Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, thereby diminishing the total height of the unit.

Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, thereby diminishing the total height of the unit.

Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, which both support a support structure that pivotally supports a payload housing. The mobile drive unit can have a sensor and control system.

Abstract: A drive unit with a cleaning module for cleaning an inventory system includes a frame, a drive module, a blower module, and at least one cleaning module mounted to the frame. The drive module includes at least two drive wheels that can move the unit, and the blower module can generate negative pressure in a debris container for applying to one or more cleaning modules. A first cleaning module includes a rotating brush and spans a cleaning path at least as wide as the drive wheels of the drive module as the drive unit with a cleaning module operates. Some cleaning-enabled drive units can include a bifurcation of the first cleaning module to avoid damaging fiducial markings in the inventory system. Such units include a second cleaning module with a stationary brush positioned in line with the bifurcation to clean the fiducial markings along the cleaning path without causing damage.

Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, which both support a support structure that pivotally supports a payload housing.

Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, thereby diminishing the total height of the unit.

Abstract: A mobile drive unit includes a pivot between the front chassis unit and the rear chassis unit, which both support a support structure that pivotally supports a payload housing.

Abstract: Payload properties may be determined utilizing actuator parameter data. A mobile drive unit may transport a payload around a workspace in accordance with one or more safety. To comply with safety policies, a motion controller of the mobile drive unit may limit acceleration and deceleration to safe maximums for given payload characteristics such as payload mass and payload center of gravity. The motion controller may utilize actuators to cause various motions of the mobile drive unit, including motion across a surface, vertical movements of the payload and motion rotating the payload. To ameliorate worst case assumptions about payload characteristics, in accordance with at least one embodiment of the invention, a payload characterization module may obtain information about payload characteristics based on measurements of operational parameters of the actuators.

Abstract: An inventory system includes an inventory holder and an actively balanced mobile drive unit. A control module of the mobile drive unit can receive sensing information about the inventory holder and/or the mobile drive unit and use the sensing information to control a drive module of the mobile drive unit so as to maintain the inventory holder and/or the mobile drive unit within a predetermined deviation amount from an equilibrium state.

Abstract: A mobile drive unit for an inventory system includes a base suspended from a frame by a pivot assembly, such as a first link and a second link. The base supports a platform configured to engage an inventory holder of the inventory system. Movement of the base causes the platform to tip, such as away from a direction of a reaction force acting on the base due to acceleration or deceleration of the mobile drive unit.

Abstract: A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with a set of actuator assemblies to lift an holder structure and tilt the holder structure in at least one direction. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the holder structure relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the holder structure.

Abstract: A mobile drive unit for an inventory system includes a base suspended from a frame by a pivot assembly, such as a first link and a second link. The base supports a platform configured to engage an inventory holder of the inventory system. Movement of the base causes the platform to tip, such as away from a direction of a reaction force acting on the base due to acceleration or deceleration of the mobile drive unit.

Abstract: A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with a set of actuator assemblies to lift an holder structure and tilt the holder structure in at least one direction. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the holder structure relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the holder structure.

Abstract: An inventory system includes an inventory holder and an actively balanced mobile drive unit. A control module of the mobile drive unit can receive sensing information about the inventory holder and/or the mobile drive unit and use the sensing information to control a drive module of the mobile drive unit so as to maintain the inventory holder and/or the mobile drive unit within a predetermined deviation amount from an equilibrium state.

Abstract: A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with two or more actuator assemblies to lift an inventory holder and tilt the inventory holder in two or more directions. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the inventory holder relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the inventory holder.

Abstract: A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with two or more actuator assemblies to lift an inventory holder and tilt the inventory holder in two or more directions. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the inventory holder relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the inventory holder.