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1. 发明公开

EP4234443A2 METHOD FOR DETERMINING A LOCTION OF AN AUTONOMOUS VEHICLE 审中-实审
公开(公告)号：EP4234443A2
公开(公告)日：2023-08-30
申请号：EP23171789.3
申请日：2011-12-15
申请人： SYMBOTIC, LLC
发明人： TOEBES, Stephen , SULLIVAN, Robert , LERT, John , CYRULIK, Michael
IPC分类号： B65G1/04
摘要： A storage and retrieval system including a storage structure (130) having storage shelves (600), each storage shelf (600) having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle (110) including at least one sensor configured to sense each of the slats and output a signal indicating when a stat is sensed, and a controller for verifying a location of the autonomous transport vehicle (110) within the storage structure (130) based on at least the output signal.

2. 发明公开

EP3115320A1 AUTONOMOUS TRANSPORT VEHICLE 有权
标题翻译：自动交通运输
公开(公告)号：EP3115320A1
公开(公告)日：2017-01-11
申请号：EP16164914.0
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen, C. , SULLIVAN, Robert , BUZAN, Forrest , HOLWELL, Justin , ECCLES, Andrew
IPC分类号： B65G1/04 , B60G9/02 , B60G17/005 , B66F9/06
CPC分类号： B65G1/0492
摘要： An autonomatic guided transport vehicle (110) including a suspension system to maintain the drive wheels (1212) in substantial contact with a travel surface, and a lockout device to lock the suspension system.
摘要翻译：一种自主导向运输车辆（110），包括用于维持驱动轮（1212）与行驶表面基本接触的悬挂系统，以及用于锁定悬架系统的锁定装置。

3. 发明授权

EP2651787B1 AUTONOMOUS TRANSPORT VEHICLE 有权
标题翻译：自TRANSPORTFAHRZEUG
公开(公告)号：EP2651787B1
公开(公告)日：2016-05-18
申请号：EP11804880.0
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen, C. , SULLIVAN, Robert , BUZAN, Forrest , HOLWELL, Justin , ECCLES, Andrew
IPC分类号： B65G1/04
CPC分类号： B65G1/0492

4. 发明公开

EP3792202A2 CHARGING SYSTEM FOR VEHICLES IN WAREHOUSE STORAGE 有权
公开(公告)号：EP3792202A2
公开(公告)日：2021-03-17
申请号：EP20184019.6
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen C. , SULLIVAN, Robert , VASILYEV, Dimitry
IPC分类号： B65G1/04 , B65G1/137 , B65G47/08 , B60L53/14 , B60L53/30 , B65G54/02
摘要： A charging system for autonomous transport vehicles in a warehouse storage and retrieval system, the charging system comprises: at least one charging contact disposed on each pick floor level of the storage and retrieval system, each of the at least one charging contact being located at a transfer station; at least one power supply configured to supply power to the at least one charging contact; and a first controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the first controller is configured to supply power to the charging contacts for charging the predetermined autonomous transport vehicle simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

5. 发明公开

EP3594152A1 AUTONOMOUS TRANSPORT VEHICLE WITH TRANSFER ARM 有权
公开(公告)号：EP3594152A1
公开(公告)日：2020-01-15
申请号：EP19195788.5
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen , SULLIVAN, Robert , BUZAN, Forrest
IPC分类号： B65G1/04
摘要： The present invention concerns an autonomous transport vehicle. the vehicle has a payload bed (1510) and a transfer arm (1540A) disposed in the payload bed and configured to extend along a first axis (6000) to transfer a pickface to and from the payload bed. The transfer arm includes fingers (1540) which can lift individually to each other along a second axis (1673), perpendicular to the first axis for picking and placing the pickface.

6. 发明公开

EP2651786A1 BOT POSITION SENSING 有权
标题翻译：有传感器用于检测自主车辆的位置存储系统
公开(公告)号：EP2651786A1
公开(公告)日：2013-10-23
申请号：EP11804879.2
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen, C. , SULLIVAN, Robert , CYRULIK, Michael , LERT, John
IPC分类号： B65G1/04
CPC分类号： B65G1/0492 , B65G2207/40
摘要： A storage and retrieval system including a storage structure (130) having storage shelves (600), each storage shelf (600) having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle (110) including at least one sensor configured to sense each of the slats and output a signal indicating when a slat is sensed, and a controller for verifying a location of the autonomous transport vehicle (110) within the storage structure (130) based on at least the output signal.

7. 发明公开

EP4234443A3 METHOD FOR DETERMINING A LOCTION OF AN AUTONOMOUS VEHICLE 审中-实审
公开(公告)号：EP4234443A3
公开(公告)日：2023-11-22
申请号：EP23171789.3
申请日：2011-12-15
申请人： SYMBOTIC, LLC
发明人： TOEBES, Stephen , SULLIVAN, Robert , LERT, John , CYRULIK, Michael
IPC分类号： B65G1/04
摘要： A storage and retrieval system including a storage structure (130) having storage shelves (600), each storage shelf (600) having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle (110) including at least one sensor configured to sense each of the slats and output a signal indicating when a stat is sensed, and a controller for verifying a location of the autonomous transport vehicle (110) within the storage structure (130) based on at least the output signal.

8. 发明公开

EP3792202A3 CHARGING SYSTEM FOR VEHICLES IN WAREHOUSE STORAGE 有权
公开(公告)号：EP3792202A3
公开(公告)日：2021-04-07
申请号：EP20184019.6
申请日：2011-12-15
申请人： Symbotic LLC
发明人： TOEBES, Stephen C. , SULLIVAN, Robert , VASILYEV, Dimitry
IPC分类号： B65G1/04 , B65G1/137 , B65G47/08 , B60L53/14 , B60L53/30 , B65G54/02
摘要： A charging system for autonomous transport vehicles in a warehouse storage and retrieval system, the charging system comprises: at least one charging contact disposed on each pick floor level of the storage and retrieval system, each of the at least one charging contact being located at a transfer station; at least one power supply configured to supply power to the at least one charging contact; and a first controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the first controller is configured to supply power to the charging contacts for charging the predetermined autonomous transport vehicle simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

9. 发明授权

EP2753992B1 STORAGE AND RETRIEVAL SYSTEM CASE UNIT DETECTION 有权
标题翻译：的检测BOX单位检索系统
公开(公告)号：EP2753992B1
公开(公告)日：2017-02-22
申请号：EP12766517.2
申请日：2012-09-10
申请人： Symbotic LLC
发明人： SULLIVAN, Robert , TOEBES, Stephen, C.
IPC分类号： G05B19/04 , B65G1/00
CPC分类号： B65G1/0492 , B65G1/1371 , B65G1/1373 , B65G2207/20 , G05B15/02 , G06Q10/08 , G06Q10/087
摘要： An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.

10. 发明公开

EP2753992A2 STORAGE AND RETRIEVAL SYSTEM CASE UNIT DETECTION 有权
标题翻译： REGALBEDIENSYSTEM MIT ERKENNUNG VON KISTENEINHEITEN
公开(公告)号：EP2753992A2
公开(公告)日：2014-07-16
申请号：EP12766517.2
申请日：2012-09-10
申请人： Symbotic LLC
发明人： SULLIVAN, Robert , TOEBES, Stephen, C.
IPC分类号： G05B19/04
CPC分类号： B65G1/0492 , B65G1/1371 , B65G1/1373 , B65G2207/20 , G05B15/02 , G06Q10/08 , G06Q10/087
摘要： An automated storage and retrieval system including a storage structure with storage racks having a seating surface configured to support case units where a position of each case unit is non-deterministic for each storage location on the storage racks, each case unit has a predetermined storage position and a controller is configured to determine the predetermined storage position, a picking aisle configured to provide access to the case units within the storage structure, and a seismic disturbance restorative system including seismic disturbance motions sensors disposed on the storage racks, a seismic disturbance control module in communication with the seismic disturbance sensors and configured to identify a seismic disturbance, and an automated case mapper configured to traverse the picking aisle, the automated case mapper being in communication with and initialized by the seismic disturbance control module to identify a seated position of at least one case unit within the storage structure.
摘要翻译：自动存储和检索系统包括具有被配置为支持壳单元的存储架的存储结构，每个壳单元具有预定的存储位置，其中壳单元位于存储架上，以及用于确定预定存储位置的控制器，拾取通道，用于提供对存储结构内的案例单元的访问;以及自动化案例映射器，被配置为遍历拾取通道，所述自动化案例映射器被配置为识别存储结构内的至少一个案件单元的就座位置，所述控制器被配置为将所述至少一个外壳单元的所识别的就座位置与所述至少一个外壳单元的预定位置进行比较，并且识别所识别的就座位置与所述预定位置之间的差异，并且生成具有用于壳单元位置校正的信息的命令基于方差类型。

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