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1. 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.

2. 发明授权

EP2969855B1 AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权
公开(公告)号：EP2969855B1
公开(公告)日：2018-10-10
申请号：EP14716508.8
申请日：2014-03-17
申请人： Symbotic LLC
发明人： BUZAN, Forrest , CYRULIK, Michael , REYNOLDS, Aria , SIROIS, Jason, S. , SWEET, Larry , MACDONALD, Edward, A. , APGAR, Taylor, A. , PERRAULT, Timothy , TOEBES, Stephen, C.
IPC分类号： B65G1/04
CPC分类号： B65G1/1373 , B65G1/0492
摘要： 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.

3. 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.

4. 发明公开

EP2969855A1 AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权
标题翻译：自动存储和检索系统
公开(公告)号：EP2969855A1
公开(公告)日：2016-01-20
申请号：EP14716508.8
申请日：2014-03-17
申请人： Symbotic LLC
发明人： BUZAN, Forrest , CYRULIK, Michael , REYNOLDS, Aria , SIROIS, Jason, S. , SWEET, Larry , MACDONALD, Edward, A. , APGAR, Taylor, A. , PERRAULT, Timothy , TOEBES, Stephen, C.
IPC分类号： B65G1/04
CPC分类号： B65G1/1373 , B65G1/0492
摘要： 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.
摘要翻译：一种包括框架（110F）的自主漫游车（110），所述框架具有与所述第一端部纵向隔开的第一端部（110E1）和第二端部（110E2）并且形成有效载荷舱（200），所述有效载荷舱的尺寸设定为支撑拣货位（210，配置成接合所述拣货位的共同主动配准表面（202,203），以及连接到所述共同主动配准表面的驱动部分（220），所述驱动部分配置成相对于所述公共主动配准表面可变地定位自动化存储和取回系统（100）的至少一个存储架（300），以实现所述拣货位置在所述存储货架上的放置，使得所述拣货面沿着所述至少一个存储货架基本上连续布置，且预定存储空间（X1）拣货。

5. 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.

6. 发明授权

EP2651786B1 STORAGE AND RETRIEVAL SYSTEM WITH AN AUTONOMOUS VEHICLE POSITIONING SENSOR 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：EP2651786B1
公开(公告)日：2016-05-25
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

7. 发明公开

EP3444206A1 AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权
公开(公告)号：EP3444206A1
公开(公告)日：2019-02-20
申请号：EP18198788.4
申请日：2014-03-17
申请人： Symbotic LLC
发明人： BUZAN, Forrest , CYRULIK, Michael , REYNOLDS, Aria , SIROIS, Jason , SWEET, Larry M. , MACDONALD, Edward , APGAR, Taylor , PERRAULT, Timothy , TOEBES, Stephen
IPC分类号： B65G1/04
摘要： An autonomous rover (110) comprising a frame (110F) having a first end (110E1) and a second end (110E2) longitudinally spaced from the first end and forming a payload bay (200), the payload bay being sized to support a pickface (210); at least first, second and third common registration surfaces (110PB, 202, 203), each of the at least the first common registration surface, the second common registration surface, and the third common registration surface being configured to engage the pickface supported on payload supports (201) in the payload bay, and distinct and decoupled from the payload supports; and a drive section (220A) being connected to the at least the first common registration surface, the second common registration surface, and the third common registration surface, and configured to variably position the at least the first common registration surface, the second common registration surface, and the third common registration surface relative to each other and at least one storage shelf (300) of an automated storage and retrieval system so as to justify the pickface in three degrees of freedom to effect placement of the pickface on the at least one storage shelf;

8. 发明公开

EP3247653A1 STORAGE AND RETRIEVAL SYSTEM TRANSPORT VEHICLE 无效
标题翻译：存储和检索系统运输车辆
公开(公告)号：EP3247653A1
公开(公告)日：2017-11-29
申请号：EP16706923.6
申请日：2016-01-25
申请人： Symbotic LLC
发明人： CYRULIK, Michael , KEPPLE, Todd, E. , COLLINS, Scott , SIROIS, Jason, S.
IPC分类号： B65G1/04
CPC分类号： B65G67/02 , B65G1/0492 , B65G1/1373
摘要： An autonomous transport vehicle includes a frame forming a payload section configured to hold one or more pickfaces, a transfer arm movably mounted to the frame, a drive section connected to the frame, and a controller connected to the drive section, the controller being configured to effect an on-the-fly sortation of pickfaces carried by the autonomous transport vehicle according to a predetermined case out order sequence where the controller commands the drive section so that two or more pickfaces are picked from one or more first case unit holding locations and placed at one or more different second case unit holding locations according to the predetermined case out order sequence.

9. 发明公开

EP3081511A3 METHOD FOR POSITIONING AN AUTONOMOUS VEHICLE IN A WAREHOUSE AND MAINTENANCE SYSTEM 有权
标题翻译： VERFARHEN，用于驾驶员的在仓库车辆地段和维护系统的定位
公开(公告)号：EP3081511A3
公开(公告)日：2017-03-01
申请号：EP16166265.5
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： Method comprising:providing at least one vertical lift having at least one shelf (1000) having support fingers (1000F); providing reference datums (1620) on at least one wall (1100) adjacent the least one vertical lift, the reference datums (1620) being substantially aligned with the support fingers (1000F);sensing each of the reference datums with at least one sensor (700, 701) of an autonomous transport vehicle (110);aligning transfer arm fingers (110F) of a transfer arm (110A) of the autonomous transport vehicle (110) with spaces located between the support fingers (1000F) of the at least one shelf (1000) based on the determined location of the autonomous transport vehicle (110); and determining, with a controller, a location of the autonomous transport vehicle (110) relative to the support fingers (1000F) based on the output signal from the at least one sensor (700, 701).
摘要翻译：方法包括：提供具有至少一个搁板（1000），其具有支撑指状物（100°F）的至少一个垂直升降; 上的至少一个壁（1100）相邻的至少一个垂直升降，基准日期，（1620）提供参考基准（1620）基本上与所述支承指（100°F）对齐;感测每个所述参考日期的，具有至少一个传感器（ 700，701）的自主式运输车辆（110）的;对准所述自主式运输车辆（110的搬送臂（110A）的搬送臂的手指（110F）），与位于所述至少一个的支撑指状物（100°F）之间的空间基于所述自主式运输车辆（110）的确定性开采位置架（1000）; 和确定性采矿，具有控制器，所述自主式运输车辆的位置（110）相对于基于从所述至少一个传感器（700，701）的输出信号的支撑指状物（100°F）。

10. 发明公开

EP3081511A2 METHOD FOR POSITIONING AN AUTONOMOUS VEHICLE IN A WAREHOUSE AND MAINTENANCE SYSTEM 有权
标题翻译： VERFARHEN，用于驾驶员的在仓库车辆地段和维护系统的定位
公开(公告)号：EP3081511A2
公开(公告)日：2016-10-19
申请号：EP16166265.5
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： Method comprising:providing at least one vertical lift having at least one shelf (1000) having support fingers (1000F); providing reference datums (1620) on at least one wall (1100) adjacent the least one vertical lift, the reference datums (1620) being substantially aligned with the support fingers (1000F);sensing each of the reference datums with at least one sensor (700, 701) of an autonomous transport vehicle (110);aligning transfer arm fingers (110F) of a transfer arm (110A) of the autonomous transport vehicle (110) with spaces located between the support fingers (1000F) of the at least one shelf (1000) based on the determined location of the autonomous transport vehicle (110); and determining, with a controller, a location of the autonomous transport vehicle (110) relative to the support fingers (1000F) based on the output signal from the at least one sensor (700, 701).

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