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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：US10730699B2
公开(公告)日：2020-08-04
申请号：US16051158
申请日：2018-07-31
Applicant: Symbotic, LLC
Inventor： Larry Sweet , Kil Kwak , Kirill Pankratov , Russell G. Barbour , William Johnson , Juergen D. Conrad , Juergen Baumbach , Ronald Kyslinger
Abstract: An automated storage and retrieval system includes a first independently operable section having a first number of predetermined storage and retrieval transactions, and a second independently operable section in communication with the first independently operable section and having a second number of predetermined storage and retrieval transactions. The first and second independently operable sections are configured to provide a respective number of predetermined storage and retrieval transactions so that the first number of predetermined storage and retrieval transactions substantially matches the second number of predetermined storage and retrieval transactions.
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公开(公告)号：US10562705B2
公开(公告)日：2020-02-18
申请号：US15890088
申请日：2018-02-06
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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公开(公告)号：US10521767B2
公开(公告)日：2019-12-31
申请号：US16162247
申请日：2018-10-16
Applicant: Symbotic LLC
Inventor： Kirill K. Pankratov , Juergen D. Conrad , Robert Hsiung , Larry M. Sweet
Abstract: A product order fulfillment system includes multiple decks arrayed at different levels and defining multilevel decks, at least one autonomous transport vehicle on each of the decks, and configured for holding and transporting a pickface on each deck, at least one lift, traversing and connecting more than one level of the decks, and arranged for lifting and lowering the pickface from the decks, and at least one pickface transfer station on each deck interfacing between the transport vehicle and the at least one lift to effect transfer of the pickface between the transport vehicle and the at least one lift, the at least one lift defines a fulfillment stream of mixed case pickfaces outbound from the multilevel decks to a load fill, at least one stream of the fulfillment stream has an ordered sequence of streaming pickfaces wherein the ordered sequence of streaming pickfaces is based on another fulfillment stream.
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公开(公告)号：US09884719B2
公开(公告)日：2018-02-06
申请号：US14966978
申请日：2015-12-11
Applicant: Symbotic, LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
CPC classification number: B65G1/0492 , B65G1/1378
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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Patent Agency Ranking
公开(公告)号：US09856083B2
公开(公告)日：2018-01-02
申请号：US14997920
申请日：2016-01-18
Applicant: Symbotic LLC
Inventor： Juergen D. Conrad , Robert Hsiung , Kirill K. Pankratov , Robert Sullivan , Larry M. Sweet
CPC classification number: B65G1/0492 , B65G1/0435 , B65G1/0485 , B65G1/1376
Abstract: An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines a transport surface for the vehicle, at least one reciprocating lift, a first and second pickface interface station connected to the deck and spaced apart from each other, each station forming a pickface transfer interfacing between the vehicle on the deck and the lift at each station so that a pickface is transferred between the lift and the vehicle at each station, wherein the vehicle is configured to pick a first pickface at the first station, traverse the deck and buffer the first pickface, or at least a portion thereof, at the second station so that the second station has multiple pickfaces buffered on a common support in an order sequence of pickfaces according to a predetermined case out order sequence of mixed case pickfaces.
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公开(公告)号：US12139349B2
公开(公告)日：2024-11-12
申请号：US18488594
申请日：2023-10-17
Applicant: Symbotic LLC
Inventor： Richard B. Cohen , Brian Svoboda , Kirill K. Pankratov , Jason Chrisos , Rick Youping-Huang , Juergen D. Conrad , Elizabeth Clark-Polner
Abstract: A product order fulfillment system including a multi-level transport system and a lifting transport system. Each level of the multi-level transport system having a corresponding independent asynchronous level transport system separate and distinct from the asynchronous level transport system corresponding to each other level of the multi-level transport system. Each independent lift axis of the lifting transport system being configured to independently hold at least one case and being communicably coupled to each asynchronous level transport system so as to provide for exchange of the at least one case between each asynchronous level transport system and each independent lift axis. Each independent lift axis is communicably coupled to each other independent lift axis of the more than one lift axis and forms a common output of mixed cases so as to create an ordered sequence of mixed cases in accordance to a predetermined case out ordered sequence.
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公开(公告)号：US11731832B2
公开(公告)日：2023-08-22
申请号：US17487245
申请日：2021-09-28
Applicant: Symbotic LLC
Inventor： Kirill K. Pankratov , Larry M. Sweet , Juergen D. Conrad , John F. Keating , Matt Gates
CPC classification number: B65G1/0492 , B65G1/1378
Abstract: A storage array in an automated storage and retrieval system includes storage spaces arrayed on racks along picking aisles, multiple level decks, where at least one deck communicates with each aisle, where the decks and aisles are configured to define a rolling surface for an autonomous transport vehicle at each level of the decks, racks along at least one aisle at each level are at multiple rack levels that are accessed from a respective rolling surface that is common to the multiple rack levels, and a vertical pitch between rack levels varies for a portion of a respective aisle, the vertical pitch between at least two rack levels of the portion of the respective aisle is related to another vertical pitch between at least two other rack levels of another aisle portion of the respective aisle so the vehicle effects multiple picks in ordered sequence in a common aisle pass.
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公开(公告)号：US11623822B2
公开(公告)日：2023-04-11
申请号：US17652012
申请日：2022-02-22
Applicant: Symbotic LLC
Inventor： Juergen D. Conrad , Robert Hsiung , Kirill K. Pankratov , Robert Sullivan , Larry M. Sweet
Abstract: An automated storage and retrieval system including at least one autonomous transport vehicle, a transfer deck that defines a transport surface for the vehicle, at least one reciprocating lift, a first and second pickface interface station connected to the deck and spaced apart from each other, each station forming a pickface transfer interfacing between the vehicle on the deck and the lift at each station so that a pickface is transferred between the lift and the vehicle at each station, wherein the vehicle is configured to pick a first pickface at the first station, traverse the deck and buffer the first pickface, or at least a portion thereof, at the second station so that the second station has multiple pickfaces buffered on a common support in an order sequence of pickfaces according to a predetermined case out order sequence of mixed case pickfaces.
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公开(公告)号：US11440746B2
公开(公告)日：2022-09-13
申请号：US17202917
申请日：2021-03-16
Applicant: Symbotic LLC
Inventor： Richard B. Cohen , Brian Svoboda , Kirill K. Pankratov , Jason Chrisos , Rick Youping-Huang , Juergen D. Conrad , Elizabeth Clark-Polner
Abstract: A product order fulfillment system including a multi-level transport system and a lifting transport system. Each level of the multi-level transport system having a corresponding independent asynchronous level transport system separate and distinct from the asynchronous level transport system corresponding to each other level of the multi-level transport system. Each independent lift axis of the lifting transport system being configured to independently hold at least one case and being communicably coupled to each asynchronous level transport system so as to provide for exchange of the at least one case between each asynchronous level transport system and each independent lift axis. Each independent lift axis is communicably coupled to each other independent lift axis of the more than one lift axis and forms a common output of mixed cases so as to create an ordered sequence of mixed cases in accordance to a predetermined case out ordered sequence.
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