US 12,030,718 B2
Methods, systems and apparatus for controlling movement of transporting devices
Robert Stadie, Hatfield (GB); Matthew Whelan, Hatfield (GB); and Christopher Brett, Hatfield (GB)
Assigned to OCADO INNOVATION LIMITED, Hatfield (GB)
Filed by OCADO INNOVATION LIMITED, Hatfield (GB)
Filed on Mar. 23, 2023, as Appl. No. 18/125,611.
Application 15/993,097 is a division of application No. 15/316,249, granted, now 10,086,999, issued on Oct. 2, 2018, previously published as PCT/EP2015/062380, filed on Jun. 3, 2015.
Application 18/125,611 is a continuation of application No. 17/838,009, filed on Jun. 10, 2022, granted, now 11,640,176.
Application 17/838,009 is a continuation of application No. 17/357,121, filed on Jun. 24, 2021, granted, now 11,635,769.
Application 17/357,121 is a continuation of application No. 17/149,426, filed on Jan. 14, 2021, granted, now 11,079,770, issued on Aug. 3, 2021.
Application 17/149,426 is a continuation of application No. 15/993,097, filed on May 30, 2018, granted, now 10,955,834, issued on Mar. 23, 2021.
Claims priority of application No. 1409883 (GB), filed on Jun. 3, 2014.
Prior Publication US 2023/0376047 A1, Nov. 23, 2023
Int. Cl. B65G 1/04 (2006.01); B65G 1/06 (2006.01); B65G 1/137 (2006.01); B66F 9/06 (2006.01); G05B 19/418 (2006.01); G05D 1/00 (2024.01); G06Q 10/04 (2023.01); G06Q 10/08 (2024.01); G06Q 10/087 (2023.01); B60L 58/12 (2019.01)
CPC B65G 1/065 (2013.01) [B65G 1/0464 (2013.01); B65G 1/0478 (2013.01); B65G 1/137 (2013.01); B65G 1/1378 (2013.01); B66F 9/063 (2013.01); G05B 19/4189 (2013.01); G05B 19/41895 (2013.01); G05D 1/0255 (2013.01); G05D 1/0289 (2013.01); G05D 1/0297 (2013.01); G06Q 10/04 (2013.01); G06Q 10/08 (2013.01); G06Q 10/087 (2013.01); B60L 58/12 (2019.02); B65G 1/0421 (2013.01); B65G 1/1371 (2013.01)] 32 Claims
OG exemplary drawing
 
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 within a total time,
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, at least some of the plurality of containers being stored in stacks,
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;
determine a priority for the first transporting device;
determine a clearance path along the first path for the first transporting device to travel, within a predetermined period of time, to a position on the grid frame, the predetermined period of time being shorter than the total time;
reserve the clearance path for the first transporting device to travel, within the predetermined period of time, to the position on the grid frame; and
generate a command for the first transporting device to travel to the position on the grid frame along the clearance path; and
a memory device configured to store the command,
wherein the one or more processors are configured to determine the clearance path from the priority of the first transporting device and from other clearance paths reserved for other transporting devices of the plurality of transporting devices.
 
7. 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 grid frame, the plurality of paths comprising a first path for travel by a first transporting device of the plurality of transporting devices,
wherein the pathways form the grid frame above a plurality of containers arranged within the grid frame, 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, at least some of the plurality of containers being stored in stacks,
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;
determine a portion of the first path for the first transporting device to travel, within a set period of time, to a position on the grid frame;
reserve the portion of the first path for the first transporting device to travel, within the set period of time, to the position on the grid frame; and
generate a command for the first transporting device to travel to the position on the grid frame along the portion of the first path; and
a memory device configured to store the command.
 
31. 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,
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, at least some of the plurality of containers being arranged in stacks,
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;
determine a first portion of the first path for the first transporting device to travel within a first set period of time;
reserve the first portion of the first path for the first transporting device to travel within the first set period of time;
generate a first command for the first transporting device to travel along the first portion of the first path;
determine a second portion of the first path for the first transporting device to travel within a second set period of time;
reserve the second portion of the first path for the first transporting device to travel within the second set period of time; and
generate a second command for the first transporting device to travel along the second portion of the first path; and
a memory device configured to store the first command and the second command.