US 12,404,101 B2
Methods, apparatuses and computer program products for operating a modular superstructure
Kevin Hellman, Katy, TX (US)
Assigned to Intelligrated Headquarters, LLC, Mason, OH (US)
Filed by Intelligrated Headquarters, LLC, Mason, OH (US)
Filed on Sep. 26, 2024, as Appl. No. 18/898,569.
Application 18/898,569 is a continuation in part of application No. 18/796,132, filed on Aug. 6, 2024.
Application 18/796,132 is a continuation of application No. PCT/US2023/012328, filed on Feb. 3, 2023.
Application 18/898,569 is a continuation of application No. PCT/US2023/030875, filed on Aug. 22, 2023.
Claims priority of provisional application 63/499,680, filed on May 2, 2023.
Claims priority of provisional application 63/484,601, filed on Feb. 13, 2023.
Claims priority of provisional application 63/373,316, filed on Aug. 23, 2022.
Claims priority of provisional application 63/267,629, filed on Feb. 7, 2022.
Prior Publication US 2025/0042657 A1, Feb. 6, 2025
Int. Cl. B65G 1/04 (2006.01); B65G 1/10 (2006.01); B65G 1/12 (2006.01); B65G 1/137 (2006.01); G06Q 10/04 (2023.01); G06Q 10/0631 (2023.01); G06Q 10/0633 (2023.01)
CPC B65G 1/0478 (2013.01) [B65G 1/10 (2013.01); B65G 1/12 (2013.01); B65G 1/1373 (2013.01); G06Q 10/04 (2013.01); G06Q 10/06316 (2013.01); G06Q 10/0633 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A computer-implemented method for operating a modular superstructure, the computer-implemented method comprising:
identifying rack arrangement data comprising a cell velocity grid associated with a plurality of racks in the modular superstructure;
generating a travel time grid corresponding to the plurality of racks based at least in part on a starting position, an ending position, and the rack arrangement data;
generating a gradient grid corresponding to the plurality of racks by applying at least one filter to the travel time grid;
generating pathing data for traversing a rectangular prism from the starting position to the ending position in the modular superstructure based at least in part on applying a gradient descent algorithm to the gradient grid; and
causing the rectangular prism to traverse based at least in part on the pathing data.