swing plate between the distal end and the proximal end.
3. The smart rack of claim 1 , wherein, when the arm operates in the engaged mode, the arm is in contact with an outer surface of the rectangular prism, wherein, when the arm operates in the disengaged mode, the arm is not in contact with the outer surface of the rectangular prism, wherein the smart rack further comprises a rotary motor, wherein the rotary motor is configured to cause a rotational motion of the arm relative to the slider.
4. The smart rack of claim 1 further comprising:
a rack actuator circuit connected to a smart rack power access point of the smart rack, wherein the rack actuator circuit is configured to provide power to at least one motor of the smart rack; and
at least one smart rack switch circuit connected to the smart rack power access point, wherein each of the at least one smart rack switch circuit is connected to at least one peer smart rack power access point of at least one peer smart rack.
5. The smart rack of claim 4 , wherein the smart rack power access point receives power from outside the smart rack.
6. The smart rack of claim 4 , wherein the at least one smart rack switch circuit comprises at least one of an x dimension smart rack switch circuit, a y dimension smart rack switch circuit, and a z dimension smart rack switch circuit, wherein the x dimension smart rack switch circuit is configured to control a first flow of electricity from the smart rack to a first peer smart rack that is positioned adjacent to the smart rack in an x axis dimension, wherein the y dimension smart rack switch circuit is configured to control a second flow of electricity from the smart rack to a second peer smart rack that is positioned adjacent to the smart rack in a y axis dimension, wherein the z dimension smart rack switch circuit is configured to control a third flow of electricity from the smart rack to a third peer smart rack that is positioned adjacent to the smart rack in a z axis dimension.
7. The smart rack of claim 1 , further comprising a processing circuitry configured to:
receive a tote plan from a superstructure controller;
determine whether a smart rack identifier of the tote plan matches a rack coordination set of the smart rack; and
in response to determining that the smart rack identifier of the tote plan does not match the rack coordination set of the smart rack, transmit the tote plan to at least one peer smart rack of the smart rack, wherein the at least one peer smart rack comprises at least one of a top peer smart rack, a bottom peer smart rack, a front peer smart rack, a back peer smart rack, a left peer smart rack, or a right peer smart rack.
8. The smart rack of claim 7 , wherein the processing circuitry is configured to further:
in response to determining that the smart rack identifier of the tote plan matches the rack coordination set of the smart rack, execute at least one movement instruction of the tote plan, comprising:
transmitting a MoveReady message to the right peer smart rack of the smart rack;
receiving a RequestedMoveReady message from the right peer smart rack; and
in response to receiving the RequestedMoveReady message, transmit a MoveRequest message to the right peer smart rack.
9. The smart rack of claim 1 , further comprising a processing circuitry configured to:
identify a target rectangular prism, a current smart rack, and an egress point;
determine state information for one or more peer smart racks, wherein the state information comprises at least one of open or occupied;
determine a closest perpendicular peer smart rack to the current smart rack having the target rectangular prism, comprising determining a perpendicular smart rack that is closest to the egress point;
generate movement instructions related to the current smart rack having the target rectangular prism in a tote plan to cause the target rectangular prism in the current smart rack to be moved to the closest perpendicular peer smart rack in an instance in which the closest perpendicular peer smart rack has state information that is set to open;
generate one or more other movement instructions in the tote plan in an instance in which the closest perpendicular peer smart rack has state information that is set to occupied; and
update a location of the target rectangular prism and set the closest perpendicular peer smart rack as the current smart rack in an instance in which the target rectangular prism is moved to the closest perpendicular peer smart rack.
10. The smart rack of claim 9 , wherein generating one or more other movement instructions in the tote plan in an instance in which the closest perpendicular peer smart rack has state information that is set to occupied further comprises:
determining whether at least one peer smart rack has state information set to open; and
causing the rectangular prism in the closest perpendicular peer smart rack to be moved to a peer smart rack of the at least one peer smart rack that has state information set to open.
11. The smart rack of claim 9 , wherein generating one or more other movement instructions in the tote plan in an instance in which the closest perpendicular peer smart rack has state information that is set to occupied further comprises:
determining whether at least one peer smart rack at a distance n has state information set to open; and
determining one or more movements to position the target rectangular prism at a distance n has state information set to open closer to the current smart rack.
12. The smart rack of claim 1 , further comprising a processing circuitry configured to:
identify a data graph matrix representation of a modular superstructure comprising a plurality of smart racks, the data graph matrix representation comprising a plurality of nodes representing the plurality of smart racks and a plurality of edges that each connect nodes representing peers of the plurality of smart racks;
receive at least one tote query, the at least one tote query representing a request to relocate at least one tote via the modular superstructure from at least one tote starting position to at least one tote ending position;
compute, utilizing a sliding A* algorithm and the data graph matrix representation, at least one tote movement path to relocate the at least one tote, wherein the at least one tote movement path represents a set of rack operations for relocating the at least one tote in accordance with the at least one tote query;
generate a tote plan based at least in part on the at least one tote movement path, comprises configuring the tote plan to serially execute each set of rack operations for relocating the at least one tote of the at least one tote movement path; and
output the tote plan.
13. The smart rack of claim 12 , wherein the at least one tote comprises a first tote associated with a current position corresponding to a current node of the plurality of nodes and that begins movement from a first tote starting position corresponding to a first node of the plurality of nodes, and wherein computing the at least one tote movement path to relocate the at least one tote comprises:
while the current position is determined to not be equivalent to any of the at least one tote ending position:
executing a first A* pathfinder algorithm to compute a lowest resistance peer node associated with the current node, wherein the lowest resistance peer node comprises a second node of the plurality of nodes that is (1) connected to the current node by at least a first edge of the plurality of edges, and (2) determined to be along a lowest resistance tote movement path from the current position to any of at least one ending position;
determining the lowest resistance peer node is empty; and
generating data representing a swap of the first tote to an updated position corresponding to the lowest resistance peer node.
14. The smart rack of claim 12 , wherein the at least one tote comprises a first tote associated with a current position corresponding to a current node of the plurality of nodes and that begins movement from a first tote starting position corresponding to a first node of the plurality of nodes, and wherein computing the at least one tote movement path to relocate the at least one tote comprises:
while the current position is determined to not be equivalent to any of the at least one tote ending position:
executing a first A* pathfinder algorithm to compute a lowest resistance peer node associated with the current node, wherein the lowest resistance peer node comprises a second node of the plurality of nodes that is (1) connected to the current node by at least a first edge of the plurality of edges, and (2) determined to be along a lowest resistance tote movement path from the current position to any of at least one ending position;
determining that the lowest resistance peer node is filled with a second tote;
executing a second A* pathfinder algorithm to identify a closest empty node connected to the lowest resistance peer node and a second tote movement path that clears the lowest resistance peer node using the second tote movement path; and
generating data representing a swap of the first tote to an updated position corresponding to the lowest resistance peer node after clearing the lowest resistance peer node.
15. The smart rack of claim 12 , wherein the processing circuitry is configured to further:
initialize the data graph matrix representation of the modular superstructure based at least in part on a matrix manifest that defines a location of each smart rack of the plurality of smart racks, and movement resistance data associated with each smart rack of the plurality of smart racks; and
initialize each particular node of the plurality of nodes by setting, for each particular node, a peer information set comprising peer information associated with each peer node connected to the particular node by at least one edge of the plurality of edges, wherein the peer information associated with a particular peer node comprises:
state data associated with the particular peer node; and/or
behavior data associated with the particular peer node.
16. The smart rack of claim 12 , wherein identifying the data graph matrix representation of the modular superstructure comprises:
reading configuration data comprising first configuration data representing a structure of the modular superstructure and second configuration data representing a set of current tote positions for a set of totes stored via the modular superstructure;
generating the plurality of nodes and the plurality of edges of the data graph matrix representation based at least in part on the first configuration data; and
configuring at least one data property for at least a portion of the plurality of nodes based at least in part on the second configuration data.
17. The smart rack of claim 12 , wherein each node of the plurality of nodes comprises behavior data, wherein the behavior data for a particular node is used to derive at least one resistance value associated with the particular node, wherein the at least one tote query comprises order indication data indicating whether an order of a relocation of the at least one tote via the modular superstructure is defined, wherein the at least one tote query comprises a first tote query, the first tote query comprising:
first data indicating a request to relocate a first tote from a first tote starting position to a first tote ending position;
second data indicating a request to relocate a first set of totes from a first set of tote starting positions to a first set of tote ending positions; or
third data indicating a request to relocate the first tote from the first tote starting position to one of the first set of tote ending positions,
wherein at least a first node of the plurality of nodes comprises a time movement value set comprising a time movement value for each direction in which a particular smart rack associated with the first node is capable of moving a particular tote,
wherein the data graph matrix representation represents the modular superstructure and at least one hole associated with the modular superstructure,
wherein the at least one tote ending position represents an egress position external from the plurality of smart racks.
18. The smart rack of claim 12 , wherein each node of the plurality of nodes comprises current state data, wherein the current state data for a particular node is configurable between an empty state in a circumstance where a particular smart rack corresponding to the particular node is empty and an occupied state in a circumstance where the particular smart rack is occupied by a particular tote, wherein the sliding A* algorithm processes at least one data value that is based at least in part on the current state data associated with the particular node.
19. The smart rack of claim 12 , wherein each node of the plurality of nodes comprises behavior data that is configurable between at least a first behavior, a second behavior, and a third behavior,
wherein the first behavior indicates a particular node is inaccessible,
wherein the second behavior indicates the particular node corresponds to a particular smart rack that operates according to a first set of resistance values,
wherein the third behavior indicates the particular node corresponds to the particular smart rack that operates according to a second set of resistance values, wherein the second set of resistance values comprises at least a first resistance value associated with a first relocation operation that is preferable to a second resistance value associated with the first relocation operation in the second set of resistance values.
20. The smart rack of claim 1 , further comprising a processing circuitry configured to:
access a configuration file and a smart rack matrix having peer information;
access a tote plan having one or more movement instructions for moving rectangular prisms from a start location in the smart rack to an egress point;
generate a digital twin based on the configuration file, the smart rack matrix having peer information, and one or more rendering instructions; and
cause the tote plan to be executed on the digital twin.