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公开(公告)号：US20200339351A1
公开(公告)日：2020-10-29
申请号：US16928847
申请日：2020-07-14
Applicant: Symbotic, LLC
Inventor： ROBERT SULLIVAN , Stephen C. Toebes
Abstract: An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is nondeterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.
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公开(公告)号：US10280000B2
公开(公告)日：2019-05-07
申请号：US15144516
申请日：2016-05-02
Applicant: SYMBOTIC, LLC
Inventor： Robert Sullivan , Stephen C. Toebes
IPC: B65G1/06 , B65G13/00 , B62D53/02 , B65G7/00 , B60P9/00 , B62D53/00 , B60G17/005 , B65G1/04 , B65G1/137 , E02F9/08
Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.
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公开(公告)号：US10221014B2
公开(公告)日：2019-03-05
申请号：US16107068
申请日：2018-08-21
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Michael Cyrulik , Stephen C. Toebes
Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.
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公开(公告)号：US10207870B2
公开(公告)日：2019-02-19
申请号：US15137889
申请日：2016-04-25
Applicant: SYMBOTIC LLC
Inventor： Robert Sullivan , John Lert , Stephen C. Toebes , Foster Hinshaw , Nathan Ulrich
Abstract: An autonomous transport vehicle for transferring case units to and from predefined storage areas in an automated case unit storage system, the automated case unit storage system including an array of multilevel storage racks with picking aisles passing therebetween and at least one multilevel vertical conveyor having movable shelves, the autonomous transport vehicle including a frame configured to traverse the picking aisles and a transfer deck connecting the picking aisles to the at least one multilevel vertical conveyor for transferring case units between the predefined storage areas and the at least one multilevel vertical conveyor, and a controller connected to the frame, the controller being configured to effect movement of the autonomous transport vehicle through the picking aisles for accessing each storage area within a respective level of the array of multilevel storage racks and each shelf of the at least one multilevel vertical conveyor.
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公开(公告)号：US10053286B2
公开(公告)日：2018-08-21
申请号：US15094214
申请日：2016-04-08
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Michael Cyrulik , Stephen C. Toebes
CPC classification number: B65G1/0492 , G05D1/0272 , G05D2201/0216
Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle within the storage structure based on at least the output signal.
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Patent Agency Ranking
公开(公告)号：US10029850B2
公开(公告)日：2018-07-24
申请号：US15722936
申请日：2017-10-02
Applicant: Symbotic, LLC
Inventor： Robert Sullivan , Stephen C. Toebes
Abstract: An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.
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公开(公告)号：US09946265B2
公开(公告)日：2018-04-17
申请号：US15412998
申请日：2017-01-23
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.
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公开(公告)号：US09862543B2
公开(公告)日：2018-01-09
申请号：US15605748
申请日：2017-05-25
Applicant: Symbotic, LLC
Inventor： Stephen C. Toebes , Robert Sullivan , Forrest Buzan
CPC classification number: B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.
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公开(公告)号：US20160185526A1
公开(公告)日：2016-06-30
申请号：US14816804
申请日：2015-08-03
Applicant: Symbotic, LLC
Inventor： John Lert , Stephen C. Toebes , Robert Sullivan , Foster Hinshaw , Nathan Ulrich
CPC classification number: B65G1/0492 , B65G1/045 , B65G1/065 , B65G1/10 , B65G1/127 , B65G1/137 , B65G1/1371 , B65G1/1373 , B65G1/1378 , B65G47/57 , Y10S901/01
Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having, picking aisles, storage locations, disposed within the picking aisles, and at least one transfer deck providing access to the picking aisles, a multilevel vertical conveyor system configured to transport the uncontained case units to and from the vertical array of storage levels, each storage level being configured to receive uncontained case units from the multilevel vertical conveyor system, at least one autonomous transport located on each storage level for transporting the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to create a primary access path through the transfer decks and picking aisles to a predetermined one of the storage locations and at least one secondary access path to the predetermined one of the storage locations when the primary path is impassable.
Abstract translation: 一种存储和检索系统，包括垂直阵列的存储级别，每个存储级别具有设置在采摘通道内的选择通道，存储位置，以及提供对采摘过道的访问的至少一个转移甲板;多层垂直输送系统，被配置为 将未包含的壳体单元运送到垂直阵列的存储级别，每个存储级别被配置为从多层垂直传送器系统接收未容纳的壳体单元，位于每个存储层上的至少一个自主传送装置，用于在相应的位置之间传送未包含的壳体单元 存储位置和多层垂直输送机系统，以及控制器，其被配置为创建通过所述转移甲板的主要进入路径并且将通道挑选到所述存储位置中的预定的一个以及至所述预定的一个所述存储位置的至少一个次要进入路径， 主要途径是无法通行的。
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公开(公告)号：US20150309511A1
公开(公告)日：2015-10-29
申请号：US14629003
申请日：2015-02-23
Applicant: Symbotic LLC
Inventor： Robert Sullivan , Stephen C. Toebes , Forrest Buzan , 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.
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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