Automated warehousing using robotic forklifts

• US 8,965,561 B2
• Filed: 03/15/2013
• Issued: 02/24/2015
• Est. Priority Date: 03/15/2013
• Status: Expired

• Current Assignee: Cybernet Systems Corporation
• Original Assignee: Cybernet Systems Corporation
• Inventors: Jacobus, Charles J., Beach, Glenn J., Rowe, Steve
• Primary Examiner(s): CUMBESS, YOLANDA RENEE
• Application Number:
  US13/836,305
• Publication Number:
  US 20140277691A1
• Time in Patent Office: 711 Days
• Field of Search: None
• US Class Current: 700/216
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/24 Electrical devices or systems
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0274 using mapping information stored in a memory device navigation using map-matching G01C21/30
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders

Abstract

A system for automated inventory management and material handling removes the requirement to operate fully automatically or all-manual using conventional vertical storage and retrieval (S&R) machines. Inventory requests to place palletized material into storage at a specified lot location or retrieve palletized material from a specified lot are resolved into missions for autonomous fork trucks, equivalent mobile platforms, or manual fork truck drivers (and their equipment) that are autonomously or manually executed to effect the request. Automated trucks plan their own movements to execute the mission over the warehouse aisles or roadways sharing this space with manually driven trucks. Automated units drive to planned speed limits, manage their loads (stability control), stop, go, and merge at intersections according human driving rules, use on-board sensors to identify static and dynamic obstacles, and human traffic, and either avoid them or stop until potential collision risk is removed.

Claims

1. A system for automated inventory management and material handling, comprising:

one or more automatically-driven robotic material handling vehicles, each including;

a) drive-by-wire operation with automated and manual controls,

b) a location determining subsystem,

c) a proximity obstacle detection and avoidance subsystem, and

d) a subsystem to support automatic traversal from a pick-up location to one or more drop-off locations, and

an inventory systems controller, including;

a) database of inventory stored in a storage facility,

b) a maps database associated with the layout of the storage facility,

c) a database of the automatically-driven robotic material handling vehicles, and

d) an inventory request server that accepts inventory requests, selects an available vehicle, and sends the vehicle on a mission plan using the maps database to carry out the inventory request.

2. The system of claim 1, including inventory requests to place palletized material into storage at a specified lot location, or retrieve palletized material from a specified lot location.

3. The system of claim 1, wherein the database of stored inventory associates lot and pallet identification with pallet location.

4. The system of claim 1, wherein the maps database includes waypoints, checkpoints, path segments, and area sections.

5. The system of claim 1, wherein the vehicles database includes vehicle mission plans, tracking data, and vehicle status.

6. The system of claim 1, including automatically-driven robotic material handling vehicles with sensors and processing electronics enabling the vehicle to navigate through narrow doors or passages and security checkpoints.

7. The system of claim 1, including automatically-driven robotic material handling vehicles with modular, mission-specific sensors within a common location determination architecture.

8. The system of claim 1, wherein one or more of the following sensor technologies are fused into a common location determination architecture:

GPS,

IMU,

magnetometer,

differential odometry,

RFID fiducials, and

visual fiducials.

9. The system of claim 1, including automatically-driven robotic material handling vehicles with sensors to read and interpret visual codes that encode location and other associated data as fiducials to determine indoor locations.

10. The system of claim 1, including automatically-driven robotic material handling vehicles with sensors to read and interpret RFIDs that encode location and other associated data as fiducials or pallet identifiers to determine identification and to determine locations.

11. The system of claim 1, including automatically-driven robotic material handling vehicles in the form of autonomous fork trucks.

12. The system of claim 1, including automatically-driven robotic material handling vehicles in the form of autonomous mobile platforms.

13. The system of claim 1, further including manually driven fork trucks or other material handling equipment in communication with the inventory systems controller to receive mission plans to carry out the inventory request.