Abstract: The present invention relates, in general, to systems and methods for controlling autonomous forklifts, and specifically, for maneuvering autonomous forklifts in environments with hanging objects such as plastic sheets, curtains, and other suspended objects. The invention determines whether or not a detected object is located on a pallet carried by the autonomous forklift, and subsequently navigates the autonomous forklift in a manner that either avoids the object if it is not located on the pallet, or if the object is larger than a threshold size which could impede safe travel.

Abstract: A system includes sensors, memory, and a processor. The sensors are configured to capture images of a workspace, and the memory is configured to store the images and a model of machinery located within the workspace. The processor is configured to generate a spatial representation of the workspace based on the captured images. The processor is also configured to identify non-machinery entities within the workspace and, for each of the identified entities, generate an object that specifies a spatial extent of the respective entity and a protective separation distance for the entity. Further, the processor is configured to recognize an interaction between the entities and merge the corresponding objects into a merged object specifying a protective separation distance therefor. Moreover, the processor is configured to control operation of the machinery in accordance with a safety protocol and the protective separation distance for the merged object.

Abstract: A tool, for depalletizing mixed pallet load article units, includes: a frame; a first grip assembly interfacing and engaging with a surface of a pallet load article unit, where the first grip assembly is movable, relative to the frame, in a first direction between gripping and ungripping positions; a second grip assembly, movably connected to the frame, and has at least a grip contact point oriented to interface with and generate a grip force, on another surface of the pallet load article unit, in a direction angled to the first direction, the second grip assembly being configured so as to effect, in combination with the first grip assembly, stable hold and pose of the pallet load article unit in a predetermined position; and an article unit seat member, is movably mounted to the frame, and disposed in opposition to at least one of the first and the second grip assembly.

Abstract: An order fulfillment system includes a storage structure for storing totes, workstations for processing customer orders and a staging and sequencing buffer having staging locations for storing the totes. The staging and sequencing buffer provides a buffer for totes as mobile robots transfer totes from the storage structure and to the one or more workstations.

Abstract: Image sensors distributed about a workcell including industrial machinery are registered using a registration object and an information tag associated therewith. The tag contains information specifying the location of the object and/or the pose of the object. This information is acquired along with images of the registration object, and the sensors are registered based at least in part on the images and the acquired information.

Abstract: An order fulfillment facility with a delivery system is disclosed having plurality of mobile robots with containers to bring customer orders and/or power supply device/s to UAV/s for final delivery. UAV leaves the discharged power supply devices that are received in empty container and transported to storage area for replenishment and diagnostic checks. Order fulfillment operations along with power supply device charging and monitoring is performed to achieve timely delivery of customer orders.

Abstract: An automated storage and retrieval facility includes a container dispenser which transfers one or more containers into a tote. Once loaded into a tote, the one or more containers may receive goods to fulfill an order. Once filled with goods, the containers may be accessed by customers for transport away from the facility. The container dispenser may include a table configured to move over an opening of a tote to dispense more than one container at different positions within the tote. The container dispenser may be integrated within a storage area of the automated storage and retrieval facility. Alternatively, the container dispenser may be part of workstation positioned away from the storage area.

Abstract: An autonomous transport vehicle, for transporting items in a storage and retrieval system, includes a frame, a controller, at least two independently driven drive wheels mounted to the frame, and at least one caster wheel mounted to the frame and having a castering assistance motor that engages the at least one caster wheel so as to impart castering assistance torque to the at least one caster wheel assisting castering of the at least one caster wheel. The controller is communicably connected to the castering assistance motor and configured to effect via a combination of vehicle yaw, generated by differential torque from the at least two independently driven drive wheels, and castering assistance torque from the castering assistance motor, castering of the at least one caster wheel with the autonomous transport vehicle in motion with a predetermined kinematic state.

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: An order fulfillment system includes a storage structure and integrated turning decks enabling mobile robots to pass between sections of the storage structure or to exit or enter the storage structure. An automated dispensing portion may be affixed to a turning deck, which automated dispensing portion connects with a dispensing portal. Thus, the turning deck allows direct transport of mobile robots between the storage structure and the dispensing portal.

Abstract: 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.

Abstract: An autonomous transport robot for transporting a payload, autonomous transport robot including, frame with integral payload support that has a payload seat surface defining a payload datum position that determines predetermined payload position relative to autonomous transport robot, transfer arm connected to the frame and configured for autonomous transfer of payload to and from the frame, one caster wheel mounted to frame, drive section with a pair of traction drive wheels astride the drive section, drive section being connected to the frame, wherein the one caster wheel and one traction drive wheel of the pair of traction drive wheels roll, on a rolling surface effecting autonomous transport robot traversal over the rolling surface, each having a fully independent suspension, and are disposed on the frame astride the integral payload support so that the payload seat surface at the payload datum position is disposed at minimum distance above the rolling surface.

Abstract: A storage and retrieval system is provided and includes a transfer deck having a longitudinal axis, a first storage section and a second storage section. The first storage section and second storage section are located on opposite sides of the transfer deck and are substantially symmetrically opposed to one another about the longitudinal axis, where each of the first and second storage sections includes storage aisles that are in communication with the transfer deck.

Abstract: An autonomous guided vehicle includes a frame, a drive section, a payload handler, a sensor system, and a supplemental sensor system. The sensor system has electro-magnetic sensors, each responsive to interaction or interface of a sensor emitted or generated electro-magnetic beam or field with a physical characteristic, the electro-magnetic beam or field being disturbed by interaction or interface with the physical characteristic, and which disturbance is detected by and effects sensing of the physical characteristic. The sensor system generates sensor data embodying at least one of a vehicle navigation pose or location information and payload pose or location information. The supplemental sensor system supplements the sensor system, and is, at least in part, a vision system with cameras disposed to capture image data informing the at least one of a vehicle navigation pose or location and payload pose or location supplement to the information of the sensor system.

Abstract: An automated order fulfillment system and mobile robot are disclosed, where the mobile robot includes a compliant drive for moving between levels of a multilevel storage structure. In one example, the compliant drive comprises a drive shaft having splines configured to provide rotational play that prevents jamming of a vertical drive gear on the end of the shaft with a rack in a vertical track.

Abstract: In various embodiments, systems and methods for safely operating machinery such as industrial robots signal intrusions into and/or above computationally defined safeguarded volumes in a workspace during sensor monitoring of the workspace. Various related actions may be taken in response thereto, including restricting operation of the machinery and/or issuing safety or occlusion signals.

Abstract: A transportation system having a transportation space including destinations distributed in the transportation space, multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the vehicles are dynamically distributed through the transportation space, a control system communicably connected via a remote communication link to each of the vehicles and having a system controller that addresses each vehicle to different destinations, and the control system having a vehicle accountant controller separate and distinct from the system controller and configured to, and command stopping, via a black channel protocol, of the remote communication link, that effects a verified and secure shut down command.

Abstract: An autonomous transport vehicle for transporting a payload comprising, a frame forming a transport payload area of the autonomous transport vehicle, the payload area includes a payload contact support surface that defines a payload support plane of the autonomous transport vehicle that supports the payload held in the transport payload area with vehicle traverse, a payload handling system connected to the frame, the payload handling system having, a payload transport disposed to engage the payload and transport the payload in at least one direction relative to the frame, and a drive section with at least one degree of freedom driving the payload transport in the at least one direction; and a controller operably connected to the drive section configured to register predetermined operating data embodying at least one dynamic performance variable output by the drive section effecting a predetermined motion, that defines a predetermined common motion manifold, of the payload.

Abstract: A material handling system for handling, placing packages onto pallets destined for an order store, the material handling system comprising, a storage array with storage spaces for holding packages therein, an automated package transport system communicably connected to the storage array for storing packages within the storage spaces of the storage array and retrieving packages from the storage spaces of the storage array, an automated palletizer for placing mixed packages onto a pallet to form a pallet load of mixed packages, the automated palletizer is communicably connected to the automated package transport system which provides individual packages from the storage array to the automated palletizer for forming the pallet load of mixed packages, the pallet load of mixed packages including more than one composite layers of mixed packages, a controller operably connected to the automated palletizer, the controller being programmed with a pallet load generator with an initial pallet load.

Abstract: An automatic storage and retrieval system is disclosed including storage positions for storing containers, a portal and mobile robots for transferring the containers between the storage positions and portal. The portal may include a bot-access side where the mobile robots transfer containers to and from the portal, and a user-access side where users remove items from the containers.