Tilting platform for stability control
First Claim
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1. A mobile drive unit, comprising:
- a frame;
a docking head assembly comprising;
a platform moveably attached to the frame via a set of actuator assemblies that is configured to raise and lower the platform and to tilt the platform; and
a sensor disposed at or adjacent to a top surface of the platform; and
a management module configured to;
receive sensing information from the sensor after the set of actuator assemblies has raised the platform so as to lift a holder structure into an initial orientation, the sensing information indicating at least one force exerted by the holder structure on the top surface of the platform when the holder structure is in the initial orientation;
determine, based at least in part on the sensing information, one or more characteristics of a load of the holder structure; and
cause, based at least in part on the one or more characteristics of the load, at least one actuator assembly of the set of actuator assemblies to tilt the platform into an adjusted orientation, the adjusted orientation being distinct from the initial orientation.
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Abstract
A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with a set of actuator assemblies to lift an holder structure and tilt the holder structure in at least one direction. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the holder structure relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the holder structure.
10 Citations
20 Claims
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1. A mobile drive unit, comprising:
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a frame; a docking head assembly comprising; a platform moveably attached to the frame via a set of actuator assemblies that is configured to raise and lower the platform and to tilt the platform; and a sensor disposed at or adjacent to a top surface of the platform; and a management module configured to; receive sensing information from the sensor after the set of actuator assemblies has raised the platform so as to lift a holder structure into an initial orientation, the sensing information indicating at least one force exerted by the holder structure on the top surface of the platform when the holder structure is in the initial orientation; determine, based at least in part on the sensing information, one or more characteristics of a load of the holder structure; and cause, based at least in part on the one or more characteristics of the load, at least one actuator assembly of the set of actuator assemblies to tilt the platform into an adjusted orientation, the adjusted orientation being distinct from the initial orientation. - View Dependent Claims (2, 3, 4, 5)
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6. A computer-implemented method, comprising:
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causing a docking head assembly of a mobile drive unit to couple with a holder structure by adjusting a set of actuator assemblies of the docking head assembly to raise a platform of the docking head assembly into a first orientation in which the platform supports the holder structure; receiving information indicating a load of the holder structure; and causing, based at least in part on the load, the docking head assembly to tilt the holder structure by adjusting at least one actuator assembly to raise or lower a portion of the platform relative to other portions of the platform into a second orientation that is distinct from the first orientation. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14)
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15. A mobile drive unit, comprising:
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a drive motor; a docking head assembly comprising a platform, and configured to tilt the platform in at least one direction; and a management module configured to; cause the drive motor to move along a surface when the mobile drive unit is supporting a holder structure via the platform, the holder structure configured to hold one or more items; receive information regarding the one or more items held in the holder structure; determine, based at least in part on the information, an angular adjustment for the platform; and cause the docking head assembly to perform the angular adjustment by raising or lowering at least one portion of the platform, the angular adjustment changing an angle of the platform relative to the mobile drive unit. - View Dependent Claims (16, 17, 18, 19, 20)
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Specification