公开(公告)号：US11760570B2

公开(公告)日：2023-09-19

申请号：US17475096

申请日：2021-09-14

Applicant: SYMBOTIC LLC

Inventor： Edward A MacDonald ,  Forrest Buzan ,  John F Keating ,  Juergen D Conrad ,  Armin Ataei-Esfahani

IPC: B65G1/04 ,  B65G1/137 ,  G05D1/02 ,  G06N7/00 ,  G06Q10/08 ,  G06Q10/087 ,  B65G1/06

CPC classification number: B65G1/0492 ,  B65G1/1373 ,  G05D1/0217 ,  G05D1/0234 ,  G05D1/0297 ,  G06N7/00 ,  G06Q10/087 ,  B65G1/065 ,  G05D2201/0216

Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.

公开(公告)号：US12162682B2

公开(公告)日：2024-12-10

申请号：US18469773

申请日：2023-09-19

Applicant: SYMBOTIC LLC

Inventor： Edward A MacDonald ,  Forrest Buzan ,  John F Keating ,  Juergen D Conrad ,  Armin Ataei-Esfahani

IPC: B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  G05D1/00 ,  G06N7/00 ,  G06Q10/087

Abstract: A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.