Patents by Inventor Stephen C. Toebes
Stephen C. Toebes has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10207870Abstract: An autonomous transport vehicle for transferring case units to and from predefined storage areas in an automated case unit storage system, the automated case unit storage system including an array of multilevel storage racks with picking aisles passing therebetween and at least one multilevel vertical conveyor having movable shelves, the autonomous transport vehicle including a frame configured to traverse the picking aisles and a transfer deck connecting the picking aisles to the at least one multilevel vertical conveyor for transferring case units between the predefined storage areas and the at least one multilevel vertical conveyor, and a controller connected to the frame, the controller being configured to effect movement of the autonomous transport vehicle through the picking aisles for accessing each storage area within a respective level of the array of multilevel storage racks and each shelf of the at least one multilevel vertical conveyor.Type: GrantFiled: April 25, 2016Date of Patent: February 19, 2019Assignee: Symbotic, LLCInventors: Robert Sullivan, John Lert, Stephen C. Toebes, Foster Hinshaw, Nathan Ulrich
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Publication number: 20180354718Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle 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 within the storage structure based on at least the output signal.Type: ApplicationFiled: August 21, 2018Publication date: December 13, 2018Inventors: Robert SULLIVAN, Michael CYRULIK, Stephen C. TOEBES
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Publication number: 20180346246Abstract: 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.Type: ApplicationFiled: August 7, 2018Publication date: December 6, 2018Inventors: Charles GRINNELL, Joe JONES, John KAWOLA, Mary Ellen SPARROW, Stephen C. TOEBES, Clara VU, Matthew APREA
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Publication number: 20180327185Abstract: 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.Type: ApplicationFiled: July 24, 2018Publication date: November 15, 2018Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Patent number: 10106322Abstract: 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.Type: GrantFiled: December 20, 2017Date of Patent: October 23, 2018Assignee: Symbotic, LLCInventors: Stephen C. Toebes, Robert Sullivan, Forrest Buzan
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Publication number: 20180282064Abstract: 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.Type: ApplicationFiled: June 5, 2018Publication date: October 4, 2018Inventors: Forrest BUZAN, Michael CYRULIK, Aria REYNOLDS, Jason S. SIROIS, Larry SWEET, Edward A. MACDONALD, Taylor A. APGAR, Timothy PERRAULT, Stephen C. TOEBES
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Publication number: 20180273306Abstract: A pickface builder for a storage and retrieval system for storing goods units and having an in-feed conveyor and a picking device, each goods unit holding at least one product package therein, the pickface builder including a frame, a pusher member movably coupled to the frame, and a snugger member movably coupled to the frame, wherein the pickface builder is configured to receive goods units from the in-feed conveyor and the pusher member and snugger member are movable at least in a direction transverse to a direction of goods unit travel on the in-feed conveyor and configured to form the goods units into a pickface picked by the picking device as a unit and having a predetermined reference datum relating the pickface to a placement position of goods units forming the pickface along a storage surface of the storage and retrieval system.Type: ApplicationFiled: May 29, 2018Publication date: September 27, 2018Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Patent number: 10053286Abstract: A storage and retrieval system including a storage structure having storage shelves, each storage shelf having slats for supporting stored items where the slats are spaced apart from each other by a predetermined distance, an autonomous transport vehicle 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 within the storage structure based on at least the output signal.Type: GrantFiled: April 8, 2016Date of Patent: August 21, 2018Assignee: Symbotic, LLCInventors: Robert Sullivan, Michael Cyrulik, Stephen C. Toebes
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Patent number: 10040630Abstract: 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.Type: GrantFiled: July 1, 2017Date of Patent: August 7, 2018Assignee: Nextshift Robotics, Inc.Inventors: Charles Grinnell, Joe Jones, John Kawola, Mary Ellen Sparrow, Stephen C. Toebes, Clara Vu, Matthew Aprea
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Patent number: 10029850Abstract: 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.Type: GrantFiled: October 2, 2017Date of Patent: July 24, 2018Assignee: Symbotic, LLCInventors: Robert Sullivan, Stephen C. Toebes
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Publication number: 20180194555Abstract: 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.Type: ApplicationFiled: March 6, 2018Publication date: July 12, 2018Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Patent number: 9988213Abstract: 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.Type: GrantFiled: October 30, 2017Date of Patent: June 5, 2018Assignee: Symbotic, LLCInventors: Forrest Buzan, Michael Cyrulik, Aria Reynolds, Jason S. Sirois, Larry Sweet, Edward A. MacDonald, Taylor A. Apgar, Timothy Perrault, Stephen C. Toebes
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Patent number: 9981808Abstract: A pickface builder for a storage and retrieval system for storing goods units and having an in-feed conveyor and a picking device, each goods unit holding at least one product package therein, the pickface builder including a frame, a pusher member movably coupled to the frame, and a snugger member movably coupled to the frame, wherein the pickface builder is configured to receive goods units from the in-feed conveyor and the pusher member and snugger member are movable at least in a direction transverse to a direction of goods unit travel on the in-feed conveyor and configured to form the goods units into a pickface picked by the picking device as a unit and having a predetermined reference datum relating the pickface to a placement position of goods units forming the pickface along a storage surface of the storage and retrieval system.Type: GrantFiled: October 24, 2016Date of Patent: May 29, 2018Assignee: Symbotic, LLCInventors: Robert Sullivan, Stephen C. Toebes
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Publication number: 20180127210Abstract: 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.Type: ApplicationFiled: October 30, 2017Publication date: May 10, 2018Inventors: Forrest Buzan, Michael Cyrulik, Aria Reynolds, Jason S. Sirois, Larry Sweet, Edward A. MacDonald, Taylor A. Apgar, Timothy Perrault, Stephen C. Toebes
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Publication number: 20180111755Abstract: 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.Type: ApplicationFiled: December 20, 2017Publication date: April 26, 2018Inventors: Stephen C. TOEBES, Robert SULLIVAN, Forrest BUZAN
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Patent number: 9946265Abstract: 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.Type: GrantFiled: January 23, 2017Date of Patent: April 17, 2018Assignee: Symbotic, LLCInventors: Robert Sullivan, Forrest Buzan, Stephen C. Toebes, Andrew Eccles
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Patent number: 9908698Abstract: 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.Type: GrantFiled: November 22, 2016Date of Patent: March 6, 2018Assignee: Symbotic, LLCInventors: Robert Sullivan, Stephen C. Toebes
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Publication number: 20180022549Abstract: 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 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.Type: ApplicationFiled: October 2, 2017Publication date: January 25, 2018Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Patent number: 9862543Abstract: 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.Type: GrantFiled: May 25, 2017Date of Patent: January 9, 2018Assignee: Symbiotic, LLCInventors: Stephen C. Toebes, Robert Sullivan, Forrest Buzan
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Publication number: 20170362032Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having storage locations, a multilevel vertical conveyor system configured to transport the uncontained case units to and from the vertical array of storage levels, each storage level being configured to receive uncontained case units from the multilevel vertical conveyor system, at least one autonomous transport confined to each storage level, the at least one autonomous transport being configured to transport the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to effect operation of the multilevel vertical conveyor system and at least one autonomous transport for assembling orders of uncontained case units of different types without moving bundles of the same uncontained case unit type throughout the storage and retrieval system.Type: ApplicationFiled: August 8, 2017Publication date: December 21, 2017Inventors: Robert SULLIVAN, John LERT, Stephen C. TOEBES