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Bot having high speed stability

  • US 9,946,265 B2
  • Filed: 01/23/2017
  • Issued: 04/17/2018
  • Est. Priority Date: 12/15/2010
  • Status: Active Grant
First Claim
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1. A method for transporting items in a storage and retrieval system, the method comprising:

  • providing an autonomous transport vehicle, the autonomous transport vehicle having a frame;

    providing a controller connected to the autonomous transport vehicle;

    independently driving at least two drive wheels mounted to the frame;

    selectively locking and unlocking swiveling of at least one caster wheel mounted to the frame, the at least one caster wheel having a releasably lockable swivel lock so that when unlocked the releasably lockable swivel lock allows swiveling of the at least one caster wheel relative to the frame and when locked prevents swiveling of the caster wheel relative to the frame; and

    effecting, with the controller, locking and unlocking of the releasably lockable swivel lock during a transport of items through the storage and retrieval system based on a predetermined kinematic state that correlates a speed of travel of the autonomous transport vehicle and a turn angle of the autonomous transport vehicle.

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