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公开(公告)号：US09187244B2
公开(公告)日：2015-11-17
申请号：US13327040
申请日：2011-12-15
CPC分类号： B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
摘要： 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.
摘要翻译： 一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个参考基准表面和至少一个有效负载调整装置的有效载荷床，所述至少一个有效负载调整装置被配置为将有效载荷定位在有效载荷床上 与至少一个参考基准表面实质接触以将有效载荷置于有效载荷床上的预定位置。
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公开(公告)号：US20120185122A1
公开(公告)日：2012-07-19
申请号：US13326447
申请日：2011-12-15
IPC分类号： G06F7/00
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： 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.
摘要翻译： 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：US20120197431A1
公开(公告)日：2012-08-02
申请号：US13327040
申请日：2011-12-15
IPC分类号： G06F7/00
CPC分类号： B65G1/0492 , B25J9/1674 , Y10S901/02 , Y10S901/09
摘要： 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.
摘要翻译： 一种用于运输有效载荷的自主运输机器人，所述自主运输机器人包括具有至少一个参考基准表面和至少一个有效负载调整装置的有效载荷床，所述至少一个有效负载调整装置被配置为将有效载荷定位在有效载荷床上 与至少一个参考基准表面实质接触以将有效载荷置于有效载荷床上的预定位置。
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公开(公告)号：US08965619B2
公开(公告)日：2015-02-24
申请号：US13326447
申请日：2011-12-15
CPC分类号： G05D1/0272 , B21D51/36 , B65G1/0492 , G05D1/0088 , G05D1/027 , G05D2201/0216
摘要： 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.
摘要翻译： 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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