With Control System Responsive To Changeable Operating Instructions Patents (Class 414/273)
  • Patent number: 10782696
    Abstract: A mobile fixture includes a movable base, a support platform, an adaptor interface, at least one sensor, and a controller. The movable base is configured to travel over a floor. The support platform is articulable with respect to the base. The adaptor interface moves with the support platform, and is configured to mechanically interface with an attachment member. The at least one sensor is coupled to the adaptor interface and is configured to detect at least one of a force or movement resulting from an interaction between the adaptor interface and the attachment member. The controller is operably coupled to the movable base, support platform, and at least one sensor, and is configured to control movement of at least one of the movable base or support platform responsive to the at least one of the force or movement detected by the at least one sensor.
    Type: Grant
    Filed: September 7, 2018
    Date of Patent: September 22, 2020
    Assignee: THE BOEING COMPANY
    Inventors: Jonathan B. Vance, Andrew Joseph Martignoni, III, Brian M. Finn
  • Patent number: 10717599
    Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.
    Type: Grant
    Filed: October 15, 2019
    Date of Patent: July 21, 2020
    Assignee: Symbotic, LLC
    Inventors: John Lert, Stephen Toebes, Robert Sullivan, Foster D. Hinshaw, Nathan Ulrich, Eric Peters
  • Patent number: 10683170
    Abstract: 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: Grant
    Filed: October 29, 2019
    Date of Patent: June 16, 2020
    Assignee: SYMBOTIC, LLC
    Inventors: Forrest Buzan, Michael Cyrulik, Aria Reynolds, Jason S. Sirois, Larry Sweet, Edward A. MacDonald, Taylor A. Apgar, Timothy Perrault, Stephen C. Toebes
  • Patent number: 10679280
    Abstract: An automated fulfillment unit for a mobile storage and retrieval system, configured for dispensing products on the move for on-demand electronic commerce to enable increased operational capacity and speed of delivery to customer orders. The mobile automated fulfillment unit includes a vehicle having a storage for storing products and having a compartment separate from the storage, a robotic conveyor mechanism configured to move products from the storage to compartment, and a communication subsystem configured for at least mobile communication and for receiving customer orders.
    Type: Grant
    Filed: April 4, 2018
    Date of Patent: June 9, 2020
    Inventors: Abdullah Hassan Alkhaldi, Omar Amin Al Sati
  • Patent number: 10654662
    Abstract: The invention relates to a method and an apparatus (10) for handling piece goods (2) moved one after another, with the piece goods (2) being transported to a seizing range (4) of a manipulator (5). At least one transported piece good (2) is seized in a clamping and/or force-locking and/or form-locking manner by at least two clamping elements and/or gripping elements (22) located opposite each other. The piece good is spatially separated from the subsequent piece goods (2) and is brought into a specified relative target position (P) and/or target alignment relative to subsequent piece goods (2). A first vertical symmetry plane and which is oriented about perpendicular to a transport direction (TR), is spaced apart from a second vertical symmetry plane aligned about parallel thereto, with the second vertical symmetry plane being defined by the manipulator (5) or by the manipulator clamping elements and/or gripping elements (22).
    Type: Grant
    Filed: February 21, 2017
    Date of Patent: May 19, 2020
    Assignee: Krones Aktiengesellschaft
    Inventors: Manuel Kollmuss, Erhard Beer, Michael Astner, Arsalan Mehdi
  • Patent number: 10649445
    Abstract: A storage, retrieval and processing system is disclosed for processing objects. The system includes a plurality of bins including objects to be distributed by the processing system, said plurality of bins being provided in at least a partially generally circular arrangement, a programmable motion device that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within the plurality of bins, and a plurality of destination containers for receiving any of the objects from the plurality of bins, said plurality of destination containers being provided in a region that is generally within the at least partially generally circular arrangement of the plurality of bins.
    Type: Grant
    Filed: March 15, 2018
    Date of Patent: May 12, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, John Richard Amend, Jr., Benjamin Cohen, Michael Dawson-Haggerty, William Hartman Fort, Christopher Geyer, Jennifer Eileen King, Thomas Koletschka, Michael Cap Koval, Kyle Maroney, Matthew T. Mason, William Chu-Hyon McMahan, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10632610
    Abstract: A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins, a plurality of destination bins, and a processing programmable motion device. The plurality of storage bins provides storage of a plurality of objects, where the plurality of storage bins are in communication with a gantry retrieval conveyance system for moving selected bins to a bin processing location. The plurality of destination bins are in communication with the gantry retrieval conveyance system for moving a selected destination bin to the processing location. The processing programmable motion device is at the processing location and is in communication with the gantry retrieval conveyance system. The processing programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin and depositing the selected object in the selected destination bin.
    Type: Grant
    Filed: March 19, 2018
    Date of Patent: April 28, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, John Richard Amend, Jr., Benjamin Cohen, Michael Dawson-Haggerty, William Hartman Fort, Christopher Geyer, Jennifer Eileen King, Thomas Koletschka, Michael Cap Koval, Kyle Maroney, Matthew T. Mason, William Chu-Hyon McMahan, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10611021
    Abstract: A processing system for processing objects using a programmable motion device is disclosed. The processing system includes a perception unit for perceiving identifying indicia representative of an identity of a plurality of objects received from an input conveyance system, and an acquisition system for acquiring an object from the plurality of objects at an input area using an end effector of the programmable motion device. The programmable motion device is adapted for assisting in the delivery of the object to an identified processing location. The identified processing location is associated with the identifying indicia and the identified processing location is provided as one of a plurality of processing locations. The system also includes a delivery system for receiving the object in a carrier and for delivering the object toward the identified processing location.
    Type: Grant
    Filed: March 23, 2018
    Date of Patent: April 7, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, John Richard Amend, Jr., Benjamin Cohen, Michael Dawson-Haggerty, William Hartman Fort, Christopher Geyer, Jennifer Eileen King, Thomas Koletschka, Michael Cap Koval, Kyle Maroney, Matthew T. Mason, William Chu-Hyon McMahan, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10614411
    Abstract: Disclosed herein is a cross-dock management system comprises: a plurality of movable platforms configured to hold one or more pallets or parcels; at least one barcode or RFID tag positioned on each of said movable platforms, pallets, or parcels, wherein the barcode readers are configured to read the barcodes and RFID readers are configured to read the RFID tags. The data scanned by the barcode readers and RFID readers is stored in a local warehouse database and is used to determine an optimized placement and load for each movable platform in the warehouse.
    Type: Grant
    Filed: June 15, 2017
    Date of Patent: April 7, 2020
    Assignee: INNOVATIVE LOGISTICS, INC.
    Inventors: Gary Shannon Lively, Mark Bradley, Patrick Sullivan
  • Patent number: 10596696
    Abstract: A storage, retrieval and processing system for processing objects is disclosed. The storage, retrieval and processing system includes a plurality of storage bins providing storage of a plurality of objects, where the plurality of storage bins being in communication with a retrieval conveyance system, a programmable motion device in communication with the retrieval conveyance system for receiving the storage bins from the plurality of bins, where the programmable motion device includes an end effector for grasping and moving a selected object out of a selected storage bin, and is adapted for movement of the programmable motion device along a first direction, and a plurality of destination bins that are provided in at least one linear arrangement along the first direction of movement of the programmable motion device.
    Type: Grant
    Filed: March 16, 2018
    Date of Patent: March 24, 2020
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, John Richard Amend, Jr., Benjamin Cohen, Michael Dawson-Haggerty, William Hartman Fort, Christopher Geyer, Victoria Hinchey, Jennifer Eileen King, Thomas Koletschka, Michael Cap Koval, Kyle Maroney, Matthew T. Mason, William Chu-Hyon McMahan, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 10597229
    Abstract: The present invention relates to a stacker crane (2) for transporting, inserting and picking containers of biological material test tubes in/from locations (3) of a plurality of shelves (4) of a warehouse (1) for storing containers of biological material test tubes. The stacker crane (2) is able to move the containers of biological material test tubes in the three Cartesian directions x, y and z, so as to reach the locations (3), wherein the stacker (2) comprises a first carriage (21) and a second carriage (22) able to slide independently of, and to be released from, the first carriage (21) in direction y.
    Type: Grant
    Filed: December 1, 2015
    Date of Patent: March 24, 2020
    Assignee: INPECO HOLDING LTD.
    Inventor: Gianandrea Pedrazzini
  • Patent number: 10562742
    Abstract: A self-maintaining crane system including a bridge, a trolley, a hoist, and sensors for use within a hostile environment, such as a wastewater treatment facility, is presented. The bridge is movable away from the bridge home position and back toward the bridge end position. The trolley is movable away from the trolley home position and back toward the trolley end position. The cable is extendable away from the hoist home position and retractable toward the hoist end position. The sensors separately determine whether the bridge, trolley, and cable engage a home position and end position. Sensors facilitate automated movement of bridge, trolley, and cable so as to minimize functional impairment of the crane system by the hostile environment.
    Type: Grant
    Filed: December 1, 2017
    Date of Patent: February 18, 2020
    Assignee: David R. Cordell & Associates, Inc.
    Inventor: Steven R. Cordell
  • Patent number: 10559021
    Abstract: The present disclosure relates to a method for operating a pharmacy order-picking device. The present method reduces the susceptibility of the pharmacy order-picking device to disruption. To detect a positioning deviation of the control appliance in the horizontal direction, at least one desired value of at least one reference position is made available, the control appliance is brought to a position corresponding to the desired value in the horizontal direction and, when a signal characteristic of a reference position is detected, an actual value of this reference position is determined. A desired value is compared with a corresponding actual value, or two actual values are compared with each other, and a deviation is determined. If a deviation is determined that exceeds a limit value, a signal pointing to the need for a correction is output. Depending on the deviation, automatic correction of the position deviation can be performed.
    Type: Grant
    Filed: February 6, 2013
    Date of Patent: February 11, 2020
    Assignee: CAREFUSION GERMANY 326 GMBH
    Inventors: Christoph Hellenbrand, Andreas Klapperich, Andreas Bause, Dennis Reif
  • Patent number: 10513394
    Abstract: A method for movement of products is described. The method uses a facility which contains warehouse shelves, each shelf has a front, at least one moveable frame which travels to each shelf front to access the containers stored on each shelf. The moveable frame includes a repositionable storage ledge, a lifting device, and a gripping device. Mobile Robots exchange payloads between moveable frames.
    Type: Grant
    Filed: August 28, 2018
    Date of Patent: December 24, 2019
    Assignee: HDS Mercury, Inc.
    Inventors: Louis H. Borders, Aravind Durai
  • Patent number: 10512996
    Abstract: A gantry loader having at least one carriage travelable at a horizontal guide rail, in particular for the transport of workpieces between stations of a production system, wherein the carriage has at least one drive. The present energy is characterized in that the carriage has an energy store for the at least partial energy supply of the drive.
    Type: Grant
    Filed: June 28, 2018
    Date of Patent: December 24, 2019
    Assignee: Liebherr-Verzahntechnik GmbH
    Inventors: David Haenschke, Christof Porsche, Thomas Mattern
  • Patent number: 10472172
    Abstract: An inventory handling system (20, 150) includes multiple shelving units (22) for mounting over a horizontal floor (24). Each shelving unit contains a vertical array of shelves (28) on which containers (30) are placed. One or more floor robots (36) travel among the shelving units along first paths on the floor. One or more lift robots (32, 80, 120, 152) move independently of the floor robots along second paths in a vertical plane over vertical faces of the shelving units, and transfer the containers between the shelves and the floor robots.
    Type: Grant
    Filed: June 8, 2016
    Date of Patent: November 12, 2019
    Assignee: COMMONSENSE ROBOTICS LTD.
    Inventors: Elram Goren, Eyal Goren, Shay Cohen, Ori Avraham, Guy Blotnick, David Grosman
  • Patent number: 10457484
    Abstract: 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: Grant
    Filed: June 5, 2018
    Date of Patent: October 29, 2019
    Assignee: SYMBOTIC, LLC
    Inventors: Forrest Buzan, Michael Cyrulik, Aria Reynolds, Jason S. Sirois, Larry Sweet, Edward A. MacDonald, Taylor A. Apgar, Timothy Perrault, Stephen C. Toebes
  • Patent number: 10442622
    Abstract: A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.
    Type: Grant
    Filed: July 31, 2018
    Date of Patent: October 15, 2019
    Assignee: Symbotic, LLC
    Inventors: John Lert, Stephen Toebes, Robert Sullivan, Foster D. Hinshaw, Nathan Ulrich, Eric Peters
  • Patent number: 10431035
    Abstract: A picking device for dispensing drug combinations arranged in storage vessels is provided. A storage device includes multiple storage locations for storage vessels, and an operating device is coupled to a controller. A stocking device moves storage vessels into the storage device, and an unloading device transfers drug combinations arranged in the storage vessels to a transport device.
    Type: Grant
    Filed: August 1, 2017
    Date of Patent: October 1, 2019
    Assignee: BECTON DICKINSON ROWA GERMANY GMBH
    Inventors: Dirk Wingenter, Christoph Hellenbrand
  • Patent number: 10414586
    Abstract: 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: Grant
    Filed: February 6, 2017
    Date of Patent: September 17, 2019
    Assignee: Symbotic, LLC
    Inventors: Justin Holwell, Stephen C. Toebes
  • Patent number: 10378956
    Abstract: The subject matter described herein includes methods, systems, and computer readable media for tracking consumer interactions with products using electromagnetic beam sensors. One system includes at least one transmitter configured to generate a beam of electromagnetic energy. The system further includes at least one receiver positioned with respect to the at least one transmitter to detect a portion of the beam of electromagnetic energy reflected from a consumer or a product when the consumer physically interacts with the product. The system further includes the at least one circuit board on which the at least one transmitter and the at least one receiver are mounted. The at least one circuit board is configured to mount at or near a product location.
    Type: Grant
    Filed: December 31, 2013
    Date of Patent: August 13, 2019
    Assignee: TRIANGLE STRATEGY GROUP, LLC
    Inventor: Patrick Joseph Campbell
  • Patent number: 10366723
    Abstract: A system and method for transporting one or more data storage cartridges between data storage library strings, including a plurality of data storage libraries, a plurality of shuttle connections coupled to the plurality of data storage libraries, and a plurality of shuttle cars movably housed within each of the plurality of shuttle connections. The system also includes at least one system controller, wherein the at least one system controller is configured to receive host commands and control movement of the shuttle cars between the plurality of data storage libraries, and the at least one system controller is configured to control movement of each of the shuttle cars such that at least one shuttle car is associated with each of the plurality of data storage libraries during operation of the system.
    Type: Grant
    Filed: April 25, 2017
    Date of Patent: July 30, 2019
    Assignee: International Business Machines Corporation
    Inventors: Brian G. Goodman, Leonard G. Jesionowski, Kenny Nian Gan Qiu
  • Patent number: 10327366
    Abstract: A conveyance robot apparatus includes modules positioned in a row; a robot for conveying each of the modules and loading and unloading a magazine tray from one of the modules; a pinion mounted on the robot; racks that are slidably supported on the modules and can mesh with the pinion; and a rack connecting mechanism for connecting adjacent racks to each other.
    Type: Grant
    Filed: July 26, 2017
    Date of Patent: June 18, 2019
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Takuto Yamazaki, Eiji Fujita
  • Patent number: 10322875
    Abstract: Device for keeping articles in temporary storage, including a frame having series storage sections provided with supports for series of holders, at least one first and at least one second platform configured for receiving at least one holder, wherein the platforms can be moved by a first movement unit from a position in which both are aligned with one of the storage sections to a position in which both are aligned with another one of the storage sections, wherein the device has been provided with a second movement unit for, in a first direction, horizontally moving one or more holders from the platform at a first frame side to the holder supports of a selected storage section, while moving the series of holders supported thereon over the selected storage section and moving one or more holders from the storage section to the platform at a second frame side.
    Type: Grant
    Filed: February 1, 2016
    Date of Patent: June 18, 2019
    Assignee: I-COLLECTOR HOLDING B.V.
    Inventor: Hugo Victor De Vries
  • Patent number: 10324455
    Abstract: A synchronization primitive provides robots with locks, monitors, semaphores, or other mechanisms for reserving temporary access to a shared limited set of resources required by the robots in performing different tasks. Through non-conflicting establishment of the synchronization primitives across the set of resources, robots can prioritize the order with which assigned tasks are completed and minimize wait times for resources needed to complete each of the assigned tasks, thereby maximizing the number of tasks simultaneously executed by the robots and optimizing task completion. The synchronization primitives and resulting resource allocation can be implemented with a centralized coordinator or with peer-to-peer robotic messaging, whereby private keys and blockchains secure the precedence and establishment of synchronization primitives by different robots.
    Type: Grant
    Filed: December 5, 2016
    Date of Patent: June 18, 2019
    Assignee: inVia Robotics, Inc.
    Inventors: Lior Elazary, Randolph Charles Voorhies, Daniel Frank Parks, II
  • Patent number: 10294026
    Abstract: An automated warehouse storage and retrieval system may comprise at least an aisle, and each of two sides of the aisle has a shelf. A rail is laid along the aisle to enable at least an automated vehicle to move thereon. The automated vehicle has a platform, and a top surface thereof comprises at least a working station and at least a pick-and-place unit. Each of two lateral sides of the platform has two openings separated by a desired distance, and each of the openings has a climbing unit installed therein. The climbing units are configured to synchronously protrude from or move back in the openings. A side of the shelf faced to the rail has a plurality of vertical supporting members arranged in parallel, and each two adjacent supporting members are separated by the distance same as the two climbing units on the same lateral side of the platform.
    Type: Grant
    Filed: March 29, 2018
    Date of Patent: May 21, 2019
    Assignees: Tera Autotech Corporation, Department of Electrical Engineering, National Changhua Univ. of Education
    Inventors: Yi-Lung Lee, Tsair-Rong Chen, Chiung-Ying Huang, Shu-Ming Chen, Po-Hsuan Chen
  • Patent number: 10289118
    Abstract: A method and system for automatically aligning an industrial truck in a warehouse, comprising the steps of determining a relative position of an operator with respect to an industrial truck by a positioning unit of the industrial truck, aligning the industrial truck in first predetermined side orientation with respect to a first object located on the left side of the industrial truck in the drive direction of the industrial truck when the relative position of the operator lies on the left side of the industrial truck, and aligning the industrial truck in a second predetermined side orientation with respect to a second object located on the right side of the industrial truck in the drive direction of the industrial truck when the relative position of the operator lies on the right side of the industrial truck.
    Type: Grant
    Filed: December 6, 2017
    Date of Patent: May 14, 2019
    Assignee: Jungheinrich Aktiengesellschaft
    Inventor: Oliver Göpner
  • Patent number: 10259648
    Abstract: This document generally describes warehousing systems that can, in certain instances, improve the efficiency of warehousing operations and improve utilization of available space in a warehousing facility. The warehousing system may be implemented in an automated warehouse, such as an automated cold-storage facility, that uses programmable equipment to automate tasks associated with warehousing operations, such as transporting inbound storage items to specified storage positions of storage racks in the warehouse and removing outbound storage items from storage so that they may be loaded onto trucks for delivery away from the warehouse.
    Type: Grant
    Filed: April 6, 2018
    Date of Patent: April 16, 2019
    Assignee: Lineage Logistics, LLC
    Inventors: Elliott Gerard Wolf, Christopher Eckman, Brian Gutschow
  • Patent number: 10221013
    Abstract: An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.
    Type: Grant
    Filed: May 18, 2017
    Date of Patent: March 5, 2019
    Assignee: Symbotic, LLC
    Inventors: Forrest Buzan, Edward A. MacDonald, Taylor A. Apgar, Thomas A. Schaefer, Melanie Ziegler, Russell G. Barbour
  • Patent number: 10207871
    Abstract: It is disclosed a method (70) for operating a storage and order-picking system (10) in which a plurality of manipulators (40) process a plurality of picking/storing orders in accordance with a manipulator-to-handling-unit principle, wherein the system (10) comprises a provision zone (12), a picking zone (14), a plurality of provision units (42, 62) in the provision zone, a plurality of, particularly stationary arranged, transfer locations (46) in the picking zone (14), a DTS (18) including a plurality of DTVs (20), and a controlling device (32), and wherein the method (70) comprises the following steps of: analyzing (S10) the plurality of picking/storing orders by the controlling device (32) for determining retrieval/delivery locations in the provision zone (12); setting (S12) of transfer actions (48) by selecting for each of the retrieval/delivery locations one or more of the transfer locations (46) in the picking zone (14) as delivery/retrieval location and by assigning the same thereto, wherein the deliver
    Type: Grant
    Filed: February 27, 2018
    Date of Patent: February 19, 2019
    Assignee: SSI Schäfer Automation GmbH (DE)
    Inventor: Elmar Issing
  • Patent number: 10196115
    Abstract: There is provided a storage system for storing and retrieving watercraft or other items to or from a storage position in a storage area as part of an enclosure having a plurality of storage areas. The storage system may include at least one carrier to support the item during movement to or from a storage position, and a positioning system to move the carrier system. An elevator system is usable to move the positioning system and carrier system to and from a storage area, and a control system is usable to control the positioning system to move the carrier system and item into and out of its storage position.
    Type: Grant
    Filed: December 2, 2013
    Date of Patent: February 5, 2019
    Assignee: THE RICHARD C. LYDLE REVOCABLE TRUST
    Inventor: Richard C. Lydle
  • Patent number: 10183852
    Abstract: A hydraulic control system that uses system pressure information and a rescaled operator input to command valve spool area to control actuator speed. The system uses soft sealing and/or soft pressure compensation.
    Type: Grant
    Filed: June 15, 2016
    Date of Patent: January 22, 2019
    Assignee: Danfoss Power Solutions GMBH & CO OHG
    Inventors: Abhijit Das, Lee Mahlum, Luke Wadsley, Richard Hitchcock, Jeffrey A. Sipila, Larry Joachim
  • Patent number: 10179700
    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.
    Type: Grant
    Filed: May 14, 2018
    Date of Patent: January 15, 2019
    Assignee: Alert Innovation Inc.
    Inventor: John Lert, Jr.
  • Patent number: 10147070
    Abstract: Embodiments herein describe a configurable lighting system that can be used to redefine the size of the storage areas holding items. When changing the dimensions of the storage areas, an associate may also want to change the assignment of lights disposed near the storage areas. To do so, the configurable lighting system includes a series of lights disposed along a first axis and a set of confirmation devices corresponding to the series of lights. The lighting system can receiving first and second input signals from the set of confirmation devices and identify a first subset of the series of lights corresponding to the first input signal and a second subset of the series of lights corresponding to the second input signal. The first and second subsets can define respective lengths of first and second storage areas when illuminated.
    Type: Grant
    Filed: May 1, 2018
    Date of Patent: December 4, 2018
    Assignee: Amazon Technologies, Inc.
    Inventors: Keith C. Tate, Steven Scott Altvater, Jaemi Cheri Tiangco Bermudez, Kevin W. Keck, Benjamin Christopher Zink
  • Patent number: 10131451
    Abstract: In one embodiment, a controller instructs an unmanned aerial vehicle (UAV) docked to a landing perch to perform a pre-flight test operation of a pre-flight test routine. The controller receives sensor data associated with the pre-flight test operation from one or more force sensors of the landing perch, in response to the UAV performing the pre-flight test operation. The controller determines whether the sensor data associated with the pre-flight test operation is within an acceptable range. The controller causes the UAV to launch from the landing perch based in part on a determination that UAV has passed the pre-flight test routine.
    Type: Grant
    Filed: March 23, 2017
    Date of Patent: November 20, 2018
    Assignee: Cisco Technology, Inc.
    Inventors: Gonzalo Salgueiro, Charles Calvin Byers
  • Patent number: 10071858
    Abstract: A method for collecting products listed in an order in a product collecting system having a plurality of modules, the method including: assigning the order to a module, allocating a product listed in the order to the order if the product is already available in the module, allocating a product to the order from another module if the product of the “slow-moving” type is not already available in the module whereas it is available in the other module, allocating a product to the order from a pallet warehouse if the product of the “slow-moving” type is not already available in the module nor in another module, and releasing the order and loading the products onto a collecting carrier when all the products listed in the order have been collected in the module.
    Type: Grant
    Filed: November 13, 2013
    Date of Patent: September 11, 2018
    Assignee: VANDERLANDE INDUSTRIES B.V.
    Inventor: Wilco Johannes Adrianus Anthonius Van De Veerdonk
  • Patent number: 10065798
    Abstract: A system for automated management of a high density storage facility which contains shelves having multiple containers with products stored within the containers. The system comprises an autonomous mobile robot and a moveable frame. The moveable frame includes supports, horizontal and vertical members, and storage platforms. The moveable frame includes a gantry, an articulated arm with an end of arm tool, and a lifting device. Some storage shelves within the high-density storage facility include an overhead rail and the moveable frame reversibly connects to the rail and guides the moveable frame, as well as provides power to the moveable frame.
    Type: Grant
    Filed: March 1, 2017
    Date of Patent: September 4, 2018
    Assignee: HDS Mercury, Inc.
    Inventors: Louis H. Borders, Aravind Durai
  • Patent number: 10053286
    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.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: August 21, 2018
    Assignee: Symbotic, LLC
    Inventors: Robert Sullivan, Michael Cyrulik, Stephen C. Toebes
  • Patent number: 10052661
    Abstract: A method and apparatus are provided for sorting or retrieving items to/from a plurality of destinations areas. The items are loaded onto one of a plurality of independently controlled delivery vehicles. The delivery vehicles follow a track that guides the delivery vehicles to/from the destination areas, which are positioned along the track. Once at the appropriate destination area, an item is transferred between the delivery vehicle and the destination area.
    Type: Grant
    Filed: June 9, 2017
    Date of Patent: August 21, 2018
    Assignee: OPEX CORPORATION
    Inventors: George Hayduchok, Robert R. DeWitt
  • Patent number: 10035650
    Abstract: An automated storage and retrieval system includes a first independently operable section having a first number of predetermined storage and retrieval transactions, and a second independently operable section in communication with the first independently operable section and having a second number of predetermined storage and retrieval transactions. The first and second independently operable sections are configured to provide a respective number of predetermined storage and retrieval transactions so that the first number of predetermined storage and retrieval transactions substantially matches the second number of predetermined storage and retrieval transactions.
    Type: Grant
    Filed: October 31, 2016
    Date of Patent: July 31, 2018
    Assignee: Symbotic LLC
    Inventors: Larry Sweet, Kil D. Kwak, Kirill Pankratov, Russell G. Barbour, William Johnson, Juergen D. Conrad, Juergen Baumbach, Ronald Kyslinger
  • Patent number: 10035651
    Abstract: A system and method suitable for storing multiple product lines in an automated warehouse environment are disclosed. The storage system includes a frame containing a plurality of stacks of containers, a first handling device capable of lifting a plurality of containers from a stack in a single operation, and a second independently moveable handling device capable of lifting a single container and moving the container laterally. The first and second handling devices can work together to remove a target container quickly and with minimum use of resources.
    Type: Grant
    Filed: May 15, 2017
    Date of Patent: July 31, 2018
    Assignee: OCADO INNOVATION LIMITED
    Inventors: Lars Sverker Ture Lindbo, Robert Rolf Stadie, Christopher Richard James Brett, Matthew Robert Whelan
  • Patent number: 10025455
    Abstract: A computer-implemented method of positioning a set of objects for display on a user interface, the user interface being generated on a surface of a three-dimensional structure, each member of the set of the objects having a size in at least two dimensions, at least some of which dimensions vary between the objects, is provided. The method includes assigning the set of objects to a two-dimensional portion having a predetermined size, for each as yet unpositioned object in the set of objects, performing a positioning process, the positioning process comprising identifying object occupancy in the portion and allocating the object to a position within the portion on the basis of a largest dimension of the object and unoccupied space in the portion, and mapping the allocated positions to a corresponding coordinate on the surface of the three-dimensional structure.
    Type: Grant
    Filed: November 30, 2012
    Date of Patent: July 17, 2018
    Assignee: SPHERE TECHNOLOGY LIMITED
    Inventors: Oliver Treadway, Michael Kruger
  • Patent number: 10007827
    Abstract: A robotic system is disclosed that include an articulated arm and a first perception system for inspecting an object, as well as a plurality of additional perception systems, each of which is arranged to be directed toward a common area in which an object may be positioned by the robotic arm such that a plurality of views within the common area may be obtained by the plurality of additional perception systems.
    Type: Grant
    Filed: September 9, 2016
    Date of Patent: June 26, 2018
    Assignee: Berkshire Grey, Inc.
    Inventors: Thomas Wagner, Kevin Ahearn, Benjamin Cohen, Michael Dawson-Haggerty, Christopher Geyer, Thomas Koletschka, Kyle Maroney, Matthew T. Mason, Gene Temple Price, Joseph Romano, Daniel Smith, Siddhartha Srinivasa, Prasanna Velagapudi, Thomas Allen
  • Patent number: 9988213
    Abstract: 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: Grant
    Filed: October 30, 2017
    Date of Patent: June 5, 2018
    Assignee: Symbotic, LLC
    Inventors: Forrest Buzan, Michael Cyrulik, Aria Reynolds, Jason S. Sirois, Larry Sweet, Edward A. MacDonald, Taylor A. Apgar, Timothy Perrault, Stephen C. Toebes
  • Patent number: 9975698
    Abstract: A commissioning device having a first shelf row with horizontal shelf surfaces and at least one second shelf row with multiple shelf surfaces disposed one above the other and forming storage shafts. A lane formed between the first and the second shelf rows includes an operating unit movably disposed in the lane. The commissioning device also includes an input device, an output device and an auxiliary output device. The operating unit includes a gripping device for inputting and/or outputting piece goods onto or from the horizontal shelf surfaces and for filling the goods into the storage shafts. A control unit coupled to the operating unit is configured to output identical piece goods in a row from the horizontal shelf surfaces, to input the piece goods into the storage shafts and to output and transfer one or more piece goods located on the horizontal shelf surfaces to the auxiliary output device.
    Type: Grant
    Filed: January 9, 2015
    Date of Patent: May 22, 2018
    Assignee: Carefusion Germany 326 GmbH
    Inventor: Christoph Hellenbrand
  • Patent number: 9944464
    Abstract: A stacker crane is provided with: a travelling carriage that is configured to be able to travel along the rack width direction; a first mast that is provided so as to stand on the travelling carriage; a second mast that is provided so as to stand on the same travelling carriage on which the first mast is provided; a first elevator body that is configured to be guided along the first mast; a second elevator body that is configured to be guided along the second mast so as to be able to move up/down independently of the first elevator body, and that is aligned with the first elevator body in the rack width direction in plan view; a first transferring device that is supported by the first elevator body; and a second transferring device that is supported by the second elevator body.
    Type: Grant
    Filed: February 26, 2016
    Date of Patent: April 17, 2018
    Assignee: Daifuku Co., Ltd.
    Inventors: Yuichi Ueda, Masashige Iwata, Kazunori Makimura
  • Patent number: 9919869
    Abstract: A power supply and a controller are arranged at positions different from a stacker crane and deviated from an extended line of a travelling route, and are connected to the stacker crane via a cable. The moving mechanism, the travelling motor, the transfer mechanism and the lifting motor are each arranged at the same position as an one-side end portion of the mast or arranged on the other side from the end portion in the extending direction of the travelling route.
    Type: Grant
    Filed: December 3, 2015
    Date of Patent: March 20, 2018
    Assignee: MURATA MACHINERY, LTD.
    Inventor: Hiroshi Tanaka
  • Patent number: 9864962
    Abstract: A pick rate planning system is utilized to determine pick rates needed for the picking of items in a materials handling facility. Critical pull times (“CPTs”) are determined which indicate times by which items must be picked from inventory. Multiple pick rates that overlap in time are made to have an overall total pick rate that is relatively constant, so as to avoid spikes or other undesirable fluctuations in the overall total pick rate, which improves labor planning. Pick rates for later CPTs are designated as being for that CPT or any earlier CPTs, and all of the pick rates are designated as minimum suggested pick rates. These designations provide the picking scheduler with greater flexibility that results in higher pick density and productivity.
    Type: Grant
    Filed: November 25, 2013
    Date of Patent: January 9, 2018
    Assignee: Amazon Technologies, Inc.
    Inventors: Sebastian Lehmann, Udit Madan
  • Patent number: 9828225
    Abstract: An apparatus for controlling a load handling device of an industrial vehicle is provided. The load handling device includes a mast assembly and a load handling attachment attached to the mast assembly. The apparatus includes a tilt angle detector that detects a tilt angle of the mast assembly, a controller that regulates a lifting speed of the load handling attachment, and a determination device that determines whether or not the load handling attachment is being lifted off the ground. When the determination device determines that the load handling attachment is being lifted off the ground, the controller permits the load handling attachment to be lifted at a speed faster than the regulated lifting speed.
    Type: Grant
    Filed: October 6, 2015
    Date of Patent: November 28, 2017
    Assignee: KABUSHIKI KAISHA TOYOTA JIDOSHOKKI
    Inventors: Yasuhiro Taki, Tadashi Yamada, Takashi Nishiwaki, Junichi Kuwayama, Hidenori Oka, Kimihide Hasegawa, Hiroshi Murata
  • Patent number: 9827669
    Abstract: A robotic torso sensing system and method includes: a robotic torso comprising a mobile torso, the robotic torso further comprising a fixed torso; a motor configured to move the mobile torso; a torso encoder configured to provide information to the motor; a master controller operably connected to the motor, the master controller configured to control the motor, the master controller operably connected to the torso encoder, the master controller further configured to control the mobile torso; and a sensor configured to measure a position of the mobile torso, the sensor further configured to transmit the measurement to the master controller.
    Type: Grant
    Filed: April 21, 2016
    Date of Patent: November 28, 2017
    Assignee: Fetch Robotics, Inc.
    Inventors: Michael Ferguson, Melonee Wise, Derek King