BOT HAVING HIGH SPEED STABILITY
First Claim
1. An autonomous transport vehicle for transporting items in a storage and retrieval system, the autonomous transport vehicle comprising:
- at least two drive wheels, each drive wheel being independently driven;
a drive wheel encoder disposed adjacent each drive wheel; and
a controller in communication with the encoders configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only received from each encoder and independent of drive wheel slippage.
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Accused Products
Abstract
An autonomous transport vehicle for transporting items in a storage and retrieval system is provided. The autonomous transport vehicle includes at least two drive wheels and a controller, where each drive wheel is independently driven and a drive wheel encoder is disposed adjacent each drive wheel. The controller, in communication with the drive wheel encoders, is configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only and independent of drive wheel slippage.
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Citations
20 Claims
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1. An autonomous transport vehicle for transporting items in a storage and retrieval system, the autonomous transport vehicle comprising:
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at least two drive wheels, each drive wheel being independently driven; a drive wheel encoder disposed adjacent each drive wheel; and a controller in communication with the encoders configured to determine a kinematic state of the autonomous transport vehicle within the storage and retrieval system based on incremental data from the drive wheel encoders only received from each encoder and independent of drive wheel slippage. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. An autonomous transport vehicle for transporting items in a storage and retrieval system, the autonomous transport vehicle comprising:
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a frame; a controller; at least two independently driven drive wheels mounted to the frame; and at least one caster wheel mounted to the frame and having a releasably lockable swivel lock; wherein the controller is configured to lock and unlock the releasably lockable swivel lock during a transport of items through the storage and retrieval system based on a predetermined kinematic state of the autonomous transport vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18)
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19. An autonomous transport vehicle comprising:
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at least two independently driven drive wheels; at least one releasably lockable caster wheel; and a controller including a state estimator configured to estimate a kinematic state of the autonomous transport vehicle wherein the controller issues control commands to the at least two independently driven drive wheels and the at least one releasably lockable casters based on the estimated kinematic state of the autonomous transport vehicle. - View Dependent Claims (20)
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Specification