公开(公告)号：US11892853B2

公开(公告)日：2024-02-06

申请号：US17575529

申请日：2022-01-13

Applicant: ASSA ABLOY Entrance Systems AB

Inventor： Richard K. Hoofard ,  Daryl Day ,  L. Blake Whitley

IPC: G05D1/02 ,  B60D1/24 ,  G05D1/00 ,  B60W30/00 ,  B60T7/22 ,  G06Q10/0833 ,  B60D1/62 ,  G01S17/06

CPC classification number: G05D1/0225 ,  B60D1/245 ,  B60D1/246 ,  B60D1/62 ,  B60T7/22 ,  B60W30/00 ,  G05D1/0088 ,  G05D1/028 ,  G06Q10/0833 ,  B60T2201/10 ,  G01S17/06 ,  G05D2201/0213 ,  G05D2201/0216

Abstract: Systems and methods are disclosed for controlling operations of autonomous vehicles and systems in, for example, logistics yards at distribution, manufacturing, processing and/or other centers for the transfer of goods, materials, and/or other cargo. In some embodiments, an autonomous yard tractor or other vehicle can include one or more systems for locating an over-the-road trailer parked in a yard of a distribution center, engaging the trailer, and moving the trailer to a loading dock for loading/unloading operations in accordance with a workflow procedure provided by a central control system. In other embodiments, an autonomous yard tractor can locate the trailer at the loading dock after the loading/unloading operations, engage the trailer, and move the trailer to a parking location in the yard. In some embodiments, the autonomous yard tractor can include a sensor system configured to detect the position of the trailer relative to, for example, the tractor, and/or the dock station can include a sensor system configured to detect the position of the trailer relative to, for example, the dock station during a docking procedure.

公开(公告)号：US11892824B2

公开(公告)日：2024-02-06

申请号：US18251023

申请日：2020-11-05

Applicant: ABB Schweiz AG

Inventor： Jonas Larsson ,  Aftab Ahmad ,  Pietro Falco

IPC: G05B19/418 ,  G05D1/02

CPC classification number: G05B19/41895 ,  G05D1/0214 ,  G05D1/0223 ,  G05D2201/0216

Abstract: A method of detecting sensor malfunction in an automated guided vehicle, AGV, including for at least two different pairs of wheel units in a motion state of the AGV, calculating a motion value for at least one motion variable of a body of the AGV based on sensor data from a wheel sensors and/or a steering sensors; for at least one motion variable, calculating a difference between the motion values for at least two different pairs; and determining that there is a malfunction in one or more of the wheel sensors and the steering sensors if one of the at least one difference exceeds a threshold value associated with the respective motion variable.

公开(公告)号：US11891095B2

公开(公告)日：2024-02-06

申请号：US17059220

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Ragnar Stuhaug ,  Oystein Gjerdevik

IPC: B61B13/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19 ,  G05D1/00 ,  G05D1/02 ,  B60W50/00 ,  B65G43/00 ,  B65G63/00

CPC classification number: B61B13/00 ,  B65G1/0414 ,  B65G1/0457 ,  B65G1/0464 ,  B65G1/0471 ,  B65G1/0478 ,  B65G1/0485 ,  B65G1/0492 ,  B65G1/065 ,  B65G1/1375 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/063 ,  B66F9/19 ,  G05D1/0011 ,  G05D1/021 ,  G05D1/0291 ,  B60W50/0098 ,  B60W2710/06 ,  B60W2720/10 ,  B60W2720/24 ,  B65G1/1378 ,  B65G43/00 ,  B65G63/004 ,  B65G2201/0235 ,  B65G2201/0258 ,  B65G2203/0283 ,  B65G2203/042 ,  G05D1/02 ,  G05D1/0229 ,  G05D1/0231 ,  G05D1/0259 ,  G05D1/0289 ,  G05D2201/0216

Abstract: A method for handling malfunctioning vehicles (240,340) on a rail system (108,308) constituting part of a storage and retrieval system (1) configured to store a plurality of stacks (107) of storage containers (106), wherein the storage and retrieval system (1) comprises—a plurality of remotely operated vehicles (230,330,240,340,250,350) configured to move laterally on the rail system (108,308) and—a control system (109) for monitoring and controlling wirelessly movements of the plurality of vehicles (230,330,240,340,250,350), the control system (109) forms by wireless data communication at least the following steps: A. registering an anomaly in an operational condition of a vehicle (this 240,340) on the rail system (108,308), B. registering the vehicle with the anomalous operational condition as a malfunctioning vehicle (240,340), C. bringing the malfunctioning vehicle (240,340) to a halt, D. registering a halt position of the malfunctioning vehicle (240,340) relative to the supporting rail system (108,308), E. setting up a two-dimensional shutdown zone (225) within the rail system (108,308) into which the malfunctioning vehicle (240,340) is halted and F. updating movement pattern of the plurality of remotely operated vehicles (230,330, 250,350) outside the two-dimensional shutdown zone (225) such that entrance into the two-dimensional shutdown zone (225) is avoided.

公开(公告)号：US20240036588A1

公开(公告)日：2024-02-01

申请号：US18360343

申请日：2023-07-27

Applicant: SIDEL PARTICIPATIONS

Inventor： Vincent BRACHET ,  Nicolas CHOMEL ,  Jean-Claude WAELDIN

IPC: G05D1/02 ,  B65G1/137

CPC classification number: G05D1/0291 ,  B65G1/137 ,  G05D2201/0216

Abstract: Provided is an interface for supplying consumables to a product processing station, with an entry accessible to an autonomous mobile robot (AMR) transporting a consumable corresponding to the processing station and means for automatic transfer of the consumable from the AMR to a reception space. The reception space can be integrated with the processing station, where the transfer means has an automatic loading means dedicated to the consumable to be transferred and to each reception space of particular processing stations to be supplied with the corresponding consumable. Also provided is a production line in which at least one of the stations is equipped with the interface, as well a method for managing the supply of consumables to this production line. Also provided is a system for supervising the supply of consumables to particular stations.

公开(公告)号：US11883957B2

公开(公告)日：2024-01-30

申请号：US17055221

申请日：2019-05-14

Applicant: Deutsche Post AG

Inventor： Kent Rogers ,  Karl Brooks

IPC: B25J9/00 ,  B25J9/16 ,  B25J19/02 ,  B65G1/04 ,  B65G1/137 ,  G06Q10/087 ,  G05D1/02

CPC classification number: B25J9/0009 ,  B25J9/162 ,  B25J19/021 ,  B65G1/0485 ,  B65G1/0492 ,  B65G1/1371 ,  B65G1/1373 ,  G05D1/024 ,  G06Q10/087 ,  G05D2201/0216

Abstract: The invention relates to a vehicle chassis (6) for checking and/or counting stock (4) in a warehouse (3) and configured for attaching to an autonomous indoor vehicle (9), with an extendable mast (11) comprising a first end (12) mounted onto the chassis (6) and an opposite second end (13) arrangeable at different distances above the chassis (6), and at least one scanner (2) arranged at the second end (13) and configured for checking and/or counting stock (4) in a shelve (5) of the warehouse (3) lateral to the vehicle (1). The invention further relates to an autonomous robot vehicle (1) comprising the vehicle chassis (6) and the autonomous indoor vehicle (9), whereby the chassis (6) is mounted onto the autonomous indoor vehicle (9) such that the autonomous indoor vehicle (9) and the chassis (6) are configured for autonomously moving the vehicle (1) in the warehouse (3).

公开(公告)号：US11873014B2

公开(公告)日：2024-01-16

申请号：US15734855

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/137 ,  B61B13/00 ,  B65G1/04 ,  B65G1/06 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19 ,  G05D1/00 ,  G05D1/02 ,  B60W50/00 ,  B65G43/00 ,  B65G63/00

CPC classification number: B61B13/00 ,  B65G1/0414 ,  B65G1/0457 ,  B65G1/0464 ,  B65G1/0471 ,  B65G1/0478 ,  B65G1/0485 ,  B65G1/0492 ,  B65G1/065 ,  B65G1/1375 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/063 ,  B66F9/19 ,  G05D1/0011 ,  G05D1/021 ,  G05D1/0291 ,  B60W50/0098 ,  B60W2710/06 ,  B60W2720/10 ,  B60W2720/24 ,  B65G1/1378 ,  B65G43/00 ,  B65G63/004 ,  B65G2201/0235 ,  B65G2201/0258 ,  B65G2203/0283 ,  B65G2203/042 ,  G05D1/02 ,  G05D1/0229 ,  G05D1/0231 ,  G05D1/0259 ,  G05D1/0289 ,  G05D2201/0216

Abstract: An automated storage and retrieval system includes a storage grid for storage of storage containers and a delivery system for transport of said storage containers between a delivery port of the storage grid and an access point of the delivery system. The access point is adapted for handling of items held in the storage containers by a robotic operator or human operator. The delivery system includes a delivery rail system including at least a first set of parallel rails arranged in a horizontal plane (P1) and extending in a first direction (X), and at least a second set of parallel rails arranged in the horizontal plane (P1) and extending in a second direction (Y) which is orthogonal to the first direction (X), the first and second sets of rails together defining a delivery grid of delivery grid cells, the access point, and a remotely operated delivery vehicle comprising a motorized vehicle body and a container carrier provided above the motorized vehicle body for carrying a storage container of the storage containers. The delivery vehicle is moveable on the delivery grid of the delivery rail system. The delivery grid provides one or more delivery grid cells for the remotely operated delivery vehicle at the access point as well as a plurality of delivery grid cells adjacent the one or more delivery grid cells of the access point, such that there is more than one path to and/or from the access point for the remotely operated delivery vehicle via the plurality of delivery grid cells. The remotely operated delivery vehicle is arranged to transport the storage container from the delivery port of the storage grid across the delivery grid to the access point and return the storage container to the delivery port for storage within the storage grid. The access point is provided in a container accessing station, said station being arranged for separating the robotic or human operator from the delivery rail system and the remotely operated delivery vehicle. The container accessing station comprises a cabinet comprising walls and a top cover supported thereon, wherein the items held in the storage container carried by a remotely operated delivery vehicle at the access point is reachable through an opening in the top cover.

公开(公告)号：US11868139B2

公开(公告)日：2024-01-09

申请号：US17939995

申请日：2022-09-08

Applicant: KABUSHIKI KAISHA TOSHIBA

Inventor： Yoshikazu Yamane ,  Noriyuki Hirayama ,  Michio Yamashita

IPC: G05D1/02

CPC classification number: G05D1/0276 ,  G05D1/0234 ,  G05D2201/0216

Abstract: According to one embodiment, a movement control system includes a receiver configured to receive start information for deciding a start order from which execution of an operation plan is started, the operation plan including a plurality of orders for controlling a movable object; and an operation plan executor configured to start the execution of the operation plan from the start order decided based on the start information.

公开(公告)号：US20240004403A1

公开(公告)日：2024-01-04

申请号：US17852770

申请日：2022-06-29

Applicant: Amazon Technologies, Inc.

Inventor： Fahrudin Alagic ,  John Enright ,  Stephen Charles Paschall

IPC: G05D1/02

CPC classification number: G05D1/0297 ,  G05D2201/0216 ,  G01R31/371

Abstract: Disclosed are various embodiments for optimizing robot utilization in autonomous mobile robots by accounting for the battery charge state when assigning missions to be performed by the autonomous mobile robots in a material handling facility. In particular, mission data associated with one or more missions and robot data including a battery charge state associated with one or more robots can be analyzed to determine a robot mission assignment that accounts for battery state charge in order to maximize robot utilization and productivity of material handling tasks.

公开(公告)号：US20240004391A1

公开(公告)日：2024-01-04

申请号：US18217991

申请日：2023-07-03

Applicant: IAM Robotics, LLC

Inventor： Thomas Galluzzo ,  Christopher J. Sullivan

IPC: G05D1/02 ,  B65G1/137 ,  G06V10/141

CPC classification number: G05D1/0214 ,  G05D1/0274 ,  B65G1/1373 ,  G06V10/141 ,  G05D2201/0216

Abstract: A “meet me” model of collaboration among autonomous mobile robots (AMRs) and human workers (pickers) to execute picking and putting within a logistics facility. The AMRs include an intelligent platform having an array of indicator elements that illuminate subsets of the indicator elements to indicate tote locations and numbers of items to be received therein. The pickers receive instructions from a central server on a user device that they hold or wear, and the AMRs receive a list of stop locations within the logistics facility. Selection of the picker to provide an item to an AMR as it approaches one of the stop locations may be dynamic as each picker instruction includes a single item type to be delivered to/from an AMR. Moreover, the central server determines timing for sending the instructions to a user device based on a location of the robot designated to collect an item, thus streamlining workflows for each of the AMR and picker.

公开(公告)号：US20230415996A1

公开(公告)日：2023-12-28

申请号：US18205344

申请日：2023-06-02

Applicant: Hitachi, Ltd.

Inventor： Tomohiro MATSUDA ,  Hideya YOSHIUCHI

IPC: B65G1/137 ,  G05D1/02

CPC classification number: B65G1/1373 ,  G05D1/0287 ,  G06Q10/087 ,  G06Q10/063114 ,  G05D1/0217 ,  G06Q10/06316 ,  G05D2201/0216

Abstract: The disclosure is to eliminate a load on a portion as a bottleneck portion between work processes in a warehouse work control system. The invention includes: a work delay detection unit configured to detect a work delay of each of work subjects; a group configuration change unit configured to change a configuration of a work group when it is determined that the work delay is hindersome to execution of a work; a shift determination unit configured to determine a shift of the work subject when it is determined that the work subject whose work group is changed is present; and an on-movement-path work determination unit configured to determine the work to be performed on a movement path by the work subject.