Abstract: The operation of container handling vehicles and remotely operated specialized container handling vehicles are controlled by a method such that total elapsed time or waiting time cost for transferring specified storage containers between them is minimal or optimal. The specialized container handling vehicles are operating at a level below an automated storage and retrieval system having a framework structure defining a storage grid for storing storage containers in grid cells. The storage containers are stored and retrieved by container handling vehicles running on top of the storage grid.

Abstract: A system may include a vehicle for delivering items and a plurality of racks having a plurality of storage locations. The racks may be arranged to form one or more aisles. The vehicles are configured to drive horizontally along a path that may extend along a path under the racks that is parallel to the aisles. Additionally, the vehicles may be operated to turn while the vehicle is positioned under one of the racks. The vehicles may travel under the racks and cross one or more aisles to reach a particular column in one of the aisles. The vehicle climbs upwardly within the particular column to retrieve an item from a storage location in the column.

Abstract: A substrate processing apparatus including a frame, a first SCARA arm connected to the frame, including an end effector, configured to extend and retract along a first radial axis; a second SCARA arm connected to the frame, including an end effector, configured to extend and retract along a second radial axis, the SCARA arms having a common shoulder axis of rotation; and a drive section coupled to the SCARA arms is configured to independently extend each SCARA arm along a respective radial axis and rotate each SCARA arm about the common shoulder axis of rotation where the first radial axis is angled relative to the second radial axis and the end effector of a respective arm is aligned with a respective radial axis, wherein each end effector is configured to hold at least one substrate and the end effectors are located on a common transfer plane.

Abstract: A method and installation for picking items from storage units into one or more outbound units. The installation has a small parts store in which the storage units are stored, and a pick area, in which storage units from the parts store are presented at several pickup points. Assigned to the pick area is a conveyor track via which the outbound units can be moved in or out of the pick area, such that items can be picked from the storage units disposed in the pickup points and into the outbound units. The installation has a pick location, at which one or more receiving locations for outbound units and a conveyor device for storage units from the parts store are disposed such that items can be picked from the storage units delivered on the conveyor device and into the outbound units disposed at the receiving locations.

Abstract: An automated cargo delivery system is provided, including an automated guided vehicle having a housing defining a recess therein and a propulsion system configured to move the housing. The recess may be configured to receive a plurality of swappable carriers each having a uniform width in a horizontal direction and a uniform height in a vertical direction perpendicular to the horizontal direction. Each of the swappable carriers may be configured to be engaged within the recess. The plurality of swappable carriers may include a first swappable carrier and a second swappable carrier. A method of delivering cargo with the automated guided vehicle is also provided. The method may include alternatingly inserting and engaging the first swappable carrier and the second swappable carrier into the recess of the automated guided vehicle.

Abstract: A substrate transport empiric arm droop mapping apparatus for a substrate transport system of a processing tool, the mapping apparatus including a frame, an interface disposed on the frame forming datum features representative of a substrate transport space in the processing tool defined by the substrate transport system, a substrate transport arm, that is articulated and has a substrate holder, mounted to the frame in a predetermined relation to at least one of the datum features, and a registration system disposed with respect to the substrate transport arm and at least one datum feature so that the registration system registers, in an arm droop distance register, empiric arm droop distance, due to arm droop changes, between a first arm position and a second arm position different than the first arm position and in which the substrate holder is moved in the transport space along at least one axis of motion.

Abstract: The invention relates to a gripping device (1) and a method for the monitored movement of objects (2), preferably sheet metals, comprising a system control (3) configured for processing object data (31) and controlling a gripping module (4), wherein the gripping module (4) has at least two gripping jaws (5) formed to cooperate with one another, which form an intermediate receiving space (6) for receiving at least parts of an object (2) to be monitored and transported, and the gripping jaws (5) are formed such that, by applying a pre-definable clamping force (7), at least a friction-type connection between the gripping jaws (5) and at least parts of the object (2) is made possible, whereby the object (2) is movable, and at least one sensor element (8) for collecting object data (31) of the object (2) to be moved and monitored, wherein the at least one sensor element (8) is arranged on at least one gripping jaw (5) with its sensor region (9) facing the receiving space (6), and is formed such that it detects, by

Abstract: An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.

Abstract: Embodiments of the present disclosure relates to a warehousing system. The warehousing system includes a first ground marking arranged on a ground surface of a warehouse. The first ground marking includes machine-readable characteristics representing a warehouse location identification number (ID). The machine-readable characteristics include one or more horizontal lines parallelly arranged at equal intervals, wherein the total number of the one or more horizontal lines corresponding to a first information of the warehouse location ID, and one or more vertical lines parallelly arranged at equal intervals, wherein the total number of the vertical lines corresponding to a second information of the warehouse location ID that is different from the first information. The machine-readable characteristics are recognizable by one or more cameras of a self-driving system, and the self-driving system is operable to determine its position on a map of the warehouse based on the warehouse location ID.

Abstract: According to one aspect, a method includes determining when a vehicle has arrived at a destination and performing a first authentication process when it is determined that the vehicle has arrived at the destination. The first authentication process being arranged to authenticate a first party to enable the first party to interact with the vehicle. The method also includes determining when the first party has successfully completed the first authentication process, performing a second process when it is determined that the first party has successfully completed the first authentication process, determining whether the second process is successfully completed, and enabling the first party to interact with the vehicle when it is determined that the second process is successfully completed. Performing the second process includes determining when the first party is present within the sensing zone. The first authentication process and the second process are contactless with respect to the vehicle.

Abstract: Disclosed is a method of controlling a robot system, the method including a first robot receiving user input including a request for delivery of a predetermined article, the first robot transmitting information based on the user input to a server, the server identifying a supporting robot capable of supporting a task corresponding to the delivery request, the server requesting the task from a second robot identified as the supporting robot, the second robot receiving the article, and the second robot moving to a delivery destination included in the delivery request, thereby improving use convenience through cooperation between the robots.

Abstract: A system-directed robotic cart picking system is described. In an example implementation, the system may generate a picking itinerary including pick-to-cart routing based on locations of items in an order fulfillment center and received order data identifying the items, and may transport the carts in the order fulfillment center according to the pick-to-cart routing. The system may determine a zone of the order fulfillment center to which to assign a picker based on the picking itinerary and may determine tasks, such as picking at least one item from the locations to the carts, for the picker located in the zone. In some instances, the system may output pick instructions to a picker client device directing the picker to perform the tasks and may transport the carts to a defined point in the order fulfillment center in response to completion of the tasks.

Abstract: An article accommodation facility includes: an article container that contains one or more types of articles; a container accommodation member that has an accommodation compartment capable of accommodating the article container on a plurality of levels in a vertical direction; an accommodation member transport apparatus that transports the container accommodation member between a storage portion and a pick-up position; a container pick-up apparatus that takes out the article container from the container accommodation member at the pick-up position; and a container transport apparatus that transports the article container taken out from the container accommodation member by the container pick-up apparatus to a picking section.

Abstract: The disclosure provides an articles picking method, a control system and an articles picking system, and relates to the technical field of intelligent warehousing. The articles picking method of the present disclosure includes: receiving an order of a single articles picking point of an AGV arriving at an articles picking point, the order of the single articles picking point comprising information of articles belonging to a same articles picking point in one or more orders associated with the AGV; recommending the order of the single articles picking point to articles pickers of no less than a predetermined number; setting the order of the single articles picking point to be an assigned state to avoid the order of the single articles picking point being picked repeatedly in the event that there is an articles picker taking the order of the single articles picking point.

Abstract: An automatic picking machine for pharmaceutical drug packages includes at least one storage rack, at least one storage and retrieval machine, a control apparatus for controlling the storage and retrieval machine, and a filling apparatus for successively filling each of a plurality of transport containers with a group of pharmaceutical drug packages corresponding to one order, wherein the filling apparatus includes a plurality of collection containers, first transport apparatuses, each having a transport channel for conveying the pharmaceutical drug packages towards the respective collection container, and a receiving apparatus for receiving a transport container to be filled at a filling location of the filing apparatus.

Abstract: The invention relates to a picking system (1) for picking goods (2a, 2b), comprising a goods acceptance zone (A1), a goods transfer zone (D1, D2), a storage zone (B1 . . . B7), (a) storage conveying device(s) (3), an order processing computer for registering a picking order and (a) removal conveying device(s) (4), wherein the storage conveying device(s) (3) and/or the removal conveying device(s) (4) has/have a plurality of autonomous conveying vehicles (5a . . . 5l, 6a . . . 6h) for transporting the goods (2a, 2b)/ordered goods (2c) on a travel surface. The travel surface is subdivided into multiple travel surface segments (E1 . . . E8), and driving movements are co-ordinated so that at least 90% of each of the driving movements in the travel surface segments (E1 . . . E8) is carried out by a closed group of autonomous conveying vehicles (5a . . . 5l, 6a . . . 6h). The invention further relates to a method for operating the picking system (1).

Abstract: An automated warehouse storage system including a multilevel storage array is provided. Each aisle has a set of storage levels and each level has storage locations distributed along the aisle. The guideway network extending through the multilevel storage array is configured for autonomous vehicles to move along the guideway network within the multilevel storage array. The guideway network including an inter-aisle guideway spanning at least two of the multiple aisles and a set of guideway levels extending in an aisle of the multiple aisles and disposed so that each guideway level is at a different one of the storage levels and the vehicles on the guideway level can access the storage locations distributed along the aisle. Each set of guideway levels is connected to the inter-aisle guideway forming a common guideway path so that a vehicle can move between inter-aisle guideway and each guideway level along the common guideway path.

Abstract: A temporary-storage system that includes a temporary-storage belt, a control unit and signalling means. The temporary-storage belt comprises a plurality of regularly distributed sensors. During a loading phase, the control unit receives information coming from at least one of the sensors when an object is deposited on the temporary-storage belt and records a trace of the deposition of the object in association with a reference to each of the sensors activated by the deposition. During an unloading phase, the control unit determines a sequence of removal of the objects and, for each object to be removed, identifies the sensors referenced, transmits to the signalling means signalling information identifying the position of the object, and receives information coming from at least one of the sensors when the object is removed.

Abstract: A system and method for enhanced monitoring and sorting of delivery items, such as packages, which are moved and sorted via a delivery service conveyor device. Conventional systems may employ photocells, which detect interrupted light beams, to identify packages or delivery items along a conveyor path. The present system and method enhances photocell function by adding image detection and analysis to the mail path; and further by modifying the photocell signals to the sorter/conveyor control. The present sensing system is located in the same area on the transport as the photocell, and uses a camera to capture an image of the mail path in the photocell area. The system and method then analyze a package image to formulate a more accurate item detection signal, based on photocell data and image data, for input to the sorter/conveyor control system.

Abstract: A die sorter tool may include a first conveyor, and a first lane to receive, from one or more load ports and via the first conveyor, a carrier with a set of dies. The die sorter tool may include a die flip module to receive the carrier from the first lane, manipulate one or more dies of the set of dies by changing orientations of the one or more dies, and return the one or more dies to the carrier after manipulating the one or more dies and without changing positions of the one or more dies within the carrier. The die sorter tool may include a second conveyor, and a second lane to receive, via the second conveyor, the carrier from the die flip module, and provide, via the first conveyor, the carrier to the one or more load ports.