WO2015185628A2 - Methods, systems and apparatus for controlling movement of transporting devices - Google Patents
Methods, systems and apparatus for controlling movement of transporting devices Download PDFInfo
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- WO2015185628A2 WO2015185628A2 PCT/EP2015/062380 EP2015062380W WO2015185628A2 WO 2015185628 A2 WO2015185628 A2 WO 2015185628A2 EP 2015062380 W EP2015062380 W EP 2015062380W WO 2015185628 A2 WO2015185628 A2 WO 2015185628A2
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- Prior art keywords
- containers
- transporting devices
- movement
- facility
- utilities
- Prior art date
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Classifications
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- G—PHYSICS
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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- B65G1/02—Storage devices
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- B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
- B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
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- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
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- B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
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- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Definitions
- containers such that containers that are likely inputs for certain workstations are located close in proximity to those workstations.
- the picking of items from containers may be done manually by human pickers, or be conducted in a semi-automated or fully-automated manner with the assistance or participation by various mechanical or robotic elements.
- the various actions involved in these working groups such as placement of items in different types of containers, storage of containers within the hive, and sorting/delivery as described can result in various movements of the containers, including within the hive, but also placement of containers in different locations.
- These actions may include inbound/outbound activity to the hive (e.g. bringing items to and from a warehouse), and may also include associated sorting/delivery systems such as management of conveying product off vehicles for storing/delivery, and also conveying onto vehicles for order fulfilment.
- the one or more robots 210a, 210b and 210c have winches on them which may be used to retain a container for movement from one position on the grid to another.
- the movement optimisation module 304 is further configured for pre-fetching operations, wherein a container is moved closer to a station prior to it being required at the station. Containers are then ready to be dropped off when required, which may reduce the uncertainty of the drop off time.
- the system may be configured to control robot movement to maintain an "active" pool of one or more containers per SKU# to satisfy the demands of one or more service workstations. As an "active" pool becomes depleted, "reserve” containers may be promoted into the “active” pool. In some embodiments of the system, the system may be configured to control robot movement using a "put-away algorithm" to determine a "best match" stack location from an available pool of empty locations when placing a container.
- the business rules module 310 develops and applies a set of business rules based upon the particular circumstances of the warehouse, robots and communications systems. For example, the business rules module 310 may provide that for certain classes of items, various restrictions are in force for the robot physics model module 308 to potentially reduce the amount of damage incurred by goods in transit. Examples of where business rules may be implemented include high risk products (e.g. acid, bleach etc.), containers with aerosols, and containers with flammable contents, among others. Empty containers may also be treated differently to other containers.
- high risk products e.g. acid, bleach etc.
- the business rules may include actions such as cleaning a container prior to re-use, slowing down robots containing certain objects, etc.
- the clearance module 312 may be configured to store and provide clearances for various robots. A system of clearances may be accessed to determine whether a path is clear for a robot to traverse.
- the clearance module 312 may be implemented as a passive collision avoidance system, wherein robots are only given the smallest amount of work possible without impacting performance.
- the clearance module 312 Upon providing a robot with a new instruction, the clearance module 312 checks that it will not be possible to collide with another robot, based upon, for example, grid dimensions, grid positions, move commands generated by planning, cancellation of move commands (generated on events such as a controlled stop), the current positions and speeds of robots, braking ability of robots as well as where they have been cleared to visit.
- the clearance module 312 may be configured such that clearances are provided such that the control system 202 may be able to miss a configurable number of status messages from the robot, and still have the robot continue operation for a short period of time. This design may result in a system that may be more tolerant to missed packets, which may be advantageous in having continued operation even where some issues with communications are encountered.
- the configurable number may be set such that there is a high probability that the control system 202 is likely to receive a status message from the robot before the robot autonomously decelerates to be at rest at the end of its clearance. In some embodiments, if a robot has begun to decelerate, it will be allowed to come to rest and the control system 202 may then cancel its onward reservations and re- plans its path over the grid.
- the robot control system 202 When (command) communication is re-established with the robot; the robot control system 202 re-plans the operation for the robot. On receipt of each robot status message, the robot control system 202 may be configured to extend a robot's current movement clearance through the clearance module 312.
- FIG. 1 shows a generic computer device 100 that may include a central processing unit (“CPU") 102 connected to a storage unit 104 and to a random access memory 106.
- the CPU 102 may process an operating system 101, application program 103, and data 123.
- the operating system 101 , application program 103, and data 123 may be stored in storage unit 104 and loaded into memory 106, as may be required.
- a number of different algorithms and techniques may be used in determining a preferential path for a robot to take, including, but not limited to: branch and bound algorithms, constraint programming, local search, heuristics, graph-traversal, dynamic path learning advisor techniques, pruning techniques and Bayesian graph searching techniques, Dijikstra's algorithm, Bellman-Ford algorithm, Floyd-Warshall algorithm, Johnson's algorithm, breadth-first recursive searches and depth-first recursive searches, weighted paths, A* search algorithm, variants on A* search algorithm (e.g. D*, Field D*, IDA*, Fringe, Fringe Saving A*, Generalized Adaptive A*, Lifelong Planning A*, Simplified Memory Bounded A*, Jump Point Search, Theta * ).
- branch and bound algorithms e.g. D*, Field D*, IDA*, Fringe, Fringe Saving A*, Generalized Adaptive A*, Lifelong Planning A*, Simplified Memory Bounded A*, Jump Point Search
- Branch cost C t *PSP + C h *PMH (Where PSP refers to projected shortest path time and PMH refers to projected minimum heat)
- the final selection is made via a weighted cost function of the difference between these indices and other factors such as how long the ideal path is from the source to the stack location and how long the stack is reserved for in the current plan.
Abstract
Description
Claims
Priority Applications (53)
Application Number | Priority Date | Filing Date | Title |
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CA2950971A CA2950971C (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
KR1020177000035A KR102259089B1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
EP18159376.5A EP3355255B1 (en) | 2014-06-03 | 2015-06-03 | Storage system and method for controlling movement of a transporting device in a facility arranged to store containers |
IL291744A IL291744B2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
KR1020217002862A KR102300278B1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
MYPI2016704422A MY181457A (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
AU2015270518A AU2015270518B2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
JP2016571165A JP6736478B2 (en) | 2014-06-03 | 2015-06-03 | Method, system and apparatus for controlling the movement of a carrier device |
KR1020217036469A KR102393239B1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
US15/316,249 US10086999B2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
EP21208616.9A EP3998565A1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
MX2016015943A MX364779B (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices. |
KR1020217002861A KR102300277B1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
MYPI2019007235A MY190510A (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
IL291629A IL291629B2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
EP15794475.2A EP3152712A2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
CN201580040104.8A CN106662874B (en) | 2014-06-03 | 2015-06-03 | Method, system and device for controlling movement of transportation equipment |
IL263580A IL263580B (en) | 2014-06-03 | 2015-06-03 | Methods,systems and apparatus for controlling movement of transporting devices |
IL263581A IL263581B2 (en) | 2014-06-03 | 2015-06-03 | Methods,systems and apparatus for controlling movement of transporting devices |
EP21208836.3A EP4009258A1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
EP21208831.4A EP3978394A1 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
IL300021A IL300021B2 (en) | 2014-06-03 | 2015-06-03 | Methods, systems and apparatus for controlling movement of transporting devices |
CN201910688052.5A CN110442130B (en) | 2014-06-03 | 2015-06-03 | Method, system and device for controlling movement of transportation equipment |
IL306077A IL306077A (en) | 2014-06-03 | 2015-06-03 | Methods,systems and apparatus for controlling movement of transporting devices |
CN201910688053.XA CN110442131B (en) | 2014-06-03 | 2015-06-03 | Method, system and device for controlling movement of transportation equipment |
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