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公开(公告)号：US20240061443A1
公开(公告)日：2024-02-22
申请号：US18498684
申请日：2023-10-31
发明人： Robert STADIE , Matthew WHELAN , Gareth SIRET
IPC分类号： G05D1/02 , B65G1/04 , G05B19/4155 , G06N7/01 , G06Q10/047 , G06Q50/28
CPC分类号： G05D1/0291 , B65G1/0464 , G05B19/4155 , G05D1/0214 , G06N7/01 , G06Q10/047 , G06Q50/28 , G05B2219/32029 , G05D2201/0216
摘要： A controller is provided to control movement of transporting devices. Embodiments limit the loads imparted on a grid of pathways structure of transporting devices to prevent non-safety-critical damage from excess loads and/or fatigue. A controller is arranged to control movement of transporting devices arranged to transport containers stored in a facility. The facility includes pathways arranged in cells to form a grid-like structure which extends in first and second directions. A route determination unit determines a route from one location to another, and a clearance unit to provide clearance for each transporting device to traverse a portion of the determined route. A constraint area determination unit determines constraint areas based on the grid-like structure and a calculation unit calculates a constraint limit in each constraint area.
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公开(公告)号：US20180075402A1
公开(公告)日：2018-03-15
申请号：US15316249
申请日：2015-06-03
发明人： Robert STADIE , Matthew WHELAN , Christopher BRETT
IPC分类号： G06Q10/08 , G06Q50/28 , G06Q10/04 , G05D1/02 , G05B19/418
CPC分类号： G06Q10/087 , B65G1/0421 , B65G1/0464 , B65G1/1371 , B65G1/1378 , G05B19/4189 , G05D1/0255 , G05D1/0289 , G05D1/0297 , G05D2201/0216 , G06Q10/04 , G06Q10/08 , G06Q50/28
摘要： Systems, methods, and machine-executable coded instruction sets for controlling the movement of transporting devices and/or operations conducted at various workstations are disclosed. In particular, the disclosure provides methods, systems and computer-readable media for controlling the movement of transporting devices configured for fully—and/or partly automated handling of goods and/or controlling operations conducted at various workstations.
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公开(公告)号：US20230339681A1
公开(公告)日：2023-10-26
申请号：US18041233
申请日：2021-07-28
发明人： Robert STADIE
IPC分类号： B65G1/04
CPC分类号： B65G1/0492 , B65G1/0478 , B65G1/0471 , B65G2203/0216 , B65G2203/046 , B65G2203/041
摘要： A load handling device for operating in a storage system, a floor of the storage system including a network of tracks, or track network, based on a grid system, the tracks including a first set of track members extending in a first (x-) direction, and a second set of track members extending in a second (y-) direction, the second set of track members running transversely to the first set of track members in a substantially horizontal plane. The load handling device includes: a first set of wheels and a second set of wheels; and a support pad for receiving a storage container which support pad can be raised and or lowered in a vertical (z-) direction.
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公开(公告)号：US20230301245A1
公开(公告)日：2023-09-28
申请号：US18041252
申请日：2021-07-29
发明人： Robert STADIE
CPC分类号： A01G9/143 , A01G9/246 , A01G9/045 , B65G1/065 , B65G2201/0211
摘要： A farming system and a control facility are disclosed, the farming system including a growing facility having at least one growing floor including a track network, based on a grid system. The track network includes access aisles and growing aisles, wherein the growing aisles include one or more booths for receiving growing trays. A booth includes a support for supporting a growing tray, and a hood for providing services to the growing trays, wherein the hood provides at least irrigation. A load handling device operating on the track network for lifting and transporting growing trays includes a tray support pad located on the upper surface of the load handling device.
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公开(公告)号：US20230264897A1
公开(公告)日：2023-08-24
申请号：US18005471
申请日：2021-07-15
发明人： Robert STADIE , Andrzej CZARNY , Thomas OLIVER , Gareth SIRET , Christopher Richard James BRETT
IPC分类号： B65G1/137 , B65G1/04 , G05D1/02 , G06Q10/047 , G06Q10/087
CPC分类号： B65G1/1373 , B65G1/0464 , G05D1/0289 , G06Q10/047 , G06Q10/087 , G05D2201/0216
摘要： A controller is provided to control movement of a plurality of transporting devices. In particular, the controller provides improved robot shunting. More specifically, the controller delays the planning of a shunt path for an idle robot until closer to the time the idle robot needs to move out of the way. Advantageously this avoids the computing burden of planning shunts in advance that are never performed because the idle robot is subsequently tasked before the shunt were due to start. In particular, shunt paths can be planned very close to the time at which they need to be executed thereby providing a more efficient solution to robot shunting because very close to the execution time there is a very small probability that the plan will change in a way that the shunt needs to be recalculated.
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公开(公告)号：US20200012268A1
公开(公告)日：2020-01-09
申请号：US16575906
申请日：2019-09-19
发明人： Robert STADIE , Matthew WHELAN , Christopher BRETT
摘要： A system and method for controlling movement of transporting devices arranged to transport containers stored in stacks arranged in a facility having pathways arranged in a grid-like structure above the stacks, the transporting devices being configured to operate on the grid-like structure. A movement optimisation unit is configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device. A reservation unit is configured to reserve a path on the grid-like structure for each transporting device based on the determined route. A clearance unit is configured to provide clearance for each transporting device to traverse a portion of the reserved path.
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公开(公告)号：US20180276606A1
公开(公告)日：2018-09-27
申请号：US15992899
申请日：2018-05-30
发明人： Robert STADIE , Matthew WHELAN , Christopher BRETT
摘要： A system and method for controlling movement of transporting devices arranged to transport containers stored in stacks arranged in a facility having pathways arranged in a grid-like structure above the stacks, the transporting devices being configured to operate on the grid-like structure. A movement optimisation unit is configured to determine a route of a transporting device from one location on a grid-like structure to another location on the grid-like structure for each transporting device. A reservation unit is configured to reserve a path on the grid-like structure for each transporting device based on the determined route. A clearance unit is configured to provide clearance for each transporting device to traverse a portion of the reserved path.
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公开(公告)号：US20230347770A1
公开(公告)日：2023-11-02
申请号：US17796486
申请日：2021-01-26
发明人： James BENFOLD , Robert STADIE
CPC分类号： B60L53/35 , B65G1/0478 , B60L53/34
摘要： A load handling device is disclosed for lifting and moving containers stacked in a storage system having a grid framework structure supporting a pathway arranged in a grid pattern above the stacks of containers. The load handling device includes a vehicle body housing a driving mechanism, the driving mechanism being powered by a rechargeable power source electrically coupled to an electrical charge point for electrically coupling with a charge head of a charge station; and a lifting device having a lifting drive assembly and a grabber device, wherein the lifting device includes the electrical charge point such that charging of the rechargeable power source occurs by the lifting device engaging with the charge head.
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公开(公告)号：US20230270064A1
公开(公告)日：2023-08-31
申请号：US18041222
申请日：2021-07-29
发明人： Robert STADIE
摘要： A hood and a growing tray for a farming system growing floor are disclosed. The hood is positioned substantially above a support for receiving a growing tray, the hood including: a lighting source; a fluid outlet for providing irrigation to a growing tray, wherein the fluid outlet can be raised and lowered with a mechanism; and a fluid inlet for receiving re-circulated fluid from a growing tray, wherein the fluid inlet can be raised and lowered with a mechanism. The growing tray can include a header pool for receiving fluid ingress from a hood; and a sump pool from which a pump may egress fluid to a hood.
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公开(公告)号：US20190054932A1
公开(公告)日：2019-02-21
申请号：US16080553
申请日：2017-02-28
IPC分类号： B61D15/00 , B25J5/00 , B65G45/18 , B65G45/22 , B65G45/24 , B08B1/00 , B08B3/02 , B08B5/04 , B61B5/02 , B60L11/18 , B66F9/06 , B61L23/04 , B61F5/50
摘要： A robotic service device for a robotic picking system grid. The robotic service device can be configured for driving to any location on the grid in order to restart malfunctioning robotic load handling devices or to perform maintenance operations or cleaning in situ. Additionally, the service device may be used to rescue robotic load handling devices operational in the picking system. The robotic service device can include a releasable docking mechanism to enable it to dock and latch on to malfunctioning load handling devices. The service device can also be provided with a cleaning device and camera device to enable a condition of a grid and other robotic devices to be monitored.
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