EP4384470A4 - Autonomes transportfahrzeug mit sichtsystem - Google Patents

Autonomes transportfahrzeug mit sichtsystem

Info

Publication number
EP4384470A4
EP4384470A4 EP22856718.6A EP22856718A EP4384470A4 EP 4384470 A4 EP4384470 A4 EP 4384470A4 EP 22856718 A EP22856718 A EP 22856718A EP 4384470 A4 EP4384470 A4 EP 4384470A4
Authority
EP
European Patent Office
Prior art keywords
transport vehicle
vision system
autonomous transport
autonomous
vision
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22856718.6A
Other languages
English (en)
French (fr)
Other versions
EP4384470A1 (de
Inventor
Akram Zahdeh
Paul Besl
David Gratiano
Alan Phillips
Stephen Debaryshe
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Symbotic Inc
Original Assignee
Symbotic Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US17/804,026 external-priority patent/US12473146B2/en
Priority claimed from US17/804,039 external-priority patent/US12227401B2/en
Application filed by Symbotic Inc filed Critical Symbotic Inc
Publication of EP4384470A1 publication Critical patent/EP4384470A1/de
Publication of EP4384470A4 publication Critical patent/EP4384470A4/de
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/07568—Steering arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G05D1/0261—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means using magnetic plots
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Civil Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • General Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Multimedia (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
EP22856718.6A 2021-08-12 2022-05-26 Autonomes transportfahrzeug mit sichtsystem Pending EP4384470A4 (de)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US202163232531P 2021-08-12 2021-08-12
US202163232546P 2021-08-12 2021-08-12
US202163251398P 2021-10-01 2021-10-01
US17/804,026 US12473146B2 (en) 2021-08-12 2022-05-25 Autonomous transport vehicle with vision system
US17/804,039 US12227401B2 (en) 2021-10-01 2022-05-25 Autonomous transport vehicle with power management
PCT/US2022/072592 WO2023019038A1 (en) 2021-08-12 2022-05-26 Autonomous transport vehicle with vision system

Publications (2)

Publication Number Publication Date
EP4384470A1 EP4384470A1 (de) 2024-06-19
EP4384470A4 true EP4384470A4 (de) 2025-07-02

Family

ID=85200328

Family Applications (1)

Application Number Title Priority Date Filing Date
EP22856718.6A Pending EP4384470A4 (de) 2021-08-12 2022-05-26 Autonomes transportfahrzeug mit sichtsystem

Country Status (5)

Country Link
EP (1) EP4384470A4 (de)
JP (1) JP2024532647A (de)
KR (1) KR20240046119A (de)
CA (1) CA3220378A1 (de)
WO (1) WO2023019038A1 (de)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US12600608B2 (en) 2021-03-04 2026-04-14 The Raymond Corporation Assistance systems and methods for a material handling vehicle
US12497276B2 (en) 2021-06-28 2025-12-16 Moog Inc. Autonomous load moving electric vehicle
DK202300262A1 (en) * 2023-03-23 2024-10-21 Damiao Anibal Modular autonomous machine and system thereof
WO2026039457A1 (en) * 2024-08-13 2026-02-19 Roadprintz Inc. Augmented reality assistance for movable platforms

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200339351A1 (en) * 2011-09-09 2020-10-29 Symbotic, LLC Storage and retrieval system case unit detection

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7872368B2 (en) * 2008-10-24 2011-01-18 The Boeing Company Intelligent energy management architecture
FR3005925B1 (fr) * 2013-05-27 2015-05-01 Renault Sa Procede de fonctionnement d'un vehicule en mode manuel et en mode autonome
US9850079B2 (en) * 2015-01-23 2017-12-26 Symbotic, LLC Storage and retrieval system transport vehicle
US12344488B2 (en) * 2019-10-16 2025-07-01 Symbotic Canada, Ulc Vision-assisted robotized depalletizer

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200339351A1 (en) * 2011-09-09 2020-10-29 Symbotic, LLC Storage and retrieval system case unit detection

Also Published As

Publication number Publication date
JP2024532647A (ja) 2024-09-10
KR20240046119A (ko) 2024-04-08
EP4384470A1 (de) 2024-06-19
CA3220378A1 (en) 2023-02-16
WO2023019038A1 (en) 2023-02-16

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