US 12,441,543 B2
Predicting a path of material handling equipment and determining an obstacle-free path
Luca Gherardi, Oberrieden (CH); and Markus Florian Hehn, Zurich (CH)
Assigned to Verity AG, Zurich (CH)
Filed by Verity AG, Zurich (CH)
Filed on Nov. 24, 2021, as Appl. No. 17/534,874.
Claims priority of provisional application 63/117,474, filed on Nov. 24, 2020.
Prior Publication US 2022/0162001 A1, May 26, 2022
Int. Cl. B65G 1/137 (2006.01); B64U 10/13 (2023.01); B65G 1/04 (2006.01); G05D 1/00 (2006.01); G05D 1/46 (2024.01); G05D 1/467 (2024.01); G05D 1/48 (2024.01); G05D 1/622 (2024.01); G05D 1/648 (2024.01); G06Q 10/087 (2023.01); B64C 39/02 (2023.01); B64U 101/30 (2023.01); B64U 101/64 (2023.01); B64U 101/70 (2023.01); G05D 1/644 (2024.01); G05D 109/20 (2024.01)
CPC B65G 1/1373 (2013.01) [B64U 10/13 (2023.01); B65G 1/0492 (2013.01); G05D 1/0088 (2013.01); G05D 1/101 (2013.01); G05D 1/46 (2024.01); G05D 1/467 (2024.01); G05D 1/48 (2024.01); G05D 1/622 (2024.01); G05D 1/648 (2024.01); G06Q 10/087 (2013.01); B64U 2101/70 (2023.01); B64U 2201/10 (2023.01); B64U 2201/20 (2023.01); G05D 2109/20 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A warehouse method, comprising:
receiving status of inventory moving tasks for a warehouse;
determining, using control circuitry, a predicted route of an inventory moving device from a first location to a second location in the warehouse based on the status of the inventory moving tasks;
predicting, using the control circuitry, at least one location of the inventory moving device along the predicted route;
determining, using the control circuitry, a plurality of paths from a current location of an aerial vehicle to a desired location in the warehouse; and
determining, using the control circuitry, an obstacle-free path of the aerial vehicle, from the current location to the desired location, by selecting one of the plurality of paths that does not intersect with the inventory moving device at the predicted at least one location based on estimated travel times or distances of the aerial vehicle from the current location to the desired location along the plurality of paths.