Login| Sign Up| Help| Contact|

Patent Searching and Data


Title:
PALLET RACK AND MODULAR COUNTER SHELVING TRACTOR
Document Type and Number:
WIPO Patent Application WO/2020/150368
Kind Code:
A1
Abstract:
A shelving tractor for towing dolly mounted shelving within retail and warehouse environments. The shelving tractor includes a chassis, a front set of wheels, a back set of wheels, a servo inverter motor, a controller, and a dolly hitch coupler. The chassis provides a generally rectangular tractor frame including a front and a back. The front set of wheels includes at least two wheels and the back set of wheels includes more than two wheels. The servo inverter motor is mounted on the chassis and is operatively connected for powering wheel movement. The controller is communicatively coupled with the servo inverter motor that controls movement and operation of the shelving tractor. The controller includes: speed controls; braking controls; and steering controls. The controller receives data that governs movement and operation from a guidance system that provides precise shelving positioning.

Inventors:
ANTILLON GABRIEL (US)
Application Number:
PCT/US2020/013704
Publication Date:
July 23, 2020
Filing Date:
January 15, 2020
Export Citation:
Click for automatic bibliography generation   Help
Assignee:
WAL MART STORES INC (US)
International Classes:
B62D53/00; B62D53/04; B66F9/06; B66F9/07; G05D1/02
Domestic Patent References:
WO2014118716A22014-08-07
Foreign References:
US5764014A1998-06-09
US9122276B22015-09-01
US20160176638A12016-06-23
US6390314B12002-05-21
US20180281178A12018-10-04
US20170293294A12017-10-12
US20060244588A12006-11-02
Attorney, Agent or Firm:
KASSIM, Olajumoke, O. O. et al. (US)
Download PDF:
Claims:
CLAIMS

What is claimed is:

1. A shelving tractor for towing dolly mounted shelving within retail and warehouse environments, comprising:

a chassis providing a generally rectangular tractor frame including a front and a back; a front set of wheels including at least two wheels and a back set of wheels including more than two wheels, both the front set of wheels and the back set of wheels mounted to the chassis, for propelling the shelving tractor;

a servo inverter motor mounted on the chassis, and operatively connected for powering wheel movement;

a controller communicatively coupled with the servo inverter motor that controls movement and operation of the shelving tractor, including:

speed controls, that provide acceleration for the shelving tractor;

braking controls, that provide stopping for the shelving tractor; and

steering controls, that orient for the shelving tractor;

wherein the controller receives data that governs movement and operation from a guidance system providing precise shelving positioning; and

a dolly hitch coupler located at the back of the frame that provides a universal connector for attachment to a dolly configured for temporary support of shelving undergoing relocation.

2. The shelving tractor of claim 1, wherein the controller is remote from the tractor frame.

3. The shelving tractor of claim 1, wherein the guidance system tracks a vest worn by a worker providing guidance to the tractor.

4 The shelving tractor of claim 1, wherein the guidance system is a GPS based guidance system.

5. The shelving tractor of claim 1, wherein the guidance system follows a reflective tape path outlined on the floor of the retail or warehouse environment.

6. The shelving tractor of claim 1, wherein the hitch coupler has a universal connector that is magnetic.

7. The shelving tractor of claim 1, wherein the controller includes coupling and decoupling controls that control the hitch coupler.

8. The shelving tractor of claim 1, wherein the dolly hitch coupler includes a two-piece pivotable latch.

9. The shelving tractor of claim 1, wherein each of the wheels in the front set of wheels and the back set of wheels is adapted to be independently driven.

10. The shelving tractor of claim 1, wherein optical sensors are included on the tractor to detect interference between objects and the shelving tractor and shelving being towed.

11. The shelving tractor of claim 1, wherein the controller can further communicate with the dolly and a plurality of additional dollies for raising and lowering the shelving.

12. The shelving tractor of claim 1, wherein the shelving tractor has a low profile and flat top.

13. A shelving tractor system, for towing dolly mounted shelving within retail and warehouse environments, comprising:

a first shelving tractor couplable to a first dolly at a first end of an elongate shelving structure, including:

a frame including a front and a back;

a front set of wheels and a back set of wheels, mounted to the frame, for propelling the first shelving tractor;

a servo inverter motor, mounted on the chassis, and operatively connected for powering wheel movement;

a dolly hitch coupler located at the back of the frame with a universal connector for attachment to the first dolly;

a second shelving tractor couplable to a second dolly at a second end of the elongate shelving structure and adapted for cooperative coordinated movement of the elongate shelving structure with the first shelving tractor; and

a controller communicatively coupled with the first shelving tractor and the second shelving tractor, that controls movement and operation of both tractors, including: speed controls; braking controls; and steering controls.

14. The shelving tractor system of claim 13, wherein the controller receives data that governs movement and operation from a guidance system providing precise shelving positioning.

15. The shelving tractor system of claim 14, wherein the guidance system tracks a vest worn by a worker providing guidance to the tractor.

16. The shelving tractor system of claim 14, wherein the guidance system is a GPS based guidance system.

17. The shelving tractor system of claim 14, wherein the guidance system follows a reflective tape path outlined on the floor of the retail or warehouse environment.

18. The shelving tractor system of claim 13, wherein optical sensors are included on the shelving to detect interference between objects and the shelving, the first shelving tractor, or the second shelving tractor.

19. The shelving tractor system of claim 13, wherein the first dolly and the second dolly are configured to lift the shelving as directed by the controller.

20. The shelving tractor system of claim 19, wherein the first dolly and the second dolly are further configured to move the shelving as directed by the controller.

Description:
PALLET RACK AND MODULAR COUNTER SHELVING TRACTOR

TECHNICAL FIELD

This disclosure relates to a machine and related systems for towing pallet racks, modular counters, and other types of shelving within retail and warehouse environments. More particularly, this disclosure relates to an electric shelving tractor that provides guided towing of wheeled dollies on which shelving is temporarily mounted for transport within large warehouses and retail locations.

BACKGROUND

In many stores and retail locations, shelving or sections of shelving, sometimes referred to as“modular counters”, are present throughout the store and are stocked with merchandise. This merchandise can be displayed in a well designed and precise layout and configuration, for example. At certain times, these entire shelving units or sections of shelving must be moved and relocated within the store for remodeling, cleaning, or modifications to store layout and configuration. Likewise, large racks in warehouses on which pallets of material are stacked (also referred to as“pallet racks”) also need to be relocated at various times, sometimes with the pallets of material still located on the shelves of the racks. Modular counters, pallet racks, and similar shelving can be very large and heavy in some instances. For example, a large pallet rack or modular counter with stacked materials could be twenty-five to fifty feet long and weigh tens of thousands of pounds.

In the past, relocation of shelving had been done with the aid of dollies or other moving equipment that provided sets of wheels on which the shelving is hoisted. Once located on the dollies, the shelving was manually pushed or pulled to its relocated destination. For example, a team of a ten to twelve workers might be required to surround, push, and guide the shelving around a store or warehouse.

Manual transport and movement of shelving is fraught with safety hazards and risks to the workers responsible for this task. Pushing and handling large heavy objects is physical work that is inherently dangerous and can be taxing on the bodies of employees and can lead to various back injuries or other health issues. Accordingly, the risks and costs of accomplishing such a task are substantial. Further, movement of the shelving can result in products on the shelving being damaged during the move. In certain instances, shelving must be unloaded before transport to minimize danger and the weight of the structure on which manual force is being exerted.

Accordingly, there is a desire for an improved apparatus or solution permitting shelving transport which would minimize physical labor and direct employee interactions with shelving units during relocation and which overcomes past difficulties incurred during such shelving movement.

SUMMARY

Embodiments described or otherwise contemplated herein substantially provide the advantages of a machine that can pull a fully loaded modular counter, pallet rack, or other shelving from one place in a store or warehouse to another. This transport can be done in a largely automated fashion via a shelving tractor or related system and requires little or no manual labor for precise and accurate transport.

One embodiment relates to a shelving tractor for towing dolly mounted shelving within retail and warehouse environments. The shelving tractor includes a chassis, a front set of wheels, a back set of wheels, a servo inverter motor, a controller, and a dolly hitch coupler. The chassis provides a generally rectangular tractor frame including a front and a back. The front set of wheels includes at least two wheels and the back set of wheels includes more than two wheels. Both the front set of wheels and the back set of wheels are mounted to the chassis for propelling the shelving tractor. The servo inverter motor is mounted on the chassis and is operatively connected for powering wheel movement. The controller is communicatively coupled with the servo inverter motor that controls movement and operation of the shelving tractor. The controller includes: speed controls, that provide acceleration for the shelving tractor; braking controls that provide stopping for the shelving tractor; and steering controls that orient for the shelving tractor. The controller receives data that governs movement and operation from a guidance system that provides precise shelving positioning. The dolly hitch coupler is located at the back of the frame. The dolly hitch coupler provides a universal connector for attachment to a dolly configured for temporary support of shelving undergoing relocation. One embodiment relates to a shelving tractor system for towing dolly mounted shelving within retail and warehouse environments. The shelving tractor system includes a first shelving tractor, a second shelving tractor, and a controller. The first shelving tractor is couplable to a first dolly at a first end of an elongate shelving structure. The first shelving tractor includes: a frame including a front and a back; a front set of wheels and a back set of wheels, mounted to the frame, for propelling the first shelving tractor; a servo inverter motor, mounted on the chassis, and operatively connected for powering wheel movement; and a dolly hitch coupler located at the back of the frame with a universal connector for attachment to the first dolly. The second shelving tractor is couplable to a second dolly at a second end of the elongate shelving structure and is adapted for cooperative coordinated movement of the elongate shelving structure with the first shelving tractor. The controller is communicatively coupled with the first shelving tractor and the second shelving tractor, that controls movement and operation of both tractors, including: speed controls; braking controls; and steering controls.

The above summary is not intended to describe each illustrated embodiment or every implementation of the subject matter hereof. The figures and the detailed description that follow more particularly exemplify various embodiments.

BRIEF DESCRIPTION OF THE FIGURES

Subject matter hereof may be more completely understood in consideration of the following detailed description of various embodiments in connection with the accompanying figures, in which:

FIG. 1 is a side view diagram of a shelving tractor pulling shelving mounted on a plurality of dollies, according to an embodiment.

FIG. 2 is a partial top view diagram of a shelving tractor pulling shelving mounted on a plurality of dollies, according to an embodiment.

FIG. 3 is a diagram view of a shelving tractor, according to an embodiment.

FIG. 4 is a perspective view of a shelving tractor, according to an embodiment.

FIG. 5 shows a side diagram view of an alternate embodiment of a shelving tractor.

FIG. 6 shows a dolly hitch coupler of a shelving tractor, according to an embodiment. FIG. 7 shows a top diagram view of a store in which shelving is being relocated by a pair of shelving tractors, according to an embodiment.

FIG. 8 shows a flow chart of operation of a shelving tractor, according to an embodiment.

While various embodiments are amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood, however, that the intention is not to limit the claimed subject matter to particular embodiments described. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the subject matter as defined by the claims.

DETAILED DESCRIPTION OF THE DRAWINGS

Embodiments generally relate to a machine, referred to herein as a“shelving tractor”, that can manipulate a fully loaded modular counter, pallet rack, or other shelving from one place in a store or warehouse to another as well as related systems. The shelving tractor 100 operates in a largely automated fashion and requires little or no manual labor for precise and accurate transport of stocked shelving.

FIGS. 1-4 each show the shelving tractor 100 in various configurations. Specifically, FIGS. 1 and 2 can be understood to show a shelving tractor 100 pulling shelving 200 fully loaded with products 202 or pallets of products 202. As shown, shelving 200 is mounted on a plurality of dollies 300. In these figures and the other figures, and throughout the description and claims of this application,“shelving” should be understood to broadly include modular counters, pallet racks, and other shelving and display structures and systems used in retail and warehouse environments. Many different and varied shelving heights, widths, and shapes are possible. Similarly, a“dolly” or“dollies” should be understood to broadly include all moving systems with roller wheels, casters, or skates. In general, the store or warehouse shelving 200 being pulled or manipulated by one or more shelving tractors 100 described in this disclosure are first raised onto a plurality of wheeled dollies 300. The manner of lifting and transferring the shelving 200 onto the dollies 300 can be done in various ways. One way is to use a group of dollies with wheeled rollers on the base that each have an elongate structure that can be slid underneath the shelving 200 and then slowly raised via a cranked or automated lift mechanism. Once a sufficient number of dollies have been placed and raised, the shelving 200 is able to readily roll as directed. A variety of companies manufacture dollies of various types. In general, shelving tractors 100 are intended to be able to be used with and accommodate any of these commercially available dollies. FIGS. 3 and 4 do not specifically show embodiments of a shelving tractor 100 with shelving 200 or dollies 300 depicted.

Referring generally to FIGS. 1-4, a shelving tractor 100 for towing fully loaded dolly mounted shelving 200 within retail and warehouse environments is shown. The shelving tractor 100 includes a chassis 110, a front set of wheels 112, a back set of wheels 114, a servo inverter motor 116, a dolly hitch coupler 120, and a controller 130.

The chassis 110 provides a generally rectangular tractor frame including a front 122 and a back 124. In this disclosure, the chassis 110 may sometimes generally be referred to as frame 110 as well. The frame 110 allows for a relatively wide wheel base and is low to the ground to aid in stability and towing capacity.

In some embodiments, the front set of wheels 112 includes at least two wheels and the back set of wheels 114 includes more than two wheels. Both the front set of wheels 112 and the back set of wheels 114 are mounted to the chassis 110 for propelling the shelving tractor 100. In some embodiments, four wheels can be mounted on the portion of the shelving tractor 100 near the rear 124 and two wheels can be mounted on the portion of the shelving tractor 100 near the front 122. Some embodiments can have two wheels in the back set of wheels 114. In some embodiments, a single front wheel can be the front set of wheels 112. In some embodiments, each of the wheels in the front set of wheels 112 and the back set of wheels 114 is adapted to be independently driven.

The electric servo inverter motor 116 is mounted on the chassis 110 and is operatively connected for powering wheel movement. This type of motor 116 provides equipment that can precisely control position, velocity and acceleration of the shelving tractor 100. Further, the motor 116 is selected to allow for a large towing capacity, as large, heavy shelving may be moved by the device.

The controller 130 is communicatively coupled with the servo inverter motor 116 that controls movement and operation of the shelving tractor 100. The controller 130 includes: speed controls 132 (controlled by a speed control engine or module in some embodiments), braking controls 134 (controlled by a braking control engine or module in some embodiments), and steering controls 136 (controlled by a steering control engine or module in some embodiments). In some embodiments, the controller 130 is remote from the shelving tractor 100 and frame 110. In some embodiments, the controller 130 is locally present on the shelving tractor 100. Controller 130 can include computing devices, microprocessors, and various modules.

Speed controls 132 provide acceleration for the shelving tractor 100. Braking controls 134 provide stopping for the shelving tractor 100. Steering controls 136 orient the shelving tractor 100. In some embodiments, the controller 130 includes coupling and decoupling controls 138 that control physical interactions and dolly 300 attachment by the hitch coupler 120

The controller 130 can be controlled fully or in-part by input from a user input device 140 and sensors 142. Such a user input device 140 may be tethered or wireless. The input device 140 may be a handheld device with an appearance similar to a game controller or have more robust or specialized controls to impact the speed controls 132, braking controls 134, and steering controls 136. In some embodiments, the shelving tractor 100 will rely upon manual programming. In some embodiments, the shelving tractor 100 will use automated programming and can detect many types of parameters. Parameters detected could include, for example, tractor length by measuring the pulling force or drawbar torque.

In various embodiments, the controller 130 receives data that governs movement and operation from a guidance system 150. Guidance system 150 provides the shelving tractor 100 the ability to execute precise, accurate, and efficient shelving positioning. In certain embodiments, the shelving tractor 100 will be considered self-guided. In some embodiments, the guidance system 150 can include: employee vest tracking equipment; camera or other optical based sensors to track reflective tape on the floor or positions of proximate shelving; GPS tracking equipment; RFID tags and sensors; voice controlled sensors; and communication systems providing guidance from other tractors.

In embodiments relying upon employee vest tracking equipment, the shelving tractor 100 is configured to follow a leader with a“follow me” vest on. The garment or conductor device (such as a token) can also utilize RFID technology and/or be associated with a headset allowing voice commands to be provided to the shelving tractor 100. Similarly, certain embodiments can rely upon RFID tags and related sensors independently to track and control the shelving vehicle 100. Likewise, in some embodiments, guidance is governed primarily by voice controlled sensors.

Some embodiments rely upon a camera or other optical based sensors to track tape on the floor to guide it. The tape can be reflective, colored, wired, or otherwise detectable. Likewise, the same optical sensors on the tractor 100 can be used to detect the positions of proximate shelving and to ensure that the tractor 100 and its payload do not hit fixed infrastructure. In general, one or more cameras are mounted on the front of the tractor 100 to guide it.

Embodiments relying upon GPS tracking equipment can provide a universally accurate determination of position. This permits precise placement of shelving at desired and specified geographic coordinates. Some embodiments rely upon communication systems providing guidance from other tractors.

The dolly hitch coupler 120 is located at the back 124 of the frame/chassis 110. The dolly hitch coupler 120 provides a universal connector for attachment to a dolly 300 configured for temporary support of shelving 200 undergoing relocation. In some arrangements, the dolly hitch coupler 120 includes a single bar or single hook structure that attaches to a single hook or eye on a corresponding adjacent dolly 300 or a safety chain extending from the dolly 300. One example of a dolly hitch coupler 120 is shown in FIG. 6. In some embodiments, the dolly hitch coupler 120 is a telescoping bar that extends out from the back of the tractor 100 for attachment to a dolly 300 of the shelving 200. In some embodiments, the dolly hitch coupler 120 is a magnetic coupler. In such an arrangement, the coupler includes a magnetic device mounted at the back 124 of the tractor 100 which provides magnetic current that can be turned on and off to attract and join to a corresponding metal portion on an adjacent dolly. Magnetic coupling can provide certain features which enable rapid and automated joining and coupling/uncoupling of dollies 300 with a shelving tractor 100. In certain embodiments, dolly hitch coupler 120 will include two separate couplers to provide two points of attachment to a dolly 300 to ensure robust and secure attachment. In some embodiments, the dolly hitch coupler includes a two-piece pivotable latch. See FIG. 6.

Various safety features can be built into shelving tractors 100 and related systems. Specifically, sensors 142 can be incorporated into the shelving tractor 100 or external sensors 178 can be incorporated into the shelving 200 that is being moved or the surrounding environment to detect and avoid objects in order to avoid collisions or unwanted contact during movements. Specifically, optical sensors can be included on the tractor 100 to detect interference between objects and the shelving tractor 100 and shelving 200 being towed. In some embodiments, cameras will be mounted on the tractor 100. In some embodiments, cameras will be mounted on the shelving 200. For example, sensors 178 on the back of the shelving 200 can project a laser or beam forward along the side of the shelving 200 that will provide an alert if it is broken. In other embodiments, a charge can be placed on the metal shelving 200 itself which will detect if contact will an outside object is made. Alerts, alarms, and emergency shutoffs are possible in some embodiments. Accelerometers or other types of sensors 142 can detect sudden impacts as well. Coupled with these sensors 142 is a shelving tractor 100 with braking controls 134 that can rapidly stop the tractor 100 and shelving 200. In some embodiments, the shelving tractor 100 will be moving at a very slow rate, such as one mph, for example. Despite the large load, the slow movement lends itself to rapid stoppage. In various embodiments, manual override features will be possible for safety, through use of a user input device 140 as well. Other safety features present on the shelving tractor 100 include beacons 146 and annunciators to aid in safe operation.

In general, the shelving tractor 100 shown in FIGS. 1-4 is low profile, has a flat top, is low to the ground, and powerful in terms of its towing capacity. It includes a flat top, wheels providing substantial traction, and is easy to transport and store. In some embodiments, the shelving tractor 100 can be designed for convenient shipping between stores or locations. The shelving tractor 100 can roll itself into specially designed box for shipping. The box can include provisions for storing dollies 300 as well. The box can have retractable wheels for shipment to allow for stable fixing during the shipping process and to also prevent damage to the wheels. The shelving tractor 100 can be equipped with covers for closing over any sensors or cameras 142 located on the shelving tractor 100. In general, the shelving tractor 100 is durably built such that it can be shipped many times without damage.

FIG. 5 shows a side diagram view of an alternate embodiment of a shelving tractor, referred to as shelving tractor 101 for convenience. However, components depicted throughout the description and figures for shelving tractor 100 should likewise generally apply to shelving tractor 101, unless specified otherwise. Shelving tractor 101 is a small tractor unit having a low profile base portion 160 at the back and a taller front portion 162. Base portion 160 has multiple sets of wheels 112 and 114 and front portion 162 is equipped with a tethered user input device 140 and beacon 146. FIG. 5 depicts the shelving tractor 101 pulling a dolly 300 via a chain as a dolly hitch coupler 120. Shelving tractor 101 has an appearance similar to a parking lot shopping cart mover and is well-suited for a vest guidance system, for example.

In FIG. 6, a dolly hitch coupler 120 for a shelving tractor 100 is shown. In general, dolly hitch coupler 120 can take on various forms and utilize a variety of technology to interact with a dolly 300 that requires relocation. In FIG. 6, an embodiment is shown with a pivotable arm 166 that is pivotally connected with a latch arm 168. One or more of such dolly hitch couplers 120 can be attached to the back 124 of the shelving tractor 100. As shown, the pivotal arm 166 is primarily a pivoting link to the tractor and the latch arm 168 provides a longer extension with a hook 169 at the end that is sized to engage a dolly feature.

In some embodiments, the dolly hitch coupler 120 may be an extendable telescoping bar. Using an extendable, telescoping arrangement, would permit broad use with a number of different types of dollies 300 and which can appropriately be sized to the particular shelving 200 undergoing relocation.

FIG. 7 shows a top diagram view of a store 170 in which an elongate shelving 200 is being relocated by a pair of shelving tractors 100, designated here as first shelving tractor 100a and second shelving tractor 100b for simplicity of description. First shelving tractor 100a is coupled to a first dolly 300a at a first end of the elongate shelving 200 via a dolly hitch coupler 120 and second shelving tractor 100b is coupled to a second dolly 300b at a second end of the elongate shelving 200 via a dolly hitch coupler 120. A plurality of additional dollies 300 are shown supporting the shelving 200 between the first dolly 300a and the second dolly 300b and generally follow the lead of the dollies 300a and 300b.

In general, FIG. 7 depicts the transfer of the shelving 200 from a first location 172 to a second location 174 in store 170. Control of the shelving tractors 100a and 100b during this transfer via route 176, includes speed, braking, and steering control from controller 130. The controller 130 may be located on one of the tractors, be shared between controllers on the respective tractors, or be located in a remote location. The controller 130 is communicatively coupled with the first shelving tractor 100a and second shelving tractor 100b. In general, combinations of two or more shelving tractors 100 and their respective controller or controllers 130 and other components, can be referred to as a shelving tractor system 10.

Accordingly, an embodiment like the one shown in FIG. 7 can be understood to relate to a shelving tractor system 10 for towing dolly mounted shelving 200 within a retail location 170. The shelving tractor system 10 includes a first shelving tractor 100a, a second shelving tractor 100b, and a controller 130. The first shelving tractor 100a is couplable to a first dolly 300a at a first end of the elongate shelving structure 200. The first shelving tractor 100a includes: a frame 110 including a front 122 and a back 124; a front set of wheels 112 and a back set of wheels 114, mounted to the frame 110, for propelling the first shelving tractorl 10; a servo inverter motor 116 mounted on the frame/chassis 110, and operatively connected for powering wheel movement; and a dolly hitch coupler 120 located at the back of the frame 110 with a universal connector for attachment to the first dolly 300a. The second shelving tractor 100b is couplable to a second dolly 300b at a second end of the elongate shelving structure 200 and is adapted for cooperative coordinated movement of the elongate shelving structure 200 with the first shelving tractor 100a. The controller 130 is communicatively coupled with the first shelving tractor 100a and the second shelving tractor 100b, that controls movement and operation.

In some embodiments, the controller 130 can receive data that governs movement and operation from a guidance system 150 providing precise shelving positioning. In FIG. 7, the guidance system 150 could utilize data from a plurality of shelving tractor sensors 142 or a plurality of external sensors 178 located throughout the store 170. The shelving tractor sensors 142 and external sensors 178 could be cameras in some embodiments, for example. In some embodiments, external sensors 178 could include sensors that are located on the shelving 200 being moved. For example, motion sensors or optical sensors could be use to detect if the shelving 200 or tractor 100a or 100b has contacted or is about to contact another object. In various embodiments, the first tractor 100a and second tractor 100b communicate data and information obtained and cooperatively determine a desired route 176 and coordinated movement of the shelving 200. Communications can be wireless and be done via a variety of wireless communication protocols and technologies (Bluetooth, RF, WIFI, etc.)

In some embodiments, having a steerable shelving tractor 100 at both the front and rear of the shelving 200 with independent, but coordinated towing or pushing can enable tighter turning radiuses and movements of the shelving 200 that would not be otherwise possible with a single tractor 100a exerting its force at the first end of the shelving 200. In some embodiments, the second shelving tractor 100b can largely follow the front shelving tractor 100b and actively compensate for front shelving tractor movements as determined by the controller 130.

In some embodiments, the shelving tractors 100a and 100b can visually detect the neighboring shelving and measure the distance between the relocated shelving 200 and the neighboring shelving. Together with the input blueprint distance (i.e.“this comer is 42 inches from corner of shelving LI 2” or l”the comer is 12 feet 6 inches from the NE comer of the building”) the collaborative system of the shelving tractors 100a, 100b, and dollies/jacks 300 can fine tune the final location of the corner points of the shelving 200. In some embodiments, the controller 130 can further communicate with the attached dollies 300a and 300b, as well as the plurality of other additional dollies 300, for raising and lowering the shelving. In some embodiments, the first dolly 300a and the second dolly 300b are configured to lift the shelving 200 as directed by the controller 130. In some embodiments, the first dolly 300a and the second dolly 300b are further configured to move the shelving 200 as directed by the controller 130.

FIG. 8 shows a flow chart of a method 400 related to operation of a shelving tractor 100. At 410, the method begins with starting an automated shelving tractor 100, having a dolly hitch coupler 120 and a controller 130. Next, at 420 the method includes receiving data from sensors 142 and/or 178 related to the layout of a store 170 and the positioning of a shelving 200 that is mounted on a plurality of dollies 300. At step 430, the method includes automatically connecting the dolly hitch coupler 120 of the shelving tractor 100 at a first location 172 with a first dolly 300a of the plurality of dollies 300 supporting the shelving 200. At 440, the method includes receiving location information of desired second store location 174 to transfer the shelving 200. This desired second store location 174 can be input and programmed manually or automatically. At 450, the method includes directing automated movement of the shelving tractor 100 to tow the shelving 200 from a first store location 172 to a second store location 174 where such direction utilizes the data received from at least one sensor 142 or 178. At 460, the method includes automatically disconnecting the dolly hitch coupler 120 of the shelving tractor 100 from the first dolly 300a. In some embodiments, the dollies 300 may each be powered and provide a small amount of the locomotive force needed to move shelving 200. The dollies 300 can have communication capabilities between one another when instructed by the shelving tractor 100 to move and can coordinate their movement better than simple towing. In some embodiments, the dollies 300 can each have two casters where only one is driven/steered and the other is merely a dummy that follows direction and rolls freely. In some embodiments the dollies include an onboard motorized lift. Accordingly, the dollies 300 can lift and set down shelving collectively when the shelving tractor 100 or controller 130 instructs them. Accordingly, in such embodiments, once the shelving 200 is moving, the controller 130 can tell the shelving tractor 100 and or system 10 where exactly to place the shelving 200. When location is the correct location, the operator instructs the dollies 300 via the tractor 100, and jacks on the dollies lower the shelving to its new physical location. This can be done fully automatically or rely upon some operator input.

In some embodiments, dollies are contemplated that serve as both dollies and powerful transportation vehicles. These dollies both have mechanisms for motorized and automated lifting and lowering of shelving as well as automated and precise transport.

In embodiments, systems and methods and/or their components disclosed in this application, can include computing devices, microprocessors, modules and other computer or computing devices, which can be any programmable device that accepts digital data as input, is configured to process the input according to instructions or algorithms, and provides results as outputs. In an embodiment, computing and other such devices discussed herein can be, comprise, contain or be coupled to a central processing unit (CPU) configured to carry out the instructions of a computer program. Computing and other such devices discussed herein are therefore configured to perform basic arithmetical, logical, and input/output operations.

Computing and other devices discussed herein can include memory. Memory can comprise volatile or non-volatile memory as required by the coupled computing device or processor to not only provide space to execute the instructions or algorithms, but to provide the space to store the instructions themselves. In embodiments, volatile memory can include random access memory (RAM), dynamic random access memory (DRAM), or static random access memory (SRAM), for example. In embodiments, non-volatile memory can include read-only memory, flash memory, ferroelectric RAM, hard disk, floppy disk, magnetic tape, or optical disc storage, for example. The foregoing lists in no way limit the type of memory that can be used, as these embodiments are given only by way of example and are not intended to limit the scope of the invention.

In embodiments, the system or components thereof can comprise or include various modules or engines, each of which is constructed, programmed, configured, or otherwise adapted, to autonomously carry out a function or set of functions. The term“engine” as used herein is defined as a real-world device, component, or arrangement of components implemented using hardware, such as by an application-specific integrated circuit (ASIC) or field-programmable gate array (FPGA), for example, or as a combination of hardware and software, such as by a microprocessor system and a set of program instructions that adapt the engine to implement the particular functionality, which (while being executed) transform the microprocessor system into a special-purpose device. An engine can also be implemented as a combination of the two, with certain functions facilitated by hardware alone, and other functions facilitated by a combination of hardware and software. In certain implementations, at least a portion, and in some cases, all, of an engine can be executed on the processor(s) of one or more computing platforms that are made up of hardware (e.g., one or more processors, data storage devices such as memory or drive storage, input/output facilities such as network interface devices, video devices, keyboard, mouse or touchscreen devices, etc.) that execute an operating system, system programs, and application programs, while also implementing the engine using multitasking, multithreading, distributed (e.g., cluster, peer-peer, cloud, etc.) processing where appropriate, or other such techniques. Accordingly, each engine can be realized in a variety of physically realizable configurations, and should generally not be limited to any particular implementation exemplified herein, unless such limitations are expressly called out. In addition, an engine can itself be composed of more than one sub engines, each of which can be regarded as an engine in its own right. Moreover, in the embodiments described herein, each of the various engines corresponds to a defined autonomous functionality; however, it should be understood that in other contemplated embodiments, each functionality can be distributed to more than one engine. Likewise, in other contemplated embodiments, multiple defined functionalities may be implemented by a single engine that performs those multiple functions, possibly alongside other functions, or distributed differently among a set of engines than specifically illustrated in the examples herein.

Various embodiments of systems, devices, and methods have been described herein. These embodiments are given only by way of example and are not intended to limit the scope of the claimed subject matter. It should be appreciated, moreover, that the various features of the embodiments that have been described may be combined in various ways to produce numerous additional embodiments. Moreover, while various materials, dimensions, shapes, configurations and locations, etc. have been described for use with disclosed embodiments, others besides those disclosed may be utilized without exceeding the scope of the claimed subject matter.

Persons of ordinary skill in the relevant arts will recognize that the subject matter hereof may comprise fewer features than illustrated in any individual embodiment described above. The embodiments described herein are not meant to be an exhaustive presentation of the ways in which the various features of the subject matter hereof may be combined. Accordingly, the embodiments are not mutually exclusive combinations of features; rather, the various embodiments can comprise a combination of different individual features selected from different individual embodiments, as understood by persons of ordinary skill in the art. Moreover, elements described with respect to one embodiment can be implemented in other embodiments even when not described in such embodiments unless otherwise noted.

Although a dependent claim may refer in the claims to a specific combination with one or more other claims, other embodiments can also include a combination of the dependent claim with the subject matter of each other dependent claim or a combination of one or more features with other dependent or independent claims. Such combinations are proposed herein unless it is stated that a specific combination is not intended.

Any incorporation by reference of documents above is limited such that no subject matter is incorporated that is contrary to the explicit disclosure herein. Any incorporation by reference of documents above is further limited such that no claims included in the documents are incorporated by reference herein. Any incorporation by reference of documents above is yet further limited such that any definitions provided in the documents are not incorporated by reference herein unless expressly included herein. For purposes of interpreting the claims, it is expressly intended that the provisions of 35 U.S.C. § 112(f) are not to be invoked unless the specific terms“means for” or“step for” are recited in a claim.