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公开(公告)号：US09550225B2
公开(公告)日：2017-01-24
申请号：US15243490
申请日：2016-08-22
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Forrest Buzan , Stephen C. Toebes , Andrew Eccles
CPC classification number: G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
Abstract: An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
Abstract translation: 提供了用于在存储和检索系统中运送物品的自主运输车辆。 自主运输车辆包括至少两个驱动轮和控制器，其中每个驱动轮被独立地驱动，并且驱动轮编码器被布置在每个驱动轮附近。 与驱动轮编码器通信的控制器被配置为仅基于来自驱动轮编码器的增量数据来确定存储和检索系统内的自主运输车辆的运动状态，并且独立于驱动轮打滑。
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公开(公告)号：US20160357190A1
公开(公告)日：2016-12-08
申请号：US15243490
申请日：2016-08-22
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Forrest Buzan , Stephen C. Toebes , Andrew Eccles
IPC: G05D1/02
CPC classification number: G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
Abstract: An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
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公开(公告)号：US09423796B2
公开(公告)日：2016-08-23
申请号：US14629003
申请日：2015-02-23
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Stephen C. Toebes , Forrest Buzan , Andrew Eccles
CPC classification number: G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
Abstract: An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
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公开(公告)号：US12162682B2
公开(公告)日：2024-12-10
申请号：US18469773
申请日：2023-09-19
Applicant: SYMBOTIC LLC
Inventor： Edward A MacDonald , Forrest Buzan , John F Keating , Juergen D Conrad , Armin Ataei-Esfahani
Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.
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公开(公告)号：US12116205B2
公开(公告)日：2024-10-15
申请号：US18446173
申请日：2023-08-08
Applicant: Symbotic LLC
Inventor： Forrest Buzan , Edward A. MacDonald , Taylor A. Apgar , Thomas A. Schaefer , Melanie Ziegler , Russell G. Barbour
IPC: B65G1/04
CPC classification number: B65G1/0492
Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
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Patent Agency Ranking
公开(公告)号：US11939161B2
公开(公告)日：2024-03-26
申请号：US17820088
申请日：2022-08-16
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
CPC classification number: B65G1/1373 , B65G1/0492
Abstract: An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.
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公开(公告)号：US20220388776A1
公开(公告)日：2022-12-08
申请号：US17820088
申请日：2022-08-16
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
Abstract: An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.
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公开(公告)号：US11117743B2
公开(公告)日：2021-09-14
申请号：US16144668
申请日：2018-09-27
Applicant: Symbotic, LLC
Inventor： Edward A MacDonald , Forrest Buzan , John F. Keating , Juergen D. Conrad , Armin Ataei-Esfahani
Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.
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公开(公告)号：US09802761B2
公开(公告)日：2017-10-31
申请号：US14215310
申请日：2014-03-17
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Michael Cyrulik , Aria Reynolds , Jason S. Sirois , Larry Sweet , Edward A. MacDonald , Taylor A. Apgar , Timothy Perrault , Stephen C. Toebes
CPC classification number: B65G1/1373 , B65G1/0492
Abstract: An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.
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公开(公告)号：US20170253430A1
公开(公告)日：2017-09-07
申请号：US15598969
申请日：2017-05-18
Applicant: Symbotic, LLC
Inventor： Forrest Buzan , Edward A. MacDonald , Taylor A. Apgar , Thomas A. Schaefer , Melanie Ziegler , Russell G. Barbour
IPC: B65G1/04
CPC classification number: B65G1/0492
Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
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