Particular Charging Or Discharging Apparatus Patents (Class 700/218)
  • Patent number: 11926475
    Abstract: A control system includes: a sway detection unit configured to detect a reference swaying amount that is a swaying amount of a mast at a detection height, which is set to be greater than or equal to a height of a lowermost part of a transfer apparatus when a lift is located at an upper limit of a lifting range; a lifting height acquiring unit configured to acquire lifting height information that indicates a lifting height, which is a height of the lift, at a plurality of points in time; and a transfer control unit configured to control the transfer apparatus. The transfer control unit converts the reference swaying amount detected by the sway detection unit into a lifting height swaying amount that is a swaying amount of the mast at the lifting height indicated by the lifting height information.
    Type: Grant
    Filed: January 20, 2022
    Date of Patent: March 12, 2024
    Assignee: Daifuku Co., Ltd.
    Inventor: Wataru Kiyokawa
  • Patent number: 11908712
    Abstract: A semiconductor manufacturing apparatus including a plurality of process modules for performing desired processes on a plurality of substrates and a plurality of transfer modules for serially transferring the plurality of substrates to the plurality of process modules is provided. The semiconductor manufacturing apparatus comprises a scheduler for calculating a cycle time so that a difference in time required for each of the desired processes is within an allowable time range and generating a transfer plan for the plurality of substrates based on the cycle time, and a transfer controller for controlling the plurality of transfer modules so that the plurality of substrates are serially transferred to the process modules according to the generated transfer plan.
    Type: Grant
    Filed: September 22, 2021
    Date of Patent: February 20, 2024
    Assignee: Tokyo Electron Limited
    Inventors: Toshiharu Hirata, Takafumi Matsuhashi, Kunio Takano, Minoru Nagasawa
  • Patent number: 11897149
    Abstract: An apparatus for handling electronic components such as hard disk drives. In one aspect, the apparatus includes a main body defining an interior space with an open front; a drive system that propels and positions the apparatus along horizontal surface; a fan system mounted within the interior space and positioned to blow air down into the interior space; a first gripper apparatus that engages an equipment drawer of an electronics rack; and a second gripper apparatus that grips and removes a target electronic component from a target position located within the equipment drawer, wherein at least a back surface of the main body includes perforations so that sufficient air flow generated by the fan system flows through the perforations to maintain cooling of electronic components in the equipment drawer when the equipment drawer is in the extracted position.
    Type: Grant
    Filed: December 9, 2021
    Date of Patent: February 13, 2024
    Assignee: Google LLC
    Inventor: Avinash Panga
  • Patent number: 11866260
    Abstract: An automated storage and retrieval system includes a framework structure forming a three-dimensional storage grid structure for storing the storage containers in storage columns. The framework structure includes a grid-based rail system arranged above the storage columns with the rail system providing available routes for the container handling vehicles handling and transferring the storage containers to and from the storage columns. Each container handling vehicle includes a first set of wheels configured to move the vehicle along a first lateral direction of the grid-based rail system and a second set of wheels configured to move the vehicle along a second lateral direction of the grid-based rail system. The second direction is perpendicular to the first direction.
    Type: Grant
    Filed: August 25, 2021
    Date of Patent: January 9, 2024
    Assignee: Autostore Technology AS
    Inventors: Tommy Hatteland, Torgeir Lilleskog, Vegard Syre-Aaker
  • Patent number: 11858738
    Abstract: A storage system and a load handling device for lifting and moving containers stacked in the storage system are described. The storage system includes a plurality of rails or tracks arranged in a grid pattern above the stacks of containers. The grid pattern can include a plurality of grid spaces and each stack is located within a footprint of only a single grid space. The load handling device is configured to move laterally on the rails or tracks above the stacks. The load-handling device includes a container-receiving space located above the rails or tracks in use and a lifting device arranged to lift a container from a stack into the container-receiving space. The load handling device has a footprint that, in use, occupies only a single grid space in the storage system.
    Type: Grant
    Filed: April 19, 2023
    Date of Patent: January 2, 2024
    Assignee: OCADO INNOVATION LIMITED
    Inventors: Lars Sverker Ture Lindbo, Robert Rolf Stadie
  • Patent number: 11846935
    Abstract: An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings.
    Type: Grant
    Filed: May 3, 2022
    Date of Patent: December 19, 2023
    Assignee: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim, Ingvar Fagerland
  • Patent number: 11826788
    Abstract: An item sorting system having a tray handling system and a tote handling system. The tray handling system having a tray conveying system, a tray transfer system, and optionally a tray storage region. The tote handling system may have a cubby array, the cubby array having a plurality of cubbies into which a tote may be placed. The system can transfer an item from the tray into the tote, and a method is disclosed for the same.
    Type: Grant
    Filed: October 18, 2021
    Date of Patent: November 28, 2023
    Assignee: JR Automation Technologies, LLC
    Inventors: Craig Ulrich, Matt Cagle, Ryan Lute, Kyle Christian, Jason Hodgins, Bret Slocum, Marc Walters
  • Patent number: 11823932
    Abstract: A substrate processing system includes manufacturing process equipment including a plurality of process chambers and a control server configured to control the manufacturing process equipment. When a transporting order of semiconductor substrates is transmitted from the control server to the manufacturing process equipment, the control server provides, to the manufacturing process equipment performing an Nth process cycle (where N is a natural number) in a first transporting order, a command to switch to a second transporting order from an N+1th process cycle immediately when a restriction on at least one process chamber, into which insertion of the semiconductor substrate is restricted, is lifted.
    Type: Grant
    Filed: August 5, 2021
    Date of Patent: November 21, 2023
    Inventors: Eungjin Kim, Pyongil Cho, Hyeonjun Jeon, Kyoungho Kim
  • Patent number: 11795755
    Abstract: A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.
    Type: Grant
    Filed: July 22, 2020
    Date of Patent: October 24, 2023
    Inventors: Yoshiaki Uemizo, Takashi Ueda
  • Patent number: 11753248
    Abstract: In a picking facility, if both a first picking operation and a second picking operation are performed based on order information, a third container is transported from a housing portion to a second picking portion, a fourth container is transported from the housing portion to the second picking portion, after the second picking operation has been performed, the fourth container in which a target article has been housed by the second picking operation is transported as a second container to a first picking portion, a first container is transported from the housing portion to the first picking portion, and, after the first picking operation has been performed, the second container in which the target articles have been housed by the first picking operation and the second picking operation is transported to a shipping portion.
    Type: Grant
    Filed: August 31, 2020
    Date of Patent: September 12, 2023
    Assignee: Daifuku Co., Ltd.
    Inventors: Masaya Miyamoto, Hiroaki Haruta
  • Patent number: 11741422
    Abstract: Systems, methods, and apparatuses for selectively shifting and staging storage structures in a storage space are provided. Systems, methods, and apparatuses for dynamically organizing packages based on a travel route are also provided. In embodiments, a plurality of parcels may be stored on storage structures located within a vehicle and each storage structure may be provided in a modular assembly. During a delivery operation, the system may determine which parcels are next to be delivered and, either based on predetermined information or dynamic information, may adjust the position of the storage structures within the vehicle using shifting mechanisms and control systems coupled thereto to present the appropriate parcel for retrieval from the vehicle.
    Type: Grant
    Filed: August 30, 2019
    Date of Patent: August 29, 2023
    Assignee: UNITED PARCEL SERVICE OF AMERICA, INC.
    Inventors: Julio Gil, Mallory Freeman
  • Patent number: 11718478
    Abstract: Methods, systems, and apparatus for transporting workcells. In one aspect, a system includes a first fleet of AGVs that each include electro-mechanical interface that is adapted to (i) connect to or lift multiple different types of workcells and (ii) provide charging power to or receive charging power from multiple different types of workcells. A second fleet of multiple different types of workcells are each adapted to perform one or more particular tasks. A control system is configured to identify a set of tasks to be performed by the second fleet of workcells and, for each task, select a workcell to perform the task, select an AGV to transport the selected workcell to a location at which the task is to be performed, and provide, to the selected AGV, instructions that cause the selected AGV to transport the selected workcell to the location at which the task is to be performed.
    Type: Grant
    Filed: February 2, 2022
    Date of Patent: August 8, 2023
    Assignee: Google LLC
    Inventors: Michael Helsel, Ned Lecky, Avinash Panga, Adam Morton
  • Patent number: 11705355
    Abstract: A substrate transfer system includes a load lock module, an atmospheric transfer module having a first sidewall adjacent to the load lock module and a second sidewall remote from the load lock module, the atmospheric transfer module being connected to the load lock module, and a substrate transfer robot disposed in the atmospheric transfer module. The substrate transfer robot includes a base configured to reciprocate along the first sidewall, a substrate transfer arm disposed on the base, and a flow rectifier surrounding the base, the flow rectifier being configured, upon movement of the base, to create an obliquely downward air flow in a direction opposite to a moving direction of the base.
    Type: Grant
    Filed: December 3, 2021
    Date of Patent: July 18, 2023
    Assignee: TOKYO ELECTRON LIMITED
    Inventors: Norihiko Amikura, Toshiaki Toyomaki
  • Patent number: 11693403
    Abstract: Dynamic allocation and coordination of auto-navigating vehicles uses robotic vehicles and centrally dispatched roaming order selectors to create a significantly more efficient, yet flexible, approach to picking goods within a warehouse. Robotic vehicles are configured to be loaded with goods from pick faces to fill orders. Each robotic vehicle follows a route that includes appropriate pick face locations. The robotic vehicles navigate from pick face to pick face where particular goods are located. Order selectors are dynamically and independently dispatched to meet the robotic vehicles at their pick face locations to load goods. Movement of the order selectors is orchestrated to increase efficiency in the order filling process within the warehouse.
    Type: Grant
    Filed: June 4, 2020
    Date of Patent: July 4, 2023
    Assignee: SEEGRID CORPORATION
    Inventor: Brennan Sellner
  • Patent number: 11688619
    Abstract: In a vacuum processing apparatus, a load lock module includes a housing and substrate holding sections, the housing having first substrate transfer ports formed on one of right and left sides thereof and a second substrate transfer port formed on a rear side thereof, and each substrate holding section being configured to hold a substrate on a right or left side in the housing. Further, a normal pressure transfer chamber extends over or under the housing from one of the right and left sides of the housing to the other one thereof so that each first substrate transfer port is opened. The normal pressure transfer chamber includes a stacked transfer region that is a region overlapping the housing. Further, a normal pressure transfer mechanism transfers the substrate between each substrate holding section and a transfer container carried into each of loading/unloading ports via the stacked transfer region.
    Type: Grant
    Filed: September 10, 2019
    Date of Patent: June 27, 2023
    Assignee: TOKYO ELECTRON LIMITED
    Inventor: Shinji Wakabayashi
  • Patent number: 11681981
    Abstract: A computer-implemented system for delivery scheduling from a fulfillment center. The system includes a memory storing instructions and one or more processors configured to execute the instructions to perform operations. The operations may include maintaining a first data structure representing a fulfillment center, where the data structure has elements representing portions of the fulfillment center the portions are associated with a plurality of physical locations and a cutoff time. The operations may also include maintaining a second data structure including a mapping between physical locations and product identifiers, receiving a request to provide a delivery time estimate, searching the second data structure to identify at least one physical location associated with the requested product, searching the first data structure to determine cutoff times associated with each of the at least one physical location, and returning, responsive to the request, a fast cutoff time selected from the cutoff times.
    Type: Grant
    Filed: March 31, 2021
    Date of Patent: June 20, 2023
    Assignee: Coupang Corp.
    Inventors: Erik Rehn, Hyun Sik Eugene Minh, Yoo Suk Kim
  • Patent number: 11660740
    Abstract: A flow rack unit for providing stock material units includes at least two rack bays and one control system. Each rack bay has a removal side and a storage side opposite the removal side and is configured to provide the stock material units in a respective bay level arranged next to one another starting in the direction of the storage side. A respective sensor arrangement of the control system is associated with each rack bay. Each sensor arrangement is arranged at the storage side of the associated rack bay and connected to a control unit of the control system via a common data line. The sensor arrangements each include an occupancy sensor configured as a distance sensor. Each occupancy sensor has a measurement zone that is aligned to measure a distance from a rearmost stock material unit stored in the associated rack bay and disposed closest to the occupancy sensor.
    Type: Grant
    Filed: November 21, 2019
    Date of Patent: May 30, 2023
    Assignee: SICK AG
    Inventors: Jürgen Bürger, Matthias Opfolter
  • Patent number: 11661280
    Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels, for moving the vehicle along a first direction on a rail system in the grid; and a second set of wheels, for moving the vehicle along a second direction on the rail system in the grid, the second direction being perpendicular to the first direction. A vehicle body includes walls on all sides and forms a quadrilateral footprint. The footprint is defined by horizontal peripheries in the first and second directions of the vehicle body. The container handling vehicle further includes a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. The first and second sections are separated by a divider element.
    Type: Grant
    Filed: February 8, 2022
    Date of Patent: May 30, 2023
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11659788
    Abstract: A vehicle automated unloading system may include a fill model and an unloading controller. The fill model is a model of a fill characteristic of a container as a function of variables comprising material unloading times, material unloading rates and material unloading locations. The unloading controller is to (a) determine a current model-based fill characteristic of the container using the dynamic fill model and (b) output control signals to adjust at least one of a material unloading time, a material unloading rate and a material unloading location based upon the current model-based fill characteristic of the container.
    Type: Grant
    Filed: December 8, 2020
    Date of Patent: May 30, 2023
    Assignee: DEERE & COMPANY
    Inventors: Corwin Marcus Puryk, Stephen Robert Corban, Ryan Robert White, Gregory Matthew Shaver, Shveta Vinayak Dhamankar, John Thomas Evans, Ziping Liu, Chufan Jiang
  • Patent number: 11646215
    Abstract: A load port apparatus connects a main opening of a wafer transportation container to a frame opening. The apparatus includes an installation unit, a frame unit, a flange clamp unit, and a detection unit. The installation unit includes an installation table configured to install the container and relatively move to the frame opening. The frame unit is upright upward from the installation unit and includes the frame opening. The flange clamp unit includes an engagement section and a drive section. The engagement section is engageable with a flange surrounding an outer circumference of the main opening. The drive section drives the engagement section to carry out an engagement operation and a separation operation. The detection unit detects the engagement operation by the flange clamp unit with classification into a normal engagement operation and an abnormal engagement operation.
    Type: Grant
    Filed: October 7, 2020
    Date of Patent: May 9, 2023
    Assignee: TDK CORPORATION
    Inventors: Tomoshi Abe, Hiroshi Hasegawa, Nozomu Kato, Hiroshi Igarashi, Tadamasa Iwamoto
  • Patent number: 11624231
    Abstract: A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.
    Type: Grant
    Filed: July 23, 2020
    Date of Patent: April 11, 2023
    Inventors: Yoshiaki Uemizo, Takashi Ueda
  • Patent number: 11602857
    Abstract: A method and system for autonomous picking or put-away of items, totes, or cases within a logistics facility. The system includes a remote server and at least one manipulation robot. The system may further include at least one transport robot. The remote server is configured to communicate with the various robots to send and receive picking data, and the various robots are configured to autonomously navigate and position themselves within the logistics facility.
    Type: Grant
    Filed: April 6, 2020
    Date of Patent: March 14, 2023
    Assignee: IAM Robotics, LLC
    Inventors: Thomas Galluzzo, Vladimir Altman, John Cameron, Chris Grill, Mark Renfrew, Yash Manian
  • Patent number: 11593764
    Abstract: A system and method for medication delivery. Information is received indicating a user is scheduled to receive medication. A route between a dispensary storing the medication and a location of the user is determined. The medication is sent in a container from the dispensary to the location utilizing the route.
    Type: Grant
    Filed: December 28, 2015
    Date of Patent: February 28, 2023
    Assignee: DATA VAULT HOLDINGS, INC.
    Inventors: Daniel Ranieri, David Bradley
  • Patent number: 11570941
    Abstract: There is provided a component feeding device including multiple component replenishing devices configured to replenish with components having different shapes; multiple stages on which the components replenished from the multiple replenishing devices are scattered, and a control section configured to cause the multiple replenishing devices to replenish the components to the respective stages at an arbitrary timing. There is provided a component feeding method for supplying components, having different shapes and being respectively replenished onto multiple stages from multiple replenishing devices, to a component mounting device with the components being respectively scattered on the multiple stages, wherein amounts of the components is capable of being respectively changed for each of the multiple stages.
    Type: Grant
    Filed: December 12, 2017
    Date of Patent: January 31, 2023
    Assignee: FUJI CORPORATION
    Inventor: Shinya Terasawa
  • Patent number: 11565881
    Abstract: Autonomous mobile robots include transfer systems that may receive multiple items for delivery to one or more destinations. The transfer systems may be specifically configured to detect and identify items that are placed on loading surfaces, and to independently discharge specific items at selected destinations or to selected recipients. The transfer systems feature loading surfaces that may be defined by a plurality of independently operable conveyors to receive or discharge items, by independently operable floors that allow items to pass therethrough, or by independently operable diverters for detecting and expelling items therefrom. The transfer systems may receive items from, or discharge items to, one or more humans, other robots, or other systems such as conveyors, chutes, robotic arms or other mechanical implements or effectors, and be aligned at any angle or provided at any height, as desired.
    Type: Grant
    Filed: December 29, 2020
    Date of Patent: January 31, 2023
    Assignee: Amazon Technologies, Inc.
    Inventors: Tye Michael Brady, Joseph Quinlivan
  • Patent number: 11518042
    Abstract: A robotic assistant includes a wheeled base, a storage unit including drawers, a foldable arm connected to a top of the storage unit and including an end of arm tooling (EOAT) connected to a distal end of the foldable arm, an elevation mechanism positioned on the wheeled base and used to move the storage unit up and down, and a control system that receives command instructions. In response to the command instructions, the control system is configured to move the wheeled base, open or close the one or more drawers, actuate movement of the foldable arm and the EOAT to pick up and place external objects from/to a determined location, and control the storage unit to move up/down.
    Type: Grant
    Filed: May 9, 2020
    Date of Patent: December 6, 2022
    Assignee: UBTECH ROBOTICS CORP LTD
    Inventors: Chengkun Zhang, Marten Byl, Muhammed Rasid Pac, Raymond Ma, Luis Alfredo Mateos Guzman, Won Suk You, Huan Tan, Youjun Xiong
  • Patent number: 11513530
    Abstract: Systems and methods are provided herein for coordinating movement of components of a workspace utilizing a controller device. The controller device may operate in a first state. The computing device may be associated with an interaction area having a first access point and a second access point, wherein a light curtain is generated at the first access point. While operating in the first state, access to the interaction area is restricted. The computing device may transition to operating in a second state based at least in part on detecting the first breach, wherein operating in the second state comprises enabling access to the interaction area at the second access point. While operating in the second state, a second breach of the light curtain may be detected and at least one remedial action performed based on the detection.
    Type: Grant
    Filed: May 8, 2019
    Date of Patent: November 29, 2022
    Assignee: Amazon Technologies, Inc.
    Inventors: Seth R. Kaufman, Megan Anne Smith, Ashish Shah
  • Patent number: 11503974
    Abstract: A cleaner performing autonomous traveling includes a main body, a driving unit moving the main body, a battery supplying power to the driving unit, a communication unit performing communication with a charging station to charge the battery, a sensor sensing a signal emitted from the charging station, and a controller controlling the driving unit such that the main body is docked to the charging station on the basis of the signal sensed by the sensor, wherein when the main body starts to move to dock to the charging station, the controller determines a kind of the signal sensed by the sensor and controls the driving unit such that the main body moves along a traveling path corresponding to a circle centered on a predetermined point on the basis of the determined kind of the signal.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: November 22, 2022
    Assignee: LG ELECTRONICS INC.
    Inventors: Jinwoo Han, Hyunwoong Park
  • Patent number: 11498759
    Abstract: A rail can include first and transverse channels defined therein. A container can include a rod, a spring, a first plate assembly, and a second plate assembly. The first plate assembly can include a first transverse bearing disposed in the first transverse channel. The second plate assembly can include a second transverse bearing disposed in the second transverse channel. A robotic assembly can include a robotic arm. The robotic arm can include opposing grips defining a grip space therebetween. A processing system including one or more processors can be configured to, via the robotic assembly: align the grip space with the container rod; drive the rod against the spring; allow the spring to relax and thereby separate the first plate assembly from the second plate assembly; position the rod such that the first transverse bearing and the second transverse bearing are simultaneously withdrawn from the first and second transverse channels.
    Type: Grant
    Filed: June 21, 2019
    Date of Patent: November 15, 2022
    Assignee: Walmart Apollo, LLC
    Inventors: Elias Aljallis, Vikranth Gopalakrishnan, Ronald S. Kyslinger
  • Patent number: 11498765
    Abstract: Warehouse automation and methods of controlling material flow can be used to streamline order fulfillment. For example, according to some embodiments described herein, a method includes: causing a first mobile robot to engage with and transport a mobile storage unit to a robotic picking cell, causing a second mobile robot to engage with and transport an outbound container to the robotic picking cell, and causing the picking robot to transfer a sellable unit from the mobile storage unit to the outbound container.
    Type: Grant
    Filed: March 5, 2021
    Date of Patent: November 15, 2022
    Assignee: Target Brands, Inc.
    Inventors: David Sellner, Kevin Vliet, Arthur Valdez
  • Patent number: 11492203
    Abstract: The present disclosure relates to an apparatus and method for a load handling system such that direction change of a transporting device is more easily and quickly realised. A transporting device includes an omnidirectional driving unit, and is arranged to transport a container, the container being stored in a facility. The facility is arranged to store the container in a plurality of stacks, a plurality of pathways being arranged in cells so as to form a grid-like structure above the stacks, the transporting device being arranged to operate on the grid-like structure and to be driven in a first direction and/or second direction.
    Type: Grant
    Filed: March 26, 2019
    Date of Patent: November 8, 2022
    Assignee: OCADO INNOVATION LIMITED
    Inventors: Sean Clark, David Sharp
  • Patent number: 11486187
    Abstract: A banknote handling system includes an unlocking system. The unlocking system includes a camera, a first mechanical arm to which one or a plurality of keys are affixed, and a controller that determines a position of a keyhole based on an image from the camera, and controls the first arm to insert one of the one or the plurality of keys into the keyhole and turn the inserted key for unlocking. In many examples, the unlocking system is configured to unlock a banknote cashbox.
    Type: Grant
    Filed: July 22, 2020
    Date of Patent: November 1, 2022
    Assignee: Japan Cash Machine Co., Ltd.
    Inventors: Yoshiaki Uemizo, Takashi Ueda
  • Patent number: 11390461
    Abstract: An automated storage and retrieval system that includes a rail system that includes a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first and second sets of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell includes a grid opening defined by a pair of neighboring tracks of the first set of tracks and a pair of neighboring tracks of the second set of tracks; and a plurality of stacks of storage containers arranged in storage columns located beneath the rail system, where each storage column is located vertically below a grid opening.
    Type: Grant
    Filed: October 16, 2018
    Date of Patent: July 19, 2022
    Assignee: Autostore Technology AS
    Inventors: Jørgen Djuve Heggebø, Trond Austrheim
  • Patent number: 11394075
    Abstract: An apparatus mounts a battery cell stack to a frame that includes a base cover and a pair of side covers respectively extending from both ends of the base cover. The apparatus includes a support member to support the battery cell stack, and two films, wherein one side of each of the two films is respectively attachable to one of the pair of side covers of the frame, and another side of each of the two films is respectively attachable to one of two side surfaces of the battery cell stack, wherein, when the support member and the frame move toward each other, the two films are movable into the frame, and the battery cell stack is movable along the two films to be mounted to the frame.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: July 19, 2022
    Inventors: Kyung-Mo Kim, Jeong-O Mun, Ho-June Chi
  • Patent number: 11374251
    Abstract: An apparatus for mounting a battery cell mounts a battery cell stack to a frame that includes a base cover and a pair of side covers respectively extending from both ends of the base cover. The apparatus includes a support member to support the battery cell stack, a roller member around which a film fixed to the support member is wound, and a film guide member configured to move the film into the frame. When the film guide member moves the film into the frame, the support member and the frame move toward each other, and the battery cell stack is movable along the film to be mounted to the frame.
    Type: Grant
    Filed: February 22, 2019
    Date of Patent: June 28, 2022
    Inventors: Kyung-Mo Kim, Jeong-O Mun, Ho-June Chi
  • Patent number: 11360465
    Abstract: An automated storage and retrieval system includes a track system having a first set of parallel tracks and a second set of parallel tracks. The first and second sets of tracks form a grid pattern of grid cells. Storage containers are arranged in storage columns located beneath the track system. Container handling vehicles lift and move storage containers. The container handling vehicles are configured to move laterally on the track system above the storage columns to access the storage containers via grid openings. Each container handling vehicle includes: a protruding section which extends horizontally beyond the footprint of the container handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell; and a recessed section arranged to accommodate the protruding sections of another container handling vehicle when operating over a neighbouring grid cell.
    Type: Grant
    Filed: May 15, 2018
    Date of Patent: June 14, 2022
    Assignee: Autostore Technology AS
    Inventors: Trond Austrheim, Ivar Fjeldheim, Ingvar Fagerland
  • Patent number: 11328947
    Abstract: An aligner apparatus according to one or more embodiments may include a first rotating base, a second rotating base, and a detection apparatus. The first rotating base on which a wafer placed thereon rotates around a first rotation axis line. The second rotating base on which a wafer placed thereon rotates around a second rotation axis whose position is different from that of the first rotation axis line. The detection apparatus includes one sensor for detecting the edge of the wafer, and the detection range of the sensor includes the edge of the wafer placed on the first rotating base and the edge of the wafer placed on the second rotating base, and detects the edges of the two wafers.
    Type: Grant
    Filed: January 26, 2021
    Date of Patent: May 10, 2022
    Assignees: KAWASAKI JUKOGYO KABUSHIKI KAISHA, KAWASAKI ROBOTICS (USA), INC.
    Inventors: Haruhiko Tan, Hajime Nakahara, Shota Tominaga, Hiroyuki Yoshida
  • Patent number: 11312575
    Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes a first set of wheels arranged at opposite portions of a vehicle body, for moving the vehicle along a first direction on a rail system in the grid; a second set of wheels arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system in the grid. The second direction is perpendicular to the first direction. The vehicle body includes walls on all sides and forms a quadrilateral footprint. A first section and a second section arranged side-by-side such that a centre point of the first section is arranged off centre relative a centre point of the footprint formed by the vehicle body. A size ratio of a footprint of the first section relative a footprint of the second section is at least 2:1. The first section is configured to accommodate a storage container, and the second section includes at least a first battery.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: April 26, 2022
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11247843
    Abstract: Warehouse automation and methods of controlling material flow can be used to streamline order fulfillment processes. For example, according to some embodiments described herein, the inventory capacity of a mobile robot field is enhanced by vertically expanding the storage space that is readily accessible by mobile robots that facilitate an order sortation process. In result, the handling of inventoried items is reduced, and the efficiency of order fulfillment processes is increased.
    Type: Grant
    Filed: July 23, 2019
    Date of Patent: February 15, 2022
    Assignee: Target Brands, Inc.
    Inventor: Gregory Lisso
  • Patent number: 11208265
    Abstract: A container handling vehicle for an automated storage and retrieval system includes a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks. The container handling vehicle is arrangeable above a top level of the grid for retrieving a container from, and storing a container in, at least some of the storage columns, and/or for transporting a container horizontally across the top level of the grid. The container handling vehicle has a lifting device including a lifting frame for releasable connection to a container, and lifting bands arranged to lower and raise the lifting frame relative to the storage columns. The lifting device includes a container centring device arranged to extend around portions of the lifting frame. The container centring device having a lower open end including at least one edge element for interaction with a peripheral part of the upper end of a storage column.
    Type: Grant
    Filed: August 27, 2018
    Date of Patent: December 28, 2021
    Assignee: Autostore Technology AS
    Inventors: Ivar Fjeldheim, Trond Austrheim
  • Patent number: 11192718
    Abstract: A method of order fulfillment, and system for carrying out the method, includes storing individual items as inventory items in an automated storage and retrieval system and retrieving inventory items from the automated storage and retrieval system in response to an order for those inventory items. The retrieved inventory items are sorted into order batches and transported to an automatic induct for an automated put wall. The order batches are automatically inducted to the automated put wall as individual items. The individual items are segregated for each order at a location on the put wall that is assigned to that order. Individual items for an order are removed together from the automated put wall and transported together to a packing function.
    Type: Grant
    Filed: July 30, 2019
    Date of Patent: December 7, 2021
    Assignee: Dematic Corp.
    Inventors: Michael S. Khodl, Philip J. Puite
  • Patent number: 11167921
    Abstract: An automated storage and retrieval system comprising a three-dimensional grid (4) comprising a plurality of storage columns (5) in which storage containers are stored one on top of another in vertical stacks, and at least one port (28, 29) through which the storage containers can be transferred out of and/or into the grid; and a plurality of container handling vehicles (9) which are operated laterally on the grid for retrieving storage containers from and storing storage containers in the storage columns, and for transporting the storage containers laterally across the grid.
    Type: Grant
    Filed: March 10, 2018
    Date of Patent: November 9, 2021
    Assignee: Autostore Technology AS
    Inventor: Trond Austrheim
  • Patent number: 11148172
    Abstract: An item sorting system having a tray handling system and a tote handling system. The tray handling system having a tray conveying system, a tray transfer system, and optionally a tray storage region. The tote handling system may have a cubby array, the cubby array having a plurality of cubbies into which a tote may be placed. The system can transfer an item from the tray into the tote, and a method is disclosed for the same.
    Type: Grant
    Filed: December 23, 2019
    Date of Patent: October 19, 2021
    Assignee: JR Automation Technologies, LLC
    Inventors: Craig Ulrich, Matt Cagle, Ryan Lute, Kyle Christian, Jason Hodgins, Bret Slocum, Marc Walters
  • Patent number: 11148445
    Abstract: Embodiments of the present disclosure relate to a self-driving system having an RFID reader and a built-in printer. In one embodiment, a self-driving system includes a mobile base having one or more motorized wheels, the mobile base having a first end and a second end opposing the first end, a console coupled in an upright position to the first end of the mobile base, and a tag reader integrated with the console, the tag reader having a sensor surface facing upwardly.
    Type: Grant
    Filed: August 1, 2019
    Date of Patent: October 19, 2021
    Assignee: LINGDONG TECHNOLOGY (BEIJING) CO. LTD
    Inventors: Ziran Zhao, Xin Hou
  • Patent number: 11130630
    Abstract: Disclosed autonomous mobile robot systems can be used to safely and efficiently navigate through a facility while avoiding objects in the path of the autonomous mobile robot during completion of a task. Specifically, a safety zone of a first size may be generated around an autonomous mobile robot based at least in part on first data from a first set of sensors associated with the autonomous mobile robot that are configured to identify an object within the safety zone. Information indicating a current speed of the autonomous mobile robot from associated propulsion components may be received and utilized to update the first size and a shape of the safety zone. Instructions to cease propulsion of the autonomous mobile robot may be transmitted to the propulsion components based on first data identifying the object within the updated first size of the safety zone.
    Type: Grant
    Filed: November 27, 2017
    Date of Patent: September 28, 2021
    Assignee: Amazon Technologies, Inc.
    Inventors: Stephen Charles Paschall, II, Justin Croyle, Shilpi Gupta, Anatoly Mitlin, Ashish Shah
  • Patent number: 10994039
    Abstract: An apparatus and method are disclosed for identifying the position of an object that is, or will be, used in a sterilization process. The apparatus comprises at least two containers and each container has a cavity configured to receive the object. At least one visual indicator corresponds to each container. A programmable hardware device is configured to receive an identifier. Responsive to receipt of the identifier, the programmable hardware device is configured to indicate a position of at least one of the containers that corresponds to the identifier utilizing the visual indicator.
    Type: Grant
    Filed: December 26, 2017
    Date of Patent: May 4, 2021
    Assignee: ASP GLOBAL MANUFACTURING GMBH
    Inventors: Yan Fang, Nick N. Nguyen, Mohammad Khair
  • Patent number: 10961054
    Abstract: Orchestrated delivery of retrieved storage units from a three-dimensional gridded storage structure to an entrance or intake point of a working station in a sequenced manner is performed entirely within the footprint of the gridded three-dimensional storage structure by the same fleet of robotic storage/retrieval vehicles operable to retrieve the storage units from storage locations within that gridded structure, thereby enabling omission of large sortation conveyors or other external sortation equipment.
    Type: Grant
    Filed: April 3, 2019
    Date of Patent: March 30, 2021
    Assignee: Attabotics Inc.
    Inventors: Scott Gravelle, Winston Hope, Darin Rousseau
  • Patent number: 10899542
    Abstract: Platform assembly for use with sorting articles comprises platforms connected to each other to form at least one level surface for transit thereabout by a plurality of vehicles. Each platform defines a first orientation in which the platform is in a retracted position and a second orientation in which the platform is in an extended position with a horizontal disposition. Each platform includes a first panel comprising a plurality of markers thereon, the markers forming a grid on the first panel for transit thereabout by the plurality of vehicles. Each marker includes a magnetic signature for determining an orientation of the marker. A container is positioned about at least one of the plurality of markers. In operation, the vehicle is directed by a control system to deposit an article carried thereon into a container associated with a marker based on the location and orientation of the marker.
    Type: Grant
    Filed: March 25, 2019
    Date of Patent: January 26, 2021
    Assignee: Tompkins International
    Inventors: Michael C. Futch, James M. Serstad, Ryan Fehrenbacher, Milan Patel, Ray Wells, Steven Wu, Richard C. Kaminska, III, James Edouard, Denny McKnight, John C. Spain
  • Patent number: 10803420
    Abstract: A hybrid modular storage fetching system is described. In an example implementation, the system may include a warehouse execution system adapted to generate a picking schedule for picking pick-to-cart and high-density storage items, and an AGV dispatching system adapted to dispatch a cart automated guided vehicle and a modular storage fetching automated guided vehicle based on the picking schedule. The cart automated guided vehicle may be adapted autonomously transport a carton through a pick-to-cart area and to a pick-cell station. The modular storage fetching automated guided vehicle may be adapted to synchronously autonomously transport a modular storage unit containing items to be placed in the cartons from a high-density storage area to the pick-cell station.
    Type: Grant
    Filed: September 29, 2017
    Date of Patent: October 13, 2020
    Assignee: Staples, Inc.
    Inventors: Daniel Jarvis, Paolo Gerli Amador, Michael Bhaskaran, Vikranth Gopalakrishnan, Rodney Gallaway
  • Patent number: 10776949
    Abstract: A machine vision-based method and system for measuring 3D pose of a part or subassembly of parts having an unknown pose are disclosed. A number of different applications of the method and system are disclosed including applications which utilize a reprogrammable industrial automation machine such as a robot. The method includes providing a reference cloud of 3D voxels which represent a reference surface of a reference part or subassembly having a known reference pose. Using at least one 2D/3D hybrid sensor, a sample cloud of 3D voxels which represent a corresponding surface of a sample part or subassembly of the same type as the reference part or subassembly is acquired. The sample part or subassembly has an actual pose different from the reference pose. The voxels of the sample and reference clouds are processed utilizing a matching algorithm to determine the pose of the sample part or subassembly.
    Type: Grant
    Filed: October 30, 2018
    Date of Patent: September 15, 2020
    Assignee: Liberty Reach Inc.
    Inventors: G. Neil Haven, Gary William Bartos, Michael Kallay, Fansheng Meng