公开(公告)号：US20190193938A1

公开(公告)日：2019-06-27

申请号：US16293309

申请日：2019-03-05

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：US10221013B2

公开(公告)日：2019-03-05

申请号：US15598969

申请日：2017-05-18

Applicant: Symbotic, LLC

Inventor： Forrest Buzan ,  Edward A. MacDonald ,  Taylor A. Apgar ,  Thomas A. Schaefer ,  Melanie Ziegler ,  Russell G. Barbour

IPC: G06F7/00 ,  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：US09988213B2

公开(公告)日：2018-06-05

申请号：US15798216

申请日：2017-10-30

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: G06F7/00 ,  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：US11001444B2

公开(公告)日：2021-05-11

申请号：US16293309

申请日：2019-03-05

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：US09946265B2

公开(公告)日：2018-04-17

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 ,  B65G1/06 ,  B65G1/04 ,  G05D1/00

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.

公开(公告)号：US09862543B2

公开(公告)日：2018-01-09

申请号：US15605748

申请日：2017-05-25

Applicant: Symbotic, LLC

Inventor： Stephen C. Toebes ,  Robert Sullivan ,  Forrest Buzan

IPC: G06F7/00 ,  G05B19/00 ,  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：US09656803B2

公开(公告)日：2017-05-23

申请号：US14348786

申请日：2014-03-13

Applicant: Symbotic, LLC

Inventor： Forrest Buzan ,  Edward A. MacDonald ,  Taylor A. Apgar ,  Thomas A. Schaefer ,  Melanie Ziegler ,  Russell G. Barbour

IPC: G06F7/00 ,  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：US20150309511A1

公开(公告)日：2015-10-29

申请号：US14629003

申请日：2015-02-23

Applicant: Symbotic LLC

Inventor： Robert Sullivan ,  Stephen C. Toebes ,  Forrest Buzan ,  Andrew Eccles

IPC: G05D1/02

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.

Abstract translation: 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。

公开(公告)号：US20150203296A1

公开(公告)日：2015-07-23

申请号：US14348786

申请日：2014-03-13

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.

Abstract translation: 一种自动化存储和检索系统，包括至少一个自动流动站，用于在系统内传送有效载荷，并且包括通信器，多级存储结构，每个级别允许遍历至少一个自主流动站，至少一个注册站， 每个级别并且被配置为与所述通信器通信以至少接收流动站标识信息，以及与所述至少一个注册站通信并被配置为接收所述至少一个漫游器标识信息的控制器，并且至少一个登记所述至少一个 自动流动站处于与所述至少一个登记站中的相应一个对应的级别上，或者从所述系统中取消注册所述至少一个自主流动站，其中所述控制器将所述至少一个自主流动站的感应实现到所述至少一个自动流动站中的预定流动站空间中 水平。

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.