Bot having high speed stability
First Claim
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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 identify a kinematic state of the autonomous transport vehicle within the storage and retrieval system based only on incremental data from the drive wheel encoders, received from each encoder, and independent of drive wheel slippage.
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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.
413 Citations
28 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 identify a kinematic state of the autonomous transport vehicle within the storage and retrieval system based only on incremental data from the drive wheel encoders, 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. A storage and retrieval system comprising:
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at least one autonomous transport vehicle including at least two drive wheels, each drive wheel being independently driven; a drive wheel encoder disposed adjacent each drive wheel; a controller in communication with the drive wheel encoders of the at least one autonomous transport vehicle and being configured to identify a kinematic state of the at least one autonomous transport vehicle within the storage and retrieval system based only on incremental data from the drive wheel encoders, received from each encoder, and independent of drive wheel slippage; wherein the controller periodically verifies the kinematic state along a travel path of the at least one autonomous transport vehicle wherein the period of verification is based on detection of a position datum having a predetermined position relative to a surface being traversed by the at least one autonomous transport vehicle. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 19, 20)
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21. A method for controlling an autonomous transport vehicle within a storage and retrieval system comprising:
- receiving incremental data from at least two drive wheel encoders, each drive wheel encoder being disposed adjacent a corresponding one of at least two drive wheels of the autonomous transport vehicle;
identifying a kinematic state of the autonomous transport vehicle within the storage and retrieval system based only on incremental data from the at least two drive wheel encoders independent of drive wheel slippage; and
periodically verifying the kinematic state along a travel path of the autonomous transport vehicle wherein the period of verification is based on detection of a position datum having a predetermined position relative to a surface being traversed by the autonomous transport vehicle; and
determining a command logic for operating the autonomous transport vehicle based on the kinematic state; and
issuing the command. - View Dependent Claims (22, 23, 24, 25, 26, 27, 28)
- receiving incremental data from at least two drive wheel encoders, each drive wheel encoder being disposed adjacent a corresponding one of at least two drive wheels of the autonomous transport vehicle;
Specification