Embodiments described herein generally relate to systems and methods for communicating with a cart via a track and, more specifically, to systems and methods for providing communications and electrical power via a track to a cart in an assembly line configuration of a grow pod.
Assembly line systems generally provide communication signals and electrical signals to components of the assembly line through independent means. However, some systems attempt to embed communication signals within electrical signals. These systems may optimize the number of conductors required to complete the tasks of communication and power delivery, but require specialized equipment and costly equipment.
The present disclosure is an extension of the concept of embedding communication signals within electrical signals, while providing improved, less complex, and unique systems and methods for providing communication signals and electrical signals to components coupled to a common conductor in an assembly line system.
In one embodiment, a system includes a length of track having one or more conductive rails, a signal generating circuit electrically coupled to the one or more conductive rails of the length of track, and an electrical power source electrically coupled to the one or more conductive rails of the length of track via the signal generating circuit. The signal generating circuit includes a power supply for generating a plurality of trigger signals. The electrical power source provides an alternating current electrical signal to the one or more conductive rails of the length of track via the signal generating circuit. The signal generating circuit generates a first trigger signal within the alternating current electrical signal at a first time interval and generates a second trigger signal within the alternating current electrical signal at a second time interval. The first trigger signal corresponds to a beginning of a communication signal and the second trigger signal corresponds to an end of the communication signal. The communication signal is transmitted over a predetermined number of cycles of the alternating current electrical signal provided by the electrical power source. The predetermined number of cycles correspond to a coded communication.
In another embodiment, a system includes a length of track having one or more conductive rails, an electrical power source electrically coupled to the one or more conductive rails of the length of track, and a cart. The cart includes a wheel supported on the length of track and electrically coupled to the one or more conductive rails of the length of track, a cart-computing device communicatively coupled to the wheel, and a signal generating circuit electrically coupled to the cart-computing device and the wheel. The signal generating circuit includes a power supply for generating a plurality of trigger signals. The electrical power source provides an alternating current electrical signal to the one or more conductive rails of the length of track. The signal generating circuit generates a first trigger signal within the alternating current electrical signal at a first time interval and generates a second trigger signal within the alternating current electrical signal at a second time interval. The first trigger signal corresponds to a beginning of a communication signal and the second trigger signal corresponds to an end of the communication signal. The communication signal is transmitted over a predetermined number of cycles of the alternating current electrical signal provided by the electrical power source. The predetermined number of cycles correspond to a coded communication.
In another embodiment, a method for communicating via an alternating current electrical signal from a master controller to a cart supported on a length of track in an assembly line grow pod includes determining, by the master controller, an action to be completed by the cart, generating one or more coded communications for the action, and generating a first trigger signal within the alternating current electrical signal from an electrical power source. The method further includes determining when a predetermined number of cycles of the alternating current electrical signal corresponding to a coded communication of the one or more coded communications have propagated from the electrical power source following the first trigger signal and generating a second trigger signal within the alternating current electrical signal when the predetermined number of cycles of the alternating current electrical signal corresponding to the coded communication have propagated following the first trigger signal.
These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings.
The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the disclosure. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which:
Embodiments disclosed herein generally include systems and methods for providing communications and electrical power via a track to a cart in an assembly line configuration of a grow pod. Some embodiments are configured such that a cart supporting a payload travels on a track of a grow pod to provide sustenance (such as light, water, nutrients, etc.) to seeds and/or plants included in the payload on the cart. The cart may be among one or more other carts arranged on the track of the grow pod to create an assembly line of carts. The cart, via the wheels and track, receive power and communication signals. In embodiments described herein, the power and communication signals may be transmitted over common conductors, for example, the track and wheels of the cart, thereby removing the need for separate systems and components that may be required for separate power and communication transmission systems.
In some embodiments, the assembly line may have a shared power delivery system for the components coupled to the assembly line. Depending on the type of electrical signal implemented, various types of communication protocols may be implemented to embed communication signals with the electrical signal. Digital command control (DCC) is one example. DCC provides for the communication of commands by modulating the width of voltage signals within the electrical signal to indicate a binary 1 or a binary 0. As a result, communications may be provided to all or select components sharing the common conductor. While DDC is one example system and method, other systems utilize pulses of voltage that oppose the polarity of the electrical signal to generate communication signals within an electrical signal. Furthermore, by introducing DC pulses during a zero-crossing of an alternating current electrical signal, adjusting the peak voltage of the alternating current electrical signal, introducing a delay to the repeating waveform of the alternating current electrical signal, or the like may be additional methods of generating a communication signal within an electrical signal.
For example, the track may be coupled to a power source, such as the output of a transformer by way of a signal generating circuit. The signal generating circuit, which may include or be coupled to a master controller, may be electrically coupled to the output of the transformer and to the track. The signal generating circuit may be configured to introduce a pulse (e.g., a DC voltage pulse) during the zero-crossing of an alternating current electrical signal from the transformer and/or electrical power source. As a result, a communication signal may be generated within the electrical signal transmitted to the track. Furthermore, the cart may also transmit communication signals via the wheels and the track to a communicatively coupled master controller or another cart on the track.
Referring now to the drawings,
Still referring to
The remote computing device 252 may be a personal computer, laptop, mobile device, tablet, server, etc. and may be utilized to control operation of the components of the assembly line grow pod 100 and/or as an interface to the assembly line grow pod 100 for a user. The remote computing device 252 may include a processor 132 and a non-transitory, computer readable memory 134. The processor 132 may include any processing component operable to receive and execute instructions such as from the non-transitory, computer readable memory 134. The processor 132 may be any device capable of executing the machine-readable instruction set stored in the non-transitory, computer readable memory 134. Accordingly, the processor 132 may be an electric controller, an integrated circuit, a microchip, a computer, or any other computing device. The non-transitory, computer readable memory 134 may be any component capable of storing electronic information, for example, such as the memory component 430 described herein with reference to
Similarly, the master controller 106 may include a server, personal computer, tablet, mobile device, etc. and may be utilized for machine-to-machine communications. As an example, if the cart 104 (and/or assembly line grow pod 100 from
The desired data may include a recipe for growing that type of seed and/or other information. The recipe may include time limits for exposure to light, amounts of water and the frequency of watering, environmental conditions such as temperature and humidity, and/or the like. The cart 104 may further query the master controller 106 and/or remote computing device 252 for information such as ambient conditions, firmware updates, etc. Likewise, the master controller 106 and/or the remote computing device 252 may provide one or more instructions in a communication signal to the cart 104 that includes control parameters for the drive motor 226. As such, some embodiments may utilize an application program interface (API) to facilitate this or other computer-to-computer communications.
The network 250 may include the internet or other wide area network, a local network, such as a local area network, a near field network, such as Bluetooth or a near field communication (NFC) network. In some embodiments, the network 250 is a personal area network that utilizes Bluetooth technology to communicatively couple the master controller 106, the remote computing device 252, one or more carts 104, and/or any other network connectable device. In some embodiments, the network 250 may include one or more computer networks (e.g., a personal area network, a local area network, or a wide area network), cellular networks, satellite networks and/or a global positioning system and combinations thereof. Accordingly, at least the one or more carts 104 may be communicatively coupled to the network 250 via the electrically conductive track 102, via wires, via a wide area network, via a local area network, via a personal area network, via a cellular network, via a satellite network, and/or the like. Suitable local area networks may include wired Ethernet and/or wireless technologies such as, for example, Wi-Fi. Suitable personal area networks may include wireless technologies such as, for example, IrDA, Bluetooth, Wireless USB, Z-Wave, ZigBee, and/or other near field communication protocols. Suitable personal area networks may similarly include wired computer buses such as, for example, USB and FireWire. Suitable cellular networks include, but are not limited to, technologies such as LTE, WiMAX, UMTS, CDMA, and GSM.
Communications between the various components of the network environment 200 may be facilitated by various components of the assembly line grow pod 100 (
Still referring to
Since the carts 104 are limited to travel along the track 102, the area of track 102 a cart 104 will travel in the future is referred to herein as “in front of the cart” or “leading.” Similarly, the area of track 102 a cart 104 has previously traveled is referred to herein as “behind the cart” or “trailing.” Furthermore, as used herein, “above” refers to the area extending from the cart 104 away from the track 102 (i.e., in the +Y direction of the coordinate axes of
In some embodiments, the track 102 may include two conductive rails (e.g. 111a and 111b). The conductive rails 111a, 111b may be coupled to an electrical power source 140 (
Turning to the portion of
As the first cart 104a traverses the track 102 from the first electrically conductive portion 102′ to the second electrically conductive portion 102″, the cart-computing device 228 may select which of the pair of wheels (e.g., 222a and 222c or 222b and 222d) from which to receive electrical power and communication signals. In some embodiments, an electrical circuit may be implemented to automatically and continuously select and provide electrical power to the components of the first cart 104a as the first cart 104a traverses from the first electrically conductive portion 102′ to the second electrically conductive portion 102″ of the track 102. An example of such an electrical circuit is depicted in
For example, when wheels 222a and 222c are in electrical contact with the first electrically conductive portion 102′ and wheels 222b and 222d are in electrical contact with the second electrically conductive portion 102″, the cart-computing device 228 or an electric circuit may select which of the two conductive portions 102′ or 102″ to draw electrical power. Furthermore, the cart-computing device 228 or the electric circuit may prevent the two conductive portions 102′ or 102″ from being shorted as the first cart 104a traverses both segments and may prevent the first cart 104a from being overloaded by two electrical power sources. Therefore, the cart-computing device 228 or other communicatively coupled electronic circuit (e.g., as depicted in
Still referring to
The back-up power supply 224 may include a battery, storage capacitor, fuel cell or other source of reserve electrical power. The back-up power supply 224 may be activated in the event the electrical power to the cart 104 via the wheels 222 and the track 102 is terminated. The back-up power supply 224 may be utilized to power the drive motor 226 and/or other electronics of the cart 104 in the event of a termination of electrical power via the wheels 222 and the track 102. For example, the back-up power supply 224 may provide electrical power to the cart-computing device 228 or one or more sensor modules (e.g., 232, 234, 236). The back-up power supply 224 may be recharged or maintained while the cart 104 is connected to the track 102 and receiving electrical power from the track 102.
The drive motor 226 is coupled to the cart 104. In some embodiments, the drive motor 226 may be coupled to at least one of the one or more wheels 222 such that the cart 104 is capable of being propelled along the track 102 in response to a received signal. In other embodiments, the drive motor 226 may be coupled to the track 102. For example, the drive motor 226 may be rotatably coupled to the track 102 through one or more gears, which engage a plurality of teeth, arranged along the track 102 such that the cart 104 is propelled along the track 102. That is, the gears and the track 102 may act as a rack and pinion system that is driven by the drive motor 226 to propel the cart 104 along the track 102.
The drive motor 226 may be configured as an electric motor and/or any device capable of propelling the cart 104 along the track 102. For example, the drive motor 226 may be a stepper motor, an alternating current (AC) or direct current (DC) brushless motor, a DC brushed motor, or the like. In some embodiments, the drive motor 226 may comprise electronic circuitry, which may be used to adjust the operation of the drive motor 226, in response to a communication signal (e.g., a command or control signal for controlling the operation of the cart 104) transmitted to and received by the drive motor 226. The drive motor 226 may be coupled to the tray 220 of the cart 104 or may be directly coupled to the cart 104. In some embodiments, more than one drive motor 226 may be included on the cart 104. For example, each wheel 222 may be rotatably coupled to a drive motor 226 such that the drive motor 226 drives rotational movement of the wheels 222. In other embodiments, the drive motor 226 may be coupled through gears and/or belts to an axle, which is rotatably coupled to one or more wheels 222 such that the drive motor 226 drives rotational movement of the axle that rotates the one or more wheels 222.
In some embodiments, the drive motor 226 is electrically coupled to the cart-computing device 228. The cart-computing device 228 may electrically monitor and control the speed, direction, torque, shaft rotation angle, or the like, either directly and/or via a sensor that monitors operation of the drive motor 226. In some embodiments, the cart-computing device 228 may electrically control the operation of the drive motor 226. The cart-computing device 228 may receive a communication signal transmitted through the electrically conductive track 102 and the one or more wheels 222 from the master controller 106 or other computing device communicatively coupled to the track 102. The cart-computing device 228 may directly control the drive motor 226 in response to signals received through a network interface hardware 414 (as depicted and described with reference to
Still referring to
In some embodiments, the communication signal may include operating information, status information, sensor data, and/or other analytical information about the cart 104 and/or the payload 230 (e.g., the plants growing therein) or instructions for controlling one or more other carts 104. For example, the operating information may include the speed, direction, torque, or etc. of the cart 104. Status information may include plant growth status, watering status, nutrient status, pH status or other information related to the plants growing therein. Status information may also include information about the cart 104, for example, the status of a backup battery, whether the drive motor 226 is operating within specified parameters, whether the cart 104 is receiving sufficient power from the track 102, or other related information. The communication signal may also relay sensor data obtained by the sensor module (e.g., 232, 234, 236). For example, a distance determined by a first sensor module (e.g., a leading sensor 232b of a middle cart 104b) may be relayed to a second sensor module (e.g., a trailing sensor 234c of a trailing cart 104c). In some embodiments, the first communication signal or the second communication signal may correspond to a malfunction of a cart 104.
In some embodiments, a sensor module (e.g., 232, 234, 236) may detect an event and transmit one or more signals in response to the detected event. As used herein, a “detected event” refers to an event for which a sensor module (e.g., 232, 234, 236) is configured to detect. For example, the sensor module (e.g., 232, 234, 236) may be configured to generate one or more signals that correspond to a distance from the sensor module (e.g., 232, 234, 236) to a detected object as a distance value, which may constitute a detected event. As another example, a detected event may be a detection of infrared light. In some embodiments, the infrared light may be generated by the infrared sensor reflected off an object in the field of view of the infrared sensor and received by the infrared sensor.
In response to receiving the one or more signals, the cart-computing device 228 may execute a function defined in an operating logic 432, communication logic 434 and/or power logic 436, which are described in more detail herein with reference to at least
In some embodiments, the sensor modules (e.g., 232, 234, 236) may be communicatively coupled to the master controller 106 (
While still referring to
The electrical power source 140 may be any device capable of generating and/or providing an electrical signal as an output. In an alternating current (AC) power system, the electrical signal output by the electrical power source 140 may include a waveform. As discussed in more detail below with reference to
In some embodiments, the electrical power source 140 may be a transformer, which receives electrical energy as an input and converts the electrical energy to a voltage, current, and/or power level to power the carts 104 and other components electrically coupled to the track 102. For example, the electrical power source 140 may receive a 120-volt line voltage and convert the voltage to an 18-volt electrical signal. In some embodiments, the transformer may include one or more taps for selectively adjusting the output voltage of the transformer. For example, one tap may output an 18-volt electrical signal and another tap may cause the transformer to output a 14-volt electrical signal.
The signal generating circuit 142 may be any arrangement of components capable of introducing a communication signal within the electrical signal from the electrical power source 140. In some embodiments, the signal generating circuit 142 may be an electrical circuit coupled in line with the electrical power source 140. As described in more detail herein, the signal generating circuit 142 may introduce a pulse (e.g., a voltage pulse) during a zero-crossing of the electrical signal or adjust the peak voltage level of the electrical signal to embed a communication signal within the electrical signal. For example, the signal generating circuit 142 may include an operational amplifier configured to track and/or count the oscillations and/or the zero-crossings of the electrical signal. The signal generating circuit 142 may deliver a pulse of voltage into the electrical signal during select zero-crossings of the electrical signal. In some embodiments, the signal generating circuit 142 may include a processor 144 and non-transitory computer-readable memory 146. For example, as depicted in
In some embodiments, the master controller 106 may be communicatively coupled to the electrical power source 140 and/or the signal generating circuit 142. The master controller 106 may control the operation of the electrical power source 140. For example, the master controller 106 may provide control signals for powering on or off the electrical power source 140. The master controller 106 may also provide control signals for selecting different transformer taps, thereby adjusting the peak output voltage of the electrical power source 140. In some embodiments, the master controller 106 may be communicatively coupled to the signal generating circuit 142. As such, the master controller 106 may provide the signal generating circuit 142 with content for a communication signal and the signal generating circuit 142 may encode the content in one or more coded communications to transmit with the electrical signal. In some embodiments, the master controller 106 may operate as the signal generating circuit 142. That is, the master controller 106 may control the operation of the electrical power source 140 to affect a communication signal within the electrical signal, for example, by adjusting the peak voltage level of the electrical signal.
Referring to
The processor 410 may include any processing component operable to receive and execute instructions (such as from a data storage component 416 and/or the memory component 430). The processor 410 may be any device capable of executing the machine-readable instruction set stored in the memory component 430. Accordingly, the processor 410 may be an electric controller, an integrated circuit, a microchip, a computer, or any other computing device. The processor 410 is communicatively coupled to the other components of the assembly line grow pod 100 by a communication path and/or the local communications interface 440. Accordingly, the communication path and/or the local communications interface 440 may communicatively couple any number of processors 410 with one another, and allow the components coupled to the communication path and/or the local communications interface 440 to operate in a distributed computing environment. Specifically, each of the components may operate as a node that may send and/or receive data. While the embodiment depicted in
The network interface hardware 414 is coupled to the local communications interface 440 and communicatively coupled to the processor 410, the memory component 430, the input/output hardware 412, and/or the data storage component 416. The network interface hardware 414 may be any device capable of transmitting and/or receiving data via a network 250 (
In one embodiment, the network interface hardware 414 includes hardware configured to operate in accordance with the Bluetooth wireless communication protocol. In another embodiment, the network interface hardware 414 may include a Bluetooth send/receive module for sending and receiving Bluetooth communications to/from the network 250 (
The memory component 430 may be configured as volatile and/or nonvolatile memory and may comprise RAM (e.g., including SRAM, DRAM, and/or other types of RAM), ROM, flash memories, hard drives, secure digital (SD) memory, registers, compact discs (CD), digital versatile discs (DVD), or any non-transitory memory device capable of storing machine-readable instructions such that the machine-readable instructions can be accessed and executed by the processor 410. Depending on the particular embodiment, these non-transitory computer-readable mediums may reside within the cart-computing device 228 and/or external to the cart-computing device 228. The machine-readable instruction set may comprise logic or algorithm(s) written in any programming language of any generation (e.g., 1GL, 2GL, 3GL, 4GL, or 5GL) such as, for example, machine language that may be directly executed by the processor 410, or assembly language, object-oriented programming (OOP), scripting languages, microcode, etc., that may be compiled or assembled into machine readable instructions and stored in the non-transitory computer readable memory, e.g., the memory component 430. Alternatively, the machine-readable instruction set may be written in a hardware description language (HDL), such as logic implemented via either a field-programmable gate array (FPGA) configuration or an application-specific integrated circuit (ASIC), or their equivalents. Accordingly, the functionality described herein may be implemented in any conventional computer programming language, as pre-programmed hardware elements, or as a combination of hardware and software components. While the embodiment depicted in
Still referring to
In some embodiments, the cart 104 may include a signal generating circuit 142 which may be included as part of the cart-computing device 228. For example, the input/output hardware 412 may include circuitry, which implements the signal generating circuit 142. In such an embodiment, the signal generating circuit 142 may generate a communication signal within the alternating current electrical signal propagating along the track 102 in a similar fashion to that of the signal generating circuit 142 electrically coupled to the electrical power source 140.
It should be understood that while the components in
Additionally, while the cart-computing device 228 is illustrated with the communications logic 434 and the power logic 436 as separate logical components, this is also an example. In some embodiments, a single piece of logic (and/or or several linked modules) may cause the cart-computing device 228 to provide the described functionality.
Referring to
The signal generating circuit 142 may further include a transceiver circuit 502 that may be coupled to the master controller 106 or other computing device through ports 512 and/or 516. The master controller 106 or other computing device may transmit commands via a signal to one or more transceiver components 510 and 514 of the transceiver circuit 502. The transceiver circuit 502 provides communication to and from the microcontroller 500 with the master controller 106, the carts 104 via the track 102, and/or other computing devices. In some embodiments, the transceiver circuit 502 may be included in the microcontroller 500. Therefore, the external transceiver components, for example, transceiver components 510 and 514 may not be required.
Additionally, the signal generating circuit 142, as described above, may be coupled to the electrical power source 140 and may further include a power supply 504. The power supply 504 may receive an alternating current electrical signal from the electrical power source 140 through connection ports 518 and convert the alternating current electrical signal into a rectified power signal using a rectifier 520. The rectifier 520 may further be coupled to a voltage regulator 522 that regulates the rectified voltage to a predetermined voltage level for powering the microcontroller 500, generating one or more communication signals or trigger signals, and/or other components of the signal generating circuit 142.
In some embodiments, the signal generating circuit 142 may be capable of detecting a zero-crossing event, calculating when another zero-crossing event will occur, and introducing a communication signal. To detect a zero-crossing of the alternating current electrical signal from the electrical power source 140, the microcontroller 500 may include an AC-to-DC input 524, which is coupled to either the HOT branch 518A or the NEUTRAL branch 518B of the electrical power source 140. The microcontroller 500 may be configured, for example, through logic stored therein, to detect the zero-crossing of the alternating current electrical signal as sensed at the AC-to-DC input 524. In response to sensing the zero-crossing, the microcontroller 500 may selectively change the state of the TRIAC signal pin 526 and/or the solid state signal pin 528 based on the communication signal to be generated.
As described and depicted in more detail with respect to
Referring to
As depicted in
Referring to
Referring now to
As discussed in detail above, the cart 104 receives electrical power and communication signals via the wheels 222, which are in contact with the track 102 as described herein. The circuit diagram 700 is continued in
As shown in
Still referring to circuit diagram 600,
Still referring to circuit diagram 600,
As further depicted in the circuit diagram 600 and depicted in
Referring now to
Referring to
In some embodiments, the first trigger signal 762 may be a first voltage pulse, which indicates the beginning of a communication signal 761 and the second trigger signal 763 may be a second voltage pulse, which indicates the end of the communication signal 761. The number of cycles (e.g., two cycles are enclosed between the first and second trigger signal 762 and 763 of the communication signal 761) may correspond to the content of the communication signal 761. That is, the content of the communication signal 761 is a coded communication representing, for example, an instruction, data, an ID (e.g., an address) of an intended recipient, a control signal, status information, sensor data, or the like. For example, a two-cycle count (e.g., the first communication signal 761) may correspond to an instruction for powering on the drive motor 226 and an eight-cycle count (e.g., a second communication signal 764) may correspond to an instruction for powering off the driver motor. In some embodiments, a zero-cycle count may be established by transmitting a first trigger signal and a second trigger signal within a half-cycle, for example, at the falling edge zero-crossing 752 (
In some embodiments, several communication signals may be transmitted in succession. For example, the second communication signal 764, as depicted in the waveform, may be initiated with a first trigger signal 765 followed by a number of cycles of the alternating current electrical signal 760 and concluded with a second trigger signal 766. In some embodiments, a first communication signal (e.g., 761) may include a coded communication corresponding to an instruction for all the carts 104 on the track 102 to activate their drive motors 226 and a second communication signal may correspond to the period of time for which to activate the drive motors 226 For example, when communicated in succession, the first communication signal 761 may instruct the cart 104 to power on the drive motor 226 and the second communication signal 764 may instruct the cart 104 to keep the power to the drive motor 226 on for a period of time. The period of time is not limited by this disclosure and may be any period of time. For example, the period of time may be eight seconds. As such, when executed by the cart 104 the drive motor 226 will be powered on for eight seconds and then powered off
In some embodiments, multiple communication signals may be compiled to form a set of instructions. For example, some communication signals may prompt a recipient to start a list of commands that will form a set of commands. That is, a first communication signal may correspond to an instruction to all carts 104 to start a new list of commands in memory. In response, the carts 104 may generate a new list in their non-transitory computer-readable memory to store the following set of coded communications provided by the series of communication signals. The next communication signal may include a coded communication to power on the drive motor 226. The next communication signal may include a coded communication indicating that the subsequent communication signal will indicate the duration in seconds for powering on the drive motor 226. In some embodiments, a communication signal may adjust how a subsequent communication signal is interpreted. For example, by providing a communication signal that indicates a subsequent signal will be a numerical value for duration, for example, the cart-computing device 228 and/or master controller 106 may treat the number of cycles present between the first trigger signal and the second trigger signal as an absolute number value rather than as a coded communication. Following the previous set of example communication signals the non-transitory computer-readable memory of the cart-computing device 228 and/or the master controller 106 may now include a set of instructions to power on the drive motor 226 for a duration of X seconds. To execute this set of instructions, another communication signal may be provided with a coded communication corresponding to the instruction to execute the set of instructions stored in the command list. In some embodiments, a communication signal may correspond to a coded communication that is executed as soon as it is received by a recipient, for example, a cart-computing device 228 and/or a master controller 106. In some embodiments, a communication signal may correspond to a coded communication to execute one or more coded communications at a predetermined time or after a specified delay.
In some embodiments, communication signals may be intended for all or only select carts 104. For example, a first communication signal may provide a coded communication indicating to the cart-computing device 228 of the carts 104 on the track 102 and/or the master controller 106 that the following communication signal(s) will indicate the intended recipients of further communication signals. In such embodiments, each cart 104 and/or master controller 106 may be assigned a unique address, for example, a numerical address that is subsequently indicated by the number of cycles between the first and second trigger signals.
Table 1 below provides some example coded communications that may be stored in the cart-computing device 228 of a cart 104 and/or the master controller 106. The list of coded communications may be used by the cart-computing device 228 of a cart 104 and/or the master controller 106 to translate the number of cycles in a communication signal to an instruction, data, an ID of an intended recipient, a control signal or the like.
In a non-limiting example, the following series of numbers indicates an example series of communication signals (e.g., the predetermined number of cycles corresponding to a coded communication) transmitted by the signal generating circuit 142: 2, 3, 7, 4, 6, 20, 5, 8, 4, 6, 5, 5, 10, 10, 9, 0, 1.
The previous example series of individual communication signals will result in the following functionality. First, all the carts 104 (i.e., that are communicatively coupled to the signal generating circuit 142 generating the series of communication signals) will clear any list of coded communications stored in their non-transitory computer-readable memory in response the 2-cycle count. Next, all the carts 104 will create a new list to populate with a new set of coded communications in response to the 3-cycle count. Next, a command to set the drive motor 226 to the forward direction will be entered in the list in response to the 7-cycle count. Next, a command to power on the drive motor 226 is entered in the list in response to the 4-cycle count. Next, a command to delay is entered in the list in response to the 6-cycle count. Next, in response to the 20-cycle count the delay command is updated with a parameter of 20 seconds, making the delay a 20 second delay when it is executed. That is, when executing a delay, the execution of any commands stored in the list following the delay command will not be executed until the delay command has been completed. Next, a command to power off the drive motor 226 is entered in the list in response to the 5-cycle count. Next, a command to set the drive motor 226 to the reverse direction is entered in the list in response to the 8-cycle count. Next, a command to power on the drive motor 226 is entered in the list in response to the 4-cycle count. Next, a command to delay is entered in the list in response to the 6-cycle count. Again, the communication signal following the coded communication corresponding to a delay is a parameter for the delay command and is treated as a numerical value rather than a command. As such, the delay is set to 5 seconds in response to the 5-cycle count followed by entry of a command to power off the drive motor 226 in response to the second 5-cycle count. Next, a coded communication indicating that the following communication signal will identify a specific recipient for a subsequent communication signal in response to the 10-cycle count. In this case, the next cycle count of the communication signal is 10. This second 10-cycle count indicates that the cart 104 identified as cart 104 number 10 is the only cart 104 that will store the following coded communication from the communication signal. Therefore, cart 104 number 10 stores the coded communication to power off in response to the 9-cycle count. Next, a zero-cycle count corresponds to a communication signal to “wake-up” all the carts 104 to start storing the coded communications again. Finally, an “execute” coded communication, (i.e., a 1-cycle count) is received by the carts 104. In response, the cart-computing devices 228 begin to execute the coded communications in each of their lists in the order in which they were received.
As a result, all the carts 104 will operate their drive motors 226 in a forward direction for 20 seconds, power off their drive motors 226, operate their drive motors 226 in a reverse direction for 5 seconds, and then cart 104 number 10 will power off. This is only one example of communication that may be achieved between a signal generating circuit 142 (and/or master controller 106 and/or other carts 104) that is communicatively coupled to one or more carts 104 on a track 102. Additional coded communications may be implemented to provide additional functional and communication structures between a cart 104 and a master controller 106 or a cart 104 and other carts 104 on the track 102. The aforementioned is only an example, other coded communications or communication techniques may be employed using the communication system described herein. By way of another example, a communication signal may be a packet having a starting command, a code portion, a checksum, and an end, each of which are formed with one or more bits (e.g., binary 0s or 1s). The binary 0s and 1s may be generated through the presence or absence of a trigger signal within the communication signal. That is, a cycle without a trigger signal may be a digital 0 while a cycle with a trigger signal may be a binary 1.
In some embodiments, duplex communication (i.e., communication in two directions at the same time) may be achieved. For example, a master controller 106 sending a communication signal to a cart 104 may utilize the falling edge zero-crossings for the first and second trigger signals and the cart 104 sending a communication signal to the master controller 106 may utilize the rising edge zero-crossings for the first and second trigger signals. As such, two communication signals may be transmitted at the same time over the alternating current electrical signal.
Referring now to
However, in order to maintain electrical power to the track 102, the amplitude of the peak voltage may not be reduced below an operating voltage level. For example, if the system rectifies and regulates an 18-volt alternating current electrical signal 770 into a 12-volt DC signal for use, for example, with electronics on a cart 104, then the operating voltage (e.g., peak voltage) may remain above a value that can provide the 12-volt DC signal. In some embodiments, the peak voltage of an alternating current electrical signal 770 may be 18-volts and the minimum operating voltage to maintain operation of the carts 104 on the track 102 may be 12-volts. Therefore, a trigger voltage level may be a value between 18-volts and 12-volts, for example, 14-volts. As illustrated in
Referring to
In some embodiments, a duplex communication signal may be achieved by providing one trigger signal that includes a first and second trigger signal having reduced amplitudes of the positive peak voltages and a second communication signal that includes a first and second trigger signal having reduced amplitude of the negative peak voltages. In such an embodiment, a master controller 106 may communicate with a cart 104 and a cart 104 may simultaneously communicate with the master controller 106.
Referring to
As discussed herein, the trigger signal may indicate the beginning or the end of a communication signal where the number of cycles therebetween corresponds to a particular communication signal. However, the trigger signal and the absence of a trigger signal may represent a binary-based communication signal. For example, a trigger signal may represent a binary value of “1” and the absence of a trigger signal may represent a binary value of “0.” As such, communication signals may be encoded within the alternating current electrical signal utilizing binary encoded messages.
It should now be understood that communication signals may be embedded within an alternating current electrical signal utilizing a first and second trigger signal and the number of cycles of the alternating current electrical signal, which occur between the first and second trigger signal. The number of cycles may correspond to a coded communication that translate to an instruction, data, an ID (e.g., address) of an intended recipient, a control signal or the like.
In block 808, a coded communication from the queue may be selected and a first trigger signal indicating the beginning of the communication signal is generated. The signal generating circuit 142, for example, in block 810, may then monitor and/or count the number of cycles of the alternating current electrical signal that have propagated since the first trigger signal. When the number of cycles of the electrical signal corresponding to the coded communication has propagated from the electrical power source 140, a second trigger signal indicating the end of the communication signal may be generated, in block 812, by the signal generating circuit 142. For example, when two cycles of the electrical signal are determined to have propagated, such as when sending the coded communication to turn on the drive motor power, then a second trigger signal is generated to indicate the completion of that communication signal.
Block 814 may then determine whether all of the coded communications in the queue have been transmitted. If not, block 816 selects the next coded communication (e.g., the second coded communication corresponding to an instruction for powering off the driver motor after a predefined period of time) from the queue and returns the method to block 808 for transmitting the next coded communication (e.g., the second coded communication). If all the coded communications in the queue have been transmitted then the embedding of communication signals in the electrical signal may end until a new action for communication is generated.
As illustrated above, various embodiments of systems and methods for providing a cart for a grow pod are disclosed. More particularly, some embodiments disclosed herein include systems and methods of providing and communicating between and with carts in an assembly line grow pod. These embodiments allow for a plurality of carts to operate independently and traverse a track of a grow pod.
Accordingly, embodiments include systems and/or methods for communicating between carts and with a master controller with communication signals embedded within an alternating current electrical signal utilizing a first and second trigger signal and the number of cycles of the alternating current electrical signal, which occur between the first and second trigger signal. The number of cycles corresponds to a coded communication that translates to an instruction, data, an ID of an intended recipient, a control signal or the like. The first and second trigger signal of a communication signal may be implemented by inducing a pulse voltage during zero-crossings of the alternating current electrical signal or reducing the amplitude of the peak voltage of the alternating current electrical signal. Additionally, the first and second trigger signal may be generated by a signal generating circuit electrically coupled to the electrical power source.
It is understood that, although the terms “first,” “second,” “third,” “leading,” “middle,” “trailing,” etc. may be used herein to describe various elements, signals, components, and/or sections, these elements, signals, components, and/or sections, should not be limited by these terms. These terms are only used to distinguish one element, signal, component, and/or section from another element, signal, component, and/or section.
While particular embodiments and aspects of the present disclosure have been illustrated and described herein, various other changes and modifications can be made without departing from the spirit and scope of the disclosure. Moreover, although various aspects have been described herein, such aspects need not be utilized in combination. Accordingly, it is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the embodiments shown and described herein.
It should now be understood that embodiments disclosed herein include systems, methods, and non-transitory computer-readable mediums for communicating with a cart. It should also be understood that these embodiments are merely exemplary and are not intended to limit the scope of this disclosure.
This application clams the benefit of U.S. Provisional Application No. 62/519,304, filed Jun. 14, 2017, the benefit of U.S. Provisional Application No. 62/519,329, filed Jun. 14, 2017, the benefit of U.S. Provisional Application No. 62/519,326, filed Jun. 14, 2017, the benefit of U.S. application Ser. No. 15/934,436, filed Mar. 23, 2018, the benefit of U.S. Provisional Application No. 62/519,316, filed Jun. 14, 2017, and the benefit of U.S. application Ser. No. 15/937,108, filed Mar. 27, 2018, the contents of which are hereby incorporated by reference in their respective entireties.
Number | Date | Country | |
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62519304 | Jun 2017 | US | |
62519329 | Jun 2017 | US | |
62519326 | Jun 2017 | US | |
62519316 | Jun 2017 | US |