Distributed control of autonomous cargo handling systems

1. A cargo handling system configured for autonomous control, comprising:

a plurality of power drive units, the plurality of power drive units configured to convey a plurality of objects over a conveyance surface;

a plurality of sensing agents, the plurality of sensing agents configured to transmit a run-time database, the run-time database including data from which a positioning of the plurality of objects on the cargo handling system is determined; and

a distributed control system in operable communication with the plurality of sensing agents and the plurality of power drive units, the distributed control system including:

a supervisory control processor configured to provide an estimate of a current state of the plurality of objects based on the positioning of the plurality of objects; and

an actuator control processor configured to;

perform an assessment to determine whether a level of autonomous control should be modified based on the estimate of the current state of the plurality of objects; and

reduce the level of autonomous control of the cargo handling system in an event that the assessment indicates an imminent collision between a first object of the plurality of objects and a second object of the plurality of objects, wherein reducing the level of autonomous control includes slowing the movement of at least one of the first object or the second object.

2. The cargo handling system of claim 1 , wherein the supervisory control processor includes a state estimation module configured to provide the estimate of the current state of the first object and the second object from the plurality of objects and a target assignment module configured to determine a final location for the first object and for the second object.

3. The cargo handling system of claim 2 , wherein the supervisory control processor includes a collision detection module configured to predict the collision between the first object and the second object.

4. The cargo handling system of claim 3 , wherein the supervisory control processor includes a system level decision making module configured to adjust an operational parameter of the cargo handling system in an event of an anomaly occurring during operation of the cargo handling system.

5. The cargo handling system of claim 4 , wherein the anomaly is the collision between the first object and the second object being predicted to occur.

6. The cargo handling system of claim 5 , wherein the operational parameter is a velocity of at least one of the first object or the second object with respect to the conveyance surface.

7. The cargo handling system of claim 6 , wherein the first object is a first unit load device and the second object is one of a wall, a human or a second unit load device.

8. The cargo handling system of claim 1 , wherein the distributed control system further includes a path control processor configured to plan a trajectory for the first object and the second object from the plurality of objects, the trajectory being based on a current location and a final location of both the first object and the second object.

9. The cargo handling system of claim 8 , wherein the distributed control system further includes a trajectory control processor having a latching stage module configured to generate a command signal that indicates the first object or the second object has reached a docking location.

10. The cargo handling system of claim 9 , wherein the distributed control system further includes a motion control processor having a position control module configured to receive the command signal and to control a docking process, where the first object or the second object is conveyed from the docking location to the final location.

11. The cargo handling system of claim 10 , wherein the actuator control processor includes a latch module configured to control a latching process, where a latch is engaged with the first object or the second object.

12. The cargo handling system of claim 11 , wherein the first object is a first unit load device and the second object is a second unit load device.

13. A distributed control system configured for autonomous control of a cargo handling system having a plurality of sensing agents configured to monitor a plurality of objects being conveyed by the cargo handling system, comprising:

a supervisory control processor configured to estimate a current state of the plurality of objects based on a positioning of the plurality of objects, the estimate being determined based on a run-time database received from the plurality of sensing agents, the run-time database including data from which the positioning of the plurality of objects on the cargo handling system is determined; and

an actuator control processor configured to:

perform an assessment to determine whether a level of autonomous control should be modified based on the estimate of the current state of the plurality of objects; and

reduce the level of autonomous control of the cargo handling system in an event that the assessment indicates an imminent collision between a first object of the plurality of objects and a second object of the plurality of objects, wherein reducing the level of autonomous control includes slowing the movement of at least one of the first object or the second object.

14. The distributed control system of claim 13 , further comprising a path control processor configured to plan a trajectory for the first object and the second object from the plurality of objects, the trajectory being based on a current location and a final location of both the first object and the second object.

15. The distributed control system of claim 14 , further comprising a trajectory control processor having a latching stage module configured to generate a command signal that indicates the first object or the second object has reached a docking location.

16. The distributed control system of claim 15 , further comprising a motion control processor having a position control module configured to receive the command signal and to control a docking process, where the first object or the second object is conveyed from the docking location to the final location.

17. The distributed control system of claim 16 , wherein the actuator control processor includes a latch module configured to control a latching process, where a latch is engaged with the first object or the second object.

18. The distributed control system of claim 17 , wherein the first object is a first unit load device and the second object is a second unit load device.

19. The distributed control system of claim 18 , wherein the supervisory control processor includes a collision detection module configured to predict a collision between the first object and the second object.

20. The distributed control system of claim 19 , wherein the supervisory control processor includes a system level decision making module configured to adjust an operational parameter of the cargo handling system in an event of an anomaly occurring during operation of the cargo handling system.