Patent Description:
This document generally describes technology for controlling operations of multiple automated pallet movers in a physical space.

In general, automated warehouse systems can automate storage and retrieval of goods and pallets in a warehouse. Pallets, for example, can be flat transport structures that support goods in a stable manner and that are adapted to fit forklifts and/or other devices/machines to move the pallets. Automated warehouse systems can include conveyors designed for transporting goods and pallets to specific warehouse locations, and racking systems for storing and retrieving the goods and pallets. <CIT>, which comprises the features mentioned in the preamble of claim <NUM>, discloses palletizing systems and methods. The systems and methods include a pallet building module for receiving customer orders and generating pallet building instructions for arranging the products on the pallets, among other functions. <CIT> generally describes simulating warehouse automation designs and evaluating the results of such simulations to optimize automated warehouse designs. Warehouse automation can be simulated, for example, to determine an optimal warehouse automation design given a variety of parameters that are specific to the warehouse, such as the expected customer inventory demands over time, the layout of the warehouse, and/or the specific automation features that are possible within the warehouse.

According to an aspect of the present invention, there is provided an automated warehouse system, as set out in claim <NUM>.

Preferred embodiments of the automated warehouse system are set out in claims <NUM>-<NUM>.

This document generally describes computer systems, processes, program products, and devices for controlling operations of multiple automated pallet movers in a physical space, such as a warehouse. Some embodiments described herein include controlling operations of the multiple automated pallet movers in an area between a pallet loading/unloading area and a pallet storage area in the warehouse. A warehouse may include a pallet loading/unloading area where trucks are docked so that pallets can be unloaded from, or loaded to, the trucks. A warehouse may further include a pallet storage area configured to store pallets in a dense arrangement. For example, the pallet storage area may include multiple-story racks with an elevator system operable to convey pallets to/from different floors of the racks. Typically, a conveyor belt system may be used to transport pallets between the pallet loading/unloading area and the pallet storage area. A conveyor belt system includes a complex layout of conveyor belts which has many connection points between the conveyor belts and many bottle neck areas where multiple conveyor belts are connected to one conveyor belt. The conveyor belt system operates to concurrently convey multiple pallets from different start locations to different end locations. For example, the pallet loading/unloading area may include multiple decks from which pallets can be loaded to trucks, and to which pallets can be unloaded from trucks by workers. Further, the pallet racks may have multiple columns and rows in multiple levels (heights) to/from which pallets can be transported using different elevators. Such a complex conveyor belt system often results in clogging when a large number of pallets are conveyed at the same time between different start locations and end locations. For example, pallets which travel deep in the conveyor belt system can be stuck with other pallets moving along long routes of conveyor belts. Moreover, once the conveyor belts are set up, they are less flexible in creating and modifying paths along which pallets can be carried.

The pallet transportation system described herein uses automated guided vehicles (AGVs) that replace the complex installed conveyor belt system to move pallets in a warehouse. Automated guided vehicles can automatically navigate through the warehouse and can be capable of picking up, moving, and dropping off pallets at various locations in the warehouse. Algorithms can be configured to optimize operation of automated guided vehicles in the warehouse, and can be used to determine optimal routes of each automated guided vehicle from a start location to an end location. For example, the algorithms can be configured to optimize or minimize the number of cross-overs of the routes taken by the automated guided vehicles. In addition or alternatively, the algorithms can be configured to optimize the timing of operation of respective automated guided vehicles, thereby reducing the likelihood of collision between vehicles. In addition or alternatively, the algorithms can be configured to optimize or maximize the speed of respective automated guided vehicles. In addition or alternatively, the algorithms can be configured to optimize or minimize the time required to complete a particular project of moving pallets in a warehouse.

In addition or alternatively, multiple lanes can be defined (e.g., virtual and/or marked lanes), and the algorithms can be configured such that the automated guided vehicles move through the warehouse according rules that coordinate movement of the automated guided vehicles using the lanes. Multiple automated guided vehicles can concurrently transport pallets through the warehouse using the same lanes and control algorithm, each automated guided vehicle travelling on possibly different routes resulting from performance of the same control algorithm. The multiple defined lanes and corresponding control algorithm can be modified and/or replaced on the fly, and the automated guided vehicles can transport pallets using different lanes and a corresponding different control algorithm. Modifying and/or replacing the lanes and corresponding control algorithm can be done in response to changing warehouse conditions, such as currently available automated guided vehicles, and a current job list that specifies pallets to be transported within the warehouse (e.g., pallets to be received from trucks, pallets to be moved from one warehouse location to another warehouse location, and/or pallets to be retrieved from storage and loaded onto trucks).

In some implementations, an automated warehouse system can include a plurality of automated pallet movers, a physical space in which the plurality of automated pallet movers are configured to operate, and a control system configured to provide commands to each of the plurality of 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 one or more of the other automated pallet movers concurrently transport other pallets to other destination locations according to other routes resulting from performance of the same control algorithm.

Other implementations of this aspect include corresponding methods, and include corresponding apparatus and computer programs recorded on one or more computer storage devices, each configured to perform the actions of the methods. A system of one or more computers can be configured to perform particular operations or actions by virtue of having software, firmware, hardware, or a combination of them installed on the system that in operation causes or cause the system to perform the actions. One or more computer programs can be configured to perform particular operations or actions by virtue of including instructions that, when executed by data processing apparatus, case the apparatuses to perform the actions.

These and other implementations can include any all, or none of the following features. At least one of the automated pallet movers can be an automated guided vehicle. At least one of the automated pallet movers can include a forklift device. The pallet identifier can be associated with a location of the pallet in the physical space. After providing, to each of the automated pallet movers, the control algorithm command that specifies the control algorithm for moving through the physical space, the control system can provide, to each of the automated pallet movers, a second, different control algorithm command that specifies a second, different control algorithm for moving through the physical space. The control system is further configured to perform operations including: (i) for each of a plurality of different control algorithms, performing one or more simulations of transporting pallets in the physical space by the plurality of automated pallet movers using the control algorithm, (ii) comparing pallet throughput resulting from simulated use of each control algorithm, and (iii) selecting an optimal control algorithm, the optimal control algorithm corresponding to greatest pallet throughput. The control algorithm command provided by the control system specifies the optimal control algorithm. The route travelled by the pallet mover resulting from performance of the control algorithm can be determined in real time, in response to locations and movements of the other pallet movers in the physical space. The physical space can include a plurality of pallet handling locations, each pallet handling location being a location from which pallets are retrieved and/or to which pallets are transported. At least one pallet handling location can be at the end of a conveyor belt in the physical space. At least one pallet handling location can be a designated area on a floor of the physical space. The plurality of pallet handling locations can be arranged such that a first row of pallet handling locations are located along a first edge of the physical space, and a second row of pallet handling locations are located along a second edge of the physical space different from the first edge. The physical space can include a plurality of lanes between the first and second rows of pallet handling locations, the lanes being configured for use by the automated pallet movers to transport pallets between pallet handling locations according to routes resulting from performance of the control algorithm. The lanes can include virtual lanes and/or marked lanes. The control algorithm and a different control algorithm can each be associated with a different plurality of lanes. The plurality of lanes can include: (i) a looping slow lane located along the first row of pallet handling locations and the second row of pallet handling locations, (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 (iii) a turning lane that is located inside of the looping fast lane. The plurality of lanes can include: (i) a looping slow lane located along the first row of pallet handling locations and the second row of pallet handling locations, (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 (iii) a plurality of buffer lanes that are located inside of the looping fast lane. The plurality of lanes can include: (i) a first looping lane that loops in a clockwise direction along a portion of the first row of pallet handling locations and a portion of the second row of pallet handling locations, and (ii) a second looping lane that loops in a counterclockwise direction along a different portion of the first row of pallet handling locations and a different portion of the second row of pallet handling locations. The plurality of lanes can include: (i) an exterior looping lane that loops along the first row of pallet handling locations and the second row of pallet handling locations, and (ii) a plurality of interior looping lanes that loop in a same direction as the exterior looping lane, each interior looping lane looping within the exterior looping lane.

The technologies described herein may provide one or more of the following advantages. The pallet transportation system described herein can replace conventional pallet transportation devices, such as conveyor belt systems, by automated guided vehicles to intelligently move pallets of goods between different locations in a warehouse, thereby optimizing routes and/or timing of pallet transportation, avoiding collision between different pallets being transported, reducing a transportation time, and reducing operational costs. Further, the pallet transportation system can provide great flexibility in managing pallets in a warehouse because automated guided vehicles allow a large number of possible paths between a particular set of start and end locations, as opposed to a conveyor belt system that provides a limited number of possible routes between the start and end locations. The pallet transportation system can provide redundancy in route selection by allowing a large number of route options between particular start and end positions. An optimal route can be selected from such multiple route options to meet different criteria required in managing pallets in a warehouse. Further, using a control algorithm for operating each of the automated pallet movers according to defined lanes and rules for travelling in the lanes, the pallet transportation system can conserve processing resources, and increase a number of automated pallet movers operating in a pallet transportation area without increasing collisions. An optimal control algorithm for operating the automated pallet movers according to the defined lanes can be determined for current warehouse conditions (e.g., based on simulation results), optimizing throughput of product in the warehouse.

<FIG> depicts an example system <NUM> for controlling automated pallet movers in a warehouse <NUM>, such as a storage warehouse, a distribution center, a retail warehouse, a cold storage warehouse, an overseas warehouse, a packing warehouse, a railway warehouse, a canal warehouse, or another sort of warehouse or facility. In the present example, the warehouse <NUM> includes a pallet storage area <NUM>, which can include pallet storage racks <NUM> which can be arranged in rows and/or columns and configured to store pallets <NUM> in different levels. One or more elevators <NUM> and rack conveyor belts <NUM> may be used to elevate pallets <NUM> to different levels and move them into desired locations in the racks <NUM>. The warehouse <NUM> can include a staging area <NUM> (e.g., a loading/unloading area) to move pallets in and out of trucks <NUM> through doors <NUM>. For example, manual labor can be used to unload pallets from trucks <NUM> and deliver them onto decks <NUM>, and/or to pick pallets up from the decks <NUM> and load them onto trucks <NUM>. In addition or alternatively, loading/unloading and/or transportation in the staging area <NUM> can be performed using an automated system that includes automated pallet movers, such as automated guided vehicles (AGVs) described herein. For example, automated pallet movers including forklift devices for engaging, raising, and lowering pallets may be used to transfer pallets between trucks <NUM> and decks <NUM>. As another example, such automated pallet movers may transfer pallets between trucks <NUM> and the pallet storage area <NUM>.

In the present example, the warehouse <NUM> further includes a pallet transportation area <NUM> in which the system <NUM> operates to automate and optimize transportation of pallets between the staging area <NUM> and the pallet storage area <NUM>. The system <NUM>, for example, can include automated pallet movers <NUM> to transport pallets <NUM> in the pallet transportation area <NUM>. For example, the automated pallet movers <NUM> may be configured to automatically navigate between the staging area <NUM> and the pallet storage area <NUM>, and may be capable of picking up, moving, and dropping off pallets. The automated pallet movers <NUM>, for example, may include a forklift device for engaging, raising, and lowering, the pallets, and/or may be configured to carry pallets on their top surface, and to load/unload pallets to other equipment (e.g., decks, conveyors, forklifts, etc.) when the pallets are positioned at an appropriate height.

In the present example, the system <NUM> can include a computing device <NUM> for controlling automated pallet movers <NUM> and/or other devices and systems in the warehouse <NUM>. Although a single computing device <NUM> (e.g., a network server) is illustrated and primarily described herein, multiple computing devices (e.g., multiple servers) can be configured to perform same or similar functions. The computing device <NUM>, for example, can be configured to communicate with automated pallet movers <NUM> and/or other devices and systems (e.g., elevators <NUM>, rack conveyor belts <NUM>, etc.), and to manage and optimize transportation of pallets in the warehouse <NUM>.

<FIG> depicts another example system <NUM> for controlling automated pallet movers in the warehouse <NUM>. The system <NUM> can be similar to the system <NUM> described herein with respect to <FIG>, except that the staging area <NUM> can optionally include a plurality of staging conveyor belts <NUM> to automatically deliver pallets to the pallet transportation area <NUM>. The staging conveyor belts <NUM> can be arranged and routed from the decks <NUM> to convey pallets between the decks <NUM> and the pallet transportation area <NUM>.

In some implementations, the automated pallet movers <NUM> may include automated guided vehicles (AGVs). In general, an AGV is a portable robot that can automatically move and perform several tasks by following predetermined instructions with minimal or no human intervention. For example, the AGV can be a computer-controlled, unmanned electric vehicle controlled by pre-programmed software to move pallets around a warehouse. AGVs are freely moveable. Alternatively or in addition, AGVs can work with guidance devices, such as magnetic tapes, beacons, barcodes, or predefined laser paths that allow the AGVs to travel on fixed or variable paths in a controlled space. Example guidance devices include marked lines or wires on the floor, and/or guidance by using radio waves, vision cameras, magnets, lasers, and/or other technologies for navigation. AGVs can include lasers and/or sensors configured to detect obstacles in its path and trigger them to stop automatically.

In addition or alternatively, AGVs can be configured to autonomously move and perform functions in a warehouse. For example, AGVs can be configured to automatically make decisions when faced with new or unexpected situations. AGVs can be further configured to learn as they encounter new situations. AGVs can operate without direct driver input or pre-configured scripts to control steering, acceleration, and braking. AGVs can use laser-based perception and navigation algorithms to dynamically move through the area in a warehouse. In some implementations, AGVs include onboard intelligence to adapt to changing environments. Further, machine learning capabilities can be used to enable AGVs to become efficient and accurate as they encounter new or unexpected situations. Data can be collected for machine learning which can update a warehouse map (which maps the warehouse and includes zones and points of interest) with learned parameters. AGVs can be configured to learn which routes are the fastest and take optimal paths, even within unpredictable environments. Multiple AGVs can collaboratively interact with other AGVs. In some examples, AGVs do not require external infrastructure for navigation, making implementation hassle-free and highly scalable. AGVs can be configured to detect, avoid, and dynamically move around obstacles (including other AGVs) to continue to their destinations, reducing downtime. Parameters associated with AGVs can be customized to navigate through aisles, personnel zones, narrow corridors, and other regions.

<FIG> depict example systems to control operation of automated guided vehicles (AGVs) using stereoscopic vision. Referring to <FIG>, an example AGV <NUM> (e.g., an automated pallet mover <NUM>, shown in <FIG>) is depicted with stereoscopic imaging devices <NUM> (e.g., stereoscopic cameras) mounted on a side (e.g., a front-facing side) of the AGV <NUM>. The AGV <NUM> may include multiple stereoscopic imaging devices that are positioned on its sides, such as an additional stereoscopic imaging device positioned on an opposing side (e.g., a rear-facing side) of the AGV <NUM>. The stereoscopic image data <NUM> can be generated by the AGV <NUM> and used to determine a precise location of the AGV <NUM> within a physical environment, such as a warehouse. An example system for making such location determination for the AGV <NUM> can include a central system <NUM> that contains a spatial model <NUM> of the environment (e.g., point cloud of the environment). In some instances, the AGV <NUM> can transmit the stereoscopic image data <NUM> over one or more networks <NUM> (e.g., Wi-Fi) to the central system <NUM>, which can generate spatial positioning of features (e.g., points) from the stereoscopic image data <NUM>, compare that spatial positioning of features to the spatial model <NUM> to determine the location of the AGV <NUM>, and then transmit the location information <NUM> back to the AGV <NUM> (or to other systems used to control operation of the AGV <NUM>). Alternatively, the spatial model can be loaded onto the AGV <NUM> and those determinations can be made locally on the AGV <NUM>. Techniques, systems, devices, and features for using stereoscopic vision to determine a vehicle's location within a warehouse, which can be applied to the AGV <NUM>, are described in <CIT>.

Referring to <FIG>, another example AGV <NUM> (e.g., similar to AGVs <NUM>, shown in <FIG>) is depicted. In this example, the stereoscopic imaging device <NUM> is positioned and extends above a top surface of the AGV <NUM>. Such a positioning of the stereoscopic imaging device <NUM> can provide a higher vantage point (higher relative to the ground), which may be used to generate more spatial positioning features (e.g., points) that can be used to more accurately determine the location of the AGV <NUM> using the spatial model <NUM>.

Referring again to <FIG>, for example, the systems <NUM> (shown in <FIG>) and/or <NUM> (shown in <FIG>) can be configured to optimize operation of automated pallet movers <NUM> in the warehouse <NUM> using various algorithms. In some implementations, the various algorithms may be configured to calculate a plurality of possible routes <NUM> for each automated pallet mover from a start location to an end location, and to determine an optimal route among them. For example, the algorithms can be configured to choose a shortest route for at least one of the automated pallet movers. In addition or alternatively, the algorithms can be configured to minimize the number of cross-overs of the routes taken by multiple automated pallet movers, thereby reducing the likelihood of collision between automated pallet movers. In addition or alternatively, the algorithms can be configured to optimize the timing of operation of respective automated pallet movers, thereby reducing the likelihood of collision between automated pallet movers. In addition or alternatively, the algorithms can be configured to maximize the speed of at least one of the automated pallet movers. In addition or alternatively, the algorithms can be configured to minimize the time required to complete a particular project of moving pallets in a warehouse. In some implementations, multiple lanes <NUM>, <NUM> may be defined within the warehouse <NUM>, and the various algorithms may include rules for operating the automated pallet movers using the lanes. For example, the algorithms can be used to coordinate operation of multiple pallet movers, each automated pallet mover concurrently transporting pallets through the warehouse according to routes that result from execution of the algorithm.

As shown in <FIG>, for example, pallet transportation area <NUM> may be partitioned into one or more zones, each zone possibly being associated with different algorithms for optimizing operation of automated pallet movers <NUM> and/or coordinating operation of the automated pallet movers. For example, in a first zone, optimal routes <NUM> may be specifically determined for each of the automated pallet movers <NUM>, whereas in a second zone, a general control algorithm may be used for coordinating movement of the automated pallet movers <NUM> according to the lanes <NUM>, <NUM>. In the present example, the first zone may include lighter and/or more irregular traffic of the automated pallet movers <NUM>, whereas in the second zone, heavier and/or more regular traffic of the automated pallet movers <NUM> may be present or anticipated (e.g., due to an incoming shipment of pallets to be stored in a common section of the pallet storage area <NUM>, or an outgoing shipment of pallets to be transported by one of the trucks <NUM>). As another example, each zone may be associated with a different general control algorithm. As another example, an entire pallet transportation area <NUM> may use route optimization algorithms for each automated pallet mover <NUM>, or a single general control algorithm for all of the automated pallet movers <NUM>.

Referring now to <FIG>, for example, a flowchart of an example technique <NUM> for determining optimal routes for transporting pallets in a warehouse environment. The example technique <NUM> can be performed by any of a variety of appropriate systems, such as the example systems depicted in <FIG>. The technique <NUM>, for example, can be used to determine optimal routes to move pallets in a warehouse, such as routes between staging area <NUM> (e.g., pallet loading/unloading area) and pallet storage area <NUM> (e.g., pallet storage racks). At <NUM>, identification of the pallets to be moved, their current positioning, and their destination positioning can be determined. At <NUM>, optimal routes are determined for moving pallets to their destination positions. For example, optimal routes can be determined by identifying routes that provide minimum crossovers there between when the pallets are transported to their destination positions along those routes (<NUM>), by identifying fastest routes for moving pallets to their destination positions (<NUM>), by identifying shortest routes for moving pallets to their destination positions (<NUM>), and/or by identifying routes that result in fastest completion of a project of moving entire pallets in desired manner (<NUM>). At <NUM>, once optimal routes are determined, timing sequences for the routes can be determined. At <NUM>, routes and timing sequences can be adjusted in order to avoid collisions and to maintain a minimum threshold distance between the automated pallet movers. At <NUM>, such adjusted routes and timings can then be provided for use to control operation of the automated pallet movers to execute on the determinations.

In general, determining a plurality of possible routes and determining an optimal routes for each of the automated pallet movers may be computationally expensive, and may become more complex as a number of automated pallet movers operating in a warehouse environment increases. As such, performing the example technique <NUM> may be appropriate when a number of automated pallet movers is below a threshold number and/or when suitable computing resources are available.

In some implementations, the algorithms can be configured to employ various defined lanes in a physical space, and to define a common set of rules to be followed by each of the automated pallet movers for navigating through the space according to the lanes, from a start location to and end location. Referring again to <FIG>, for example, the lanes <NUM>, <NUM> can include virtual and/or marked regions in the pallet transportation area <NUM> that are defined by one or more computing devices in a system for controlling automated pallet movers (e.g., computing device <NUM>), and are associated with one or more movement rules that are to be followed by the automated pallet movers <NUM> that travel in the lanes (e.g., maximum speed, minimum speed, rate of acceleration/deceleration, direction of travel, right of way, etc.). Virtual lanes, for example, can be regions in the pallet transportation area <NUM> that are not physically marked, but can be logically identified by the automated pallet movers <NUM> using location sensors and digital maps. Marked lanes, for example, may be regions in the pallet transportation area <NUM> that are physically identifiable by the automated pallet movers <NUM> (e.g., painted lanes that can be detected using cameras, light-bounded lanes that can be detected using light sensors, metal lanes that can be detected using magnetic sensors, etc.). By using a same control algorithm for operating each of the automated pallet movers <NUM> according to defined lanes, for example, interactions between the automated pallet movers may be simplified, processing resources may be conserved, and a number of automated pallet movers operating in the pallet transportation area <NUM> may be increased.

In general, operation of the automated pallet movers in physical spaces can include a control system for coordinating movement of multiple automated pallet movers by providing commands to the automated pallet movers. For example, the computing device <NUM> can provide a pallet transportation command to the automated pallet mover <NUM> that includes a pallet identifier of pallet <NUM> to be transported by the automated pallet mover <NUM>, and a destination location to which the pallet <NUM> is to be transported. The pallet identifier, for example, can be and/or can include a current and/or an anticipated location of the pallet <NUM> in the physical space (e.g., the transportation area <NUM>). For example, the current and/or anticipated location of the pallet <NUM> can be a location of one of the decks <NUM>, a location at the end of staging conveyor belt <NUM>, a designated floor location within the staging area <NUM>, a location within one of the trucks <NUM>, or another suitable location. As another example, the automated pallet mover <NUM> can use the pallet identifier to search for and locate the pallet <NUM> in the staging area <NUM> or one of the trucks <NUM>. The destination location, for example, can be a location of one of the elevators <NUM> or a location associated with one of the rack conveyor belts <NUM> that is configured to deliver the pallet <NUM> to its designated pallet storage rack <NUM> in the pallet storage area <NUM>. As another example, the destination location can be a designated floor location in or near the pallet storage area <NUM>.

Prior to or in addition to providing the pallet transportation command, for example, the computing device <NUM> can provide a control algorithm command to the automated pallet mover <NUM> that specifies a control algorithm for moving through the physical space (e.g., the transportation area <NUM>). Rather than transporting the pallet <NUM> according to one of the routes <NUM>, for example, the automated pallet mover <NUM> can be configured to move to a pick up location of the pallet <NUM> and to transport the pallet <NUM> from its pick up location to its destination location according to a route resulting from performance of the specified control algorithm, while other automated pallet movers concurrently transport other pallets to other destination locations according to other routes (e.g., potentially different routes) also resulting from performance of the same control algorithm. In some implementations, a route travelled by a pallet mover resulting from performance of the control algorithm may be determined in real time, in response to locations and movements of the other pallet movers in the physical space. For example, as the automated pallet mover <NUM> moves through the transportation area <NUM>, it may encounter other automated pallet movers. Rather than determining a specific route for the automated pallet mover <NUM> before it begins transporting the pallet <NUM>, for example, the route can be determined as the pallet <NUM> is being transported, based on continually changing traffic conditions and other factors that may occur in the transportation area <NUM>.

Various example physical spaces (e.g., pallet transportation areas) in which automated pallet movers may operate, various lane configurations within the physical spaces, and various control algorithms for operating the automated pallet movers in the physical spaces are described below with respect to <FIG>, however, other physical spaces, lane configurations, and control algorithms are possible. In general, automated pallet movers may be configured to travel relatively quickly when moving in a straight line, but not when changing directions. Further, the automated pallet movers may be configured to travel more quickly when using wide lanes than when using narrow lanes. The traffic flow techniques resulting from the various control algorithms, for example, can maximize the speed of the automated pallet movers by providing them with suitably wide lanes of traffic, while still providing possible shortcuts for reaching destinations.

Referring now to <FIG>, an example physical space <NUM> in which automated pallet movers may operate is depicted. Similar to <FIG>, for example, the example physical space <NUM> includes staging area <NUM>, transportation area <NUM>, and pallet storage area <NUM>. In some configurations, a physical space can include a plurality of pallet handling locations, each pallet handling location being a location from which pallets may be retrieved and/or to which pallets may be transported. For example, the physical space <NUM> includes pallet handling locations 402a-n. In some configurations, pallet handling locations may be arranged such that a first row of pallet handling locations are located along a first edge of a physical space, and a second row of pallet handling locations are located along a second edge of the physical space that is different from the first edge. For example, pallet handling locations 402a-c are located at an edge of the transportation area <NUM> that is adjacent to the staging area <NUM>, whereas pallet handling locations 402d-n are located at an opposite edge of the transportation area <NUM> that is adjacent to the pallet storage area <NUM>.

In the present example, the physical space <NUM> includes a plurality of lanes 410a-c between the first and second rows of pallet handling locations 402a-n, the lanes 410a-c being configured for use by automated pallet movers 130a-n to transport pallets between the pallet handling locations 402a-n according to routes resulting from performance of a control algorithm for operating according to the lanes 410a-c. Lane 410a, for example, can be a looping slow lane located along the first row of pallet handling locations 402a-c and the second row of pallet handling locations 402d-n. Lane 410b, for example, can be a looping fast lane that loops in a same direction (e.g., clockwise or counter-clockwise) as the looping slow lane 410a, and can be located inside of the looping slow lane 410a. Lane 410c, for example, can be a turning lane that is located inside of the looping fast lane 410b.

<FIG> is flowchart <NUM> of an example technique for operating automated pallet movers in the example physical space <NUM> depicted in <FIG>, according to the plurality of lanes 410a-c. A pallet can be retrieved (<NUM>). For example, the automated pallet mover 130a can move to pallet handling location 402b and retrieve a pallet that is waiting at that location. After retrieving the pallet, for example, the automated pallet mover 130a can enter and move along the looping slow lane 410a (<NUM>). If the automated pallet mover 130a arrives at its destination while travelling in the looping slow lane 410a (<NUM>), it may deliver its pallet (<NUM>). For example, if the destination location is close to the retrieval location (e.g., pallet handling location 402c is the destination location), the automated pallet mover 130a may continue travelling in the looping slow lane 410a until it reaches the destination location, and then it may deliver its pallet after it has stopped at the destination location.

If the automated pallet mover 130a has not yet arrived at the destination location while travelling in the looping slow lane 410a, it can determine whether it is safe to enter the looping fast lane 410b (<NUM>). For example, based on information provided to the automated pallet mover 130a by a control system (e.g., computing device <NUM>) regarding locations and speeds of other pallet movers 130n operating in the transportation area <NUM> and/or based on information collected by its own sensors, the automated pallet mover 130a can determine whether a transition into the looping fast lane 410b is safe, or whether the transition would result in a collision or would impede another automated pallet mover. If such a transition is determined to be unsafe, the automated pallet mover 130a can continue moving along the looping slow lane 410a (<NUM>). If such a transition is determined to be safe, the automated pallet mover 130a can transition into the looping fast lane 410b and begin moving along the looping fast lane 410b (<NUM>).

While moving along the looping fast lane 410b (<NUM>), for example, the automated pallet mover 130a can continually determine whether it is approaching its destination location (<NUM>). If the automated pallet mover 130a determines that it is not close to its destination location (e.g., based on a line that runs perpendicular to the looping fast lane 410b at the current location of the automated pallet mover 130a not being within a threshold distance of the location), for example, the automated pallet mover 130a may continue moving along the looping fast lane 410b (<NUM>).

If the automated pallet mover 130a determines that it is close to its destination location (e.g., based on a line that runs perpendicular to the looping fast lane 410b at the current location of the automated pallet mover 130a being within a threshold distance of the location), for example, the automated pallet mover 130a may determine whether it is separated from its destination location by the turning lane 410c at its current location (<NUM>). For example, while travelling in the looping fast lane 410b, the automated pallet mover 130a may determine that it is approaching its destination location (e.g., pallet handling location 402e), but that it is separated by turning lane 410c. In the present example, the automated pallet mover 130a can pass its destination location by a suitable distance (e.g., along an x-axis of the transportation area <NUM>), then use the turning lane 410c (<NUM>) to enter and cross or move along the fast lane 410b in the opposing direction (<NUM>), then quickly approach its destination (<NUM>), determine that it is no longer separated by the turning lane 410c (<NUM>), and enter the slow lane 410a (<NUM>).

If the automated pallet mover 130a has looped around the transportation area <NUM> using the fast lane 410b (e.g., due to its destination location being at the end of a row of pallet handling locations and/or due to traffic conditions within the various loops), for example, the automated pallet mover 130a may determine that it is approaching its destination (<NUM>), but that it is not separated by the turning lane 410c (<NUM>). In the present example, the automated pallet mover 130a can enter the slow lane 410a (<NUM>) without using the turning lane 410c.

When moving along the slow lane 410a (<NUM>), for example, the automated pallet mover 130a may determine that it has arrived at its destination location (<NUM>), and then it may deliver its pallet (<NUM>) at the destination location. After delivering its pallet, for example, the automated pallet mover 130a may receive another job from the control system, may proceed to a wait area (not shown), may proceed to a charging station (not shown), or may perform another suitable operation.

Referring now to <FIG>, an example physical space <NUM> in which automated pallet movers may operate is depicted. Similar to <FIG> and <FIG>, for example, the example physical space <NUM> includes staging area <NUM>, transportation area <NUM>, and pallet storage area <NUM>. Similar to <FIG>, for example, the physical space <NUM> also includes pallet handling locations 402a-n.

In the present example, the physical space <NUM> includes a plurality of lanes 510a-n between the first and second rows of pallet handling locations 402a-n, the lanes 510a-n being configured for use by automated pallet movers 130a-n to transport pallets between the pallet handling locations 402a-n according to routes resulting from performance of a control algorithm for operating according to the lanes 510a-n. Lane 510a, for example, can be a looping slow lane located along the first row of pallet handling locations 402a-c and the second row of pallet handling locations 402d-n. Lane 510b, for example, can be a looping fast lane that loops in a same direction (e.g., clockwise or counter-clockwise) as the looping slow lane 510a, and can be located inside of the looping slow lane 510a. Lanes 510c-n, for example, can be buffer lanes that are located inside of the looping fast lane 510b and run perpendicular to the looping fast lane 510b.

<FIG> is flowchart of an example technique for operating automated pallet movers in the example physical space <NUM> depicted in <FIG>, according to the plurality of lanes 510a-n. A pallet can be retrieved (<NUM>). For example, the automated pallet mover 130a can move to pallet handling location 402b and retrieve a pallet that is waiting at that location. After retrieving the pallet, for example, the automated pallet mover 130a can enter and move along the looping slow lane 510a (<NUM>). If the automated pallet mover 130a arrives at its destination while travelling in the looping slow lane 510a (<NUM>), it may deliver its pallet (<NUM>). For example, if the destination location is close to the retrieval location (e.g., pallet handling location 402c is the destination location), the automated pallet mover 130a may continue travelling in the looping slow lane 510a until it reaches the destination location, and then it may deliver its pallet after it has stopped at the destination location.

If the automated pallet mover 130a has not yet arrived at the destination location while travelling in the looping slow lane 410a, it can determine whether it is safe to enter the looping fast lane 510b (<NUM>). For example, based on information provided to the automated pallet mover 130a by a control system (e.g., computing device <NUM>) regarding locations and speeds of other pallet movers 130n operating in the transportation area <NUM> and/or based on information collected by its own sensors, the automated pallet mover 130a can determine whether a transition into the looping fast lane 510b is safe, or whether the transition would result in a collision or would impede another automated pallet mover. If such a transition is determined to be unsafe, the automated pallet mover 130a can continue moving along the looping slow lane 510a (<NUM>). If such a transition is determined to be safe, the automated pallet mover 130a can transition into the looping fast lane 510b and begin moving along the looping fast lane 510b (<NUM>).

While moving along the looping fast lane 510b (<NUM>), for example, the automated pallet mover 130a can continually determine whether it is approaching its destination location (<NUM>). If the automated pallet mover 130a determines that it is not close to its destination location (e.g., based on a line that runs perpendicular to the looping fast lane 510b at the current location of the automated pallet mover 130a not being within a threshold distance of the location), for example, the automated pallet mover 130a may continue moving along the looping fast lane 510b (<NUM>).

If the automated pallet mover 130a determines that it is close to its destination location (e.g., based a line that runs perpendicular to the looping fast lane 510b at the current location of the automated pallet mover 130a being within a threshold distance of the location), for example, the automated pallet mover 130a may determine whether it is separated from its destination location by one of the buffer lanes 510c-n at its current location (<NUM>). For example, while travelling in the looping fast lane 510b, the automated pallet mover 130a may determine that it is approaching its destination location (e.g., pallet handling location 402e), but that it is separated by buffer lane 510n. In the present example, the automated pallet mover 130a can turn and enter buffer lane 510n, and may potentially wait in the buffer lane 510n (<NUM>) while one or more other automated pallet movers (e.g., automated pallet mover 130n) use the buffer lane 510n and/or deliver pallets to the destination location (e.g., pallet handling location 402e). In the present example, after waiting for its turn to clear the buffer lane 510n, the automated pallet mover 130a can proceed to deliver its pallet (<NUM>).

If the automated pallet mover 130a has looped around the transportation area <NUM> using the fast lane 510b (e.g., due to its destination location being at the end of a row of pallet handling locations and/or due to traffic conditions within the various loops), for example, the automated pallet mover 130a may determine that it is approaching its destination (<NUM>), but that it is not separated by any of the buffer lanes 510c-n (<NUM>). In the present example, the automated pallet mover 130a can enter the slow lane 510a (<NUM>) without using the buffer lane 510c.

When moving along the slow lane 510a (<NUM>), for example, the automated pallet mover 130a may determine that it has arrived at its destination location (<NUM>), and then it may deliver its pallet (<NUM>) at the destination location. After delivering its pallet, for example, the automated pallet mover 130a may receive another job from the control system, may proceed to a wait area (not shown), may proceed to a charging station (not shown), or may perform another suitable operation.

Referring now to <FIG>, an example physical space <NUM> in which automated pallet movers may operate is depicted. Similar to <FIG>, <FIG>, and <FIG>, for example, the example physical space <NUM> includes staging area <NUM>, transportation area <NUM>, and pallet storage area <NUM>. Similar to <FIG> and <FIG>, for example, the physical space <NUM> also includes pallet handling locations 402a-n.

In the present example, the physical space <NUM> includes a plurality of lanes 610a-n being configured for use by automated pallet movers 130a-n to transport pallets between the pallet handling locations 402a-n according to routes resulting from performance of a control algorithm for operating according to the lanes 610a-n. In general, the lanes 610a-n can be a series of looping lanes, each lane looping along a different portion of the first and second rows of pallet handling locations, and each adjacent lane looping in a different direction. Lane 610a, for example, can loop in a clockwise direction along a portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402a) and a portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402d). Lane 610b, for example, can loop in a counterclockwise direction along a different, adjacent portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402b), and a different, adjacent portion of the second row of pallet handling locations. Lane 610c, for example, can loop in a clockwise direction along a different, adjacent portion of the first row of pallet handling locations, and a different, adjacent portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402e). Lane 610n, for example, can loop in a counterclockwise direction along a different, adjacent portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402c), and a different, adjacent portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402n).

<FIG> is flowchart of an example technique for operating automated pallet movers in the example physical space depicted in <FIG>, according to the plurality of lanes 610a-n. A pallet can be retrieved (<NUM>). For example, the automated pallet mover 130a can move to pallet handling location 402b and retrieve a pallet that is waiting at that location. After retrieving the pallet, for example, the automated pallet mover 130a can enter and move along the looping lane 610b (<NUM>). While moving along the looping lane 610b, for example, the automated pallet mover 130a can continually determine whether it has arrived its destination location (<NUM>). If the automated pallet mover 130a arrives at its destination while travelling in the looping lane 610b, for example, it may deliver its pallet (<NUM>). If the automated pallet mover 130a has not yet arrived at its destination location, but has determined (<NUM>) that its destination is not along another loop, the automated pallet mover 130a can continue moving along its current looping lane 610b (<NUM>) until it arrives at its destination.

If, however, the automated pallet mover 130a has not yet arrived at its destination location, and has determined (<NUM>) that its destination location is along another loop (e.g., pallet handling location 402e, located along loop 610c), the automated pallet mover 130a can move to the other loop (<NUM>). In the present example, the automated pallet mover 130a can merge from the counterclockwise looping lane 610b into the clockwise looping lane 610c at a section where the two lanes are adjacent to each other. Moving from one loop to another can be performed by the automated pallet mover 130a, for example, until the automated pallet mover determines (<NUM>) that its destination is not along a different loop.

When moving along a looping lane which can provide access to its destination location (<NUM>), for example, the automated pallet mover 130a may determine that it has arrived at its destination location (<NUM>), and then it may deliver its pallet (<NUM>) at the destination location. After delivering its pallet, for example, the automated pallet mover 130a may receive another job from the control system, may proceed to a wait area (not shown), may proceed to a charging station (not shown), or may perform another suitable operation.

Referring now to <FIG>, an example physical space <NUM> in which automated pallet movers may operate is depicted. Similar to <FIG>, <FIG>, <FIG>, and <FIG>, for example, the example physical space <NUM> includes staging area <NUM>, transportation area <NUM>, and pallet storage area <NUM>. Similar to <FIG>, <FIG>, and <FIG>, for example, the physical space <NUM> also includes pallet handling locations 402a-n.

In the present example, the physical space <NUM> includes a plurality of lanes 710an, <NUM>, being configured for use by automated pallet movers 130a-n to transport pallets between the pallet handling locations 402a-n according to routes resulting from performance of a control algorithm for operating according to the lanes 710a-n, <NUM>. Lane <NUM>, for example, can be an exterior looping lane that loops along the first row of pallet handling locations (e.g., including pallet handling locations 402a-c) and the second row of pallet handling locations (e.g., including pallet handling locations 402d-n). In general, the lanes 710a-n can be a series of interior looping lanes, each lane looping along a different portion of the first and second rows of pallet handling locations, each lane looping in a same direction (e.g., clockwise or counterclockwise) as the exterior looping lane <NUM>, and each lane overlapping with portions of exterior looping lane <NUM>. Lane 710a, for example, can loop along a portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402a) and a portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402d). Lane 710b, for example, can loop along a different, adjacent portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402b), and a different, adjacent portion of the second row of pallet handling locations. Lane 710c, for example, can loop along a different, adjacent portion of the first row of pallet handling locations, and a different, adjacent portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402e). Lane 710n, for example, can loop along a different, adjacent portion of the first row of pallet handling locations (e.g., a portion including pallet handling location 402c), and a different, adjacent portion of the second row of pallet handling locations (e.g., a portion including pallet handling location 402n).

<FIG> is flowchart of an example technique for operating automated pallet movers in the example physical space depicted in <FIG>, according to the plurality of lanes 710a-n, <NUM>. A pallet can be retrieved (<NUM>). For example, the automated pallet mover 130a can move to pallet handling location 402b and retrieve a pallet that is waiting at that location. After retrieving the pallet, for example, the automated pallet mover 130a can enter and move along the exterior looping lane <NUM> (<NUM>). While moving along the exterior looping lane <NUM>, for example, the automated pallet mover 130a can continually determine whether it has arrived its destination location (<NUM>). If the automated pallet mover 130a arrives at its destination while travelling in the exterior looping lane <NUM>, for example, it may deliver its pallet (<NUM>). If the automated pallet mover 130a has not yet arrived at its destination location, but has determined (<NUM>) that it also has not yet passed its destination (e.g., according to a line that runs perpendicular to the exterior looping lane <NUM> at the current location of the automated pallet mover 130a), the automated pallet mover 130a can continue moving along the exterior looping lane <NUM> (<NUM>) until it arrives at its destination.

If, however, the automated pallet mover 130a has not yet arrived at its destination location, and has determined (<NUM>) that it has passed its destination (e.g., according to a line that runs perpendicular to the exterior looping lane <NUM> at the current location of the automated pallet mover 130a), the automated pallet mover 130a can move to an interior loop (<NUM>). In the present example, the automated pallet mover 130a can merge from the exterior looping lane <NUM> into the interior looping lane 710c at a section where the two lanes are overlap with each other.

When moving along an interior looping lane which can provide access to its destination location (<NUM>), for example, the automated pallet mover 130a may determine that it has arrived at its destination location (<NUM>), and then it may deliver its pallet (<NUM>) at the destination location. After delivering its pallet, for example, the automated pallet mover 130a may receive another job from the control system, may proceed to a wait area (not shown), may proceed to a charging station (not shown), or may perform another suitable operation.

<FIG> is a flowchart of an example technique <NUM> for selecting an optimal control algorithm for operating automated pallet movers in a physical space. For example, one or more of the lane configurations and corresponding control algorithms described with respect to <FIG> and/or the technique <NUM> for determining optimal routes for transporting optimal routes described with respect to <FIG> may be optimal for transporting pallets in the warehouse <NUM>, based on current warehouse conditions (e.g., currently available automated pallet movers and current jobs to be performed by the automated pallet movers). The example technique <NUM> can be performed by any of a variety of appropriate systems, such as the example systems depicted in <FIG>.

At <NUM>, warehouse data is received that pertains to current and/or projected conditions in a warehouse. For example, the computing device <NUM> (shown in <FIG>) can receive warehouse condition data, including data that identifies available automated pallet movers <NUM>, data that identifies capabilities of the automated pallet movers <NUM> (e.g., speed capabilities, sensor capabilities, pallet manipulation capabilities, weight capacities, power levels, etc.), and data that identifies jobs to be performed by the automated pallet movers <NUM> in the warehouse <NUM>. Data that identifies the jobs to be performed, for example, can include data specifying pallets to be transported in the warehouse <NUM> (e.g., pallet identifiers, pallet size and weight specifications, goods carried by the pallets, etc.), current and/or anticipated locations of the pallets, and destination locations of the pallets.

At <NUM>, one or more simulations of transporting pallets in the warehouse can be performed, according to each of a plurality of control algorithms. For example, the computing device <NUM> can perform one or more simulations that process a list of warehouse pallet transportation jobs to be performed (e.g., including pallet identifiers, start locations of the pallets, and destination locations of the pallets), using available automated pallet movers <NUM>, according to the lane configurations and corresponding control algorithms described with respect to each of <FIG>, <FIG>, <FIG>, <FIG>, and other potentially suitable configurations/algorithms.

At <NUM>, efficiencies resulting from simulated use of each control algorithm are compared. For example, the computing device <NUM> can determine, from the performed simulations, and for each control algorithm, an amount of time that it takes to finish the list of warehouse pallet transportation jobs, an amount of power consumed by the automated pallet movers <NUM> to perform the jobs, a suitable number of automated pallet movers <NUM> to be assigned the jobs (e.g., to avoid traffic congestion), and other such simulation results.

At <NUM>, an optimal control algorithm is selected and applied. For example, the computing device <NUM> can select the optimal control algorithm based on pallet throughput (e.g., an amount of time to complete a list of jobs or a portion of the list of jobs), a number of automated pallet movers <NUM> used for completing a list of pallet transportation jobs, an amount of power expected to be consumed while completing the jobs, another suitable factor, or a weighted combination of factors. After selecting the optimal control algorithm, for example, the computing device <NUM> can send to each of the automated pallet movers <NUM> that are designated for working on the pallet transportation jobs, a control algorithm command that causes the automated pallet movers to perform subsequent operations (e.g., pallet transportation) according to a corresponding control algorithm. In some implementations, sending the control algorithm command may include sending instructions for performing the control algorithm and/or location data that defines lanes to be used while performing the control algorithm.

In some implementations, the example technique <NUM> for selecting an optimal control algorithm for operating automated pallet movers in a physical space can be periodically performed. For example, at a suitable time interval (e.g., once per hour, once every four hours, once per day, or another suitable time interval), further simulations can be performed, efficiencies resulting from simulated performance of the control algorithms can be compared, and possibly a different control algorithm can be selected and applied. As another example, the example technique <NUM> can be performed in response to a warehouse event, such as one or more pallet transportation jobs being added to a list, one or more trucks arriving at a docking bay, or another sort of event. By periodically simulating use of the various control algorithms, for example, an optimal control algorithm may be applied in response to changing warehouse conditions.

<FIG> illustrates another example AGV <NUM>. The AGV <NUM> can be used for the AGVs described throughout this document, such as those described above with regard to <FIG>. In this example, the automated vehicle <NUM> can lift a pallet from the ground for transportation without losing flexibility of the automated vehicle <NUM> in moving freely in/out and within various areas in a warehouse environment, such as assembly areas, dock areas, case pick areas, etc. The automated vehicle <NUM> includes a pallet lift structure <NUM> having forks <NUM> for supporting an underneath of a pallet, and a fork lift mechanism <NUM> for vertically moving the forks <NUM> with respect to the ground.

AGVs that are configured to carry pallets on their top surface, such as the AGVs <NUM> and <NUM> described above, may be configured to move faster through a warehouse while carrying a pallet than AGVs with forks, such as the AGV <NUM>. However, the AGVs carrying pallets on their top surface may not be able to lift and lower pallets from a ground surface. For AGVs carrying pallets on their top surface, loading and unloading the pallets on their top surface can involve the pallets already being positioned above the ground at an appropriate level for the AGVs to transition the pallets onto their top surface, such as pallets being positioned on a conveyor belt at an appropriate height, being positioned on a stand at an appropriate height, being held by a forklift/AGV at an appropriate height, and/or other mechanisms for retaining pallets at an appropriate height. As a result, when pallets enter or leave a warehouse via a truck, they may need to be transitioned to an appropriate height for use by the faster moving AGVs <NUM> and <NUM> by a forklift-type device, such as the AGV <NUM> and/or manually operated forklifts. The following description details a variety of configurations for using different types of AGVs in different areas of the warehouse to provide such height transitions for pallets in an efficient manner, such as using the AGVs <NUM> in different configurations in the staging area <NUM> and/or the pallet transportation area <NUM>.

<FIG> depict example warehouse environments <NUM>, <NUM>, and <NUM> in which multiple different types of AGVs are used and controlled in traffic patterns so as to improve the overall efficiency of the warehouse. <FIG> reference many of the same components of system <NUM> described above with regard to <FIG>.

Referring to <FIG>, a first type of AGV <NUM> are controlled by the computer system <NUM> to operate in a first pattern <NUM> to move pallets in the pallet transportation area <NUM> between the conveyors <NUM> and the automated storage system <NUM>. The first type of AGVs <NUM> can be AGVs that transport pallets on their top surface, such as the AGVs <NUM> and <NUM>. The first pattern <NUM> can be any of the patterns described above with regard to <FIG>, <FIG>, <FIG>, and <FIG>, and/or other patterns. Pallets can be transported in the staging area by a second type of AGV <NUM> which can be controlled by the computer system <NUM> to move according to a second pattern <NUM>. In this example, the AGVs <NUM> can be AGVs capable of lifting and placing pallets on a ground surface, such as the AGV <NUM>. The AGVs <NUM> can transport pallets between the trucks <NUM> and the decks/conveyors <NUM>, and can be controlled to according to the traffic pattern <NUM>, which is depicted as simple collection of straight lines between the decks/conveyors <NUM> and the trucks <NUM>. Other traffic patterns can be used for the second type of AGVs <NUM>, such as the patterns described above with regard to <FIG>, <FIG>, <FIG>, and <FIG>, and/or other patterns. Since the first type of AGV <NUM> may operate at a higher rate of speed than the second type of AGV <NUM>, the first type of AGV <NUM> may be tasked with moving pallets laterally across the warehouse to the appropriate deck/conveyor, and the AGVs <NUM> may instead restrict their movement to more vertical movement, minimizing their drive time and the complexity of their traffic pattern. Such a configuration of the relative patterns and movements of the AGVs <NUM> and <NUM> can minimize the lateral travel time for pallets throughout the warehouse, and can maximize the pallet throughput. AGVs <NUM> may be reassigned to different vertical traffic paths, which may be changed, created, and deprecated depending on the trucks <NUM> that are currently parked in the bays <NUM> for loading and unloading.

Referring to <FIG>, in this example environment <NUM> the decks/conveyors from environment <NUM> (<FIG>) have been removed and instead replaced by the second type of AGV <NUM>, which move pallets between the trucks <NUM> and the first type of AGVs <NUM> according to the traffic patterns <NUM>. The second type of AGV <NUM> can load and unload pallets from the first type of AGV <NUM>, and/or can place them on stands from which the first type of AGVs <NUM> can load and unload pallets. This configuration in environment <NUM> can provide additional flexibility and configurability by removing physical conveyors, which are replaced by the second type of AGVs <NUM> and their readily configurable traffic patterns <NUM>.

Referring to <FIG>, in this example environment <NUM> the conveyors are again removed, but human-operated forklifts <NUM> are added to move pallets in and/or out of the trucks <NUM>, with the second type of AGVs <NUM> moving pallets according to the patterns <NUM> between the forklifts <NUM> and the first type of AGVs <NUM>. There are some tasks that AGVs may have difficulty accomplishing, such as unloading trucks when pallets are tipped/slanted. In such instances, human forklift operators <NUM> may be used to perform these tasks. Loading trucks with well-aligned and stored pallets may not have the same types of problems, and may be more consistently able to be performed by the second type of AGVs <NUM> without human-operated forklifts <NUM>. In such an environment <NUM>, the second type of AGVs <NUM> may by default perform the truck loading and unloading, and may signal for human intervention by the human-operated forklifts <NUM> when instances are encountered in which the AGVs <NUM> are not able to safely perform the task.

Other warehouse environment configurations using first and second types of AGVs are also possible.

<FIG> is a block diagram of computing devices <NUM>, <NUM> that may be used to implement the systems and methods described in this document, as either a client or as a server or plurality of servers. Computing device <NUM> is intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Computing device <NUM> is intended to represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not meant to limit implementations described and/or claimed in this document.

The processor <NUM> can process instructions for execution within the computing device <NUM>, including instructions stored in the memory <NUM> or on the storage device <NUM> to display graphical information for a GUI on an external input/output device, such as display <NUM> coupled to high-speed interface <NUM>.

The high-speed controller <NUM> manages bandwidth-intensive operations for the computing device <NUM>, while the low speed controller <NUM> manages lower bandwidth-intensive operations. Such allocation of functions is an example only.

Additionally, the processor may be implemented using any of a number of architectures. For example, the processor may be a CISC (Complex Instruction Set Computers) processor, a RISC (Reduced Instruction Set Computer) processor, or a MISC (Minimal Instruction Set Computer) processor.

External interface <NUM> may be provided, for example, for wired communication in some implementations, or for wireless communication in other implementations, and multiple interfaces may also be used.

The information carrier is a computer- or machine-readable medium, such as the memory <NUM>, expansion memory <NUM>, or memory on processor <NUM> that may be received, for example, over transceiver <NUM> or external interface <NUM>.

Additionally computing device <NUM> or <NUM> can include Universal Serial Bus (USB) flash drives. The USB flash drives may store operating systems and other applications. The USB flash drives can include input/output components, such as a wireless transmitter or USB connector that may be inserted into a USB port of another computing device.

As used herein, the terms "machine-readable medium," "computer-readable medium" refers to any computer program product, apparatus and/or device (e.g., magnetic discs, optical disks, memory, Programmable Logic Devices (PLDs)) used to provide machine instructions and/or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal.

Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), peer-to-peer networks (having ad-hoc or static members), grid computing infrastructures, and the Internet.

Claim 1:
An automated warehouse system (<NUM>, <NUM>), the system comprising:
a plurality of automated pallet movers (<NUM>);
a physical space (<NUM>) in which the plurality of automated pallet movers are configured to operate; and
a control system (<NUM>) configured to provide commands to each of the plurality of automated pallet movers for operating in the physical space, the commands comprising, for an automated pallet mover:
a pallet transportation command comprising:
(i) a pallet identifier of a pallet (<NUM>) to be transported by the automated pallet mover in the physical space, and
(ii) a destination location to which the pallet is to be transported by the automated pallet mover; and
a control algorithm command that specifies a control algorithm for moving through the physical space, wherein the automated pallet mover is configured to transport the pallet to the destination location according to a route resulting from performance of the control algorithm, while one or more of the other automated pallet movers concurrently transport other pallets to other destination locations according to other routes resulting from performance of the same control algorithm; characterized in that
the control system being further configured to:
(i) for each of a plurality of different control algorithms, perform (<NUM>) one or more simulations of transporting pallets in the physical space by the plurality of automated pallet movers using the control algorithm,
(ii) compare (<NUM>) pallet throughput resulting from simulated use of each control algorithm, and
(iii) select (<NUM>) an optimal control algorithm, the optimal control algorithm corresponding to greatest pallet throughput, wherein the control algorithm command specifies the optimal control algorithm.