Storage and retrieval system
US11117743B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 27, 2018 |
| Grant date | Sep 14, 2021 |
| Priority date | — |
| Expiry date | Nov 21, 2038 |
Classification
- Technology area (CPC Y)Emerging Cross-Sectional Technologies
- CPC primaryY02P90/60
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A storage array system including an open undeterministic transport surface, a navigation array disposed in connection with the transport surface, the navigation array includes a distributed feature, a first waypoint at a first position of the distributed feature, a second waypoint displaced from the first waypoint along the distributed feature and offset with respect to the first waypoint in a direction angled to the distributed feature, and a guided bot, arranged to traverse the transport surface, with a non-holonomic steering system, the guided bot having a bot pose determination system employing sensor data detecting the distributed feature, wherein the guided bot includes a controller configured to generate a substantially smooth curved bot traverse path on the transport surface connecting the first and second waypoints with a predetermined optimal trajectory of the guided bot along the traverse path determined based on a bot dynamic model.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.