公开(公告)号：US20070290040A1

公开(公告)日：2007-12-20

申请号：US11425076

申请日：2006-06-19

申请人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  David C. Koehler ,  Michael C. Mountz

发明人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  David C. Koehler ,  Michael C. Mountz

IPC分类号： G06Q30/00

CPC分类号： B65G1/137 ,  G06Q10/087

摘要： A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

摘要翻译： 旋转库存持有者的方法包括：将库存持有者朝向沿着路径的直线段的旋转区域移动，其中库存保持器的第一面朝向第一方向。 旋转区域包括指定用于库存持有者旋转的工作区的一部分。 该方法还包括沿着第一弧形段将库存架移动到旋转区域中，其中第一面垂直于第一弧形段的取向。 该方法另外包括在旋转区域内执行旋转操作，并且将库存容器沿着具有面向第一方向的第二面的第二弧形段移出旋转区域。

公开(公告)号：US08649899B2

公开(公告)日：2014-02-11

申请号：US11425076

申请日：2006-06-19

申请人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  David C. Koehler ,  Michael C. Mountz

发明人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  David C. Koehler ,  Michael C. Mountz

IPC分类号： G06F7/00

CPC分类号： B65G1/137 ,  G06Q10/087

摘要： A method of rotating an inventory holder includes moving an inventory holder towards a rotation area along a straight segment of a path with a first face of the inventory holder facing a first direction. The rotation area includes a portion of a workspace designated for rotation of inventory holders. The method further includes moving the inventory holder into the rotation area along a first arced segment with an orientation of the first face perpendicular to the first arced segment. The method additionally includes executing a rotation maneuver within the rotation area and moving the inventory holder out of the rotation area along a second arced segment with a second face facing the first direction.

摘要翻译： 旋转库存持有者的方法包括：将库存持有者朝向沿着路径的直线段的旋转区域移动，其中库存保持器的第一面朝向第一方向。 旋转区域包括指定用于库存持有者旋转的工作区的一部分。 该方法还包括沿着第一弧形段将库存架移动到旋转区域中，其中第一面垂直于第一弧形段的取向。 该方法另外包括在旋转区域内执行旋转操作，并且使库存支架沿着具有面向第一方向的第二面的第二弧形段移出旋转区域。

公开(公告)号：US07873469B2

公开(公告)日：2011-01-18

申请号：US11425042

申请日：2006-06-19

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/32

CPC分类号： G01C21/005 ,  G05D1/0246 ,  G05D2201/0216

摘要： A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.

公开(公告)号：US20080051985A1

公开(公告)日：2008-02-28

申请号：US11425073

申请日：2006-06-19

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/00

CPC分类号： G05D1/0291 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/45056 ,  G05D1/0212 ,  G05D1/0297 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60

摘要： A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.

摘要翻译： 用于移动工作空间内的一个或多个移动驱动单元的方法包括从第一移动驱动单元接收请求使用第一路径段以在第一方向上移动的预留请求。 该方法还包括确定第二移动驱动单元当前位于第一路径段上并确定第二移动驱动单元是否在第一方向上移动。 另外，响应于确定第二移动驱动单元不在第一方向上移动，该方法包括发送指示预约请求被拒绝的预约响应。 响应于确定第二移动驱动单元在第一方向上移动，该方法还包括发送指示预约请求被许可的预约响应。

公开(公告)号：US20130103552A1

公开(公告)日：2013-04-25

申请号：US13276990

申请日：2011-10-19

申请人： Andrew E. Hoffman ,  Michael C. Mountz ,  Michael T. Barbehenn ,  James R. Allard ,  Matthew E. Kimmel ,  Fabrizio Santini ,  Michael H. Decker ,  Raffaello D'Andrea ,  Peter R. Wurman

发明人： Andrew E. Hoffman ,  Michael C. Mountz ,  Michael T. Barbehenn ,  James R. Allard ,  Matthew E. Kimmel ,  Fabrizio Santini ,  Michael H. Decker ,  Raffaello D'Andrea ,  Peter R. Wurman

IPC分类号： G06Q10/08

CPC分类号： G05D1/0027 ,  G06Q10/00 ,  G08G1/096708

摘要： A method for inventory management includes deploying a first mobile drive unit having first dimensions and deploying a second mobile drive unit having second dimensions, the first and second dimensions being different. The first and second mobile drive units are operable to transport inventory items to a plurality of inventory stations in the same workspace.

摘要翻译： 用于库存管理的方法包括部署具有第一维度的第一移动驱动单元并且部署具有第二维度的第二移动驱动单元，第一和第二维不同。 第一和第二移动驱动单元可操作以将库存物品运送到同一工作空间中的多个库存站。

公开(公告)号：US08412400B2

公开(公告)日：2013-04-02

申请号：US13021860

申请日：2011-02-07

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： B65G63/00 ,  G01C21/36 ,  G05D1/02 ,  G01C21/12 ,  G01C21/20

CPC分类号： G05D1/0291 ,  G05B19/41895 ,  G05B2219/31003 ,  G05B2219/45056 ,  G05D1/0212 ,  G05D1/0297 ,  G05D2201/0216 ,  Y02P90/285 ,  Y02P90/60

摘要： A method for moving one or more mobile drive units within a workspace includes receiving, from a first mobile drive unit, a reservation request requesting use of a first path segment to move in a first direction. The method further includes determining that a second mobile drive unit is currently located on the first path segment and determining whether the second mobile drive unit is moving in the first direction. Additionally, the method includes transmitting a reservation response indicating that the reservation request is denied, in response to determining that the second mobile drive unit is not moving in the first direction. The method also includes transmitting a reservation response indicating that the reservation request is granted, in response to determining that the second mobile drive unit is moving in the first direction.

摘要翻译： 用于移动工作空间内的一个或多个移动驱动单元的方法包括从第一移动驱动单元接收请求使用第一路径段以在第一方向上移动的预留请求。 该方法还包括确定第二移动驱动单元当前位于第一路径段上并确定第二移动驱动单元是否在第一方向上移动。 另外，响应于确定第二移动驱动单元不在第一方向上移动，该方法包括发送指示预约请求被拒绝的预约响应。 响应于确定第二移动驱动单元在第一方向上移动，该方法还包括发送指示预约请求被许可的预约响应。

公开(公告)号：US08265873B2

公开(公告)日：2012-09-11

申请号：US13281611

申请日：2011-10-26

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/00

CPC分类号： G01C21/005 ,  G05D1/0246 ,  G05D2201/0216

摘要： A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.

摘要翻译： 用于在工作空间内移动移动驱动单元的方法包括接收路径。 该路径至少包括初始段和一个或多个附加段。 初始段包括与第一点相邻的路径的一部分; 并且所述附加段中的至少一个包括与所述第二点相邻的路径的一部分。 该方法还包括存储路径，保留路径的初始段，以及沿初始段离开第一点。 在启动沿着初始段的移动之后，该方法包括保留路径中的每个附加段并且沿着每个附加段沿第二点移动，同时该段被保留。

公开(公告)号：US20080051984A1

公开(公告)日：2008-02-28

申请号：US11425057

申请日：2006-06-19

申请人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Peter R. Wurman ,  Raffaello D'Andrea ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/00

CPC分类号： G05D3/00 ,  G06Q10/08 ,  G06Q10/087 ,  G06Q50/30

摘要： A method of transporting inventory items includes receiving a route request from a mobile drive unit. The route request identifies a destination location within a workspace. The workspace includes at least one cell associated with a first cell attribute and at least one cell that is not associated with the first cell attribute. The method includes determining a state of the mobile drive unit. The method also includes generating a path to the destination location for the mobile drive unit that traverses cells associated with the first cell attribute, in response to determining that the mobile drive unit is associated with a first state. The method includes generating a path to the destination location for the mobile drive unit that does not traverse cells associated with the first cell attribute, in response to determining the mobile drive unit is not associated with the first state. The method further includes transmitting the path to the mobile drive unit.

摘要翻译： 运送库存物品的方法包括从移动驱动单元接收路线请求。 路由请求标识工作空间内的目标位置。 工作空间包括与第一单元格属性相关联的至少一个单元格以及与第一单元格属性不相关联的至少一个单元。 该方法包括确定移动驱动单元的状态。 响应于确定移动驱动单元与第一状态相关联，该方法还包括生成到达移动驱动单元的目的地位置的路径，该移动驱动单元穿过与第一小区属性相关联的小区。 响应于确定移动驱动单元不与第一状态相关联，该方法包括生成到移动驱动单元的目的地位置的路径，其不穿过与第一小区属性相关联的小区。 该方法还包括将路径发送到移动驱动单元。

公开(公告)号：US20070294029A1

公开(公告)日：2007-12-20

申请号：US11425042

申请日：2006-06-19

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/32

CPC分类号： G01C21/005 ,  G05D1/0246 ,  G05D2201/0216

摘要： A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.

摘要翻译： 用于在工作空间内移动移动驱动单元的方法包括接收路径。 该路径至少包括初始段和一个或多个附加段。 初始段包括与第一点相邻的路径的一部分; 并且所述附加段中的至少一个包括与所述第二点相邻的路径的一部分。 该方法还包括存储路径，保留路径的初始段，以及沿初始段离开第一点。 在启动沿着初始段的移动之后，该方法包括保留路径中的每个附加段并且沿着每个附加段沿第二点移动，同时该段被保留。

公开(公告)号：US20110112758A1

公开(公告)日：2011-05-12

申请号：US13007936

申请日：2011-01-17

申请人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

发明人： Raffaello D'Andrea ,  Peter R. Wurman ,  Michael T. Barbehenn ,  Andrew E. Hoffman ,  Michael C. Mountz

IPC分类号： G01C21/00

CPC分类号： G01C21/005 ,  G05D1/0246 ,  G05D2201/0216

摘要： A method for moving a mobile drive unit within a workspace includes receiving a path. The path includes at least an initial segment and one or more additional segments. The initial segment includes a portion of the path adjacent to the first point; and at least one of the additional segments includes a portion of the path adjacent to the second point. The method further includes storing the path, reserving the initial segment of the path, and moving away from the first point along the initial segment. After initiating movement along the initial segment, the method includes reserving each of the additional segments of the path and moving toward the second point along each of the additional segments while that segment is reserved.

摘要翻译： 用于在工作空间内移动移动驱动单元的方法包括接收路径。 该路径至少包括初始段和一个或多个附加段。 初始段包括与第一点相邻的路径的一部分; 并且所述附加段中的至少一个包括与所述第二点相邻的路径的一部分。 该方法还包括存储路径，保留路径的初始段，以及沿初始段离开第一点。 在启动沿着初始段的移动之后，该方法包括保留路径中的每个附加段并且沿着每个附加段沿第二点移动，同时该段被保留。