公开(公告)号：US20230391551A1

公开(公告)日：2023-12-07

申请号：US18446173

申请日：2023-08-08

Applicant: Symbotic LLC

Inventor： Forrest BUZAN ,  Edward A. MACDONALD ,  Taylor A. APGAR ,  Thomas A. SCHAEFER ,  Melanie ZIEGLER ,  Russell G. BARBOUR

IPC: B65G1/04

CPC classification number: B65G1/0492

Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.

公开(公告)号：US20240025640A1

公开(公告)日：2024-01-25

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 ,  B65G1/137 ,  G05D1/02 ,  G06N7/00 ,  G06Q10/087

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

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：US20210284445A1

公开(公告)日：2021-09-16

申请号：US17317659

申请日：2021-05-11

Applicant: Symbotic LLC

Inventor： Forrest BUZAN ,  Edward A. MACDONALD ,  Taylor A. APGAR ,  Thomas A. SCHAEFER ,  Melanie ZIEGLER ,  Russell G. BARBOUR

IPC: B65G1/04

Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.

公开(公告)号：US20220002082A1

公开(公告)日：2022-01-06

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

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：US20190092570A1

公开(公告)日：2019-03-28

申请号：US16144668

申请日：2018-09-27

Applicant: Symbotic, LLC

Inventor： Ted A. MACDONALD ,  Forrest BUZAN ,  John F. KEATING ,  Juergen D. CONRAD ,  Armin ATAEI-ESFAHANI

IPC: B65G1/04 ,  B65G1/137 ,  G06N7/00 ,  G05D1/02

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：US20180282064A1

公开(公告)日：2018-10-04

申请号：US16000749

申请日：2018-06-05

Applicant: Symbotic, LLC

Inventor： Forrest BUZAN ,  Michael CYRULIK ,  Aria REYNOLDS ,  Jason S. SIROIS ,  Larry SWEET ,  Edward A. MACDONALD ,  Taylor A. APGAR ,  Timothy PERRAULT ,  Stephen C. TOEBES

IPC: B65G1/137 ,  B65G1/04

CPC classification number: B65G1/1373 ,  B65G1/0492

Abstract: An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.

公开(公告)号：US20180111755A1

公开(公告)日：2018-04-26

申请号：US15848153

申请日：2017-12-20

Applicant: Symbotic, LLC

Inventor： Stephen C. TOEBES ,  Robert SULLIVAN ,  Forrest BUZAN

IPC: B65G1/04 ,  B25J9/16

CPC classification number: B65G1/0492 ,  B25J9/1674 ,  Y10S901/02 ,  Y10S901/09

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.

公开(公告)号：US20170131720A1

公开(公告)日：2017-05-11

申请号：US15412998

申请日：2017-01-23

Applicant: Symbotic LLC

Inventor： Robert SULLIVAN ,  Forrest BUZAN ,  Stephen C. TOEBES ,  Andrew ECCLES

IPC: G05D1/02 ,  G05D1/00 ,  B65G1/04

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.