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: 9802761Abstract: 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: March 17, 2014Date of Patent: October 31, 2017Assignee: 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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Publication number: 20170297820Abstract: 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: July 1, 2017Publication date: October 19, 2017Inventors: Charles GRINNELL, Joe JONES, John KAWOLA, Mary Ellen SPARROW, Stephen C. TOEBES, Clara VU, Matthew APREA
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Patent number: 9776794Abstract: 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: December 12, 2016Date of Patent: October 3, 2017Assignee: Symbotic, LLCInventors: Robert Sullivan, Stephen C. Toebes
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Publication number: 20170259998Abstract: 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: May 25, 2017Publication date: September 14, 2017Inventors: Stephen C. Toebes, Robert Sullivan, Forrest Buzan
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Patent number: 9725239Abstract: 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: GrantFiled: June 2, 2014Date of Patent: August 8, 2017Assignee: Symbotic, LLCInventors: John Lert, Stephen C. Toebes, Robert Sullivan
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Publication number: 20170210563Abstract: An autonomous transport vehicle including a frame having a longitudinal axis extending from a front of the frame to a back of the frame, at least one first guide member mounted on one side of the frame and having a first guide member frame of reference, and at least one second guide member mounted to an opposite side of the frame than the at least one first guide member and having a second guide member frame of reference, wherein the first and second guide members are asymmetrically compliant guide members so that a stiffness of the at least one first guide member in response to a force in a predetermined direction relative to the first guide member frame of reference is different than a stiffness of the at least second guide member in response to the force in the predetermined direction relative to the second guide member frame of reference.Type: ApplicationFiled: February 6, 2017Publication date: July 27, 2017Inventors: Justin Holwell, Stephen C. Toebes
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Patent number: 9694975Abstract: A transport system for a storage and retrieval system having an array of storage levels, each storage level having respective storage areas, the transport system including a vertical conveyor having a frame and support shelves movably coupled to the frame, each support shelf being configured to hold one or more uncontained case units in predetermined areas of the support shelf, and transfer vehicles disposed on respective ones of the storage levels, the vertical conveyor having a conveyor to transfer vehicle interface configured to transfer the uncontained case units substantially directly between the support shelves and the transfer vehicles for transport to the storage areas in substantially one transfer vehicle picking operation.Type: GrantFiled: April 9, 2010Date of Patent: July 4, 2017Assignee: Symbotic, LLCInventors: John Lert, Stephen C. Toebes, Robert Sullivan, Nathan Ulrich
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Patent number: 9694977Abstract: A storage fill and retrieval system includes fixed storage locations distributed in a storage space and defining at least one human pick zone having at least one collection tote location, at least one autonomous mobile robot configured for holding and transporting a tote within the storage space and having an end effector arranged for autonomous transfer of the tote between the at least one robot and a tote holding station and a collection tote location, and a storage management system communicably connected to the at least one robot and configured to associate each robot with a human pick zone, wherein the at least one robot is configured to transport the tote to the collection tote location of each associated human pick zone, and wherein each collection tote location is arranged for human picker access and defines an interface between a human picker and the at least one robot.Type: GrantFiled: October 14, 2015Date of Patent: July 4, 2017Assignee: NEXTSHIFT ROBOTICS, INC.Inventors: Matthew Aprea, Charles Grinnell, Joe Jones, John Kawola, Mary Ellen Sparrow, Stephen C. Toebes, Clara Vu
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Patent number: 9676551Abstract: 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: November 16, 2015Date of Patent: June 13, 2017Assignee: Symbotic, LLCInventors: Stephen C. Toebes, Robert Sullivan, Forrest Buzan
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Publication number: 20170131720Abstract: 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: ApplicationFiled: January 23, 2017Publication date: May 11, 2017Inventors: Robert SULLIVAN, Forrest BUZAN, Stephen C. TOEBES, Andrew ECCLES
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Publication number: 20170113874Abstract: 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: November 22, 2016Publication date: April 27, 2017Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Publication number: 20170101274Abstract: 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: October 24, 2016Publication date: April 13, 2017Inventors: Robert SULLIVAN, Stephen C. TOEBES
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Publication number: 20170088354Abstract: 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: December 12, 2016Publication date: March 30, 2017Inventors: Robert Sullivan, Stephen C. Toebes
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Patent number: 9561905Abstract: An autonomous transport vehicle including a frame having a longitudinal axis extending from a front of the frame to a back of the frame, at least one first guide member mounted on one side of the frame and having a first guide member frame of reference, and at least one second guide member mounted to an opposite side of the frame than the at least one first guide member and having a second guide member frame of reference, wherein the first and second guide members are asymmetrically compliant guide members so that a stiffness of the at least one first guide member in response to a force in a predetermined direction relative to the first guide member frame of reference is different than a stiffness of the at least second guide member in response to the force in the predetermined direction relative to the second guide member frame of reference.Type: GrantFiled: December 15, 2011Date of Patent: February 7, 2017Assignee: SYMBOTIC, LLCInventors: Stephen C. Toebes, Justin Holwell
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Patent number: 9550225Abstract: 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: August 22, 2016Date of Patent: January 24, 2017Assignee: Symbotic LLCInventors: Robert Sullivan, Forrest Buzan, Stephen C. Toebes, Andrew Eccles
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Patent number: 9517885Abstract: 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: January 26, 2016Date of Patent: December 13, 2016Assignee: Symbotic LLCInventors: Robert Sullivan, Stephen C. Toebes
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Publication number: 20160357190Abstract: 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: ApplicationFiled: August 22, 2016Publication date: December 8, 2016Inventors: Robert Sullivan, Forrest Buzan, Stephen C. Toebes, Andrew Eccles
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Patent number: 9499338Abstract: 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: December 15, 2011Date of Patent: November 22, 2016Assignee: Symbotic, LLCInventors: Stephen C. Toebes, Robert Sullivan
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Patent number: 9475649Abstract: 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: December 15, 2011Date of Patent: October 25, 2016Assignee: Symbolic, LLCInventors: Stephen C. Toebes, Robert Sullivan
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Publication number: 20160244261Abstract: An autonomous transport robot for transporting a payload, the autonomous transport robot including a drive section assembly having at least one motor and a pair of drive wheels coupled to the motor, a frame configured to support a payload, a transfer arm connected to the frame and configured for the autonomous transfer of payload to and from the frame, and a suspension system movably connecting the drive section assembly and the frame allowing relative movement between the frame and the drive section assembly.Type: ApplicationFiled: May 2, 2016Publication date: August 25, 2016Inventors: Robert Sullivan, Stephen C. Toebes