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    Bot payload alignment and sensing
    52.
    发明授权
    Bot payload alignment and sensing 有权

    公开(公告)号：US10106322B2

    公开(公告)日：2018-10-23

    申请号：US15848153

    申请日：2017-12-20

    Applicant: Symbotic, LLC

    Inventor： Stephen C. Toebes ,  Robert Sullivan ,  Forrest Buzan

    IPC: G06F7/00 ,  G06F19/00 ,  B65G1/04 ,  B25J9/16

    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.

    Storage and retrieval system case unit detection
    53.
    发明授权
    Storage and retrieval system case unit detection 有权

    公开(公告)号：US09776794B2

    公开(公告)日：2017-10-03

    申请号：US15376251

    申请日：2016-12-12

    Applicant: Symbotic LLC

    Inventor： Robert Sullivan ,  Stephen C. Toebes

    IPC: G06F7/00 ,  B65G1/04 ,  B65G1/137 ,  G06Q10/08

    CPC classification number: B65G1/0492 ,  B65G1/1371 ,  B65G1/1373 ,  B65G2207/20 ,  G05B15/02 ,  G06Q10/08 ,  G06Q10/087

    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.

    Storage and retrieval system
    54.
    发明授权
    Storage and retrieval system 有权

    公开(公告)号：US09725239B2

    公开(公告)日：2017-08-08

    申请号：US14293556

    申请日：2014-06-02

    Applicant: Symbotic, LLC

    Inventor： John Lert ,  Stephen C. Toebes ,  Robert Sullivan

    IPC: B65G1/04 ,  B65G1/06 ,  B65G1/12 ,  B65G1/137 ,  B65G47/57 ,  B65G1/127 ,  B65G1/10

    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 storage locations, 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 confined to each storage level, the at least one autonomous transport being configured to transport the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to effect operation of the multilevel vertical conveyor system and at least one autonomous transport for assembling orders of uncontained case units of different types without moving bundles of the same uncontained case unit type throughout the storage and retrieval system.

    MAINTENANCE ACCESS ZONES FOR STORAGE AND RETRIEVAL SYSTEMS
    55.
    发明申请
    MAINTENANCE ACCESS ZONES FOR STORAGE AND RETRIEVAL SYSTEMS 有权
    维护存储和检索系统的访问区域

    公开(公告)号：US20170029211A1

    公开(公告)日：2017-02-02

    申请号：US15290764

    申请日：2016-10-11

    Applicant: SYMBOTIC, LLC

    Inventor： Michael Cyrulik ,  Robert Sullivan

    IPC: B65G1/04

    CPC classification number: B65G47/883 ,  B65G1/0492 ,  B65G1/06 ,  B65G1/1373

    Abstract: A maintenance access system for a storage and retrieval system having a storage and retrieval space and automated transport vehicles disposed in the space. The system includes at least one maintenance access control unit associated with a portion of the space, at least one barrier in the space and defining a boundary of the portion of the space and configured to substantially prevent the passage of the vehicles past the at least one barrier, and a controller connected to the control unit, the controller being configured to receive a signal from the at least one control unit for isolating the portion of the space associated with the at least one control unit, where the controller in response to the signal closes the at least one barrier isolating the portion of the space and effects the removal from or shutting down of vehicles within the portion of the space.

    Abstract translation: 一种用于具有存储和取回空间的存储和检索系统的维护访问系统以及设置在该空间中的自动运输车辆。 该系统包括与该空间的一部分相关联的至少一个维护访问控制单元，该空间中的至少一个障碍物，并且限定该空间部分的边界，并被配置为基本上防止车辆通过至少一个 所述控制器被配置为从所述至少一个控制单元接收信号，用于隔离与所述至少一个控制单元相关联的所述空间的部分，其中所述控制器响应于所述信号 关闭隔离空间部分的至少一个障碍物，并且实现在空间部分内的车辆的移除或关闭。

    Bot having high speed stability
    56.
    发明授权
    Bot having high speed stability 有权
    Bot具有高速稳定性

    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

    IPC: G05D1/00 ,  B21D51/36

    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。

    BOT HAVING HIGH SPEED STABILITY
    57.
    发明申请
    BOT HAVING HIGH SPEED STABILITY 审中-公开

    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.

    AUTONOMOUS TRANSPORT VEHICLE CHARGING SYSTEM
    60.
    发明申请
    AUTONOMOUS TRANSPORT VEHICLE CHARGING SYSTEM 有权
    自动运输车辆充电系统

    公开(公告)号：US20160185245A1

    公开(公告)日：2016-06-30

    申请号：US14799367

    申请日：2015-07-14

    Applicant: Symbotic, LLC

    Inventor： Robert Sullivan ,  Dmitry Vasilyev

    IPC: B60L11/18 ,  B65G47/04 ,  B65G67/02

    CPC classification number: B60L11/1838 ,  B60L11/1844 ,  B60S5/00 ,  B65G1/0492 ,  B65G1/1373 ,  B65G47/04 ,  B65G67/02 ,  G06Q10/087 ,  G06Q20/105 ,  G06Q30/0215 ,  G06Q40/00 ,  H02J7/0021 ,  H02J7/007

    Abstract: A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

    Abstract translation: 一种用于自主运输车辆的充电系统，包括设置在存储和取回系统的每个拾取楼层上的至少一个充电接触件，所述至少一个充电接点中的每一个位于转移站处，至少一个电源被配置为提供电力 到所述至少一个充电接触器，以及与所述转移站通信的控制器，并且被配置为传送与所述转移站和所述自主运输车辆中的预定的一个之间的物品的转移有关的信息，并且从所述电源 到所述至少一个充电接触件，用于对应于所述转移并位于所述转移站处的所述预定的自动运输车辆进行充电，其中所述控制器被配置为与所述预定的自动运输车辆交换与所述转移相关的物品同时向所述充电接触器供电 在转运站。

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