# US 11,999,571 B2 · Controlling automated pallet movers > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,999,571 B2 - Document ID: US11999571B2 - Status: Granted - Kind: B2 - Application number: 18/341,438 - Filed: 2023-06-26 - Published: 2023-10-19 - Granted: 2024-06-04 - Earliest claimed: 2019-04-08 - Assignees: Lineage Lineage, LLC - Applicants: Lineage Logistics, LLC - Inventors: Christopher Frank Eckman; Daniël Walet; Frank Baijens - Web page: https://patentgrep.com/patent/US11999571B2 ## CPC - B65G 1/1375: {the orders being assembled on a commissioning stacker-crane or truck} - B65G 1/0485: {Check-in, check-out devices} - B65G 1/1378: {the orders being assembled on fixed commissioning areas remote from the storage areas} - B65G 61/00: Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for - G01C 21/206: {specially adapted for indoor navigation} - G05B 13/0265: {the criterion being a learning criterion} - G05D 1/0212: {with means for defining a desired trajectory (involving a plurality of land vehicles G05D1/0287)} - G05D 1/0251: {extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision (stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593)} - G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)} - G05D 1/0297: {by controlling means in a control room} - G05D 1/2435: {Extracting 3D information} - G05D 1/646: Following a predefined trajectory, e.g. a line marked on the floor or a flight path - G05D 1/692: involving a plurality of disparate vehicles - G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management - 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) - G01C: MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY (measuring liquid level G01F; radio navigation, determining distance or velocity by use of propagation effects, e.g. Doppler effects, propagation time, of radio waves, analogous arrangements using other waves G01S) - 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) - G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract An automated warehouse system can include automated pallet movers, a physical space in which the automated pallet movers operate, and a control system to provide commands to each of the automated pallet movers for operating in the physical space. The commands can include a pallet transportation command including a pallet identifier of a pallet to be transported by the automated pallet mover in the physical space, and a destination location to which the pallet is to be transported by the automated pallet mover. The commands can also include a control algorithm command that specifies a control algorithm for moving through the physical space. The automated pallet mover can be configured to transport the pallet to the destination location according to a route resulting from performance of the control algorithm, while other automated pallet movers concurrently transport other pallets to other destination locations. ## Claims ### Claim 1 An automated warehouse system, the system comprising: a plurality of automated pallet movers that are each configured to retrieve, transport, and deliver pallets according to routes resulting from performance of a control algorithm; a physical space in which the plurality of automated pallet movers are configured to concurrently operate, wherein the physical space includes a plurality of pallet handling locations, each pallet handling location being a location from which pallets are retrieved and/or to which pallets are delivered, and wherein the physical space includes a plurality of lanes between a first row of pallet handling locations and a second row of pallet handling locations, the plurality of lanes being configured for use by the automated pallet movers to transport pallets between pallet handling locations according to a performance of the control algorithm, wherein the plurality of lanes comprises: (i) a looping slow lane located along the first row of pallet handling locations and the second row of pallet handling locations, and (ii) a looping fast lane that loops in a same direction as the looping slow lane and is located inside of the looping slow lane; and a control system configured to provide pallet transportation commands to each of the plurality of automated pallet movers for operating in the physical space, wherein a pallet transportation command comprises, for an automated pallet mover: (i) a retrieval location that specifies a pallet handling location from which a pallet is to be retrieved by the automated pallet mover, and (ii) a destination location that specifies a pallet handling location to which the pallet is to be delivered by the automated pallet mover. ### Claim 2 (depends on 1) The automated warehouse system of claim 1, wherein at least one of the automated pallet movers is an automated guided vehicle. ### Claim 3 (depends on 1) The automated warehouse system of claim 1, wherein at least one of the automated pallet movers includes a forklift device. ### Claim 4 (depends on 1) The automated warehouse system of claim 1, wherein the control system is configured to provide a control algorithm command to each of the plurality of automated pallet movers that specifies the control algorithm to be executed by each of the automated pallet movers. ### Claim 5 (depends on 4) The automated warehouse system of claim 4, wherein after providing the control algorithm command to each of the automated pallet movers, the control system is configured to provide, to each of the automated pallet movers, a second, different control algorithm command that specifies a second, different control algorithm to be executed by each of the automated pallet movers. ### Claim 6 (depends on 4) The automated warehouse system of claim 4, wherein the control system is configured to: (i) for each of a plurality of different control algorithms, perform a simulation of transporting pallets in the physical space by the plurality of automated pallet movers using the control algorithm, (ii) compare pallet throughput resulting from simulated use of each control algorithm, and (iii) select an optimal control algorithm, the optimal control algorithm corresponding to greatest pallet throughput; wherein the control algorithm command specifies the optimal control algorithm. ### Claim 7 (depends on 1) The automated warehouse system of claim 1, wherein at least one pallet handling location is at the end of a conveyor belt in the physical space. ### Claim 8 (depends on 1) The automated warehouse system of claim 1, wherein at least one pallet handling location is a designated area on a floor of the physical space. ### Claim 9 (depends on 1) The automated warehouse system of claim 1, wherein the retrieval location is a pallet handling location at which the pallet is currently located. ### Claim 10 (depends on 1) The automated warehouse system of claim 1, wherein the retrieval location is a pallet handling location at which the pallet is anticipated to be located. ### Claim 11 (depends on 1) The automated warehouse system of claim 1, wherein the plurality of pallet handling locations are arranged such that the first row of pallet handling locations are located along a first edge of the physical space, the second row of pallet handling locations are located along a second edge of the physical space opposite from the first edge, and the plurality of lanes are located between the first row of pallet handling locations and the second row of pallet handling locations. ### Claim 12 (depends on 1) The automated warehouse system of claim 1, wherein the lanes include virtual lanes. ### Claim 13 (depends on 1) The automated warehouse system of claim 1, wherein the lanes include marked lanes. ### Claim 14 (depends on 1) The automated warehouse system of claim 1, wherein a route resulting from performance of the control algorithm for the automated pallet mover is determined in real time, in response to locations and movements of other automated pallet movers encountered by the automated pallet mover in the physical space. ### Claim 15 (depends on 14) The automated warehouse system of claim 14, wherein each automated pallet mover of the plurality of automated pallet movers includes one or more sensor devices, and the locations and movements of the other automated pallet movers is identified by the automated pallet mover based on sensor data from its one or more sensor devices. ### Claim 16 (depends on 14) The automated warehouse system of claim 14, wherein data indicating the locations and movements of the other automated pallet movers is provided to each automated pallet mover by the control system. ### Claim 17 (depends on 14) The automated warehouse system of claim 14, wherein operation in the physical space by the automated pallet mover according to the pallet transportation command comprises: (i) moving along the looping slow lane until the retrieval location is reached, (ii) retrieving the pallet from the retrieval location, (iii) after retrieving the pallet, continuing to move along the looping slow lane, (iv) determining whether it is safe to move into the looping fast lane, (v) in response to determining that it is safe to move into the looping fast lane, transitioning into the looping fast lane, (vi) while moving along the looping fast lane, determining whether the destination location is within a threshold distance of the automated pallet mover, (vii) in response to determining that the destination location is within the threshold distance, transitioning into the looping slow lane, (viii) moving along the looping slow lane until the destination location is reached, and (ix) delivering the pallet to the destination location. ### Claim 18 (depends on 17) The automated warehouse system of claim 17, wherein determining whether it is safe to move into the looping fast lane includes determining whether moving into the looping fast lane would impede another automated pallet mover. ### Claim 19 (depends on 17) The automated warehouse system of claim 17, wherein the control system is configured to provide a subsequent pallet transportation command to the automated pallet mover, after the pallet is delivered to the destination location. ### Claim 20 (depends on 17) The automated warehouse system of claim 17, wherein movement along the looping slow lane and the looping fast lane occurs in a same direction by each of the automated pallet movers.