Bot having high speed stability
US9423796B2 · kind B2 · utility
41Cited by
314References
28Claims
0Family size
Assignee
Inventors
Key dates
| Filing date | Feb 23, 2015 |
| Grant date | Aug 23, 2016 |
| Priority date | — |
| Expiry date | Feb 23, 2035 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05D1/027
- WIPO fieldControl
- WIPO sectorInstruments
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.