# US 11,312,574 B2 · Vehicle status reporting for high throughput independent cart system

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- Number: US 11,312,574 B2
- Document ID: US11312574B2
- Status: Granted
- Kind: B2
- Application number: 16/794,552
- Filed: 2020-02-19
- Published: 2021-08-19
- Granted: 2022-04-26
- Earliest claimed: 2020-02-19
- Assignees: Rockwell Automation Technologies, Inc.
- Applicants: Rockwell Automation Technologies, Inc.
- Inventors: Yuhong Huang
- Web page: https://patentgrep.com/patent/US11312574B2

## CPC

- B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck}
- G05B 19/4189: {characterised by the transport system}
- B60L 13/03: Electric propulsion by linear motors
- G05B 19/042: using digital processors (G05B19/05 takes precedence)
- G05B 2219/25338: Microprocessor
- Y02T 90/16: Information or communication technologies improving the operation of electric vehicles
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- B60L: PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES (arrangements or mounting of electrical propulsion units or of plural diverse prime-movers for mutual or common propulsion in vehicles B60K1/00, B60K6/20; arrangements or mounting of electrical gearing in vehicles B60K17/12, B60K17/14; preventing wheel slip by reducing power in rail vehicles B61C15/08; dynamo-electric machines H02K; control or regulation of electric motors H02P); SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES (electric coupling devices combined with mechanical couplings of vehicles B60D1/64; electric heating for vehicles B60H1/00); ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL (control or regulation of electric motors H02P); MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION

## Abstract

An improved method and system increases throughput in an independent cart system. The independent cart system includes multiple movers, controlled by a first controller, travelling along a track. At least one station is defined, where a device external to the track interacts with the movers on the track. A process controller controls operation of the external device and receives a communication from the first controller to begin execution of a task that the external device must complete prior to interaction with the mover. The first controller determines a time to destination for each mover to reach the station and transmits the signal or data packet to the process controller to initiate execution of the preparation task with sufficient time for the process controller to begin or complete the preparation task prior to the mover arriving at the station.

## Claims

### Claim 1

An apparatus for increasing throughput in an independent cart system, the apparatus comprising:
a plurality of movers;
a track along which the plurality of movers travel, the track including:
a plurality of track segments, wherein each of the plurality of track segments includes a segment controller operative to control operation of each of the plurality of movers present on the corresponding track segment; and
a station position located along a length of one of the plurality of track segments configured to have the plurality of movers stop for interaction with a device external to the track; and
a process controller in communication with the segment controller on each of the plurality of track segments, wherein:
a first segment controller located on one of the plurality of track segments is operative to determine a time to destination for a first mover, selected from the plurality of movers;
the time to destination corresponds to a time for the first mover to arrive at the station position from a current position of the first mover;
the first segment controller is further operative to transmit the time to destination to the process controller before the first mover arrives at the station position; and
the process controller is operative to initiate execution of at least one preparation task for the device at the station position responsive to receiving the time to destination from the first segment controller and before the first mover arrives at the station position.

### Claim 2 (depends on 1)

The apparatus of claim 1 wherein:
the first segment controller is operative to determine a deceleration time for the first mover as a function of a speed of travel and of a deceleration rate for the first mover;
the first segment controller is operative to determine a deceleration distance, the deceleration distance corresponding to an expected distance to be traveled by the first mover during the deceleration time;
the first segment controller includes an input operative to receive a feedback signal indicating a position of the first mover along the corresponding track segment for the first segment controller;
the first segment controller is operative to determine a remaining distance to the station position, wherein the remaining distance corresponds to a difference between the position of the first mover as indicated by the feedback signal and the station position; and
the first segment controller is operative to transmit a signal to the process controller when the remaining distance corresponds to the deceleration distance.

### Claim 3 (depends on 1)

The apparatus of claim 1 wherein:
the first segment controller includes an input operative to receive a feedback signal indicating a position of the first mover along the corresponding track segment for the first segment controller;
the first segment controller is operative to transmit the time to destination to the process controller at a predefined position along the track segment.

### Claim 4 (depends on 1)

The apparatus of claim 1 wherein the first segment controller is configured to transmit the time to destination to the process controller at a periodic interval.

### Claim 5 (depends on 1)

The apparatus of claim 1 wherein the first segment controller is further operative to measure a settling time of the first mover, wherein the settling time corresponds to a time required for the first mover to arrive at the station position and be ready for interaction with the device after either reaching a predefined location along the track or receiving a command to decelerate into the station.

### Claim 6 (depends on 5)

The apparatus of claim 5 wherein the first segment controller is further operative to determine the time to destination for the first mover as a function of the settling time for the first mover.

### Claim 7 (depends on 5)

The apparatus of claim 5 wherein the first segment controller is further operative to:
store the settling time in a memory in communication with the first segment controller;
determine a running average of the settling time as a function of the stored settling time; and
transmit the running average of the settling time to the process controller.

### Claim 8 (depends on 7)

The apparatus of claim 7 wherein:
the first segment controller is further operative to determine a standard deviation of the settling time from the running average;
the memory is configured to store a predefined level of the standard deviation corresponding to a confidence level that the first mover will be ready at the station before the settling time is complete; and
the first segment controller transmits the settling time at the standard deviation of the running average corresponding to the confidence level to the process controller.

### Claim 9

A method for increasing throughput in an independent cart system, the method comprising the steps of:
determining a time to destination of a first mover located along a length of a track in the independent cart system, wherein:
the first mover is selected from a plurality of movers present in the independent cart system,
the trick includes a plurality of track segments,
the time to destination corresponds to a time for the first mover to arrive at a station position from a current position of the first mover,
each track segment includes a segment controller operative to control operation of each of the plurality of movers present on the corresponding track segment, and
the segment controller determines the time to destination; and
transmitting the time to destination from the segment controller to a process controller in communication with the segment controller, wherein the process controller is operative to initiate execution of at least one preparation task for a device configured to interact with the first mover at the station position and wherein the time to destination is transmitted prior to the first mover arriving at the station position.

### Claim 10 (depends on 9)

The method of claim 9 further comprising the steps of:
receiving a feedback signal at an input of the first segment controller wherein the feedback signal corresponds to the current position of the first mover along the corresponding track segment for the first segment controller;
determining a remaining distance to the station position with the first segment controller, wherein the remaining distance corresponds to a difference between the current position of the first mover and the station position;
determining a deceleration distance for the first mover as a function of a speed of travel and of a deceleration rate for the first mover; and
transmitting a signal to the process controller from the segment controller when the remaining distance corresponds to the deceleration distance.

### Claim 11 (depends on 9)

The method of claim 9 further comprising the step of:
receiving a feedback signal at an input of the first segment controller wherein the feedback signal corresponds to a position of the first mover along the corresponding track segment for the first segment controller, wherein the first segment controller is operative to transmit the time to destination to the process controller at a predefined position along the track segment.

### Claim 12 (depends on 9)

The method of claim 9 wherein the first segment controller is configured to transmit the time to destination to the process controller at a periodic interval.

### Claim 13 (depends on 9)

The method of claim 9 further comprising the step of measuring a settling time of the first mover, wherein the settling time corresponds to a time required for the first mover to arrive at the station position and be ready for interaction with the device after either reaching a predefined location along the track or receiving a command to decelerate into the station.

### Claim 14 (depends on 13)

The method of claim 13 further comprising the step of determining the time to destination for the first mover as a function of the settling time for the first mover.

### Claim 15 (depends on 13)

The method of claim 13 further comprising the steps of:
storing the settling time in a memory in communication with the first segment controller;
determining a running average of the settling time with the first segment controller as a function of the stored settling time; and
transmitting the running average of the settling time from the first segment controller to the process controller.

### Claim 16 (depends on 15)

The method of claim 15 further comprising the steps of:
determining a standard deviation of the running average with the first segment controller;
reading a predefined level of the standard deviation stored in a memory of the first segment controller, the predefined level corresponding to a confidence level that the first mover will be ready at the station before the settling time is complete; and
transmitting the settling time at the standard deviation corresponding to the confidence level from the first segment controller to the process controller.

### Claim 17

A method for increasing throughput in an independent cart system, the method comprising the steps of:
determining a time to destination of a first mover located along a length of a track in the independent cart system, wherein:
the first mover is selected from a plurality of movers present in the independent cart system,
the track includes a plurality of track segments,
the time to destination corresponds to a time for the first mover to arrive at a station position from a current position of the first mover,
each track segment includes a first controller operative to control operation of each of the plurality of movers present on the corresponding track segment, and
the first controller determines the time to destination; and
transmitting the time to destination from the first controller to a second controller in communication with the first controller, wherein the second controller is operative to initiate execution of at least one preparation task for a device configured to interact with the first mover at the station position and wherein the time to destination is transmitted prior to the first mover arriving at the station position.

### Claim 18 (depends on 17)

The method of claim 17 wherein the first controller is a central controller.

### Claim 19 (depends on 17)

The method of claim 17 wherein the first controller includes a plurality of segment controllers and wherein each segment controller corresponds to one of the plurality of track segments.

### Claim 20 (depends on 17)

The method of claim 17 wherein the second controller is a process controller.