Modular stack mover

A kitting system, comprising:

• a modular stack mover system, comprising:
• a first stack mover system configured to cause a vehicle to traverse a first path;
• a second stack mover system configured to cause the vehicle to traverse a second path;
• wherein:
• the first stack mover system moves the vehicle from a source location to a first end location;
• and
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle to a destination location;
• a stack pusher system configured to insert a stack to the source location, wherein:
• the stack pusher system comprises:
• an actuation device;
• and
• one or more pusher structures;
• the actuation device is operatively coupled to at least one of the one or more pusher structures;
• the actuation device is configured to actuate a position of the one or more pusher structures between a retracted state and an extended state;
• and
• the actuation device is controlled to actuate the position of the one or more pusher structures in connection with loading the vehicle to a workspace of the robot arm;
• a robot arm configured to perform pick and place operations with respect to items in a workspace;
• and
• a control computer configured to robotically control the modular stack mover system, the stack pusher system, and the robot arm in coordination to pick/place items from/to the vehicle.

A method, comprising:

• determining, by one or more processors, to move a vehicle inserted into a modular stack mover system;
• in response to determining that the vehicle is inserted into the modular stack mover system, controlling to drive a first motor of a first robotic stack mover system in connection with moving the vehicle from a source location to a first end location;
• determining that the vehicle is at the first end location;
• and
• in response to determining that the vehicle is at the first end location, controlling to drive a second motor of a second robotic stack mover system in connection with moving the vehicle through a robot workspace to a destination location;
• wherein:
• the first mover system comprises one or more first pusher units configured to engage the vehicle and apply a linear force to the vehicle when the first pusher units are driven by the first mover system;
• the second mover system comprises one or more second pusher units configured to engage the vehicle and apply a linear force to the vehicle when the second pusher units are driven by the second mover system;
• a first pusher unit of the one or more first pusher units engage the vehicle from a first side of a rear of the vehicle;
• the second one or more pusher units engage the vehicle from a second side of the rear of the vehicle that is opposite the first side.

A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:

• determining, by one or more processors, to move a vehicle inserted into a modular stack mover system;
• in response to determining that the vehicle is inserted into the modular stack mover system, controlling to drive a first motor of a first robotic stack mover system in connection with moving the vehicle from a source location to a first end location;
• determining that the vehicle is at the first end location;
• and
• in response to determining that the vehicle is at the first end location, controlling to drive a second motor of a second robotic stack mover system in connection with moving the vehicle through a robot workspace to a destination location;
• wherein:
• the first mover system comprises one or more first pusher units configured to engage the vehicle and apply a linear force to the vehicle when the first pusher units are driven by the first mover system;
• the second mover system comprises one or more second pusher units configured to engage the vehicle and apply a linear force to the vehicle when the second pusher units are driven by the second mover system;
• a first pusher unit of the one or more first pusher units engage the vehicle from a first side of a rear of the vehicle;
• the second one or more pusher units engage the vehicle from a second side of the rear of the vehicle that is opposite the first side.

A modular stack mover system, comprising:

• a first stack mover system configured to cause a vehicle to traverse a first path;
• a second stack mover system configured to cause the vehicle to traverse a second path;
• and
• a buffer zone between the first stack mover system and the second stack mover system wherein:
• the first stack mover system moves the vehicle along the first path from a source location to a first end location;
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location;
• the buffer zone comprises a stack pusher system configured to robotically move the vehicle from the first end location to an input end to the second stack mover system;
• and
• the stack pusher is associated with one of the first stack mover system and the second stack mover system, and not associated with both the first stack mover system and the second stack mover system.

A modular stack mover system, comprising:

• a first stack mover system configured to cause a vehicle to traverse a first path;
• a second stack mover system configured to cause the vehicle to traverse a second path;
• and
• a buffer zone between the first stack mover system and the second stack mover system;
• wherein:
• the first stack mover system moves the vehicle along the first path from a source location to a first end location;
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location;
• the buffer zone comprises a stack pusher system configured to robotically move the vehicle from the first end location to an input end to the second stack mover system;
• the stack pusher system comprises:
• an actuation device;
• and
• one or more pusher structures;
• the actuation device is operatively coupled to at least one of the one or more pusher structures;
• the actuation device is configured to actuate a position of the one or more pusher structures between a retracted state and an extended state;
• the actuation device is controlled to actuate the position of the one or more pusher structures in connection with loading a payload to a robot workspace.

A modular stack mover system, comprising:

• a first stack mover system configured to cause a vehicle to traverse a first path;
• and
• a second stack mover system configured to cause the vehicle to traverse a second path;
• wherein:
• the first stack mover system moves the vehicle along the first path from a source location to a first end location;
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location;
• in response to a determination that the vehicle is to be moved by the first stack mover system to the first end location, the second stack mover system is controlled to move into a receiving position;
• the receiving position corresponds to an orientation in the second stack mover system does not interfere with movement of the vehicle to the first end location;
• and
• controlling the second stack mover system to move into the receiving position includes driving a second drive chain to a position according to which second pusher units mounted to the second drive chain do not obstruct movement of the vehicle by the first stack mover system to the first end location.

A modular stack mover system, comprising:

• a first stack mover system configured to cause a vehicle to traverse a first path, wherein:
• a driving unit comprising a motor;
• a drive chain;
• a tensioning unit that enforces tension of the drive chain;
• and
• a guide rail traversing a distance between the driving unit and the tensioning unit, wherein:
• the motor is operatively coupled to the drive chain, and the motor is configured to drive the drive chain when the motor is driven;
• the guide rail comprises a channel configured to guide and support the drive chain;
• the driving chain comprises a set of pusher units;
• and
• the pusher units are respectively configured to engage one or more vehicles inserted to the system, and to cause one or more vehicles to traverse a path having a same direction as a longitudinal direction of the guide rail when the driving chain is driven in response to a control signal from a robotic control system configured to operate the modular stack mover system under robotic control to position said one or more vehicles within reach of a robotic instrumentality to enable the robotic instrumentality to perform a task with respect to the one or more vehicles;
• and
• a second stack mover system configured to cause the vehicle to traverse a second path;
• wherein:
• the first stack mover system moves the vehicle along the first path from a source location to a first end location;
• and
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location.

A modular stack mover system, comprising:

• a first stack mover system configured to cause a vehicle to traverse a first path;
• and
• a second stack mover system configured to cause the vehicle to traverse a second path;
• wherein:
• the first stack mover system moves the vehicle along the first path from a source location to a first end location;
• the vehicle is retrieved from the first end location and the second mover system moves the vehicle along the second path to a destination location;
• the first stack mover system comprises a first drive chain;
• an output end of the first mover system and an input end of the second mover system overlap in an overlapping zone;
• the output end of the first mover system corresponds to the first end location;
• in response to a determination that the vehicle is to be moved by the first stack mover system to the first end location, the second stack mover system is controlled to move into a receiving position;
• and
• controlling the second stack mover system to move into the receiving position includes driving a second drive chain to a position according to which the one or more second pusher units mounted to the second drive chain do not obstruct movement of the vehicle by the first stack mover system to the overlapping zone.