Bot payload alignment and sensing

• US 9,676,551 B2
• Filed: 11/16/2015
• Issued: 06/13/2017
• Est. Priority Date: 12/15/2010
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Toebes, Stephen C., Sullivan, Robert, Buzan, Forrest
• Primary Examiner(s): CUMBESS, YOLANDA RENEE
• Application Number:
  US14/942,717
• Publication Number:
  US 20160137416A1
• Time in Patent Office: 575 Days
• Field of Search: None
• CPC Class Codes: B25J 9/1674 characterised by safety, monitoring, diagnostic
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10S 901/09 Closed loop, sensor feedback controls arm movement

Abstract

An autonomous transport robot for transporting a payload, the autonomous transport robot includes a payload bed having at least one reference datum surface and at least one payload justification device, the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface to place the payload in a predetermined position on the payload bed.

Claims

1. An autonomous transport robot for transporting a payload comprising:

a payload bed having at least one reference datum surface with respect to a payload storage location; and

at least one payload justification device;

wherein the at least one payload justification device being configured to position a payload on the payload bed in substantial contact with the at least one reference datum surface that is arranged relative the payload bed to place each payload so that a payload side is at a repeatable predetermined longitudinal position, independent of a payload size, on the payload bed relative to at least a longitudinal axis of the autonomous transport robot.

2. The autonomous transport robot of claim 1, wherein the at least one reference datum surface includes a first and second reference datum surfaces disposed substantially perpendicular to one another and one of the first and second reference datum surfaces is substantially parallel with the longitudinal axis of the autonomous transport robot.

3. The autonomous transport robot of claim 1, wherein the autonomous transport robot includes a retaining fence disposed at an opening of the payload bed, the autonomous transport robot further including a driven pusher bar movably disposed at least party above the payload bed, the retaining fence and the driven pusher bar being configured to actively grip the payload during transport of the payload on the autonomous transport robot.

4. The autonomous transport robot of claim 1, wherein the autonomous transport robot further comprises at least one sensor for detecting at least one dimension of the payload.

5. The autonomous transport robot of claim 1, wherein the autonomous transport robot further includes a retractable effector for transferring the payload between a payload holding area and the payload bed, the payload bed including guide surfaces configured to guide the payload into an area of the payload bed during transfer of the payload onto the autonomous transport robot.

6. The autonomous transport robot of claim 5, wherein the effector is configured to be raised from below the payload bed to a position at least partially above a retaining fence disposed at an opening of the payload bed, the retaining fence extending above the payload bed and being configured to at least in part retain the payload on the payload bed.

7. The autonomous transport robot of claim 1, wherein the at least one justification device includes a first justification device configured to move the payload in a first direction to substantially contact the first reference datum surface and a second justification device configured to move the payload in a second direction, substantially perpendicular to the first direction, to contact the second reference datum surface.

8. The autonomous transport robot of claim 1, wherein the first justification device includes driven rollers that form a payload support surface of the payload bed.

9. The autonomous transport robot of claim 1, wherein the second justification device includes a driven pusher bar.

10. The autonomous transport robot of claim 1, wherein the autonomous transport robot includes at least one sensor for detecting the substantial contact between the payload and at least one of the first and second reference datum surfaces.

11. An autonomous transport robot for transporting a payload within a storage and retrieval system comprising:

a payload bed having an opening;

an effector for transferring the payload to and from the payload bed at least party through the opening;

at least one sensor disposed adjacent the opening for sensing a first and second edge of the payload and a controller configured to determine a dimension of the payload based at least in part on the sensing of the first and second edge of the payload and compare the determined dimension of the payload with a predetermined dimension of the payload.

12. The autonomous transport robot of claim 11, wherein the controller is configured to generate a fault signal if the detected dimension and the predetermined dimension do not substantially match.

13. The autonomous transport robot of claim 12, wherein the controller is further configured to cause the effector to return the payload to a payload holding area from which it came if the detected dimension and the predetermined dimension do not substantially match.

14. The autonomous transport robot of claim 12, wherein the controller is further configured to verify a position of the autonomous transport robot within the storage and retrieval system if the detected dimension and the predetermined dimension do not substantially match.

15. The autonomous transport robot of claim 11, wherein the at least one sensor comprises sensors for detecting other edges of the payload substantially transverse to the first and second edges and the controller is configured to determine another dimension of the payload that is substantially transverse to the dimension based at least in part on the detection of the other edges.

16. The autonomous transport robot of claim 15, further comprising a payload justification device for moving the payload in a direction on the payload bed substantially transverse to a direction of loading of the payload onto the payload bed, the payload justification device being configured to at least in part facilitate the detection of the another dimension.

17. A method comprising:

providing an autonomous transport robot for transporting a payload within a storage and retrieval system, the autonomous transport robot including a payload bed having an opening and an effector for transferring the payload to and from the payload bed at least partly through the opening;

sensing a first and second edge of the payload with at least one sensor disposed adjacent the opening; and

with a controller of the autonomous transport robot

determining a dimension of the payload based at least in part on the sensing of the first and second edge of the payload, and

comparing the determined dimension of the payload with a predetermined dimension of the payload.

18. The method of claim 17, further comprising generating, with the controller, a fault signal if the detected dimension and the predetermined dimension do not substantially match.

19. The method of claim 17, further comprising causing, with the controller, the effector to return the payload to a payload holding area from which it came if the detected dimension and the predetermined dimension do not substantially match.

20. The method of claim 17, further comprising verifying, with the controller, a position of the autonomous transport robot within the storage and retrieval system if the detected dimension and the predetermined dimension do not substantially match.