With Control System Responsive To Changeable Operating Instructions Patents (Class 414/273)
  • Patent number: 11208266
    Abstract: An automated storeroom system includes a plurality of automated storerooms including a rack extending in a first horizontal direction and having a plurality of shelves, and a stacker crane configured to travel on a crane passage along the rack, the automated storerooms disposed adjacent to each other in a second horizontal direction perpendicular to the first horizontal direction with back parts of the racks being close to each other; a transport vehicle configured to travel along a transport vehicle travelling passage provided in a lower portion of the rack and extending in the first horizontal direction; and a travelling restriction member disposed between the crane passage and a front part of the rack facing the crane passage, the travelling restriction member being movable between a travelling restriction position that restricts travelling of a worker and a travelling non-restriction position adapted to remove the restriction.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: December 28, 2021
    Assignee: Murata Machinery, Ltd.
    Inventor: Tsuyoshi Kakinuki
  • Patent number: 11181925
    Abstract: Vehicles, systems, and methods for navigating or tracking the navigation of a materials handling vehicle along a surface that may include a camera and vehicle functions to match two-dimensional image information from camera data associated with the input image of overhead features with a plurality of global target locations of a warehouse map to generate a plurality of candidate optical targets, an optical target associated with each global target location and a code; filter the targets to determine a candidate optical target; decode the target to identify the associated code; identify an optical target associated with the identified code; determine a camera metric relative to the identified optical target and the position and orientation of the identified optical target in the warehouse map; calculate a vehicle pose based on the camera metric; and navigate the materials handling vehicle utilizing the vehicle pose.
    Type: Grant
    Filed: February 20, 2019
    Date of Patent: November 23, 2021
    Assignee: Crown Equipment Corporation
    Inventors: Ralf Haeusler, Stuart Park, Mark Bell
  • Patent number: 11161690
    Abstract: A remotely operated vehicle for picking up storage bins from an underlying storage system includes a vehicle lifting device for lifting the storage bin from the underlying storage system, a first vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of a vehicle frame, allowing movement of the vehicle along a first direction (X) on the underlying storage system during use, a second vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of the vehicle frame, allowing movement of the vehicle along a second direction (Y) on the underlying storage system during use, the second direction (Y) being perpendicular to the first direction (X), and a rolling set displacement assembly arranged to move the first vehicle rolling assembly in a vertical direction (Z) between a first position and a second position. The first vehicle rolling assembly allows movement of the vehicle along the first direction (X).
    Type: Grant
    Filed: January 2, 2018
    Date of Patent: November 2, 2021
    Assignee: Autostore Technology AS
    Inventors: Trond Austrheim, Børge Bekken
  • Patent number: 11164147
    Abstract: For an enterprise system in which physical items are stored in physical container and in which physical container are stored in other physical containers, a data system has data records identifying logical items and logical containers that correspond to the physical items and physical containers, the data records further reflecting the storage of physical items and physical containers with other physical containers. Some of the items are identified as as high-priority items. Containers to hold the high-priority items in transit are identified. Excess capacity in the containers is identified. Low-priority items to be sent are identified. The high-priority items and the low-priority items are aggregated into a list of items-to-be-moved. A list of tasks includes instructions to move the items-to-be-moved from their respective starting logical locations to the containers is made and distributed.
    Type: Grant
    Filed: December 24, 2019
    Date of Patent: November 2, 2021
    Assignee: Target Brands, Inc.
    Inventors: Jonathan Dejong, Shaun Jurgemeyer, Kyle Boon
  • Patent number: 11145156
    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: September 12, 2019
    Date of Patent: October 12, 2021
    Assignee: BECTON DICKINSON ROWA GERMANY GMBH
    Inventors: Dirk Wingenter, Christoph Hellenbrand
  • Patent number: 11142399
    Abstract: A method and apparatus for a human picker on a picker automated vehicle (PAV) along with its vertical tote conveyors (VTCs) having totes to a successive plurality of inventory stock bins arranged in rows and columns along aisles to move the human picker both horizontally and vertically to successively retrieve each of a plurality of stock items from the bins and place the respective pp items in a preselected ones of totes. Items are later optionally transferred to shipping containers based on each customer order. In some embodiments, horizontal aisle conveyors (HACs) move totes from a configurator along the aisles to the moving PAVs, then back after tote loading by the picker. Totes are transferred from the HACs to upward VTCs, then crossover to downward VTCs, are loaded with stock items by the picker on upward or downward paths, and then transferred back to the HACs to move to shipping station.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: October 12, 2021
    Assignees: Doerfer Corporation
    Inventors: Robert D. Ahmann, David L. Takes, Gregory H. Gasch, William D. Starnes, Neil D. Bultz
  • Patent number: 11136189
    Abstract: A storage setup and method for robotic delivery and retrieval of crates from shelving blocks are disclosed. At least one shelving block in the setup comprises non-uniformly spaced apart storage surfaces. The storage surfaces are accessible to lift-robots through a network of tracks comprising intersecting vertically and horizontally oriented tracks. A computerized control system is configured to differentiate between storage locations based on which crate sizes from at least two different ranges of crate sizes a storage location can store. The storage may be automatically optimized by routing robots to store crates in storage locations sized in correlation with the size of the crate to be stored.
    Type: Grant
    Filed: February 21, 2018
    Date of Patent: October 5, 2021
    Assignee: GET FABRIC LTD
    Inventors: Shay Cohen, Guy Blotnik
  • Patent number: 11124361
    Abstract: A storage and retrieval system including a vertical array of storage levels, each storage level having, picking aisles, storage locations, disposed within the picking aisles, and at least one transfer deck providing access to the picking aisles, 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 located on each storage level for transporting the uncontained case units between respective storage locations and the multilevel vertical conveyor system, and a controller configured to create a primary access path through the transfer decks and picking aisles to a predetermined one of the storage locations and at least one secondary access path to the predetermined one of the storage locations when the primary path is impassable.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: September 21, 2021
    Assignee: SYMBOTIC LLC
    Inventors: John Lert, Stephen C. Toebes, Robert Sullivan, Foster Hinshaw, Nathan Ulrich
  • Patent number: 11104514
    Abstract: A method for retrieving an inventory item based on a handling robot, where the handling robot includes: a storage frame; and a material handling device installed on the storage frame, and including a telescopic arm and a manipulator installed to the telescopic arm; and the method for retrieving an inventory item includes: driving, by the telescopic arm, the manipulator to extend to a preset position of warehouse shelf along a preset horizontal reference line; loading, by the manipulator that is remained on the reference line, the inventory item located in the preset position; driving, by the telescopic arm, the manipulator loaded with the inventory item to move to the storage frame along the reference line; and unloading, by the manipulator that is remained on the reference line, the inventory item to the storage frame.
    Type: Grant
    Filed: May 13, 2020
    Date of Patent: August 31, 2021
    Assignee: HAI ROBOTICS CO., LTD.
    Inventors: Jui-chun Cheng, Shengdong Xu, Yuqi Chen
  • Patent number: 11100460
    Abstract: A system for replenishing a pick face includes a storage and retrieval machine (SRM) that traverses an aisle of a warehouse and monitors a replenishment position of each pick location of a pick face. The SRM transmits a message to the system indicating which ones of the replenishment positions are empty. The SRM delivers a replenishment load to a pick location that is indicated as empty in the message. Each pick location includes a flow lane configured to direct the motion of package loads sliding down to a picking position of the pick face. The flow lane includes a lever arm assembly that constrains and brakes the motion of package loads sliding down the flow lane. A bar stop of the lever arm assembly constrains a replenishment load, while a retainer bar of the lever arm assembly constrains a forward load. The replenishment load is behind the forward load.
    Type: Grant
    Filed: March 22, 2019
    Date of Patent: August 24, 2021
    Assignee: Dematic Corp.
    Inventors: Criston S. Stevens, Christopher Blackburn, Paul K. Gines, Max Weston
  • Patent number: 11084656
    Abstract: An automated storeroom system includes storerooms each including a rack and a stacker crane, and a transport vehicle configured to travel along a route. A first rack that is the rack in one storeroom of an adjacent pair of the storerooms and a second rack that is the rack in the other storeroom thereof are disposed in a manner opposed to each other. The route includes a first route passing through the first rack in a longitudinal direction of the first rack and configured to allow the transport vehicle to transfer the article onto the second rack, a second route passing through the second rack in a longitudinal direction of the second rack and configured to allow the transport vehicle to transfer the article onto the first rack, and a connection route connecting the first route and the second route.
    Type: Grant
    Filed: June 5, 2018
    Date of Patent: August 10, 2021
    Assignee: Murata Machinery, Ltd.
    Inventor: Tsuyoshi Kakinuki
  • Patent number: 11067329
    Abstract: A multiple temperature automated storage system includes a rack with multiple levels of shelves defining item storage positions, an aisle at each level, and a plurality of shuttles adapted to operate in the aisles for storing items to and retrieving items from the storage positions. A thermally insulated enclosure encloses some of the levels of the rack to define a low temperature zone with the remaining levels of the rack defining a higher temperature zone. A method of storing items at two different temperatures in a common automated storage system includes having a first portion of the automated storage system enclosed in a thermally insulated enclosure and a second portion of the automated storage system outside of the thermally insulated enclosure. A lift is provided in the second portion for supplying items to and retrieving items from both of the first and second portions, without entering the first portion.
    Type: Grant
    Filed: November 27, 2019
    Date of Patent: July 20, 2021
    Assignee: Dematic Corp.
    Inventors: William R. Boer, Anthony W. Hasman
  • Patent number: 11046517
    Abstract: Provided is an automated vertical transfer system for a site that includes one or more mezzanines or other structures that create different operational vertical planes. The system may include a robot controller and one or more robots that operate exclusively on one of the different operational vertical planes. The robot controller may synchronize and/or coordinate the operations of the robots and/or other devices so that objects may be transferred across planes while each robot remains and continues operations on one plane.
    Type: Grant
    Filed: March 1, 2019
    Date of Patent: June 29, 2021
    Assignee: inVia Robotics, Inc.
    Inventors: Lior Elazary, Daniel Frank Parks, II, Randolph Charles Voorhies
  • Patent number: 11034565
    Abstract: A load-handling clamp mountable on a lift truck is capable of clamping a load between respective opposed clamp arms each capable of hydraulic movement selectively toward or away from each other. One of the clamp arms is preferably substantially incapable of movement toward the other clamp arm unless actuated independently of the other clamp arm. One of the clamp arms also preferably has a lesser maximum range of hydraulic movement than the other of the clamp arms and is hydraulically movable at a maximum hydraulic pressure greater than that of the other clamp arm.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: June 15, 2021
    Assignee: Cascade Corporation
    Inventor: Brent G. Running
  • Patent number: 10994930
    Abstract: A warehousing system for storing and retrieving goods disposed in containers is provided. The system includes a multilevel storage array including an array of storage shelves for holding containers thereon, at least one substantially continuous lift for transporting containers to and from at least one level of the storage array, at least one transport vehicle located on the at least one level and configured to traverse a transport area transporting containers between the at least one continuous lift and container storage locations so that the at least one continuous lift communicates non-deterministically, via the transport vehicle, with storage locations of each of the storage shelves on the at least one level, an infeed transport system linked to the at least one continuous lift, and an order fulfillment station for generating order containers corresponding to customer orders where the order containers are entered onto the storage shelves of the storage array.
    Type: Grant
    Filed: April 28, 2020
    Date of Patent: May 4, 2021
    Assignee: Symbotic LLC
    Inventor: John Lert
  • Patent number: 10949800
    Abstract: Robots and/or a robot coordinator are provided to execute an overall task by partitioning the task into subtasks and by coalescing results and/or output of the subtasks. The robot coordinator may coordinate, control, and/or program a set of robots to operate within different sections of a site and to execute subtasks associated with different tasks that fall within their respective sections in parallel. The robot coordinator may coordinate, control, and/or program the same or different set of robots to coalesce results and/or output for subtasks for a particular task from the different sections to complete the overall task. For instance, a first set of robots may retrieve objects that are stored at storage locations within the sections in which each robot operates, and a second set of robots may rotate moveable storage apparatus across the sections so that each storage apparatus stores all objects of a particular order.
    Type: Grant
    Filed: December 21, 2018
    Date of Patent: March 16, 2021
    Assignee: inVia Robotics, Inc.
    Inventors: Lior Elazary, Randolph Charles Voorhies, Daniel Frank Parks, II
  • Patent number: 10934092
    Abstract: A method of fulfilling orders from a queue of a plurality of orders in an automated storage facility with storage of items of the same kind in receptacles stored in a rack. When items to complete an order are available, automatic storage and retrieval devices retrieve and transport receptacles containing items for fulfillment of an order to a picking station. Each aisle is connected to one of the picking stations and receptacles containing items for orders to be fulfilled at such connected picking station are stored within the connected aisle. When the specific receptacle for the order is retrieved it is checked according to predetermined criteria whether the same item is needed for fulfillment of further orders and if so items from the receptacle are placed into separate receptacles for storage in different aisles according to picking station assignment for the further orders.
    Type: Grant
    Filed: November 29, 2016
    Date of Patent: March 2, 2021
    Assignee: Dematic GmbH
    Inventors: Shin Yamashita, Carlos De Oliveira
  • Patent number: 10919700
    Abstract: A mobile storage system including a plurality of movable storage units that can be positioned to selectively form an aisle between adjacent storage units. The mobile storage system includes a master controller in communication with a local control unit and a local control panel on each storage unit. The master controller communicates through a wireless communication path with a user device having a visual display. The visual display presents a current image of the mobile storage system and allows a user to enter commands to create aisles between adjacent storage units. When the user device is in wireless communication with the master controller, the master controller prevents operation of the storage units from the local control panels. The master controller allows a wireless communication path to be created with only a single user device at any time such that only one user device is able to operate the mobile storage system.
    Type: Grant
    Filed: February 13, 2019
    Date of Patent: February 16, 2021
    Assignee: Spacesaver Corporation
    Inventors: Brian Patrick Bourke, Eric James Wipperfurth
  • Patent number: 10916340
    Abstract: An overall pharmacy system and methodology begins with bulk medications and supplements introduced into the work flow, individually packaged and assembled into med pass orders per patient and delivered to the long-term care (LTC) facility or other institution for patient consumption. The process according to one embodiment of this invention begins by converting bulk medications and supplements to packaged unit doses and ultimately individually packaged med pass bags for each patient on a 24-hour schedule. The various safeguards and measures built into this system increase patient safety eliminate waste and increase labor efficiency by reducing and/or minimizing the disposal of unused medications and supplements. The design of the overall system and its individual components allows for physical control of each unit dose package from start to finish without any unit dose package “free fall” in the system. This process is automated and does not rely upon manual sorting.
    Type: Grant
    Filed: November 12, 2009
    Date of Patent: February 9, 2021
    Assignee: REMEDI TECHNOLOGY HOLDINGS, LLC
    Inventors: Kimberly Hawkes, Steven E. Schneider, Mark Stielau, Richard W. Snodgrass
  • Patent number: 10913600
    Abstract: Systems and methods for enhancing efficiencies of dense pallet storage systems are described. For example, this document describes systems and methods for enhancing efficiencies of dense pallet storage systems by arranging pallet flow racking to define a high variety of lane lengths and non-orthogonal aisles.
    Type: Grant
    Filed: February 27, 2019
    Date of Patent: February 9, 2021
    Assignee: Target Brands, Inc.
    Inventors: Ravi Vengadam, Gregory Lisso
  • Patent number: 10913641
    Abstract: In combination, a storage unit storable within a three-dimensional storage system and a storage/retrieval vehicle navigable through the three-dimensional storage system to storage locations therein at which the storage unit is selectively storable and retrievable. The storage/retrieval vehicle comprises a frame conveyable through the three-dimensional storage system, a platform atop the frame for receipt of the storage unit on the platform, and a loading/unloading mechanism operable to load and unload the storage unit to and from the platform at four different sides thereof. The storage unit and the storage/retrieval vehicle are configured to enable unloading of the storage unit from the platform in any one of four different directions at four different respective sides of the vehicle regardless of an original orientation in which the storage unit was previously loaded onto the platform and without reorienting the storage unit from the original orientation.
    Type: Grant
    Filed: March 15, 2019
    Date of Patent: February 9, 2021
    Assignee: Attabotics Inc.
    Inventors: Scott Gravelle, Simon Lomas, John Earl, Sundeep Dhaliwal
  • Patent number: 10906740
    Abstract: A method of processing objects using a programmable motion device is disclosed. The method includes the steps of perceiving identifying indicia representative of an identity of a plurality of objects and directing the plurality of objects toward an input area from at least one input conveyance system, acquiring an object from the plurality of objects at the input area using an end effector of the programmable motion device, and moving the acquired object toward an identified processing location using the programmable motion device, said identified processing location being associated with the identifying indicia and said identified processing location being provided as one of a plurality of processing locations that are radially spaced from the programmable motion device.
    Type: Grant
    Filed: March 22, 2018
    Date of Patent: February 2, 2021
    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: 10905568
    Abstract: A system and method for producing a customized prosthetic socket based on a digital representation of a residual limb that is used to form a digital model of a prosthetic socket. The digital model is customized to alter its internal structure to produce differing areas of flexibility and support while maintaining the overall geometry of the model and without having to use different materials. The digital model is converted for use with a three-dimensional printing or manufacturing device and then used to print the customized socket.
    Type: Grant
    Filed: February 28, 2017
    Date of Patent: February 2, 2021
    Assignee: PVA MEDICAL, LLC
    Inventor: Jeffrey L. Erenstone
  • Patent number: 10858186
    Abstract: A method for fetching a target bin stored in a storage system, wherein the storage system includes a three-dimensional storage grid containing a plurality of bins stacked in vertical stacks, supporting rails on the grid structure, and a plurality of vehicles, controllably arranged to move individually on the supporting rails. The method is performed by a control device in the system and comprises controlling at least one non-target vehicle to operate as intermediate storage for a bin located vertically above the target bin; controlling a target vehicle to pick up the target bin, and controlling the at least one non-target vehicle and the target vehicle to be positioned adjacent to each other in a linear manner on the supporting rails. A corresponding storage system has also been disclosed.
    Type: Grant
    Filed: September 5, 2019
    Date of Patent: December 8, 2020
    Assignee: AutoStore Technology AS
    Inventor: Ingvar Hognaland
  • Patent number: 10850961
    Abstract: A forklift includes: a fork 22, a moving mechanism configured to move the fork in a first direction; a laser sensor 20 mounted on the fork, configured to scan laser light in a second direction intersecting the first direction, and measure a distance from the laser sensor to a surrounding object based on reflection of the scanned laser light; and a processor configured to generate a three-dimensional range image within an emission range to which the laser light is emitted based on distance data acquired when the laser sensor scans the laser light in the second direction while the moving mechanism moves the fork in the first direction.
    Type: Grant
    Filed: April 8, 2016
    Date of Patent: December 1, 2020
    Assignee: KABUSHIKI KAISHA TOYOTA JIDOSHOKKI
    Inventors: Minoru Tanaka, Akinobu Fujii, Yuuji Tsusaka, Makoto Ichinose, Makoto Hayakawa
  • Patent number: 10800617
    Abstract: A transport vehicle (2) that travels along a container shelf (1) is provided with a plurality of levels of shelf portions (11) arranged in a vertical direction (Z) and configured to support containers (W), thereby transporting the containers (W). The transport vehicle (2) is provided with a support region (22) where the containers (W) are supported in a stacked state, a transfer apparatus (24) that transfers the containers (W) supported by the shelf portions (11) to the support region (22) and transfers the containers (W) supported in the support region (22) to the shelf portions (11), and a lifting mechanism (25) that lifts a container (W) at any height among a container group (WG) stacked in the support region (22) with respect to a container (W) lower than the container (W) at that any height.
    Type: Grant
    Filed: July 13, 2018
    Date of Patent: October 13, 2020
    Assignee: Daifuku Co., Ltd.
    Inventors: Yuichi Ueda, Masashige Iwata, Akira Emoto
  • 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: 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: 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: 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: 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: 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: 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: 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: 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