KR20240013809A - autonomous transport vehicle - Google Patents

Abstract

An autonomous transport vehicle for transporting items in a storage and retrieval system includes a frame, a controller, at least two independently driven drive wheels mounted on the frame, and a casting auxiliary motor mounted on the frame. and at least one caster wheel having a castering assistance motor, wherein the castering assistance motor provides a casting assistance torque to the at least one caster wheel to assist casting of the at least one caster wheel. It is coupled to the at least one caster wheel in order to do so. The controller is communicatively coupled to the casting auxiliary motor and controls vehicle yaw generated by differential torque from the at least two independently driven drive wheels and the casting auxiliary motor. and implement casting of the at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state, through a combination of casting assistance torques from.

Description

autonomous transport vehicle

Cross-reference to related applications

This application relates to U.S. Provisional Patent Application No. 63/193,188, filed May 26, 2021; No. 63/213,589, filed June 22, 2021; and 63/241,893, filed September 8, 2021, the disclosures of which are incorporated herein by reference in their entirety.

The disclosed embodiments relate generally to material handling systems, and more specifically to conveyance means for automated storage and retrieval systems.

Generally, autonomous transport vehicles within a logistics/warehousing facility are manufactured to have a predetermined form factor for assigned tasks in a given environment. These autonomous guided vehicles typically consist of custom cast or machined chassis/frames that are heavy and expensive to produce. Other components (eg, wheels, transfer arms, etc.) are mounted on the frame and supported by the frame as the autonomous guided vehicle traverses along the crossing surface. The mass of the autonomous guided vehicle on a partially cast or machined frame requires appropriately sized motors and suspension components to drive and carry the mass of the autonomous guided vehicle. These motors and suspension components could also increase the cost and weight of autonomous guided vehicles.

Additionally, conventional autonomous guided vehicles within automated storage and retrieval systems (e.g., within a warehouse or store) are typically supported on wheels that are fixed (e.g., rigidly mounted) to the frame of the autonomous guided vehicle. do. In a conventional wheeled configuration, the trajectory of the autonomous guided vehicle along the conveyance path may change as the autonomous guided vehicle traverses over uneven portions of the deck or aisle that the autonomous guided vehicle traverses. Additionally, when an autonomous guided vehicle traverses over/along a deck or aisle, vibrations may be induced in the storage structures of the automated storage and retrieval system, which vibrations may cause vibrations in the storage structures held on the shelves of the automated storage and retrieval system structures. May cause movement of the case unit(s).

One or more wheels of a conventional autonomous guided vehicle are drive wheels that drive the autonomous guided vehicle on/along the deck and walkway. In some situations, the drive wheels may lose traction with the deck or gangway, which may cause the drive wheels to slip. This drive wheel slip can result in odometry/locating difficulties associated with locating autonomous guided vehicles within automated storage and retrieval system structures. Some conventional autonomous guided vehicles employ direct drives to drive the drive wheels, due to, for example, the large inertia ratio between the wheel drive motors and the chassis of the autonomous guided vehicle. This may increase the difficulty of odometry/localization. In some cases, wheel slip of direct drive motors may be more than approximately 90° of wheel slip/rotation before controls of the autonomous guided vehicle begin to alleviate the wheel slip. The wheel slip mentioned above can create inconsistencies with localization/positioning of autonomous transport vehicles within the storage structure.

Typically, automated storage and retrieval systems use automated transport vehicles to transport cased merchandise or case units to and from storage locations within a storage array. These autonomous guided vehicles typically move along decks providing unrestricted movement of the autonomous guided vehicles. The decks provide access to the picking aisles (along which case units are stored), where the movement of the autonomous transport vehicle is limited (i.e. guided) by rails. Typically, these autonomous guided vehicles include casters on one end of the autonomous guided vehicle (e.g., the front end) and differentially driven drive wheels on the opposite end (e.g., the rear end). . These casters and drive wheels are also located in an external area of the autonomous guided vehicle (eg, an external periphery away from the center of mass of the autonomous guided vehicle) to effect transfer of case units to and from the autonomous guided vehicle.

When the autonomous guided vehicle is confined within a storage aisle, reversing the direction of movement of the autonomous guided vehicle means that the casters rotate based on the direction of the trail of the caster wheels. Here, reversing the direction of movement causes the caster wheel to rotate approximately 180 degrees about the caster pivot axis, causing the caster wheel to follow the direction of movement. However, there is no control over the direction in which the caster wheels rotate about the caster pivot axis (e.g., whether the caster wheels rotate toward or away from each rail along which the autonomous guided vehicle moves). . Rotation of the caster wheels toward each rail may cause the autonomous guided vehicle to become trapped within the picking aisle and prevent movement of the autonomous guided vehicle along the picking aisle. To overcome this problem, locking casters were employed to lock the rotation of the caster wheel about the caster pivot axis. However, the locking mechanism of the locking casters increases the mechanical complexity and cost of the autonomous guided vehicle. The performance of an autonomous guided vehicle may be affected by unlocking the rotation of the caster wheels about the caster pivot axis.

Placing the drive wheels further away from the center of mass of the autonomous transport vehicle results in the drive wheel torque required for differential steering of the autonomous transport vehicle (compared to the drive wheel torque required for differential steering with the drive wheels positioned at the center of mass). The amount of torque increases. This additional torque requirement not only increases the size and cost of the drive motors and associated electronics, but also increases the friction required between the drive wheels and the drive surface. Frictional scrubbing of the caster wheels as they rotate about the caster pivot axis while the autonomous guided vehicle is turning also increases the amount of drive wheel torque required for differential steering of the autonomous guided vehicle, as well as the caster wheels and the caster wheels. Reduces the lifespan of the surfaces on which they move.

In accordance with one or more aspects of the disclosed embodiment, an autonomous transport robot vehicle is provided for transporting a payload. The autonomous guided robotic vehicle has: a chassis that is a space frame, the space frame having longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame. ), and a chassis formed by respective front and rear lateral beams closing opposite ends of the space frame; a payload support connected to and supported by the chassis; and ride wheels supported on the chassis proximate opposing end corners of the chassis, on which the autonomous guided robotic vehicle traverses a transversal surface, the ride wheels comprising: and running wheels, including a pair of drive wheels and at least one caster wheel supporting the chassis from the transverse surface, wherein the running wheels and the chassis are coupled to extend from the transverse surface to the top of the chassis. Forming a low profile height, the chassis height and the driving wheel height at least partially overlap, the payload support is nested within the driving wheels, and the space frame has a predetermined modular coupling interface. Each of the modular coupling interfaces is arranged to removably couple a corresponding predetermined electronic or mechanical component module of the autonomous guided robot vehicle to the chassis on a module-by-module basis.

According to one or more aspects of the disclosed embodiment, the predetermined modular coupling interfaces include at least one of at least one caster wheel module coupling interface, at least one drive wheel module coupling interface, and at least one payload support module coupling interface. Includes.

In accordance with one or more aspects of the disclosed embodiment, the at least one caster wheel is selectable from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the drive wheels of the pair of drive wheels are selectable from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the payload support is selectable from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the at least one drive wheel module coupling interface is an individually distinct interface for each individual and distinct drive wheel module of each different drive wheel of the pair of drive wheels. includes them.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams are mechanically fastened to each other.

In accordance with one or more aspects of the disclosed embodiment, the payload support includes a payload support contact surface upon which a payload resting on the payload support is seated, the payload support contact surface being disposed on a top portion of the chassis.

According to one or more aspects of the disclosed embodiment, the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. .

According to one or more aspects of the disclosed embodiment, the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis.

In accordance with one or more aspects of the disclosed embodiment, the chassis has a selectively variable configuration selectable from different configurations each having different chassis form factors.

In accordance with one or more aspects of the disclosed embodiment, at least one of the longitudinal hollow section beams, the front lateral beam, and the rear lateral beam is a plurality of different, optionally interchangeable beams, each having different predetermined mechanical properties. It is possible to select from the respective longitudinal hollow section beams, front lateral beams, and rear lateral beams.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams, the front side, from each of the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams. The selection of at least one of the directional beams and the rear lateral beams determines the selected variable configuration of the chassis.

In accordance with one or more aspects of the disclosed embodiment, an autonomous delivery robotic vehicle for transporting a payload is provided. The autonomous transportable robot vehicle has: a chassis bus with predetermined modular coupling interfaces, each of the modular coupling interfaces having a counterpart of the autonomous transportable robot vehicle such that the autonomous transportable robot vehicle has a modular configuration. a chassis bus arranged to removably couple predetermined component modules to the chassis bus on a module-by-module basis, wherein the corresponding predetermined component modules include: a corresponding payload support module coupling interface; a payload support module having a payload support contact surface removably coupled to the chassis bus on a modular basis; a caster wheel module having caster wheels removably coupled to the chassis bus in module units through a corresponding caster wheel module coupling interface; and a drive wheel module having a drive wheel removably coupled to the chassis bus in module units through a corresponding drive wheel module coupling interface. Contains at least one of

In accordance with one or more aspects of the disclosed embodiment, the caster wheel module is selectable from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the drive wheel module is selectable from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the corresponding drive wheel module coupling interface includes individually distinct interfaces for each individual and distinct drive wheel modules.

In accordance with one or more aspects of the disclosed embodiment, the payload support module is selectable from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the chassis bus is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and opposite sides of the space frame. It is formed of respective front and rear lateral beams closing the ends.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams are mechanically fastened to each other.

According to one or more aspects of the disclosed embodiment, the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. .

According to one or more aspects of the disclosed embodiment, the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis.

In accordance with one or more aspects of the disclosed embodiment, at least one of the longitudinal hollow section beams, the front lateral beam, and the rear lateral beam is a plurality of different, optionally interchangeable beams, each having different predetermined mechanical properties. It is possible to select from the respective longitudinal hollow section beams, front lateral beams, and rear lateral beams.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams, the front side, from each of the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams. The selection of at least one of the directional beams and the rear lateral beams determines the selected variable configuration of the chassis.

According to one or more aspects of the disclosed embodiment, the autonomous guided robotic vehicle includes at least one caster wheel module and at least one drive wheel module, wherein the at least one caster wheel module and the at least one drive wheel module are Supported on the chassis bus proximate opposing end corners of the chassis, the autonomous transport robot vehicle includes at least one caster wheel of the at least one caster wheel module and at least one drive wheel of the at least one drive wheel module. It is mounted on top and traverses the transverse surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one caster wheel, the at least one drive wheel, and the chassis bus combine to form a low profile height from the transverse surface to the top of the chassis, and the at least one drive wheel The wheel includes a pair of drive wheels, the at least one caster wheel includes a pair of caster wheels, and the chassis height and the height of the at least one drive wheel are at least partially overlapped, and A payload support contact surface on which a payload placed is seated is contained within the pair of drive wheels and the pair of caster wheels.

In accordance with one or more aspects of the disclosed embodiment, a payload support contact surface on which a payload resting on the payload support module rests is disposed on an upper portion of the chassis bus.

In accordance with one or more aspects of the disclosed embodiment, the chassis bus has a selectively variable configuration selectable from different configurations each having different chassis form factors.

According to one or more aspects of the disclosed embodiment, a method includes: a chassis that is a space frame, the space frame comprising longitudinal hollow sections arranged to form longitudinally extending sides of the space frame; a chassis formed by longitudinal hollow section beams and respective front and rear lateral beams closing opposite ends of the space frame; a payload support connected to and supported by the chassis; and ride wheels supported on the chassis proximate opposing end corners of the chassis, on which the autonomous guided robotic vehicle traverses a transversal surface, the ride wheels comprising: Providing an autonomous guided robot vehicle with travel wheels, including a pair of drive wheels and at least one caster wheel supporting the chassis from a traverse surface, wherein the travel wheels and the chassis are coupled to the traverse surface. forming a low profile height from the surface to the top of the chassis, wherein the chassis height and the driving wheel height at least partially overlap, and the payload support is nested within the driving wheels; and removably coupling corresponding predetermined electronic or mechanical component modules of the autonomous guided robot vehicle to the chassis on a module-by-module basis, via predetermined modular coupling interfaces of the space frame.

According to one or more aspects of the disclosed embodiment, the predetermined modular coupling interfaces include at least one of at least one caster wheel module coupling interface, at least one drive wheel module coupling interface, and at least one payload support module coupling interface. Includes.

According to one or more aspects of the disclosed embodiment, the method further comprises selecting the at least one caster wheel from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics. do.

According to one or more aspects of the disclosed embodiment, the method includes selecting drive wheels of the pair of drive wheels from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics. It further includes.

According to one or more aspects of the disclosed embodiment, the method further includes selecting the payload support from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the at least one drive wheel module coupling interface is an individually distinct interface for each individual and distinct drive wheel module of each different drive wheel of the pair of drive wheels. includes them.

According to one or more aspects of the disclosed embodiment, the method further includes mechanically fastening the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams to each other.

In accordance with one or more aspects of the disclosed embodiment, the payload support includes a payload support contact surface upon which a payload resting on the payload support is seated, the payload support contact surface being disposed on a top portion of the chassis.

According to one or more aspects of the disclosed embodiment, the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis.

According to one or more aspects of the disclosed embodiment, the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis.

According to one or more aspects of the disclosed embodiment, the method further includes selecting a selectively variable configuration of the chassis from different configurations each having different chassis form factors.

According to one or more aspects of the disclosed embodiment, the method comprises a plurality of different, selectively interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams, each having different predetermined mechanical properties. and selecting at least one of the longitudinal hollow section beams, the front lateral beam, and the back lateral beam.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams, the front side, from each of the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams. The selection of at least one of the directional beams and the rear lateral beams determines the selected variable configuration of the chassis.

According to one or more aspects of the disclosed embodiment, a method includes: providing an autonomous guided robotic vehicle with a chassis bus having predetermined modular coupling interfaces; and removably coupling corresponding predetermined component modules of the autonomous transportable robot vehicle to the chassis bus on a module basis, through the predetermined modular coupling interfaces, so that the autonomous transportable robot vehicle has a modular configuration. A step; wherein the predetermined component modules include: a payload support module having a payload support contact surface removably coupled to the chassis bus on a module-by-module basis through a corresponding payload support module coupling interface; a caster wheel module having caster wheels removably coupled to the chassis bus in module units through a corresponding caster wheel module coupling interface; and a drive wheel module having a drive wheel removably coupled to the chassis bus in module units through a corresponding drive wheel module coupling interface. Contains at least one of

According to one or more aspects of the disclosed embodiment, the method further includes selecting the caster wheel module from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics.

According to one or more aspects of the disclosed embodiment, the method further includes selecting the drive wheel module from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics.

In accordance with one or more aspects of the disclosed embodiment, the drive wheel module coupling interface includes individually distinct interfaces for each individual and distinct drive wheel modules.

According to one or more aspects of the disclosed embodiment, the method further includes selecting the payload support module from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics. .

In accordance with one or more aspects of the disclosed embodiment, the chassis bus is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and opposite sides of the space frame. It is formed of respective front and rear lateral beams closing the ends.

According to one or more aspects of the disclosed embodiment, the method further includes mechanically fastening the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams to each other.

According to one or more aspects of the disclosed embodiment, the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. .

According to one or more aspects of the disclosed embodiment, the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis.

According to one or more aspects of the disclosed embodiment, the method comprises a plurality of different, selectively interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams, each having different predetermined mechanical properties. and selecting at least one of the longitudinal hollow section beams, the front lateral beam, and the back lateral beam.

According to one or more aspects of the disclosed embodiment, the longitudinal hollow section beams, the front side, from each of the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams. The selection of at least one of the directional beams and the rear lateral beams determines the selected variable configuration of the chassis.

According to one or more aspects of the disclosed embodiment, the autonomous guided robotic vehicle includes at least one caster wheel module and at least one drive wheel module, wherein the at least one caster wheel module and the at least one drive wheel module are Supported on the chassis bus proximate opposing end corners of the chassis, the autonomous transport robot vehicle includes at least one caster wheel of the at least one caster wheel module and at least one drive wheel of the at least one drive wheel module. It is mounted on top and traverses the transverse surface.

In accordance with one or more aspects of the disclosed embodiment, the caster wheels, the drive wheels, and the chassis bus combine to form a low profile height from the transverse surface to the top of the chassis, and wherein the at least one drive wheel is a pair of drive wheels. wheels, wherein the at least one caster wheel includes a pair of caster wheels, the chassis height and the height of the at least one drive wheel at least partially overlap, and the payload placed on the payload support module is seated. A payload support contact surface is contained within the pair of drive wheels and the pair of caster wheels.

In accordance with one or more aspects of the disclosed embodiment, a payload support contact surface on which a payload resting on the payload support module rests is disposed on an upper portion of the chassis bus.

According to one or more aspects of the disclosed embodiment, the method further includes selecting a selectively variable configuration selectable for the chassis bus from different configurations each having different chassis form factors. .

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integral payload support; a transfer arm coupled to the frame and configured to autonomously transfer a payload to and from the frame; and a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section, wherein the at least one pair of traction drive wheels comprises: a fully independent suspension coupling each of the at least one pair of traction drive wheels to the frame by at least one intermediate pivot link between the at least one traction drive wheel and the frame; The intermediate pivot link is positioned substantially throughout the traverse of the at least one traction drive wheel over the rolling surface, between the at least one traction drive wheel and the rolling surface over rolling surface transients. It is configured to maintain a steady state traction contact patch.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. It is placed.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction throughout a transient of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is substantially independent of a transient of the at least one traction drive wheel due to traversing over the rolling surface transients. The traction drive wheels are placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the frame includes a payload seat surface that defines a payload reference position from which the integrated payload support determines a predetermined payload position for the autonomous transport robot. Configured to have, from the payload reference position, the payload seating surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integral payload support; a transfer arm coupled to the frame and configured to autonomously transfer a payload to and from the frame; and a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section, wherein the at least one pair of traction drive wheels comprises: and a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame by at least one intermediate pivot link between the at least one traction drive wheel and the frame, wherein the at least one intermediate The pivot link provides a substantially linear transient response ( It is configured to generate a transient response).

In accordance with one or more aspects of the disclosed embodiment, the at least one intermediate pivot link between the at least one traction drive wheel and the frame is configured to extend beyond the rolling surface throughout the traverse of the at least one traction drive wheel above the rolling surface. configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface above the cattail, wherein the substantially steady state traction contact patch is configured to maintain a substantially steady state traction contact patch of the at least one traction drive wheel above the rolling surface. Throughout the traverse, the at least one traction drive wheel is positioned at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the frame includes a payload seat surface that defines a payload reference position from which the integrated payload support determines a predetermined payload position for the autonomous transport robot. Configured to have, from the payload reference position, the payload seating surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, a method is provided for an autonomous transport robot, comprising: a frame having a payload support integral to the autonomous transport robot, coupled to the frame to pay payloads to and from the frame. providing a transfer arm providing autonomous transfer of a load, and a drive section coupled to the frame, the drive section having at least one pair of traction drive wheels spanning either side of the drive section; and a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame, over the entire traverse of the at least one traction drive wheel above the rolling surface. maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over transients, wherein the fully independent suspension is coupled to the at least one traction drive wheel and the frame. There is at least one intermediate pivot link between them.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

According to one or more aspects of the disclosed embodiment, the method further includes defining a payload reference position by a payload seat surface of the integrated payload support, wherein the payload reference position is: Determine a predetermined payload position for the autonomous transport robot, and from the payload reference position the payload seating surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the method further comprises locking the fully independent suspension in a predetermined position relative to the frame by a locking device of the fully independent suspension.

In accordance with one or more aspects of the disclosed embodiment, a method for an autonomous transport robot is provided. The method includes: providing the autonomous delivery robot with a frame having an integral payload support, a delivery arm connected to the frame to provide autonomous delivery of the payload to and from the frame, and a drive section connected to the frame. wherein the drive section has at least one pair of traction drive wheels spanning both sides of the drive section; and a substantially linear transient response for the at least one traction drive wheel rolling over surface transients of a rolling surface in a linear direction substantially perpendicular to the frame throughout each transient. ), wherein the at least one pair of traction drive wheels comprises, by at least one intermediate pivot link between the at least one traction drive wheel and the frame, the at least one pair of traction drive wheels. It has a completely independent suspension coupling each wheel to the frame.

According to one or more aspects of the disclosed embodiment, the method further comprises: overall traverse of the at least one traction drive wheel above the rolling surface by means of at least one intermediate pivot link between the at least one traction drive wheel and the frame; maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over rolling surface transitions, wherein the substantially steady state traction contact patch is positioned above the rolling surface. disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

According to one or more aspects of the disclosed embodiment, the method further includes defining a payload reference position by the integrated payload support, wherein the payload reference position is a predetermined payload reference position for the autonomous transport robot. Determine the location, and from the payload reference position, the payload seating surface is placed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: defining a payload reference position that determines a predetermined payload position for the autonomous transport robot; A frame having an integrated payload support having a payload seating surface; a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; At least one caster wheel mounted on the frame; and a drive section connected to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the drive section comprising the at least one caster wheel and the pair of caster wheels. At least one of the traction drive wheels rolls on a rolling surface such that the autonomous transport robot traverses the rolling surface, each having a completely independent suspension, and the payload seating surface at the payload reference position rolls. It is positioned on the frame across both sides of the integrated payload support so that it is positioned at a minimum distance above the surface.

According to one or more aspects of the disclosed embodiment, the autonomous transport robot has fully independent suspension on each of the at least one caster wheel and each traction drive wheel.

According to one or more aspects of the disclosed embodiment, the fully independent suspension of the at least one traction drive wheel comprises: over each rolling surface transition, throughout the traverse of the at least one traction drive wheel over the rolling surface; It is configured to maintain a substantially steady state traction contact patch between one traction drive wheel and the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is substantially independent of the transient of the at least one traction drive wheel due to traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the traction drive wheel.

In accordance with one or more aspects of the disclosed embodiment, the fully independent suspension is configured to support each of the at least one caster and the at least one caster in the loaded and unloaded states of the integrated payload support and during one or more transient states of the transfer arm. is configured to maintain each of the traction drive wheels in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, at the payload reference position the payload resting surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integrated payload support, coupled to the frame and paying payloads to and from the frame; a transfer arm configured to autonomously transfer a load; at least one caster wheel mounted on the frame; and a drive section connected to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the drive section comprising the at least one caster wheel and the pair of caster wheels. At least one of the traction drive wheels rolls on a rolling surface to allow the autonomous transport robot to traverse the rolling surface, each having a fully independent suspension, the frame comprising the at least one caster wheel and the at least one has a predetermined rigidity characteristic that defines a transient response of the frame from transient loads imparted to the frame through at least one of the traction drive wheels of is set based on predetermined transient response characteristics of the fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel.

According to one or more aspects of the disclosed embodiment, a predetermined transient response characteristic of at least one of the at least one caster wheel and the at least one traction drive wheel is set based on a predetermined stiffness characteristic of the frame.

In accordance with one or more aspects of the disclosed embodiment, the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, and wherein the predetermined stiffness characteristic is: and is configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transmitted through the frame to the payload on the payload seating surface.

According to one or more aspects of the disclosed embodiment, the transient loads are such that the attitude of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on the rolling surface. is minimized.

According to one or more aspects of the disclosed embodiment, the fully independent suspension of the at least one traction drive wheel is provided at each rolling surface transient throughout the traverse of the at least one traction drive wheel over the rolling surface. and configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of transients of the at least one traction drive wheel resulting from traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the fully independent suspension is configured to support each of the at least one caster and the at least one caster in the loaded and unloaded states of the integrated payload support and during one or more transient states of the transfer arm. is configured to maintain each of the traction drive wheels in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, the predetermined stiffness characteristic is a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel while the autonomous transport robot is carrying a payload. is set based on predetermined transient response characteristics.

In accordance with one or more aspects of the disclosed embodiment, a method for an autonomous transport robot is provided, the method comprising: providing the autonomous transport robot with a frame having an integrated payload support, the integrated payload support comprising a payload support. having a seating surface, defining a payload reference position by which the payload seating surface determines a predetermined payload position for the autonomous transport robot; providing a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; providing at least one caster wheel mounted on the frame; providing a drive section coupled to the frame, the drive section having at least one pair of traction drive wheels spanning either side of the drive section; and at least one traction drive wheel of the at least one caster wheel and the pair of traction drive wheels is positioned on the integrated payload such that the payload seating surface is positioned at a minimum distance above the rolling surface at the payload reference position. and disposing on the frame across both sides of a support, wherein at least one of the at least one caster wheel and the pair of traction drive wheels is configured to allow the autonomous transport robot to traverse a rolling surface. Rolling on a surface, each of the at least one caster wheel and at least one of the pair of traction drive wheels has completely independent suspension.

According to one or more aspects of the disclosed embodiment, the autonomous transport robot has fully independent suspension on each of the at least one caster wheel and each traction drive wheel.

According to one or more aspects of the disclosed embodiment, the method comprises, by means of a fully independent suspension of the at least one traction drive wheel, throughout the traverse of the at least one traction drive wheel over the rolling surface, each rolling surface and maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface above the transition.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is substantially independent of the transient of the at least one traction drive wheel due to traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the traction drive wheel.

In accordance with one or more aspects of the disclosed embodiment, the method comprises: each of the at least one caster and the at least one caster while the integrated payload support is loaded and unloaded with a payload and during one or more transient states of the delivery arm; and disposing the fully independent suspension on the frame to maintain each one traction drive wheel in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, at the payload reference position the payload resting surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

In accordance with one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the method further includes locking the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, a method for an autonomous transport robot is provided, the method comprising: providing the autonomous transport robot with a frame having an integrated payload support; providing a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; providing at least one caster wheel mounted on the frame; providing a drive section coupled to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the at least one caster wheel and the pair of traction drive wheels at least one traction drive wheel of which rolls on a rolling surface to allow the autonomous transport robot to traverse the rolling surface, each having a fully independent suspension, wherein the frame includes the at least one caster wheel and the at least one traction drive wheel having a predetermined rigidity characteristic defining a transient response of the frame from transient loads imparted to the frame through at least one of the following; and setting the predetermined stiffness characteristics based on predetermined transient response characteristics of a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel.

According to one or more aspects of the disclosed embodiment, a predetermined transient response characteristic of at least one of the at least one caster wheel and the at least one traction drive wheel is set based on a predetermined stiffness characteristic of the frame.

In accordance with one or more aspects of the disclosed embodiment, the predetermined stiffness characteristic is a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel while the autonomous transport robot is carrying a payload. is set based on predetermined transient response characteristics.

In accordance with one or more aspects of the disclosed embodiment, the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, and wherein the predetermined stiffness characteristic is: and is configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transmitted through the frame to the payload on the payload seating surface.

According to one or more aspects of the disclosed embodiment, the transient loads are such that the attitude of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on the rolling surface. is minimized.

According to one or more aspects of the disclosed embodiment, the fully independent suspension of the at least one traction drive wheel is provided at each rolling surface transient throughout the traverse of the at least one traction drive wheel over the rolling surface. and configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of transients of the at least one traction drive wheel resulting from traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the fully independent suspension is configured to support each of the at least one caster and the at least one caster in the loaded and unloaded states of the integrated payload support and during one or more transient states of the transfer arm. is configured to maintain each of the traction drive wheels in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the method further includes locking the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integrated payload support; a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; at least one caster wheel mounted on the frame; and a drive section connected to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the drive section comprising the at least one caster wheel and the pair of caster wheels. At least one of the traction drive wheels rolls on a rolling surface to allow the autonomous transport robot to traverse the rolling surface, each having a fully independent suspension, the frame comprising the at least one caster wheel and the at least one has a predetermined rigidity characteristic that defines a transient response of the frame from transient loads imparted to the frame through at least one of the traction drive wheels of a predetermined transient response characteristic of the frame that determines the transient response of the frame from transients of the at least one caster wheel and at least one drive wheel of the pair of traction drive wheels rolling on a rolling surface. It is set based on.

According to one or more aspects of the disclosed embodiment, the predetermined stiffness characteristics of the frame are completely independent of the at least one drive wheel of the pair of traction drive wheels and the at least one caster wheel that rolls the frame on a rolling surface. It is determined that the suspension is substantially rigid.

In accordance with one or more aspects of the disclosed embodiment, the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, and wherein the predetermined stiffness characteristic is: and is configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transmitted through the frame to the payload on the payload seating surface.

According to one or more aspects of the disclosed embodiment, the transient loads are such that the attitude of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on the rolling surface. is minimized.

In accordance with one or more aspects of the disclosed embodiment, a fully independent suspension of the at least one traction drive wheel is provided. maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over each rolling surface transient throughout the traverse of the at least one traction drive wheel over the rolling surface. It is composed.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of transients of the at least one traction drive wheel resulting from traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the fully independent suspension may be configured to move the at least one caster during one or more transients of the delivery arm and in loaded and unloaded conditions on the integrated payload support and on each of the at least one caster. and the at least one traction drive wheel is arranged to maintain each of the at least one traction drive wheel in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, the predetermined stiffness characteristics are set based on predetermined transient response characteristics of the frame in one or more of the autonomous transport robot carrying a payload and the unloaded state. .

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integrated payload support; A drive section connected to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the drive section having a traction drive wheel of each of the at least one pair of traction drive wheels. a drive configured to be closely coupled to each traction drive wheel and to be individually powered by a corresponding traction motor that is distinct and separate from each other traction motor of the drive section corresponding to each other traction drive wheel, section; and a multi-input/multi-output controller connected to the drive section, wherein each of the at least one pair of traction drive wheels is closely coupled to each traction drive wheel. configured to be individually powered by a corresponding traction motor that is distinct and separate from each other traction motor of the drive section corresponding to the other traction drive wheels of the drive section, wherein the multi-input/multi-output controller is configured to: Based on the robot trajectory, a predetermined kinematic characteristic of the autonomous transport robot is determined, and the traction drive wheel rotation is within a predetermined wheel slip characteristic of the traction drive wheel relative to the rolling surface. configured to adjust a motor applied torque to the traction drive wheels to match predetermined kinematic characteristics of the autonomous transport robot.

In accordance with one or more aspects of the disclosed embodiment, the predetermined wheel slip characteristic is a near-instantaneous variable that resolves wheel slip of the traction drive wheel based on a regulated applied torque commanded by the multi-input/multi-output controller. Resulting in wheel rotation control.

In accordance with one or more aspects of the disclosed embodiment, the near-instantaneous wheel rotation adjustment is less than about 10 ms, and approximately less than 2 ms.

In accordance with one or more aspects of the disclosed embodiment, the multi-input/multi-output controller determines an adjustment of applied torque in response to wheel position data from a wheel position sensor and determines the adjustment of the applied torque relative to the rolling surface based on the wheel position data. It is configured to determine the relative slip of the traction drive wheels.

In accordance with one or more aspects of the disclosed embodiment, each traction drive wheel of the drive section has a corresponding traction motor that individually powers a traction drive wheel closely coupled with each traction drive wheel.

According to one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels has a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame, and At least one intermediate pivot link between a wheel and the frame is configured to move the at least one traction drive wheel and the rolling surface over rolling surface transients throughout the traverse of the at least one traction drive wheel over the rolling surface. It is configured to maintain a substantially steady state traction contact patch between the

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the frame includes a payload seat surface that defines a payload reference position from which the integrated payload support determines a predetermined payload position for the autonomous transport robot. Configured to have, from the payload reference position, the payload seating surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, a method is provided for an autonomous transport robot carrying a payload, the method comprising: a frame having an integrated payload support, the autonomous transport robot, coupled to the frame, the frame providing a delivery arm configured to autonomously transfer a payload to and from the frame, at least one caster wheel mounted on the frame, and a drive section coupled to the frame, the drive section being on either side of the drive section. and having at least one pair of traction drive wheels spanning, wherein the at least one caster wheel and at least one of the pair of traction drive wheels roll on the cloud surface to cause the autonomous transport robot to traverse the cloud surface. , each having a completely independent suspension; and determining a transient response of the frame from transients of the at least one drive wheel and the at least one caster wheel of the pair of traction drive wheels rolling on a rolling surface. Establishing a predetermined rigidity characteristic of the frame based on the determined transient response characteristic, wherein the predetermined rigidity characteristic is transmitted to the frame via at least one of the at least one caster wheel and the at least one traction drive wheel. and defining a transient response of the frame from transient loads imposed on the frame.

According to one or more aspects of the disclosed embodiment, the predetermined stiffness characteristics of the frame are completely independent of the at least one drive wheel of the pair of traction drive wheels and the at least one caster wheel that rolls the frame on a rolling surface. It is determined that the suspension is substantially rigid.

In accordance with one or more aspects of the disclosed embodiment, the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, and wherein the predetermined stiffness characteristic is: and is configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transmitted through the frame to the payload on the payload seating surface.

According to one or more aspects of the disclosed embodiment, the transient loads are such that the attitude of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on the rolling surface. is minimized.

According to one or more aspects of the disclosed embodiment, the method comprises, by means of a fully independent suspension of the at least one traction drive wheel, over the entire traverse of the at least one traction drive wheel over the rolling surface, each rolling surface and maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over a transient.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch contacts the at least one traction drive wheel throughout a transient of the at least one traction drive wheel resulting from traversing over each rolling surface transient. is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of transients of the at least one traction drive wheel resulting from traversing over the respective rolling surface transient. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the fully independent suspension may be configured to move the at least one caster during one or more transients of the delivery arm and in loaded and unloaded conditions on the integrated payload support and on each of the at least one caster. and the at least one traction drive wheel is arranged to maintain each of the at least one traction drive wheel in a steady position relative to the frame.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the method further includes locking the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, the method further includes setting the predetermined stiffness characteristics based on the predetermined transient response characteristics of the frame with the autonomous transport robot carrying a payload. .

According to one or more aspects of the disclosed embodiment, a method for an autonomous transport robot is provided, comprising: providing the autonomous transport robot with a frame having an integral payload support, and a drive section coupled to the frame. , the drive section has at least one pair of traction drive wheels spanning both sides of the drive section, and the drive section has each traction drive wheel of the at least one pair of traction drive wheels closely connected to each traction drive wheel. coupled and configured to be individually powered by a corresponding traction motor that is distinct and separate from each other traction motor of the drive section corresponding to each other traction drive wheel; By said drive section, each other traction motor of said drive section is closely coupled to each traction drive wheel of said at least one pair of traction drive wheels and corresponds to each other traction drive wheel; individually powered by distinct and individual corresponding traction motors; and a multi-input/multi-output controller to determine, based on an optimal robot trajectory, predetermined kinematic characteristics of the autonomous transport robot and to rotate the traction drive wheels relative to the rolling surface. adjusting a motor applied torque to the traction drive wheel to match a predetermined kinematic characteristic of the autonomous transport robot within a predetermined wheel slip characteristic of the wheel. .

In accordance with one or more aspects of the disclosed embodiment, the predetermined wheel slip characteristic is a near-instantaneous variable that resolves wheel slip of the traction drive wheel based on a regulated applied torque commanded by the multi-input/multi-output controller. Resulting in wheel rotation control.

In accordance with one or more aspects of the disclosed embodiment, the near-instantaneous wheel rotation adjustment is less than about 10 ms, and approximately less than 2 ms.

In accordance with one or more aspects of the disclosed embodiment, the multi-input/multi-output controller determines an adjustment of applied torque in response to wheel position data from a wheel position sensor and determines the adjustment of the applied torque relative to the rolling surface based on the wheel position data. Determines the relative slip of the traction drive wheels.

In accordance with one or more aspects of the disclosed embodiment, each traction drive wheel of the drive section has a corresponding traction motor that individually powers a traction drive wheel closely coupled with each traction drive wheel.

According to one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels has a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame, the fully independent suspension comprising: and having at least one intermediate pivot link between the at least one traction drive wheel and the frame, the method comprising: and maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over rolling surface transients.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the frame includes a payload seat surface that defines a payload reference position from which the integrated payload support determines a predetermined payload position for the autonomous transport robot. Configured to have, from the payload reference position, the payload seating surface is disposed at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, the height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, the method further comprises a predetermined locking of the fully independent suspension to the frame.

According to one or more aspects of the disclosed embodiment, an autonomous transport robot is provided for transporting a payload, the autonomous transport robot comprising: a frame with an integrated payload support; a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; A drive section connected to the frame, the drive section having at least one pair of traction drive wheels extending on both sides of the drive section, the at least one pair of traction drive wheels corresponding to each of the at least one pair of drive wheels. a drive section having a fully independent suspension coupling traction drive wheels to the frame; and a locking device releasably coupled to the fully independent suspension and configured to lock the fully independent suspension in a predetermined position relative to the frame.

According to one or more aspects of the disclosed embodiment, the autonomous transport robot further comprises a controller, the controller configured to operate the locking device of each fully independent suspension by extension of the delivery arm and retraction of the delivery arm. is configured to automatically perform the unlocking of the locking device of each fully independent suspension.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has at least one intermediate pivot link between at least one traction drive wheel and the frame, the intermediate pivot link comprising: the at least one intermediate pivot link above the rolling surface; and configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over rolling surface transients throughout the traverse of the traction drive wheel.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, a height profile of the suspension completely independent of the at least one traction drive wheel defines a minimum height profile.

According to one or more aspects of the disclosed embodiment, a method for an autonomous transport robot is provided, the method comprising: providing the autonomous transport robot with a frame having an integrated payload support; providing the autonomous transport robot with a delivery arm, the delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame; Providing the autonomous transport robot with a drive section, the drive section connected to a frame and having at least one pair of traction drive wheels spanning both sides of the drive section, the at least one pair of traction drive wheels comprising: having a fully independent suspension coupling each traction drive wheel of at least one pair of drive wheels to the frame; and locking the fully independent suspension in a predetermined position relative to the frame by a locking device releasably coupled to the fully independent suspension.

According to one or more aspects of the disclosed embodiment, the method comprises, by a controller, actuation of the locking device of each fully independent suspension by extension of the delivery arm, and each fully independent suspension by retraction of the delivery arm. and automatically performing release of the locking device of the suspension.

According to one or more aspects of the disclosed embodiment, the fully independent suspension has at least one intermediate pivot link between at least one traction drive wheel and the frame, the method comprising: maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over rolling surface transients throughout the traverse of the at least one traction drive wheel above. do.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel above the rolling surface. .

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch is positioned on the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. It is placed at a predetermined reference position.

In accordance with one or more aspects of the disclosed embodiment, the substantially steady state traction contact patch provides the at least one traction substantially independently of a transient of the at least one traction drive wheel due to traversing over the rolling surface transitions. It is placed at a predetermined reference position on the driving wheel.

In accordance with one or more aspects of the disclosed embodiment, the frame is configured such that the integrated payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, At the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface.

In accordance with one or more aspects of the disclosed embodiment, the at least one pair of traction drive wheels is configured such that a payload reference position defined by the integrated payload support is at a minimum distance above the rolling surface and a height of the at least one traction drive wheel. It is arranged to extend within the profile.

According to one or more aspects of the disclosed embodiment, a height profile of the suspension completely independent of the at least one traction drive wheel defines a minimum height profile.

In accordance with one or more aspects of the disclosed embodiment, an autonomous transport vehicle is provided for transporting items in a storage and retrieval system. The autonomous transport vehicle includes: a frame; controller; at least two independently driven drive wheels mounted on the frame; and at least one caster wheel mounted on the frame and having a casting assistance motor, wherein the caster wheel assists the at least one caster wheel with the caster wheel. at least one caster wheel coupled to the at least one caster wheel to provide a casting auxiliary torque to assist, wherein the controller is communicatively connected to the castering auxiliary motor, and the at least two Through a combination of vehicle yaw generated by differential torque from independently driven drive wheels and castering auxiliary torque from the castering auxiliary motor, the autonomous guided vehicle achieves a predetermined movement. It is configured to implement casting of the at least one caster wheel while moving in a kinematic state.

According to one or more aspects of the disclosed embodiment, the casting auxiliary motor is configured such that a maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is determined in each predetermined kinematic state. is configured to substantially nullify the resistance from the castering scrub along each vehicle path and in each vehicle via the commanded casting assistance torque, substantially independent of the vehicle path and kinematic state. Delivers virtually scrub-free casting throughout the vehicle path.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque for each caster wheel of the at least one caster wheel substantially scrubs the respective caster wheel substantially independent of vehicle path and kinematic state. It is determined independently for each caster wheel to achieve zero casting.

In accordance with one or more aspects of the disclosed embodiment, a commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, each caster wheel comprising: The casting assistance torque commanded for each corresponding caster wheel varies between the corresponding caster wheels of the at least one caster wheel based on the turning radius.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque is a resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. is effectively invalidated.

In accordance with one or more aspects of the disclosed embodiment, the controller may be configured to bias the at least one caster wheel toward casting while the autonomous guided vehicle is in motion and move the at least one caster wheel to a predetermined steady state position. It is configured to position the casting auxiliary motor to maintain the position.

According to one or more aspects of the disclosed embodiment, the controller biases the at least one caster wheel, by the castering auxiliary motor, in a casting direction to a predetermined skew orientation of the at least one caster wheel. configured to apply a casting assistance torque that biases the at least one caster wheel, wherein the predetermined skew orientation is a bias angle between the at least one caster wheel of the predetermined orientation and the symmetry axis of the autonomous guided vehicle. form an angle.

According to one or more aspects of the disclosed embodiment, the controller is configured to bias the at least one caster wheel to a predetermined skew orientation in a castering direction by the castering auxiliary motor while the autonomous guided vehicle is stationary. and configured to apply casting assistance torque to the at least one caster wheel.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and the stator of the castering auxiliary motor is attached to the caster mounting housing. It is arranged to be in contact with and supported, and the rotor of the castering auxiliary motor is arranged to be in contact with the caster pivot shaft of the at least one caster wheel, and the caster pivot shaft is capable of pivoting the at least one caster wheel to the caster mounting housing. Combine.

According to one or more aspects of the disclosed embodiment, the caster auxiliary motor is at least one of a servo motor and a stepper motor.

In accordance with one or more aspects of the disclosed embodiment, the casting auxiliary motor may include at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous guided vehicle motion. Perform optimization.

In accordance with one or more aspects of the disclosed embodiment, an autonomous guided vehicle is provided for transporting items in a storage and retrieval system. The autonomous transport vehicle includes: a frame; controller; at least two independently driven drive wheels mounted on the frame; and at least one caster wheel of a non-holonomic steering system mounted on the frame and having a casting auxiliary motor, wherein the castering auxiliary motor is connected to the at least one caster wheel. At least one caster wheel coupled to the at least one caster wheel to provide a casting assistance torque to assist casting of the caster wheel, wherein the controller is communicatively connected to the castering assistance motor. and, through a casting assistance torque from the casting assistance motor that assists a casting input from vehicle yaw generated by differential torque from the at least two independently driven drive wheels, and configured to implement substantially scrub-free casting of said at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state.

According to one or more aspects of the disclosed embodiment, the controller may be configured to adjust the casting assistance torque from vehicle yaw to the at least one caster wheel to implement scrub-free casting of the at least one caster wheel. It is configured to determine the casting input as a supplement torque.

According to one or more aspects of the disclosed embodiment, the casting auxiliary motor is configured such that a maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is determined in each predetermined kinematic state. is configured to substantially nullify the resistance from the castering scrub along each vehicle path and in each vehicle via the commanded casting assistance torque, substantially independent of the vehicle path and kinematic state. Delivers virtually scrub-free casting throughout the vehicle path.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque for each caster wheel of the at least one caster wheel substantially scrubs the respective caster wheel substantially independent of vehicle path and kinematic state. It is determined independently for each caster wheel to achieve zero casting.

In accordance with one or more aspects of the disclosed embodiment, a commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, each caster wheel comprising: The casting assistance torque commanded for each corresponding caster wheel varies between the corresponding caster wheels of the at least one caster wheel based on the turning radius.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque is a resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. is effectively invalidated.

In accordance with one or more aspects of the disclosed embodiment, the controller may be configured to bias the at least one caster wheel toward casting while the autonomous guided vehicle is in motion and move the at least one caster wheel to a predetermined steady state position. It is configured to position the casting auxiliary motor to maintain the position.

According to one or more aspects of the disclosed embodiment, the controller biases the at least one caster wheel, by the castering auxiliary motor, in a casting direction to a predetermined skew orientation of the at least one caster wheel. configured to apply a casting assistance torque that biases the at least one caster wheel, wherein the predetermined skew orientation is a bias angle between the at least one caster wheel of the predetermined orientation and the symmetry axis of the autonomous guided vehicle. form an angle.

According to one or more aspects of the disclosed embodiment, the controller is configured to bias the at least one caster wheel to a predetermined skew orientation in a castering direction by the castering auxiliary motor while the autonomous guided vehicle is stationary. and configured to apply casting assistance torque to the at least one caster wheel.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and the stator of the castering auxiliary motor is attached to the caster mounting housing. It is arranged to be in contact with and supported, and the rotor of the castering auxiliary motor is arranged to be in contact with the caster pivot shaft of the at least one caster wheel, and the caster pivot shaft is capable of pivoting the at least one caster wheel to the caster mounting housing. are combined.

According to one or more aspects of the disclosed embodiment, the caster auxiliary motor is at least one of a servo motor and a stepper motor.

In accordance with one or more aspects of the disclosed embodiment, the casting auxiliary motor may include at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous guided vehicle motion. Perform optimization.

In accordance with one or more aspects of the disclosed embodiment, an autonomous guided vehicle is provided for transporting items in a storage and retrieval system. The autonomous transport vehicle includes: a frame; controller; at least two independently driven drive wheels mounted on the frame; and at least one caster wheel mounted on the frame and having a castering auxiliary motor, wherein the castering auxiliary motor imparts a casting auxiliary torque to the at least one caster wheel to assist casting of the at least one caster wheel. at least one caster wheel coupled to the at least one caster wheel to The at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state through a combination of vehicle yaw generated by differential torque and castering auxiliary torque from the castering auxiliary motor. and configured to implement castering of, wherein the casting assistance torque is developed to substantially nullify resistance from castering scrub in each predetermined kinematic state of the autonomous guided vehicle.

According to one or more aspects of the disclosed embodiment, the controller may be configured to adjust the casting assistance torque from vehicle yaw to the at least one caster wheel to implement scrub-free casting of the at least one caster wheel. It is configured to determine as supplementary torque that supplements the casting input.

According to one or more aspects of the disclosed embodiment, the casting auxiliary motor is configured such that a maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is determined in each predetermined kinematic state. is configured to substantially nullify the resistance from the castering scrub along each vehicle path and in each vehicle via the commanded casting assistance torque, substantially independent of the vehicle path and kinematic state. Delivers virtually scrub-free casting throughout the vehicle path.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque for each caster wheel of the at least one caster wheel substantially scrubs the respective caster wheel substantially independent of vehicle path and kinematic state. It is determined independently for each caster wheel to achieve zero casting.

In accordance with one or more aspects of the disclosed embodiment, a commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, each caster wheel comprising: The casting assistance torque commanded for each corresponding caster wheel varies between the corresponding caster wheels of the at least one caster wheel based on the turning radius.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque is a resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. is effectively invalidated.

In accordance with one or more aspects of the disclosed embodiment, the controller is configured to bias the at least one caster wheel against casting while the autonomous guided vehicle is in motion and maintain the at least one caster wheel in a predetermined steady state position. It is configured to position the casting auxiliary motor.

According to one or more aspects of the disclosed embodiment, the controller biases the at least one caster wheel, by the castering auxiliary motor, in a casting direction to a predetermined skew orientation of the at least one caster wheel. configured to apply a casting assistance torque that biases the at least one caster wheel, wherein the predetermined skew orientation is a bias angle between the at least one caster wheel of the predetermined orientation and the symmetry axis of the autonomous guided vehicle. form an angle.

According to one or more aspects of the disclosed embodiment, the controller is configured to bias the at least one caster wheel to a predetermined skew orientation in a castering direction by the castering auxiliary motor while the autonomous guided vehicle is stationary. and configured to apply casting assistance torque to the at least one caster wheel.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and the stator of the castering auxiliary motor is attached to the caster mounting housing. It is arranged to be in contact with and supported, and the rotor of the castering auxiliary motor is arranged to be in contact with the caster pivot shaft of the at least one caster wheel, and the caster pivot shaft is capable of pivoting the at least one caster wheel to the caster mounting housing. are combined.

According to one or more aspects of the disclosed embodiment, the caster auxiliary motor is at least one of a servo motor and a stepper motor.

In accordance with one or more aspects of the disclosed embodiment, the casting auxiliary motor may be configured to include at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertia changes of autonomous guided vehicle motion. Perform optimization.

In accordance with one or more aspects of the disclosed embodiment, an autonomous guided vehicle is provided for transporting items in a storage and retrieval system. The autonomous guided vehicle includes: a frame; controller; at least two independently driven drive wheels mounted on the frame; and at least one caster wheel mounted on the frame and having a casting assistance electromagnetic actuator, wherein the casting assistance electromagnetic actuator moves the at least one caster wheel at each casting position of the at least one caster wheel. at least one caster wheel coupled to the at least one caster wheel for imparting a bias force to the caster wheel, wherein the controller is communicatively coupled to a castering auxiliary electromagnetic actuator, wherein the at least one Through a combination of vehicle yaw generated by differential torque from two independently driven drive wheels and deflection force from the casting assist electromagnetic actuator, the autonomous guided vehicle is positioned in a predetermined kinematic state. and configured to implement casting of the at least one caster wheel in a moving state, wherein the biasing force causes the at least one caster wheel to be in a castering scrub in each predetermined kinematic state of the autonomous guided vehicle. It is commanded to deflect to the corresponding casting position which virtually nullifies the resistance from the beam.

In accordance with one or more aspects of the disclosed embodiment, the commanded biasing force substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub.

In accordance with one or more aspects of the disclosed embodiment, the commanded biasing force substantially provides resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. invalidate it.

According to one or more aspects of the disclosed embodiment, the controller is configured to adjust the casting assistance torque of the casting assistance electromagnetic actuator from the vehicle yaw to implement scrub-free casting of the at least one caster wheel. It is configured to determine the casting input for one caster wheel as a supplement torque.

According to one or more aspects of the disclosed embodiment, the casting assistance electromagnetic actuator is configured such that the maximum casting assistance torque is the motor rated torque of the casting assistance electromagnetic actuator, and the commanded casting assistance torque is applied to each predetermined movement. along each vehicle path and via the commanded castering assistance torque, substantially independent of the vehicle path and kinematic state, configured to substantially nullify resistance from the castering scrub in the kinematic state. Enables virtually scrub-free casting throughout each vehicle path.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque for each caster wheel of the at least one caster wheel is substantially independent of vehicle path and kinematic state to substantially scrub the respective caster wheel. It is determined independently for each caster wheel to achieve zero casting.

In accordance with one or more aspects of the disclosed embodiment, a commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, each caster wheel comprising: The castering assistance torque commanded for each corresponding caster wheel varies between the corresponding caster wheels of the at least one caster wheel based on the turning radius.

In accordance with one or more aspects of the disclosed embodiment, the controller may be configured to bias the at least one caster wheel toward casting while the autonomous guided vehicle is in motion and move the at least one caster wheel to a predetermined steady state position. It is configured to position the casting auxiliary electromagnetic actuator to maintain the position.

According to one or more aspects of the disclosed embodiment, the controller, by the castering auxiliary electromagnetic actuator, moves the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel. configured to apply a biasing casting assistance torque to the at least one caster wheel, wherein the predetermined skew orientation is a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle ( bias angle).

According to one or more aspects of the disclosed embodiment, the controller is configured to bias the at least one caster wheel in a castering direction to a predetermined skew orientation by the castering auxiliary electromagnetic actuator when the autonomous guided vehicle is stationary. and is configured to apply a casting auxiliary torque to the at least one caster wheel.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, and the castering auxiliary electromagnetic actuator is a frameless motor, the frameless motor being integrated within the mounting housing.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the castering auxiliary electromagnetic actuator, and the stator of the castering auxiliary electromagnetic actuator includes the caster mounting. It is arranged to be supported in contact with the housing, and the rotor of the castering auxiliary electromagnetic actuator is arranged to contact the caster pivot shaft of the at least one caster wheel, and the caster pivot shaft connects the at least one caster wheel to the caster mounting housing. Combined so that it can pivot.

According to one or more aspects of the disclosed embodiment, the casting auxiliary electromagnetic actuator is at least one of a servo motor and a stepper motor.

In accordance with one or more aspects of the disclosed embodiment, the casting auxiliary motor may be configured to include at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertia changes of autonomous guided vehicle motion. Perform optimization.

In accordance with one or more aspects of the disclosed embodiment, a method of operating an autonomous guided vehicle in a storage and retrieval system is provided. The method includes: an autonomous guided vehicle having a frame, a controller, at least two independently driven drive wheels mounted on the frame, and at least one caster wheel mounted on the frame and having a castering auxiliary motor. providing a; imparting castering auxiliary torque to assist casting of the at least one caster wheel by the casting auxiliary motor coupled to the at least one caster wheel; and vehicle yaw generated by differential torque from the at least two independently driven drive wheels and caster from the casting auxiliary motor, by the controller communicatively coupled to the casting auxiliary motor. and implementing casting of the at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state through a combination of ring assistance torque.

According to one or more aspects of the disclosed embodiment, the maximum casting assistance torque of the casting auxiliary motor is the motor rated torque of the casting auxiliary motor, and the maximum casting assistance torque from the castering scrub in each predetermined kinematic state is The resistance is substantially nullified by the commanded casting assistance torque so that the resistance is substantially independent of the vehicle path and kinematic state along and throughout each vehicle path via the commanded casting assistance torque. Implements virtually scrub-free casting.

According to one or more aspects of the disclosed embodiment, the method comprises: each of the at least one caster wheels to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state; and determining the commanded casting assistance torque for the caster wheels independently for each caster wheel.

According to one or more aspects of the disclosed embodiment, the method includes: providing a commanded castering assistance torque to each caster wheel of the at least one caster wheel to achieve substantially scrub-free casting of each caster wheel. further comprising independently determining for each caster wheel, wherein each commanded castering assistance torque for each corresponding caster wheel is based on a turning radius between corresponding caster wheels of the at least one caster wheel. It varies from.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub.

In accordance with one or more aspects of the disclosed embodiment, the commanded casting assistance torque is a resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. is effectively invalidated.

According to one or more aspects of the disclosed embodiment, the method includes, by the controller, biasing the at least one caster wheel for castering while the autonomous guided vehicle is in motion and rotating the at least one caster wheel in a predetermined position. and positioning the casting auxiliary motor to maintain it in a steady state position.

According to one or more aspects of the disclosed embodiment, the method may include, under control of the controller, a predetermined skew orientation of the at least one caster wheel in a casting direction by the casting auxiliary motor. further comprising applying a casting assistance torque biasing the at least one caster wheel to a skew orientation, wherein the predetermined skew orientation is determined by the at least one caster wheel of the predetermined orientation and the autonomous transport. Forms the bias angle between the vehicle's axes of symmetry.

According to one or more aspects of the disclosed embodiment, the method includes, under the control of the controller, the at least one caster wheel in a casting direction in advance by the casting auxiliary motor while the autonomous guided vehicle is stationary. It further includes applying a casting assistance torque to the at least one caster wheel to bias it toward the determined skew orientation.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing.

According to one or more aspects of the disclosed embodiment, the at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and the stator of the castering auxiliary motor is attached to the caster mounting housing. It is arranged to be in contact with and supported, and the rotor of the castering auxiliary motor is arranged to be in contact with the caster pivot shaft of the at least one caster wheel, and the caster pivot shaft is capable of pivoting the at least one caster wheel to the caster mounting housing. are combined.

According to one or more aspects of the disclosed embodiment, the caster auxiliary motor is at least one of a servo motor and a stepper motor.

The foregoing aspects and other features of the disclosed embodiments are explained in the following detailed description with reference to the accompanying drawings.
1 is a schematic block diagram of an example automated storage and retrieval system incorporating aspects of the disclosed embodiment;
FIG. 2 is a schematic perspective view of an autonomous guided vehicle of the automated storage and retrieval system of FIG. 1, in accordance with aspects of the disclosed embodiment;
FIG. 2A is a schematic perspective view in a first configuration of an example autonomous guided vehicle of the automated storage and retrieval system of FIG. 2, in accordance with aspects of the disclosed embodiment;
FIG. 2B is a schematic perspective view in a second configuration of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 2C is a schematic elevation view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 3A is a schematic partial exploded view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 3B is a schematic partial plan view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 3C is a partial schematic perspective view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 4 is a partial exploded view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
Figure 5A is a schematic perspective view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
Figure 5B is a schematic perspective view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
FIG. 6 is a partial perspective view of the example autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
7 is an example block diagram of a method in accordance with aspects of the disclosed embodiment;
8 is an example block diagram of a method in accordance with aspects of the disclosed embodiment;
FIG. 9A is a schematic elevation view of an end portion of the autonomous guided vehicle of FIG. 2 in a first state in accordance with aspects of the disclosed embodiment;
FIG. 9B is an elevation view in a second state of an end portion of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
Figure 10A is a schematic elevation view of an end portion of the autonomous guided vehicle of Figure 2 in a first state in accordance with aspects of the disclosed embodiment;
FIG. 10B is an elevation view in a second state of an end portion of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
Figure 10C is a schematic partial perspective view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
FIG. 11A is a schematic partial plan view of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 11B is a schematic partial plan view in a first state of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 11C is a schematic partial plan view in a first state of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
11D and 11E are schematic partial top views of the autonomous guided vehicle of FIG. 2 in a second state in accordance with aspects of the disclosed embodiment;
Figure 12A is a schematic partial perspective view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
FIG. 12B is a schematic partial cross-sectional view of the autonomous guided vehicle of FIG. 12A in accordance with aspects of the disclosed embodiment;
FIG. 13A is a schematic partial elevation view of the autonomous guided vehicle of FIG. 12A in its first state in accordance with aspects of the disclosed embodiment;
FIG. 13B is a schematic partial elevation view in a second state of the autonomous guided vehicle of FIG. 12A in accordance with aspects of the disclosed embodiment;
FIG. 14A is a partial perspective view of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 14B is a partial cross-sectional view of the autonomous guided vehicle shown in FIG. 14A in accordance with aspects of the disclosed embodiment;
Figure 15A is a schematic elevation view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
Figure 15B is a schematic (end) elevation view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
16 is an example graph illustrating wheel slip events in accordance with aspects of the disclosed embodiment;
FIG. 17 is a schematic block diagram of the traction control system of the autonomous guided vehicle of FIG. 2 in accordance with aspects of the disclosed embodiment;
FIG. 18 is a schematic block diagram of a portion of the traction control system of FIG. 17 in accordance with aspects of the disclosed embodiment;
Figure 19 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 20 is an example plan view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
21 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 22 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figures 23A and 23B are example graphs illustrating tuning of the transient response of the unloaded (not carrying a payload) autonomous guided vehicle of Figure 2, in accordance with aspects of the disclosed embodiment;
Figures 24A and 24B are example graphs illustrating tuning of the transient response of the loaded (carrying payload) autonomous guided vehicle of Figure 2, in accordance with aspects of the disclosed embodiment;
Figure 25 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 26 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 27 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 28 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
Figure 29 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment;
FIG. 30 is a schematic top view illustrating traversing of an autonomous guided vehicle within a picking aisle, in accordance with aspects of the disclosed embodiment;
Figure 31 is a schematic partial plan view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
Figure 32 is a schematic partial plan view of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
Figure 33 is a schematic diagram of an example control architecture of the autonomous guided vehicle of Figure 2 in accordance with aspects of the disclosed embodiment;
Figure 34 is an example flow diagram of a method in accordance with aspects of the disclosed embodiment.

1 illustrates an example automated storage and retrieval system 100 in accordance with aspects of the disclosed embodiment. Although aspects of the disclosed embodiment will be described with reference to the drawings, it should be understood that the aspects of the disclosed embodiment may be implemented in many forms. Additionally, elements or materials of any suitable size, shape or type may be used.

Aspects of the disclosed embodiments provide an automated storage and retrieval system with a modular autonomous transport robot vehicle 110 (herein referred to as an autonomous transport (or guidance) vehicle or bot). do. The autonomous guided vehicle 110 includes selectable modular chassis, motors, and case unit handling components, the selection of which can adapt the autonomous guided vehicle 110 to a variety of case handling characteristics (e.g., Configure an autonomous transport vehicle 110 (or reconfiguration), and various case handling characteristics may be determined by the size/weight of the case units being handled and/or the storage characteristics (e.g., shelf height, common rolling surface) of the storage structure 130 of the automated storage and retrieval system 100. (rolling surface)/number of shelves serviced from the deck). Modular chassis components (described herein) are readily available as rod stock, tube stock, channel stock, etc. to reduce manufacturing/fabrication costs compared to conventional autonomous guided vehicles with bespoke chassis/frames. Can be manufactured at least partially. At least the modular chassis components contribute to weight reduction compared to a conventional autonomous guided vehicle with a custom chassis/frame. The reduced weight may reduce wear on the wheels of the autonomous guided vehicle 110 as well as reduce wear on the rolling surfaces on which the autonomous guided vehicle 110 moves.

Aspects of the disclosed embodiment provide synergistic dynamic response of an autonomous guided vehicle 110 (of the automated storage and retrieval system 100) moving through the automated storage and retrieval system 100. According to aspects of the disclosed embodiment, the autonomous transport vehicle 110 (also referred to herein as an autonomous transport robot) includes a fully independent suspension system and a traction control system, which By synergistically providing dynamic response of the vehicle 110, the positioning/localization of the autonomous guided vehicle within the automated storage and retrieval system 100 is determined by wheel odometer measurements compared to conventional autonomous guided vehicles. It is possible to obtain excellent positioning effects (from measuring wheel travel distance). For example, fully independent suspensions 280, 780 (see FIG. 2) can be positioned throughout the traverse of the wheel(s) above the rolling surface 395, at each rolling surface transient (see FIG. 4B). Above, a substantially steady state contact patch (CNTC) (see FIG. 3A) between the wheels of the autonomous guided vehicle 110 and the rolling surface 395 of the storage and retrieval system 100 (see FIG. 2). ) (e.g., the wheel is in substantially steady state/continuous contact with the rolling surface). The minimized unsprung mass of the drive wheels 260A, 260B is because there is less unsprung mass affecting wheel hop off the rolling surface 395 (e.g., unsprung mass). Note that, when the submass is large, the bounce of the wheel on the rolling surface is also large), which may at least partially contribute to maintaining a substantially steady-state contact patch (CNC). The substantially steady state contact patch (CNTC) is configured to allow each wheel to be on and above the rolling surface 395 or to lift the wheels away from the rolling surface 395 (e.g. Accurate wheel travel of the autonomous guided vehicle 110 while moving over any transients 395T (FIG. 4B - e.g., joints, debris, etc.) that cause inaccuracies in wheel travel measurements. Provides a distance measurement (e.g., determined by wheel position sensors/encoders 1080W of sensors 1080 - see FIG. 10). Traction control system 1000 (see FIG. 10) is configured to have low latency to mitigate wheel slip to less than approximately 1° of wheel slip/rotation, which is substantially less than that of the steady state contact patch (CNTC). Provides autonomous guided vehicles within the automated storage and retrieval system 100 with superior localization (from wheel odometer measurements) compared to conventional autonomous guided vehicles.

According to aspects of the disclosed embodiment, a fully independent suspension system and traction control system 1000 provides dynamic response of a moving autonomous guided vehicle 110 resulting in superior takt time for fulfilling product orders. do. For example, the fully independent suspension is configured to provide the autonomous guided vehicle with a substantially constant/steady state ride height (RHT) (see Figure 8A) at which case units (CU) are held. The fully independent suspension can also cause movement of the case unit(s) within the payload bed 210B (see FIG. 2) of the autonomous guided vehicle (due to traversing of the autonomous guided vehicle through the storage structure). ) Reduces vibration of autonomous guided vehicles. As described above, the traction control system 1000 has low latency to address wheel slip and can cause movement of case unit(s) within the payload bed 210B of the autonomous guided vehicle. Yawing can be substantially prevented. Herein, the synergistic dynamic response of the moving autonomous guided vehicle 110 is within the payload bed 210B substantially simultaneously with the starting and stopping of the transverse motions of the autonomous guided vehicle 110 along the rolling surface as described herein. Provides grip release/release operation of case unit(s) (CU), which provides superior takt time compared to conventional autonomous guided vehicles where traversing along the surface is halted before releasing the case unit(s) for operation. time).

The fully independent suspension system of the autonomous guided vehicle 110 may also have the effect of positioning the payload height (RHT) at a minimized height from the rolling surface. Minimizing the ride height (RHT) provides for placement of the case unit support surfaces of the case unit holding locations closer to the rolling surface 395, which can increase the vertical storage density of the automated storage and retrieval system 100. there is.

Aspects of the disclosed embodiments also include an automated storage and retrieval system comprising an autonomous guided vehicle 110 of the non-holonomic differential drive type with two degrees of freedom (i.e., linear and rotational motion). 100) is provided. Aspects of the disclosed embodiments address one or more of the deficiencies noted above with respect to conventional autonomous guided vehicles. For example, the autonomous guided vehicle 110 includes independently controllable caster wheels 150 (also referred to as casters), which include independently controllable motorized caster wheels 600M. (FIG. 2) (e.g., caster wheels including motors capable of driving rotation of the wheel 610 of the caster wheel 250 about the caster pivot axis 691 - e.g., see Figure 3a). The powered caster wheels 600M are at least capable of preparing the autonomous guided vehicle for a turn that can provide approximately 20% faster turns of the autonomous guided vehicle compared to turns using differential drive wheels 260A, 260B steering alone. Provides for pivoting of wheels 610 about caster pivot axis 691 prior to forward or rearward translation of the autonomous guided vehicle. As described herein, the powered caster wheels 600M are configured to operate autonomous guided vehicle 110 for one or more of maintaining steady-state orientation of wheels 610 and assisting with steering of autonomous guided vehicle 110. ) and (i.e., with the moving autonomous guided vehicle 110) provide pivoting of the wheels 610 about the caster pivot axis 691. The powered caster wheels 600M have substantially zero scrub along their movement/rotation path (e.g., substantially zero lateral friction is exerted on the wheels 610 by the moving surface the caster traverses). ) Feed-forward control to each of the electric caster wheels (600M) to independently control the rotation/steering angle of the electric caster wheels (600M) with respect to the movement/rotation path of the automatic transport vehicle 110 to provide (feed-forward) control) is applied.

In accordance with aspects of the disclosed embodiment, substantially zero scrub movement of caster wheels 250 along the movement/rotation path of the autonomous guided vehicle 110 may occur in the presence of caster scrub (e.g., in the presence of caster scrub). The drive wheels 260 of the autonomous guided vehicle 110 compared to when rotating (some of the energy is used to overcome friction due to the scrubbing of the caster wheels on the moving surface, increasing the amount of energy required for rotation). Minimize the amount of energy applied by the drive units 261 (see, for example, Figure 2) by approximately 20% per revolution. Minimizing the amount of energy required to drive/rotate the autonomous guided vehicle 110 is to minimize the amount of energy required to drive/rotate the autonomous guided vehicle 110 rather than to create a moment large enough to induce casting of the caster wheels 250. Provides optimization of drive motors 261M of drive units 261 for inertia changes. Here, the optimization of the drive motors 261M and the drives 261 in general includes at least a reduction in the size of the drive motor 261M (see, for example, Figure 2) (and a reduction in the size of the drive motor 261M for driving the drive motor 261M). a reduction in the size of the associated electronic devices) as well as a reduction in friction requirements between the drive wheels 260 and the moving surfaces (which reduces wear of the wheels and the moving surfaces they traverse). Aspects of the disclosed embodiment also provide for a reduction in the weight and cost of autonomous guided vehicle 110 due to a reduced size of drive motors 261M and associated electronics.

Note that the modular chassis components, independent suspension components, and zero scrub powered caster wheels may be employed in autonomous guided vehicle 110 in any suitable combination. For example, the autonomous guided vehicle 110 may include a modular chassis alone or in combination with one or more of a fully independent suspension and zero-scrub powered caster wheels; The autonomous guided vehicle 110 may include a fully independent suspension alone or in combination with one or more of a modular chassis and zero-scrub powered caster wheels; Alternatively, the autonomous guided vehicle 110 may include zero scrub powered caster wheels alone or in combination with one or more of a modular chassis and fully independent suspension.

The automated storage and retrieval system 100 of FIG. 1 , operated by the autonomous guided vehicle 110 , may fulfill orders from retailers for replenishment products delivered in, for example, cases, packages, and/or parcels. To do this, it can be placed in a retail distribution center or warehouse. The terms case, package and parcel are used interchangeably herein and, as previously mentioned, can be any container that can be used for shipping and filled by a producer with a case or more units of product. As used herein, case or cases refer to cases, packages, or parcel units that are not stored (e.g., contained) in trays, totes, etc., and/or of individual products that are types of common or mixed products. It means tote. Case units (CU) (referred to herein as mixed cases, cases, and delivery units, or payloads) are cases of articles/units (e.g., a case of soup cans, cereal boxes, etc.) or individual items/units configured to be separated from or placed on a pallet. According to an exemplary embodiment, shipping cases or case units (e.g., boxes, bins, boxes, jars, shrink-wrapped trays, or any suitable device or groupings for holding case units) ) can have various sizes and can be used to hold case units to be shipped and configured to be loaded on a pallet for shipping. Case units may also be placed in totes, boxes, and/or containers (collectively referred to as totes) that are unpacked and/or unpacked from their original packaging at a custom filling station and mixed or mixed with one or more other individual products of a common type. ) may include totes, boxes, and/or containers of one or more individual products (commonly referred to as breakpack goods) placed within. For example, when incoming bundles or pallets (e.g., from a manufacturer or supplier of case units) arrive at the storage and retrieval system for replenishment of the automated storage and retrieval system 100, the contents of each pallet are Note that they may be uniform (e.g., each pallet holding a predetermined number of identical items - one pallet holding soup and another pallet holding cereal). As will be appreciated, the cases of such pallet loads may be substantially similar or, in other words, homogeneous cases (e.g. similar dimensions) and may have the same SKU (otherwise, as previously mentioned) As such, the pallets may be “rainbow” pallets with layers made up of homogeneous cases). When pallets leave the storage and retrieval system with cases or totes filling replenishment orders, the pallets may contain any suitable number and combination of different case units (e.g., each pallet may contain different types of cases). It can hold units - pallets hold canned soup, cereals, beverage cartons, cosmetics and household detergents). Cases combined on a single pallet may have different sizes and/or different SKUs.

The automated storage and retrieval system may be generally described as a storage and retrieval engine 190 coupled to a palletizer 162. Referring now in more detail to Figure 1, the storage and retrieval system 100 may be configured, for example, to be installed in an existing warehouse structure or to be adapted to a new warehouse structure. As previously mentioned, the system 100 shown in FIG. 1 is representative and includes, for example, transfer stations 170 and 160, lift module(s) 150A and 150B, and storage structure 130, respectively. in-feed and out-feed conveyors, and a number of autonomous transport vehicles 110 (also referred to herein as robots, “bots”, or autonomous transport robots) ) may include. The storage and retrieval engine 190 is formed by at least a storage structure 130 and bots 110 (and lift modules 150A, 150B in some aspects), but in other aspects, a “flexible As described in U.S. Patent Application Serial No. 17/091,265, entitled “Pallet Building System with Sequencing,” filed November 6, 2020, lift modules 150A, 150B are connected to a storage and retrieval engine 190. It is further noted that a vertical sequencer may be formed, the disclosure of this patent application being incorporated herein by reference in its entirety. In alternative aspects, the storage and retrieval system 100 may also include robots or bot transfer stations (not shown), which can be used to transfer between bots 110 and lift module(s) 150A, 150B. An interface can be provided. The storage structure 130 may include multiple levels of storage rack modules, and each storage structure level 130L of the storage structure 130 has respective picking passages 130A and a storage structure 130. and transfer decks 130B for transferring case units between any of the storage areas of and the shelves of the lift module(s) 150A, 150B. The picking passages 130A are configured to provide guided movement of bots 110 (e.g., along rails 130AR, 800 - see FIG. 30) in one aspect, while in other aspects the picking passages are It is configured to provide unrestricted movement of the bot 110 (e.g., picking aisles are open and non-deterministic with respect to bot 110 guidance/movement). The transfer decks 130B have open, non-deterministic bot support movement surfaces over which bots 110 move under guidance and control provided by bot steering (as will be described herein). In one or more aspects, the transfer decks have multiple lanes, and the bot 110 is free to move between these lanes to access the picking aisle 130A and/or lift modules 150A, 150B. It metastasizes. As used herein, “open and undeterministic” means that the moving surfaces of the picking aisle and/or transfer deck are mechanical/physical that confines the movement of the autonomous guided vehicle 110 to any given path along the moving surfaces. This means that it does not have restrictions/guides (eg guide rails). Note that although aspects of the disclosed embodiments have been described with respect to multi-level storage arrays, aspects of the disclosed embodiments are equally applicable to single level storage arrays positioned on or raised above the facility floor.

The picking aisles 130A and delivery decks 130B also allow bots 110 to place case units (CU) in picking stock and retrieve ordered case units (CU). . In alternative aspects, each level may also include respective bot delivery stations 140. The bots 110 place case units, such as retail merchandise described above, into the picking inventory of one or more storage structure levels 130L of storage structure 130 and then place ordered case units, e.g. , may be configured to selectively retrieve ordered case units for delivery to a store or other suitable location. The infeed transfer station 170 and the outfeed transfer station 160 are each lift module ( s) (150A, 150B). The lift modules 150A, 150B may be described as dedicated inbound lift modules 150A and outbound lift modules 150B, but in alternative embodiments, the lift modules 150A, 150B each Note that may be used for both inbound and outbound delivery of case units from storage and retrieval system 100.

As will be understood, the storage and retrieval system 100 may include, for example, a plurality of infeed and outfeed lift modules 150A, accessible by bots 110 of the storage and retrieval system 100. 150B), whereby one or more case unit(s) that are not contained (e.g., the case unit(s) are not held in a tray) or contained (in a tray or tote) may include a lift module (150A). , 150B) to each storage space of each level and from each storage space to one of the lift modules 150A and 150B of each level. The bots 110 may operate in storage spaces 130S (e.g., located within picking aisles 130A or within other suitable storage space/case unit buffers located along transfer deck 130B) and lift. It may be configured to transfer case units between modules 150A and 150B. Generally, the lift modules 150A, 150B move case unit(s) between infeed and outfeed transfer stations 160, 170 and each level of storage space where case units are stored and retrieved. It includes at least one movable payload support. The lift module(s) may have any suitable configuration, such as a reciprocating lift or any other suitable configuration. The lift module(s) 150A, 150B may be connected to any suitable controller (e.g., controller 120 or controller 120, warehouse management system 2500, and/or palletizer controller 164, 164'). a sequencer in a manner similar to that described in U.S. Patent Application Serial No. 16/444,592, filed June 18, 2019, entitled “Vertical Sequencer for Product Order Fulfillment,” including other suitable controllers combined therewith; or form a sorter (the disclosure of this patent application is incorporated herein by reference in its entirety).

The automated storage and retrieval system may include, for example, infeed and outfeed conveyors and transfer stations 170, 160, lift modules 150A, and bots 110 via a suitable communication and control network 180. It may include a control system including one or more control servers 120 communicatively connected to. The communication and control network 180 may, for example, command the operation of infeed and outfeed conveyors and transfer stations 170, 160, lift modules 150A, 150B, and other suitable system automation. It may have any suitable architecture, including a variety of programmable logic controllers (PLCs) such as: The control server 120 may include advanced programming to execute a case management system (CMS) 120 that manages the case flow system. The network 180 may further include suitable communications to implement a two-way interface with the bot 110. For example, the bots 110 may include an onboard processor/controller 1220. The network 180 allows the bot controller 1220 to request commands from or to the control server 180 to perform the desired transport (e.g., placement in or retrieval from storage locations) of case units. A suitable two-way communication set that allows receiving commands from 180 and transmitting desired bot 110 information and data including bot 110 estimated location (ephemeris), status and other desired data to control server 120. may include. As shown in FIG. 1, the control server 120 is added to the warehouse management system 2500 to provide, for example, inventory management, and customer order fulfillment information to the CMS level programs of the control server 120. It can be connected to . A suitable example of an automated storage and retrieval system configured to hold and store case units is described in U.S. Patent No. 9,096,375, issued August 4, 2015, the disclosure of which is incorporated herein by reference in its entirety. .

Referring now to FIG. 2 , the autonomous guided vehicle or bot 110 (which may also be referred to herein as an autonomous guided vehicle or robot) has a payload support or bed 210B, which may be integrated into frame 200. It includes a chassis or frame 200 (which may also be referred to as a chassis bus) with a chassis or frame 200 (which may also be referred to as a chassis bus). The frame 200 has (and extends between) a front end 200E1 and a rear end 200E2 that define the longitudinal axis or axis of symmetry (LAX) of the autonomous guided vehicle 110. The frame 200 may be a space frame 200S (e.g., see FIG. 2A) and constructed (e.g., including but not limited to) of any suitable material (e.g., steel, aluminum, composites, etc.). For example, it can be formed.

As described herein and briefly referring to FIG. 2A, the spatial frame 200S has predetermined modular coupling interfaces (e.g., interfaces 3070-3075 - FIG. 3A), which are coupled to each other. Includes datums for positioning/locating components of an autonomous guided vehicle relative to each other, with known positions, as described herein. Each of the modular coupling interfaces connects a corresponding predetermined electronic and/or mechanical component module of the autonomous guided robotic vehicle 110 to the chassis 200, such that the autonomous guided robotic vehicle 110 has a modular configuration. As a unit, it is arranged to be removably coupled. The predetermined modular coupling interfaces include at least one caster wheel module coupling interface (3074, 3075), at least one drive wheel module coupling interface (3072, 3073), and at least one payload support module coupling interface (3070, 3071). ) includes at least one of As described herein, the corresponding predetermined electronic and/or mechanical component modules may include driving wheel modules (e.g., at least one drive wheel module 260M and at least one caster wheel module 250M). , payload support module 210M, control module 1220M, etc., but is not limited thereto. The drive wheel module 260M has drive wheels 260A and 260B that are removably coupled to the chassis 200 as a module unit by corresponding drive wheel module coupling interfaces 3072 and 3073. . The caster wheel module 250M has caster wheels 250A and 250B that are removably coupled to the chassis 200 on a module basis through corresponding caster wheel module coupling interfaces 2074 and 3075. The payload support module 210M has a payload support contact surface 210BS that is removably coupled to the chassis 200 in module units by corresponding payload support module coupling interfaces 3070 and 3071.

Referring again to FIG. 2 , the autonomous guided vehicle 110 also includes a case handling assembly or payload support 210 configured to handle cases/payloads carried by the autonomous guided vehicle 110 . The case handling assembly 210 may be provided as a payload support module 210M and is removably connected to and supported by the chassis 200 (e.g., by mechanical fasteners). The case handling assembly 210 is connected to at least any suitable payload support contact surface or bed 210B on which payloads are positioned for transport, and/or a frame, to support the payload(s) to and from frame 200. ) (e.g., autonomous delivery vehicle 110 and any suitable payload holding location, such as any suitable payload storage location, shelf of lift modules 150A, 150B, and/or any other suitable and any suitable transfer arm 210A configured for transfer of payload(s) between payload holding locations. The delivery arm 210A is configured to extend laterally (LAT) and extend vertically (VER) to transport payloads to and from the payload bed 210. Examples of suitable payload beds 210B and transfer arms 210A and/or autonomous delivery vehicles to which aspects of the disclosed embodiment may be applied are published in the publication titled “Automated Bot with Transfer Arm” on July 26, 2012. U.S. Pre-grant Publication No. 2012/0189416 (U.S. Patent Application No. 13/326,952, filed December 15, 2011); U.S. Patent No. 7591630, entitled “Materials-Handling System Using Autonomous Transfer and Transport Vehicles,” issued September 22, 2009; U.S. Patent No. 7991505, entitled “Materials-Handling System Using Autonomous Transfer and Transport Vehicles,” issued August 2, 2011; U.S. Patent No. 9561905, entitled “Autonomous Transport Vehicle,” issued February 7, 2017; U.S. Patent No. 9082112, entitled “Autonomous Transport Vehicle Charging System,” issued July 14, 2015; U.S. Patent No. 9850079, entitled “Storage and Retrieval System Transport Vehicle,” issued December 26, 2017; U.S. Patent No. 9187244, entitled “Bot Payload Alignment and Sensing,” issued November 17, 2015; U.S. Patent No. 9499338, entitled “Automated Bot Transfer Arm Drive System,” issued November 22, 2016; U.S. Patent No. 8965619, entitled “Bot Having High Speed Stability,” issued February 24, 2015; U.S. Patent No. 9008884, entitled “Bot Position Sensing,” issued April 14, 2015; U.S. Patent No. 8425173, entitled “Autonomous Transports for Storage and Retrieval Systems,” issued April 23, 2013; and U.S. Patent No. 8696010, entitled “ Suspension System for Autonomous Transports,” issued April 15, 2014, the disclosures of which are incorporated herein by reference in their entirety.

2 and 2A , as described in more detail herein, the chassis 200 is positioned adjacent the opposite end corners 200E1C1, 200E1C2, 200E2C1, and 200E2C2 of the chassis 200. A transverse surface of the storage structure level 130 of the storage and retrieval system 100, on which the autonomous transport vehicle 110 is mounted and the autonomous transport vehicle 100 is disposed, comprising traveling wheels supported on the driving wheels ( TS). The running wheels 250, 260 include at least one drive wheel 260A, 260B and at least one idler or caster wheel 250A, 250B that supports the chassis 200 from the transverse surface TS. For example, one or more idler wheels 250A, 250B (e.g., a pair of caster wheels 250A, 250B are shown in the figures for illustrative purposes) adjacent front end 200E1. disposed, one or more drive wheels 260A, 260B (e.g., a pair of drive wheels 260A, 260B are shown in the figures for illustrative purposes) adjacent the rear end 200E2. are placed accordingly.

As described herein, the travel wheels 250, 260 and chassis 200 combine to achieve a low profile height (LPH: low profile height (FIG. 2C), wherein the chassis height (200H) and the driving wheel height (e.g., one or more of the driving wheel heights (250H, 260H)) are at least partially (over the same range) (coextensive)) overlaps the payload support contact surface 210BS of the payload support 210B (a payload, e.g., a case unit CU, placed on the payload support 210B) is in contact with this. seated on surface 210BS) is nested within (e.g., between the travel wheels and within the height of at least one of the travel wheels) the travel wheels 250, 260 (see FIG. 2C). . Here, the payload support contact surface 210BS is disposed on the top portion of chassis 200. The payload support contact surface 210BS may be disposed at a height LPH2 from the transverse surface TS, substantially equal to the low profile height LPH, although in other embodiments the height LPH2 is still Nested within wheels 250, 260 may be greater than the low profile height (LPH) (see FIG. 2C).

With continued reference to Figure 2, the frame 200 includes at least one idler wheels 250 (also referred to as casters or caster wheels) mounted on the frame and disposed adjacent the front end 200E1. The frame also includes at least two independently driven drive wheels 260 mounted on the frame and disposed adjacent the rear end 200E2. In other aspects, the position of the at least one idler wheel 250 and the drive wheels 260 may be reversed (e.g., the drive wheels 260 are disposed at the front end 200E1 and the idler wheels 250 is disposed at the rear end 200E2). Note that in some aspects, the autonomous guided vehicle 110 is configured to move with the front end 200E1 leading the direction of movement or the rear end 200E2 leading the direction of movement. In one aspect, idler wheels 250A, 250B (substantially similar to idler wheel 250 described herein) are located at respective front corners of frame 200 at front end 200E1, and drive wheels Wheels 260A, 260B (substantially similar to drive wheels 260 described herein) are located at respective rear corners of frame 200 at rear end 200E2 (e.g., support wheels Located at each of the four corners 200E1C1, 200E1C2, 200E2C1, 200E2C2 of frame 200 - see FIG. 2A), whereby autonomous guided vehicle 110 is positioned on transfer deck(s) 130B of storage structure 130. ) and the picking passages (130A) are stably crossed. Here, the caster wheel(s) 250A, 250B and drive wheel(s) 260A, 260B roll on rolling surface 395 to cause autonomous guided vehicle 110 to traverse over rolling surface 395.

2A, 2B, 2C, 3A, and 3B, the chassis 200 may meet different physical requirements and/or autonomous guided vehicles 100, as referred to herein. 100 Multiple different selectable chassis for use in different storage and retrieval systems with different operational requirements (e.g., suspension travel, case lift height, ground cleanliness, automated charging configuration, etc.) A selection of chassis components from the components is a space frame 200S with a modular configuration/structure to configure and/or reconfigure the autonomous guided vehicle 110 for one or more of the case transfer tasks. The modular configuration of the chassis 200 also facilitates modular repair and/or maintenance of the autonomous guided vehicle 110 to reduce downtime (i.e., increase service time) of the autonomous guided vehicle 110. do. The space frame 200S allows the chassis 200 to have predetermined stiffness characteristics such that it is substantially rigid and provides a minimum low profile height (LPH) from the transverse surface TS to the top 200T of the chassis 200. It is composed to have shape and form. Examples of predetermined rigidity characteristics include U.S. Provisional Patent Application No. 63/213,589, filed June 22, 2021, entitled “Autonomous Transport Vehicle with Synergistic Vehicle Dynamic Response” (Attorney Docket No. 1127P015753) -US(-#2)), the disclosure of which is incorporated herein by reference in its entirety), bot traverse transient loads, operation of transfer arm/end effector 210A static and dynamic loads generated by and predetermined transients of chassis/payload support contact surface 210BS from one or more of loading/unloading and transfer of payload to/from payload bed 21B. Including, but not limited to, generating a transient response. The space frame 200S configuration has predetermined stiffness characteristics (with respect to applied loads) and a minimum weight of the chassis 200 from the transverse surface TS of the chassis 200 to the top 200T of the chassis 200. Addresses both low profile height (LPH). As described herein, the chassis 200 has an optionally variable configuration selectable from different configurations, each having different chassis form factors (e.g., optionally variable lengths and/or widths). . The predetermined stiffness properties include the torsional stiffness of the space frame 200S along the longitudinal axis (e.g., the twist of the chassis about the longitudinal axis), and the space frame 200S along the lateral direction (e.g., side to side). a bending stiffness of 200S, and a bending stiffness of space frame 200S along the longitudinal direction (e.g., from front to back). The predetermined stiffness characteristics result in a deflection to the payload carried by vehicle 110, which may be negligible for a given payload weight (e.g., a payload of up to approximately 60 lbs or more). Can not. The deflection is negligible/non-discernible for the seating of the payload across the contact surface between the payload bed (or delivery arm) of the vehicle 110 and the payload, so that the payload is subject to movement and/or movement of the vehicle 110. or maintains substantial contact with the contact surface throughout the range of motion.

3A and 3B, the chassis 200 includes longitudinal hollow section beams (longitudinal hollow section beams) arranged to form longitudinally extending sides 200SS1 and 200SS2 of the space frame 200S. 3010). The chassis 200 also has a front lateral beam or crossmember 3000 and a rear lateral beam or crossmember 3050, respectively, that close opposing ends 200E1 and 200E2 of the space frame 200S. Includes. As described herein, at least one of the longitudinal hollow section beam 3010, the front lateral beam 3000, and the back lateral beam 3050 is a plurality of different optional beams each having different predetermined mechanical properties. Selectable from longitudinal hollow section beams 3010A-3010n, front lateral beams 3010A-3010n, and rear lateral beams 3050A-3050n, respectively, which are interchangeable with each other. The different predetermined mechanical properties include, but are not limited to, material, cross-section, etc. wherein longitudinal hollow section beams 3010A-3010n, front lateral beams 3010A-3010n, and rear lateral beams 3050A-3050n are formed from a plurality of different, optionally interchangeable longitudinal hollow section beams 3010A-3010n, respectively. The selection of at least one of the section beams 3010, front lateral beams 3000, and rear lateral beams 3050 determines the selected variable configuration of chassis 200.

In one or more aspects, the chassis includes a transfer arm 210A laterally extending/retracted relative to the payload support 210B, wherein the transfer arm 210A extends any suitable distance by any suitable distance. The transfer arm 210A is positioned above/apart from the chassis 200 when the transfer arm 210A is extended/retracted. The delivery arm 210A may be provided as part of a payload support module 210M as described herein. In some aspects, the payload support 210B and delivery arm 210A include at least one payload support stanchion module 211, 212 (payload support stanchion module) as described herein. is coupled to (also referred to as), and in some aspects, the payload support rests 211, 212 are configured to move one or more of the payload support 21B and the delivery arm 210A in the vertical direction (VER). It is composed. In other aspects, the payload support 210B does not have an actuated delivery arm 210A (and, although in some aspects vertical movement may be provided, the payload support rests 211, 212 It may be a static payload support (210SPS) (FIG. 2C) (without vertical movement provided by 210SPS). In some aspects, the payload support pedestal modules 211 and 212 may be provided as part of the payload support module 210M or may be provided as separate modules to which the payload support module 210M is coupled.

The front lateral beam 3000 and the rear lateral beam 3000 extend in the lateral direction (LAT). The longitudinal hollow section beam 3010 extends in the longitudinal direction (LON). The longitudinal hollow section beams 3010 are substantially similar to each other by reorienting the longitudinal hollow section beams 3010 about their respective longitudinal axes (RAX) (e.g., by rotating them approximately 180 degrees). ) Either longitudinal hollow section beam 3010 can be installed on both sides of the autonomous guided vehicle. However, in other aspects, the longitudinal hollow section beam 3010 may be configured differently depending on which side of the autonomous guided vehicle 110 the longitudinal hollow section beams 3010 are installed. Each longitudinal hollow section beam 3010 includes a first end 3010E1 configured to be coupled to the front lateral beam 3000 in any suitable manner (e.g., a mechanical fastener). The first end 3010E1 includes at least one reference surface 3091 configured to rest against corresponding reference surfaces 3092A, 3092B of the front lateral beam 3000. Each longitudinal hollow section beam 3010 includes a second end 3010E2 configured to be coupled to the rear lateral beam 3050 in any suitable manner (e.g., a mechanical fastener). Each second end 3010E2 has at least one reference surface 3093 configured to rest on a corresponding reference surface 3094A, 3094B of the rear lateral beam 3050. The longitudinal distance 3010 between the reference surfaces 3091 and 3093 of each longitudinal hollow section beam is such that the front lateral beam 3000 and the back lateral beam 3050 are longitudinally hollow section beams. Coupled to the section beams 3010, for example to form a chassis 3099 having a longitudinal length 3099L and a lateral width 3099W, the front lateral beam 3000 and the rear lateral beam Components of beam 3050 (e.g., sensors, actuators, etc.) have a known position/space relationship to each other. The chassis 3099 is shown in FIG. 3B without sub-components (eg, wheels, electronics, etc.) for clarity. In some aspects, the longitudinal hollow section beam 3010 has an identifying mark that informs the controller 1220 of the length (between reference surfaces 3091 and 3093) of each longitudinal hollow section beam 3010. (including radio frequency identification tags, etc.). As described herein, the identification indicia may be used by a controller of autonomous guided vehicle 110 to implement plug and play position/space relationships between autonomous guided vehicle components by controller 1220. 1220) are read by suitable sensors. In other aspects, the length (between reference surfaces 3091, 3093) of each longitudinal hollow section beam 3010 can be adjusted manually by controller 1220 via any suitable user interface of autonomous guided vehicle 110. ) can be entered.

In one or more aspects, the length 3099L and/or width 3099W of the chassis 3099 can be varied from a number of different lengths and/or widths to expand or reduce the payload capacity of the autonomous guided vehicle 110. Selection is possible (e.g. selection of different longitudinal hollow section beams 3010A-3010n with different lengths LR1-LRn and/or different front surfaces with different widths CW1-CWn, DW1-DWn). and selection of rear lateral beams (3000A-3000n, 3050A-3050n). For example, the length 3099L may be increased or decreased to the maximum length of case units handled by, for example, autonomous guided vehicle 110. Likewise, the width 3099W is increased or decreased depending, for example, on the maximum width of case units handled by autonomous guided vehicle 110. The length 3099L and/or width 3099W may also vary, for example, from structural size constraints imposed on the autonomous guided vehicle by the structure of the storage and retrieval system 100 (e.g., picking aisle width, rotation radius, etc.), the driving qualities of autonomous guided vehicles (e.g., longer wheel bases reduce jostling of transported goods), and conveyance speed (e.g., wider wheels track when turning). It may be increased or decreased to increase the wheel base (WB) and/or wheel track (WT) (see FIG. 4) according to one or more of the following (increasing stability). In other aspects, the length 3099L and/or width 3099W may be increased or decreased for any suitable reason. The length 3099L of the chassis 3099 is comprised of a plurality of different longitudinal hollow section beams 3010A-3010n, each having a length LR1-LRn, where "n" is an integer representing the maximum number for selection. ) is selected through selection.

The width 3099W of the chassis 3099 is divided into a plurality of different front lateral beams 3000A-3000n each having a width CW1-CWn and a plurality of different rear lateral beams 3000A-3000n each having a width DW1-DWn. The selection is made through selection of beams 3050A-3050n. In some aspects, the front and back lateral beams 3000, 3050, respectively, are positioned between reference surfaces 3072D, 3073D or 3074D, 3075D - FIG. 3A) of the front and back lateral beams 3000, 3050. At least includes an identification mark (radio frequency identification mark, etc.) that informs the controller 1220 of the width. The identifying indicia is used by a controller of autonomous guided vehicle 110 to implement plug and play position/space relationships between autonomous guided vehicle components by controller 1220, as described herein. 1220 is read by suitable sensors. In other aspects, the width (between reference surfaces 3072D, 3073D or 3074D, 3075D) of each of the longitudinal hollow section beams 3010 can be adjusted manually through any suitable user interface of autonomous guided vehicle 110. can be input to the controller 1220.

The rear lateral beams 3050A-3050n are shown here to be equipped with drive wheels 260A, 260B, but in one or more aspects the drive wheels 260A, 260B are configured with rear lateral beams 3050A-3050n. Can be installed on the rear lateral beams 3050A-3050n as drive wheel modules 260M before joining 3050n) to longitudinal hollow section beam 3010. In other aspects, the drive wheels 260A, 260B may be configured to form the rear lateral beams 3050A-3050n as drive wheel modules 260M after coupling the rear lateral beams 3050A-3050n to the longitudinal hollow section beam 3010. 3050A-3050n).

In one or more aspects, the rear lateral beams 3050A-3050n are selected and selected from drive wheels 260 (which themselves are selected from a number of different modular drive wheel assemblies 260A1-260An, 260B1-260Bn). The drive wheel module (260M) may be provided as sub-assemblies installed on a possible modular rear lateral beam assembly), electronics (controller, electronic bus, wire harness, sensors, etc.), and auxiliary equipment (e.g. Available as selectable modular assemblies including charging interfaces, switches, interface ports, etc. For example, as shown in FIGS. 2A, 2B, and 3C, the rear lateral beam 3050 can be connected to any suitable power source 3035 (e.g., ultra-capacitor, battery, etc.), drive wheels ( 260), any suitable controller 1220 (and associated electronics), guide rollers 3052, one or more suitable navigation sensors 3067 (e.g., line following sensor, vision sensor, acoustic sensor, etc.) , and a charging interface 3033 (e.g., side-mounted bus bar contact pads 3033A and/or bottom-mounted charging pads 3033B). The longitudinal hollow section beam 3010 and/or payload support pedestals 211, 212 are mechanically coupled to a crossmember 3050 assembly as described herein.

The front lateral beam 3000, in one or more aspects, includes caster wheels 250 (which are themselves modular caster wheels selected from a number of different modular caster wheel assemblies 250A1-250An, 250B1-250Bn). may be provided as sub-assemblies). Provided as an assembly comprising one or more of electronic devices (e.g., sub-controllers, electronic buses, wire harnesses, motors, sensors, etc.), and/or auxiliary equipment (e.g., charging interfaces, switches, interface ports, etc.) . For example, as shown in FIGS. 2A, 2B, and 3C, the front lateral beam 3000 is connected to idler wheels 250 and a carrier 290 of payload support pedestals 211 and 212. a drive motor 290 for moving in direction VER (e.g., if payload support 210B is an actuated payload support), guide rollers 3051, and one or more suitable navigation sensors 3066. (e.g., line following sensors, vision sensors, acoustic sensors, etc.), and/or substantially plug and play components of the front side beam 3000 to at least the controller 1220 of the back side beam 3050. Includes any suitable couplings to facilitate play connection. In other aspects, the front lateral beam 3000 may also include a charging interface substantially similar to charging interface 3033. In still other aspects, the caster wheels 250, electronics, and/or auxiliary equipment allow the front lateral beam 3000 to support longitudinal hollow section beam 3010 and/or payload support pedestals ( After being coupled to 211, 212), it can be coupled to the front lateral beam 3000. Although the front lateral beam 3000 is described above as a module including caster wheels 250A, 250B, in one or more aspects the caster wheels 250A, 250B can be configured to extend the front lateral beam 3000 to a length It can be installed on the front lateral beam 3000 before or after being coupled to the directional hollow section beam 3010.

The at least one payload support pedestal 211, 212 is coupled to the chassis 3099 so as to be removed from and installed on the chassis 3099 in a modular manner. 2A, 2B, one payload support pedestal 212 disposed at or adjacent to end 200E2 of chassis 200 and one payload support pedestal 212 disposed at or adjacent to end 200E1 of chassis 200. There is another payload support pedestal 211 disposed adjacently; However, in other aspects, there may be one payload support pedestal or more than two payload support pedestals. 2A, 2B, 3A, and 3B, the payload support pedestals are substantially similar to each other, whereby payload support pedestal 212 is coupled to chassis 3099 at or adjacent to end 200E1. may be, and the payload support pedestal 211 may be coupled to the chassis 3099 at or adjacent to the end 200E2. In one or more aspects, rotation of the payload support pedestals about their respective (vertical) axis TAX facilitates placement of the payload support pedestals 211, 212 at either of the ends 200E1, 200E2. Let's do it. The payload support pedestals 211 and 212 connect the payload support pedestals 211 and 212 to corresponding receptacles/interfaces of each front lateral beam 3000 and rear lateral beam 3050. It is coupled to the chassis 3099 by inserting it into the fields 3070 and 3071. The receptacles 3070, 3071 of the front lateral beam 3000 and rear lateral beam 3050 are connected to respective payload support pedestals 211, 212 (and their associated payload support contact surface 210BS). one of the reference surfaces 3091, 3093 to position the components (e.g., actuators, sensors, etc.) of the front lateral beam 3000 and back lateral beam 3050 at a known predetermined position. Form reference surfaces that are in a known spatial relationship to the ideal. As can be appreciated, the receptacles 3070, 3071 position the payload support contact surface 210BS at the height LPH2 described herein. The receptacles 3070 and 3071 are configured such that the payload support pedestals 211 and 212 extend substantially parallel to each other in the lateral direction (LAT) and the payload support pedestals 211 and 212 extend in the vertical direction (VER). It is configured to orient each payload support pedestal 211, 212 so that they extend substantially parallel to each other. The payload support braces 211, 212 are coupled to each one of the front lateral beam 3000 and the rear lateral beam 3050 in a removable manner, for example by mechanical fasteners; However, in other embodiments, the payload support braces 211, 212 are coupled to the longitudinal hollow section beam 3010 and act as additional frame crossmembers (e.g., to increase the torsional rigidity of the chassis 200). ) plays a role; In still other aspects, the payload support pedestals 211 and 212 are coupled to each of the front lateral beam 300 and rear lateral beam 3050 and to both the longitudinal hollow section beam 3010. do.

Each of the payload support pedestals 211, 212 is selectable from a number of different payload support pedestals 212A-212n having respective heights (TH1-THn) and widths (TW1-TWn), where: The widths TW1-TWn of the payload support pedestals 212 correspond to the widths of the multiple different front lateral beams 3000A-3000n and the multiple different rear lateral beams 3050A-3050n (and thus selected). The heights TH1-THn of the plurality of different payload support pedestals 212A-212n may, for example, be used to hold case units of the storage and retrieval system 100 where the autonomous guided vehicle 110 carries the case units. The locations/heights of the shelves are selected depending on the location.

The payload support pedestals 211, 212 are, in one or more aspects, provided as modular assemblies. For example, referring to FIGS. 2A, 2B, and 2C, each payload support pedestal includes a tower frame 300F. The tower frame 300F includes a base 305, vertical guides 306, 307, and a cross brace or strut 308. The carrier 290 extends laterally between the vertical guides 306 and 307 and is guided in vertical movement by the vertical guides 306 and 307. The carrier 290 may be coupled to the carrier by any suitable flexible transmission 330 (e.g., drive shaft, gear box, belt, chain, and/or cable and associated pulley/sprocket, etc.). It moves in the vertical direction (VER) between the base 305 and the strut 308 under the motive force of any suitable drive motor 390 coupled to the tower frame 300F. It is connected to the axle (PXL) of. In one aspect, the drive motor 390 is a rotation motor coupled to the carrier 290 via a flexible transmission 330; In other aspects, drive motor 390 may be a linear motor (e.g., any suitable electric, hydraulic, and/or pneumatic linear motor coupled to carrier 290 to move carrier 290 in direction VER). actuator). As described herein, the carrier 290 is coupled to and supports the payload support 210 and the delivery arm 210A of the payload support 210 for movement in direction VER.

2A, 2B, and 6, the payload support 210 is a modular unit/assembly (e.g., payload support module 210M) that includes at least a payload bed 210B. When the payload support 210 includes a static payload support 210SPS, the payload support 210 is (e.g., when the static payload support is received within receptacles 3070, 3071) ) substantially directly coupled to the chassis 200 in a manner similar to that described above for the payload support pedestals 211, 210, or (e.g., if the payload support pedestals do not include vertical operation) the payload It is statically coupled to the support stands (210, 211). In other aspects, the static payload support 210SPS may include payload support pedestals for vertical movement in direction VER in a manner substantially similar to that described herein with respect to the active payload support 210ACT. 211, 212). The static payload support 210SPS is configured for passive transfer of case units CU to and from the payload bed 210B. For example, the passive transfer, in one or more aspects, is to the payload bed 210B (e.g., lateral extension of the payload bed/arm to effect transfer of the payload) there is no). Passive delivery to the payload bed 210B may be achieved by lowering the payload bed to transfer the payload to the extended support (e.g., an extended support separate and distinct from the vehicle 11) that interfaces with the raised payload bed. It is carried out by an extendable slatted shelf (e.g., the payload bed is such that when the payload bed 210B is lowered, the extended support or a portion thereof supports the payload bed 210B (e.g. , are configured to pass in an interdigitated manner). Here, the raised payload bed can be positioned relative to the extended supports in any suitable manner, for example by transverse motion of the vehicle 110 in the direction LON along the picking aisle or transfer deck, so that the extension Possible supports may extend to intervene between the raised payload bed 210B and chassis 220 (where lowering the payload bed passively transfers the payload to the extended supports). In one or more aspects, the drive wheels of the vehicle 110 (in combination with rotation or yawing of the caster wheels) are configured to move the vehicle 110 in a lateral transverse motion (e.g., in direction LAT). It may be configured omnidirectional wheels. Here, the lateral transverse motion of the vehicle 110 is provided such that the raised payload bed 210B is positioned on a static support by at least a lateral transverse motion in the direction LAT of the vehicle 110 (i.e. The support is fixed in place and does not move), and the static support can intervene between the raised payload bed 210B and the chassis 200 (here, when the payload bed is lowered, the payload is moved to the extended support). passed passively). As will be appreciated, passive transfer of payload to the vehicle 110 may be accomplished in a manner opposite to that described above.

When the payload support 210 is an active payload support 210ACT (FIG. 6), the payload support 210 includes a delivery arm 210A. In this aspect, payload bed 210B is coupled to at least one payload support pedestal 211, 212. the at least one payload support pedestal is configured to move the payload bed 210B and/or the delivery arm 210A in direction VER; In other aspects, substantial vertical movement in direction VER of payload bed 210B and/or delivery arm 210A may not be provided. The delivery arm 210A is movably coupled to the payload bed 210B for lateral movement in direction LAT.

The payload bed 210B is a payload bed frame 210BF that forms a payload area in which case units (CU) carried by the bot 110 are placed for transport throughout the storage and retrieval system 100. ) includes. The payload bed frame 210BF includes longitudinal ends 210BE1 and 210BE2, each of which is coupled to a respective one of at least one payload support pedestal 211 and 212. Here, the at least one payload support pedestal 211, 212 includes a payload support pedestal 211 disposed at or adjacent to the front end 200E1 of the chassis 200, and a rear end of the chassis 200 ( It includes a payload support pedestal 212 disposed at or adjacent to 200E2). Here, each payload support pedestal 211, 212 includes a movable carrier 290, wherein each one of the longitudinal ends 210BE1, 210BE2 is equipped with any suitable fasteners, such as mechanical or chemical fasteners. (i.e., as the movable carrier 290 moves, the payload bed frame 210BF moves together with the movable carrier 290). The payload support 210 is coupled to and removed from the carriers 290 of the payload support pedestals 211 and 212 in any suitable manner, such as with any suitable mechanical fasteners.

As mentioned herein, the payload support 210 is a modular assembly selected from a number of different interchangeable payload support modules 610A-610n (e.g., payload support module 210M). (Note that while Figure 6 shows an active payload support (210ACT) assembly, different modular static payload supports (210SPS) may also be provided), each payload support module having a different predetermined configuration. Payload support module characteristics (e.g., active case delivery (payload bed with end effector/delivery arm), passive case delivery (payload bed without end effector/delivery arm operated as described herein); Lift capability, length, width, payload actuators of various sizes for different size payloads, etc.). The different payload support modules 610A-610n have a longitudinal length (CHL) and a lateral width (CHW) corresponding to the longitudinal length (3099L) and lateral width (3099W) of the chassis 3099 ( This is achieved through the selection of front lateral beams 3000A-3000n, rear lateral beams 3050A-3050n, longitudinal hollow section beams 3010A-3010n, and payload support pedestals 212A-212n) . In this way, one of the payload support modules 610A-610n is selected according to a predetermined chassis configuration for installation in the chassis 3099 in a modular manner (i.e., the selected payload support 210 is each is coupled to the carriers 290 without substantial modification to the payload support 210, payload support pedestals 211, 212, and chassis 3099). The different payload support modules 610A-610n also determine whether the automated guided vehicle 110 will be configured for active or passive transfer of case units (CUs) to and from the payload bed 210B. It can be selected depending on whether it will be done or not. In one or more aspects, the payload support pedestals 211, 212 form part of respective different interchangeable payload support modules 610A-610n, wherein the payload support pedestals 211 , 212) is pre-assembled to the longitudinal ends 210BE1, 210BE2 (see FIG. 6) of the payload bed frame 210BF to form a modular unit together with the payload support 210. Here, the modular combination of the payload support pedestals 211, 212 and the payload support 210 is selected from different interchangeable payload support modules 610A-610n and mounted on the chassis on a payload support module basis. Combined with (3099). .

The transfer arm 210A includes one or more fingers 210AF, each of which is cantilevered from a finger support rail 273 of the transfer arm 210A. Although three fingers 210AF1-210AF3 are shown for illustrative purposes only, in other embodiments there may be more or less than three fingers spaced apart from each other (at any suitable spacing) along the finger support rail 273. Please note that this can be done. The finger support rails 273 of the transfer arm 210A are movably coupled to the payload bed frame 210BF in any suitable manner to support the transfer arm 210A (finger support rails 273 and one or more fingers ( 210A1-210A3) included) moves in the direction (LAT) relative to the payload bed frame. Movement of the transfer arm 210A in the direction LAT extends one or more fingers 210AF to pick payloads to and from the payload bed 210B. retreat.

2A, 2B, 3A, 3C, and 4, as described above, the travel wheels 250, 260 include drive wheels 260A, 260B and idler wheels 250A, 250B. . The drive wheels 260A, 260B and idler wheels 250A, 250B each serve as modular components (e.g., drive wheel modules 260M and idler/caster wheel modules 250M). These are modular units that can be replaced with other selectable drive wheels 260 and idler wheels 250, and can be independently removed from the chassis 200 in a plug-and-play manner and attached to the chassis 200. Can be installed independently. For example, idler wheels 250A may each have different properties or characteristics (e.g., wheel diameter, ride height, wheel tread pattern, wheel material, powered (steerable) caster, non-powered (manual). ) a plurality of different idler wheels 250A1-250An having combinations of caster, suspension preload (which is preset to different levels prior to mounting to configure vehicle 110 for various payload capacities, etc.) You can select from. Idler wheels (250B) are similarly selectable. Drive wheels 260B each have different properties or characteristics (e.g., wheel diameter, ride height, wheel tread pattern, wheel material/coefficient of friction, motor horsepower, motor operating speed, suspension preload (which may be used to determine vehicle ( 110) can be selected from a number of different drive wheels (260B1-260Bn) having combinations of (preset to different levels prior to installation) to configure various payload capacities, etc.).

The idler wheels 250A, 250B are coupled to the front lateral beam 3000 at respective coupling interfaces 3074, 3075 in a removable manner, such as mechanical fasteners. Each of the coupling interfaces 3074, 3075 is connected to the sensors, actuators, etc. of the front and rear crossmembers 3000, 3050 (and components of the interchangeable payload support modules 610A-610n). Idler wheels 250A, 250B include reference surfaces 3074D, 3075D coupled to space frame 200S at known and repeatable locations. For example, reference surfaces 3074D, 3075D of space frame 200S may be coupled to and disengaged from space frame 200S in a plug-and-play manner so that idler wheels 250A, 250B can be coupled to and disengaged from space frame 200S in a plug-and-play manner. The mating reference surfaces 250DS of each idler wheel 250A, 250B relative to 200S (see FIG. 3A) are seated to determine their position.

The drive wheels 260A, 260B are coupled to the rear lateral beam 3000 at respective coupling interfaces 3072, 3073 in a removable manner, such as mechanical fasteners. Here, there are separate and distinct interfaces 3072, 3073 to individually distinct drive wheel modules 260M of each different drive wheel 260A, 260B of the pair of drive wheels. Each of the coupling interfaces 3072, 3073 is connected to the sensors, actuators, etc. of the front and rear crossmembers 3000, 3050 (and components of the interchangeable payload support modules 610A-610n). Drive wheels 260A, 260B include reference surfaces 3072D, 3073D coupled to space frame 200S at known and repeatable locations. For example, a known preset for the space frame 200S (see FIGS. 3A and 4) may be used so that the drive wheels 260A, 260B can be coupled to and detached from the space frame 200S in a plug-and-play manner. To position drive wheels 260A, 260B at a determined location, reference surfaces 3072D, 3073D of space frame 200S are mated to reference surfaces 260DS of each drive wheel 260A, 260B. ) and determine their location. Although the drive wheel module 260M is shown in FIG. 4 without suspension components, in other aspects the drive wheel module 260M may include at least a portion of the suspension system 280 (e.g., rear crossmember 3050). Note that it may include a shock absorber and control arm(s) mounted on a reference plate coupled to a shock absorber).

Here, the chassis 200 includes one or more idler wheels 250 disposed adjacent to the front end 200E1. In one aspect, idler wheels 250 are positioned adjacent each of the front corners of chassis 200, such that drive wheels 260 (drive wheels 310) are positioned adjacent each of the rear corners of chassis 200. arranged) in combination with the chassis 200 to stably traverse the transfer deck 130B and the picking passages 130A of the storage structure 130. Each idler wheel 250 includes any suitable non-powered/manual caster or powered caster, the powered caster being a caster pivot axis ( It is configured to actively rotate the wheel 610 in direction 690 around 691 (see FIG. 4). Each drive wheel 260 includes a drive unit 261 (see, e.g., Figure 4), which is supported on the chassis 200 by a respective independent suspension system 280 (see Figures 3C, 5A and 5B). ), each drive wheel 260 moves independently in the wheel movement direction (SUS) with respect to the chassis 200 and any other drive wheel(s) 260 coupled to the chassis 200. possible (e.g., driven independently by a respective drive motor of each drive unit).

As described herein, the drive wheels 260, idler wheels 250, and payload support 210 can be used with other selectable drive wheels 260, idler wheels 250, and payload supports. Modular components (e.g., drive wheel modules (260M), idler/caster wheel modules (250M), and payload support modules (210M). For example, the autonomous guided vehicle 110 may enable the controller 1220 to communicate with electronic components (e.g., sensors, motors, and other suitable sensor/actuated components) of the autonomous guided vehicle 110. and any suitable onboard communications backbone, such as a Controller Area Network (CAN), connecting. The controller area network includes modular drive wheels 260, modular idler wheels 250 (e.g., where the idler wheels include actuable components such as steering motors, locks, etc.), and modular drive wheels 260. modular drive wheels 260 such that each of the payload supports 210 is releasably connected to a controller area network (e.g., to allow their electronic components to communicate with the controller 1220) and to the controller area network; Upon connection of the modular idler wheels 250 and the modular payload support 210, include any suitable identification protocol (e.g., a digital signature) that is communicated to the controller 120 via the controller area network. , is composed. The identification protocol may include the type of sensors, motor specifications, actuator movement limitations (e.g., for lifting case units), and/or modular drive wheels 260 connected to the controller 1220 via a controller area network. ), modular idler wheels 250, and modular payload supports 210, and any other suitable operational specifications that implement each operation. The identification protocol also identifies where modular drive wheels 260, modular idler wheels 250, and modular payload supports 210 are coupled to the chassis, where controller 1220 each Based on the location of each reference surface of the coupling interfaces 3070, 3071, 3072, 3073, 3074, and 3075 and the data obtained from the modular components in the identification protocol, sensors, actuators, etc. of the modular components Decide on location. The controller 1220 may be configured to (e.g., via suitable non-transitory computer program code) from modular drive wheels 260, modular idler wheels 250, and/or modular payload support 210. Receive an identification protocol and actuate modular drive wheels 260, modular idler wheels 250, and/or modular payload support 210 based at least in part on operational data embodied within the identification protocol. It is configured to run.

2A-2C, 3A-3C, 6, and 7, an example method in accordance with aspects of the disclosed embodiments will be described. In this method, the autonomous guided vehicle 110 is provided with a chassis 200 (forming a space frame 200S), a payload support 210, and travel wheels 250, 260 (FIG. 7, Block 7700). As described herein, the travel wheels (250, 260) and the chassis (200) combine to form a low profile height (LPH) from the transverse surface (TS) to the top (200T) of the chassis (200), Here, the chassis height 200H and the driving wheel heights 250H, 260H at least partially overlap, and the payload support 210 is positioned within the driving wheels 260 (e.g., at a low profile height LPH). Nested between the travel wheels 250, 260 to be less than one or more of the wheel heights 250H, 260H. Corresponding electronic and/or mechanical component modules (e.g., drive wheel modules as described herein (e.g., at least one drive wheel module 260M and at least one caster wheel module 250M)) , payload support module 210M, control module 1220M, etc.) are space framed as modular units by predetermined modular coupling interfaces 3070, 3071, 3072, 3073, 3074, 3075 described herein. It is removably coupled to (200S) (FIG. 7, block 7710).

2A-2C, 3A-3C, 6, and 8, another example method in accordance with aspects of the disclosed embodiment will be described. In the method, the autonomous guided vehicle 110 is provided with a chassis bus (also referred to as a chassis) 200 (FIG. 8, block 8800), wherein the chassis bus 200 has a predetermined modular combination as described herein. It includes interfaces 3070, 3071, 3072, 3073, 3074, and 3075. Corresponding predetermined component modules of the autonomous guided vehicle 110 are removably coupled to the chassis bus 200 on a module basis (Figure 8, block 8810) such that the autonomous guided vehicle 110 has a modular structure. . Here, the predetermined component modules are: a payload having a payload support contact surface 210BS that is removably coupled to the chassis bus 200 on a module-by-module basis by corresponding payload support module coupling interfaces 3070, 3071; load support module (210M); a caster wheel module (250M) having caster wheels (250A, 250B) removably coupled to the chassis bus 200 in module units by corresponding caster wheel module coupling interfaces (3074, 3075); and a drive wheel module 260M having drive wheels 260A, 260B removably coupled to the chassis bus 200 in module units by corresponding drive wheel module coupling interfaces 3072, 3073; Contains at least one of

Referring again to FIG. 2 , the autonomous guided vehicle 100 includes a drive section 261D connected to a frame 200 . The drive section 261D includes at least one pair of traction drive wheels 260 (also referred to as drive wheels 260 - see drive wheels 260A, 260B) perched on either side of the drive section 261D. As described herein, the drive wheels 260 are fully independent suspensions 280 that couple each drive wheel 260A, 260B of at least one pair of drive wheels 260 to the frame 200. (also called a (fully) independent multi-link suspension system). At least one intermediate pivot link interposed between at least one drive wheel 260A, 260B and frame 200 (e.g., upper and lower frame links 310, 311 described herein) has a rolling surface 395 ) Throughout the traverse of at least one drive wheel 260A, 260B above, each rolling surface transient(s) 395T (see FIG. 10B , e.g., bump, rolling surface) At least one of the drive wheels 260A, 260B and the rolling surface 395 (autonomous guided vehicle moving surface 395) on the at least one drive wheel 260A, 260B (e.g. debris located on the surface, surface transitions such as transitions between the picking aisle and the transfer track, etc.) ) (also referred to as Note that it can be maintained for each caster wheel (250A, 250B) by ).

The fully independent suspension 280 of the drive wheel 260A is independent from the independent suspension 280 of the drive wheel 260B. Each fully independent suspension 280 of each drive wheel 260A, 260B is also independent from the fully independent suspension 780 (described herein) of at least one caster wheel 250A, 250B relative to each other. It is done. As described herein, the caster wheel(s) 250A, 250B and drive wheel(s) 260A, 260B and their respective fully independent suspensions 780, 280, as described herein, Frame 200 straddles either side of the integral payload support or bed 210B such that the payload seating surface 210AFS at the payload reference position (PDP) is positioned at a minimum distance (MIND) above the rolling surface 395. is placed in

The substantially steady state traction contact patch (CNTC) is configured to provide a predetermined contact area of at least one drive wheel 260A, 260B throughout the traverse of at least one traction drive wheel 260A, 260B above rolling surface 395. It is placed at the reference position (see Figure 9a). As an example, the predetermined reference location of the substantially steady state traction contact patch (CNTC) is located at the bottom of at least one traction drive wheel 260A, 260B (e.g., as influenced by suspension geometry) Designed for location. According to an exemplary embodiment, the substantially steady state traction contact patch (CNTC) is configured to cause at least one drive wheel (260A, 260B) to traverse over the rolling surface (395) transition (395T). At least one drive wheel 260A throughout a transient (e.g., a reactive short-term movement of a wheel implemented by the fully independent suspension 280 of the autonomous guided vehicle 110) of 260A, 260B. , 260B) is located at a predetermined reference position. The fully independent suspension 280 is also substantially independent of the transients of at least one drive wheel 260A, 260B due to the traversing of the at least one drive wheel 260A, 260B over rolling surface transients 395T. It is possible to independently implement a substantially steady state traction contact pad (CNTC) disposed at a predetermined reference position on at least one drive wheel 260A, 260B.

Additionally, as described herein, the fully independent suspension 280 includes at least one intermediate pivot link interposed between at least one drive wheel 260A, 260B and the frame 200, and the autonomous guided vehicle moves. A substantially linear (see FIGS. 9B and 10B) transient response for drive wheels 260A, 260B rolling over surface transient 395T of surface 395, with the wheels being linear throughout each transient. and configured to produce a direction of movement (SUS), wherein the linear direction of wheel movement (SUS) is substantially perpendicular to the main plane (MP) of frame 200 (see FIGS. 9B and 10B).

In one aspect, the drive unit 261 for each drive wheel 260 is mounted on the frame in any suitable manner (e.g., by means of a rigid coupling or a fully independent multi-link suspension system 280 for each). It is combined with (200). When each drive unit 261 is coupled to the frame 200 by its respective fully independent multi-link suspension system 280, each drive wheel 260 is coupled to the frame and any other drive wheel 260 coupled to the frame. It is possible to move independently in the direction of wheel movement (SUS) relative to the drive wheel(s) 260, which will be described in more detail herein. Here, each drive wheel 260 moves in the wheel movement direction (SUS) relative to the frame 200 independently of the movement of the other drive wheel(s) 260 in the wheel movement direction (SUS). Note that each drive unit 261 includes any suitable drive motor 261M and wheel 261W. Each of the drive motors 261M is coupled to each wheel 261W to rotate the autonomous transport vehicle 110 in order to propel it in the moving direction. Here, the motors 261M of the two drive wheels 260A, 260B may be operated simultaneously and at substantially the same rotational speed to propel the autonomous guided vehicle 110 in a substantially straight path of travel. In other aspects, the motors 261M of the two drive wheels 260A, 260B are used to propel the autonomous guided vehicle 110 along an arcuate path of travel or to pivot the autonomous guided vehicle about the vehicle pivot axis 293. It may be operated at different rotational speeds simultaneously (or at different times) to generate vehicle yaw to turn in direction 294. The vehicle pivot axis 293 may be located approximately midway between the two drive wheels 260A, 260B and at the origin 900 (see FIG. 31) of the autonomous guided vehicle 110 located on the axis of symmetry LAX. You can. As described above, the differential operation of the motors 261M of the respective drive wheels 260A, 260B to effect rotation and/or turning of the autonomous guided vehicle 110 is referred to herein as differential drive wheel steering, which , may be aided or supplemented by casting assistance of at least one caster wheel 250, according to the disclosed embodiment.

2, 9A, 9B, 5A, and 5B, in one aspect, for illustrative purposes only, reference is made to drive wheel 260B (note that drive wheel 260A is also substantially similar), each Independent multi-link suspension system 280 includes upper frame links 310, lower frame links 311, and biasing members 312 (referred to herein as shock absorbers for illustrative purposes). do. The upper frame link 310 has a first end 310E1 (FIG. 5A) pivotably coupled to the frame at the upper frame pivot axis 320. The upper frame link 310 also has a second end 310E2 (FIG. 5A) pivotally coupled to the motor housing 621MH. The lower frame link 311 has a first end 311E1 (FIG. 9B) pivotally coupled to the frame at the lower frame pivot axis 322. The lower frame link 311 also has a second end 311E2 (FIG. 9B) pivotally coupled to the motor housing 621MH about the lower motor pivot axis 323. Although upper frame link 310 and lower frame link 311 are each shown as a unitary unit, in other embodiments there may be more than one upper frame link 310 and/or more than one lower frame link 311. Note that there is The lower frame link 311 and the upper frame link 310 form a double wishbone suspension system or are similar thereto.

The distance 391U between the longitudinal axis LAX and the upper frame pivot axis 320 of the autonomous guided vehicle 110 is a different distance 391L between the longitudinal axis LAX and the lower frame pivot axis 322. may be substantially the same as The distance 399U (e.g., the length of the upper frame link 310) between the upper frame pivot axis 320 and the upper motor pivot axis 321 is the lower frame pivot axis 322 and the lower motor pivot axis ( 323) may be substantially equal to the other distance 399L (eg, the length of the lower frame link 311). The substantially equal distances 391U, 391L and the substantially equal distances 399U, 399L provide substantially camber-free movement of the drive wheel 260B in the direction of wheel movement SUS, where: “Camber” is the angle between the vertical axis of the wheel (WV) and the vertical axis of the vehicle (VV) when viewed from the front or rear of the vehicle (see Figures 9A and 9B). For example, comparing FIGS. 9A and 9B , with wheel 261W substantially in contact with autonomous vehicle moving surface 395 (e.g., at a substantially steady state traction contact patch (CNTC)), The wheels 261W are substantially perpendicular to the autonomous vehicle moving surface 395 (and their vertical axis WV is substantially parallel to the vehicle vertical axis VV). With the wheel 261W lifted any suitable distance 398 from the autonomous vehicle moving surface 395, the wheel 261W (shown in FIG. 9B ) is substantially in relation to the autonomous vehicle moving surface 395. (and the wheel's vertical axis (WV) remains substantially parallel to the vehicle's vertical axis (VV)) (i.e., the camber of the wheel does not change even if the wheel moves in the direction of wheel movement (SUS)) ). In other aspects, the distances 399U, 399L, 391U, 391L may be any suitable distance that results in substantially camber-free movement of the drive wheel 260B in the direction of wheel movement SUS.

The wheels 261W are biased toward the autonomous vehicle moving surface 395 by shock absorbers 312 . The first end 312E1 of the shock absorber 312 is pivotally coupled to the frame 200 about the shock absorber pivot axis 366, and the second end 312E2 of the shock absorber 312 is, e.g. For example, it is connected to the lower frame link 311 by a connecting link 311C. The employment of the shock absorber 312 is exemplary, and in other embodiments any suitable biasing member, such as a torsion bar, may be connected to bias the wheel 261W as described herein. It should be understood that link 311C may be coupled. In one aspect, the connecting link 311C is formed integrally with the lower frame link 311 or is connected to the lower frame link 311 so that the angle α between the lower frame link 311 and the connecting link 311C is substantially constant and does not change. It is coupled to the frame link 311. The connecting link 311C extends from the lower frame link 311 such that the free end of the connecting link 311C is pivotally coupled to the second end of the shock absorber 312 about the connecting link pivot axis 325. . In this way, when the wheel 261W moves in the direction of wheel movement SUS, the lower frame link pivots about the lower frame pivot axis 322 so that the connecting link compresses/extends the shock absorber 312. By pushing in direction 376 , the movement of wheels 261W in the direction of wheel movement SUS is attenuated by shock absorbers 312 and the shock absorbers 312 cause the wheels to move relative to the autonomous vehicle moving surface 395 . Be biased. 5A and 5B, the shock absorber 312 is positioned in a substantially horizontal direction substantially transverse to the longitudinal axis LAX (e.g., substantially parallel to the autonomous vehicle movement surface 395). or substantially perpendicular to the direction of the direction of articulated wheel movement (SUS) provided by the upper and lower frame links 310, 311. In this aspect, the angle β (FIG. 5A) of the longitudinal axis 312 It may range up to an angle greater than approximately 45° relative to the axis VV.

Although the shock absorber 312 is described as being coupled to the lower frame link 311, in other embodiments the shock absorber 312 may be positioned closer to the bottom of the frame 200 (e.g. , may be coupled to the upper frame link 310 in a manner substantially similar to that described above by moving (adjacent to the autonomous vehicle movement surface 395). In still other aspects, such as increasing the deflection on wheels 261W depending on the weight of the payload carried by autonomous guided vehicle 100 on both upper frame link 310 and lower frame link 311. Each damper may be coupled in a manner substantially similar to that described above. The shock absorber 312 may be a hydraulically damped coil for shock, a gas spring, an undamped coil for shock, a damper with an internal spring, or any other suitable shock absorber. Additionally, although the shock absorber 312 is shown as a unit that includes both a damper 312D and a spring 312S (see FIG. 5A), in other embodiments the shock absorber 312 is separate and distinct from the spring. It may include a damper, wherein the spring and damper are coupled to the frame and lower frame link 311 independently of each other (e.g., in a spatial relationship such as side-by-side or one above the other rather than in-line relationship). .

2, 10A, 10B, and 10C, in one aspect, for illustrative purposes only, reference is made to drive wheel 260A (note that drive wheel 260B is substantially similar), and drive wheel 260 ) is coupled to the frame 200 by an independent multi-link suspension system 280 substantially similar to that described above with respect to FIGS. 5A, 5B, 9A, 9D. However, in this aspect, shock absorber 312 is disposed in a substantially vertical orientation rather than a substantially horizontal orientation. In this aspect, the angle θ of the longitudinal axis 312 ) may range up to an angle of less than approximately 45°.

In this aspect, first end 312E1 of shock absorber 312 is coupled to frame 200 at shock absorber pivot axis 466. The shock absorber pivot axis 466 is disposed adjacent or coaxial with the upper frame pivot axis 320 to orient the longitudinal axis 312X of the shock absorber 312 substantially vertically. It is arranged as (see Figure 10b). In this aspect, the connecting link 311C of the lower frame link 311 extends toward the wheel 261W such that it is disposed adjacent to or coaxial with the lower motor pivot axis 323, thereby extending the longitudinal axis of the shock absorber 312. (312X) has a substantially vertical orientation (see Figure 10b). In other aspects, the shock absorber pivot axes (466, 325) are configured to orient the shock absorber in a substantially vertical orientation while biasing the wheel (261W) toward the autonomous vehicle travel surface (395). 323, 321) may have any suitable spatial relationship.

2, 9a, 9b, 5a, 5b, 10a, 10b, and 10c, the height profile (WHT) of the drive wheels 260A, 260B and the intermediate pivot link of the fully independent suspension 280 are shown. The height profile (SHT) of the fully independent suspension 280 (see FIGS. 9A and 10A) defines the minimum height profile (MHP). Here, the minimum height profile (MHP) is the height profile at which the fully independent suspension 280 does not extend above the height profile WHT of each drive wheel 260A, 260B.

Referring now to FIGS. 2, 15A, 15B, each drive wheel 260A, 260B has a height profile or envelope (WHT) relative to the rolling surface 395. The height profile WHT is substantially the same for each drive wheel 260A, 260B. Here, the drive wheels 260A, 260B are positioned at a payload reference position defined by the case unit support surface 210AFS (also referred to herein as the payload seating surface) of the fingers 210AF of the delivery arm 210A. (PDP) is positioned so that it is at a minimum distance (MIND) above the cloud surface 395. Here, the minimum distance (MIND) at which the payload reference position (PDP) is located is determined by the structure of the autonomous guided vehicle 110 interposed between the fingers 210AF of the delivery arm 210A and the rolling surface 395. It is defined by the lowest position (e.g., relative to the rolling surface 395) of the case unit support surface 210AFS that is allowed. The lowest position (e.g., relative to the rolling surface 395) of the case unit support surface 210AFS allowed by the structure of the autonomous guided vehicle 110 is the minimum distance MIND and payload reference position PDP. ) is such that it extends within the height profile WHT of the traction drive wheels 260A, 260B (e.g., the minimum distance MIND is below the top or height of the drive wheels 260A, 260B). ). The payload reference position (PDP) is the fingers 210AF (also referred to as the end effector) of the delivery arm 210A (also known as the end effector) in a state in which the delivery arm 210A is retracted into the payload bed 210B and lowered to the lowest position. Note that it coincides with and is defined by the case unit support surface 210AFS (also referred to as the branches) (see FIG. 15A).

Referring now to FIGS. 2, 11A, 11B, 11C, and 11D, in one aspect, the autonomous guided vehicle 110 is equipped with one or more of the drive wheels 260A, 260B of an independent multi-link suspension system 280. and a suspension locking system 500 configured to stop movement (e.g., lock), for example, wherein the locking system 500 includes an independent multi- It is configured to lock one or more of the link suspension systems 280 in a predetermined position relative to the frame 200 . For example, in one aspect, the independent multi-link suspension system 280 of drive wheel 260A may be locked against movement by the locking device of suspension locking system 500 (described herein). The independent multi-link suspension system 280 of drive wheel 260B remains operable (and vice versa). In another aspect, the independent multi-link suspension system 280 of the two drive wheels 260A, 260B is immobilized by respective locking devices (described herein) of the suspension locking system 500, For example, it can be automatically locked by the controller 1220. Locking of the movement of one or more of the drive wheels 260A, 260B may, for example, compress a fully independent suspension on the side of the autonomous guided vehicle 110 from which the transfer arm 21A extends ( Due to the moment induced by the cantilever load about 110), the payload is transferred to and from the autonomous guided vehicle 110 by preventing rolling of the autonomous guided vehicle 110 about the longitudinal axis LAX. can facilitate the transmission of Here, the suspension can be automatically locked by a controller 1220 (e.g., by a command from the controller to effectuate operation of the lock) while transferring a load to and from the autonomous guided vehicle 110; , the autonomous transport vehicle may be automatically unlocked by the controller 1220 (e.g., by a command from the controller to effect release of the lock) while traversing the transfer deck 130B and the picking aisle 130A. there is. As an example, the controller 1220 may detect/detect extension and/or retraction of delivery arm 210A or any suitable sensor (e.g., delivery arm position sensor 888 (see FIGS. 8A, 8B, and 20) or Receive sensor signals from (or any other suitable sensor(s) configured to detect) and, based on the position of delivery arm 210A (as determined from the sensor signals), transfer arm 210A from frame 200. Automatic operation of the locking device/suspension locking system 500 of each fully independent suspension 280 with extension (e.g., extension from payload bed 210B and/or payload reference position (PDP)). Each fully independent suspension, with retraction of delivery arm 210A into frame 200 (e.g., retraction to payload bed 210B and/or payload reference position (PDP)). is configured to effect automatic release of the lock/suspension lock system (500) of (280).

For illustrative purposes, only the suspension locking system 500 will be described with respect to substantially vertically oriented shock absorbers; however, aspects of the suspension locking system 500 may be described herein for substantially horizontally oriented shock absorbers. It should be understood that the same applies to the absorber (see Figure 5a). The suspension locking system 500 includes a brake or locking device 510 at a shock absorber 312 for each drive wheel 260. When the brake 510 is engaged, movement (eg, extension and/or retraction) of each shock absorber 312 is prevented. When the brake 510 is released, the shock absorber 312 is free (e.g., not inhibited by the brake 510) to allow movement of each drive wheel 260 in the direction of wheel movement SUS. ) can be extended and retracted. The controller 1220 may, in one or more aspects, apply a brake to prevent movement of each shock absorber 312 upon extension of the transfer arm 210A to transfer case units to and from the payload bed 210B. It is configured to automatically operate (510). For example, automated guided vehicle 110 may be provided with any suitable sensors 888 (see FIG. 15A , e.g., motor current sensor, proximity sensor, etc.) that detect extension of transfer arm 210A. there is. The sensors 888 transmit sensor signals to the controller 1220, and based on the sensor signals, the controller 1220 operates the brake(s) 510 to cause the transfer arm extension to tilt the frame 200. /Does not substantially cause tipping (e.g., tilting due to compression of the fully independent suspension described herein due to cantilever loading of frame 200). In other aspects, the brake(s) 510 may be locked at any suitable time to effectuate any suitable autonomous guided vehicle 110 operation.

Referring to FIG. 10C, the shock absorber 312 includes a shock housing 312H, and the shock absorber 312 extends from the shock housing 312H to reciprocate with respect to the shock housing (or, depending on which end of the shock absorber is fixed, and vice versa), including the piston (312P). In this example, the piston 312P includes a first end 312E1 of the shock absorber 312 and the shock housing 312H includes a second end 312E2. As described above, first end 312E1 (and thus piston 312P) is coupled to frame 200 about shock absorber pivot axis 466, where shock absorber pivot axis 466 is coupled to frame 200. ) is maintained in a fixed (i.e. fixed, non-movable position) state. The second end 312E2 of the shock absorber 312 is coupled to the lower frame link 311 about the connecting link pivot axis 325, where the connecting link pivot axis 325 is the wheel 261W. When moving in the moving direction (SUS), it moves relative to the frame 200. As described in more detail below, the brake 510 is coupled to the shock housing 312H (e.g., a reciprocating portion of the shock absorber 312) to prevent movement of the shock housing 312H. , thereby preventing movement of each independent multi-link suspension 280. In other aspects, for example, when the piston 312P is reciprocating relative to the shock housing 312H (as in FIGS. 5A and 5B), the brake is applied to the piston to prevent movement of the shock housing 312H. (312P), thereby preventing movement of each independent multi-link suspension (280).

With continued reference to FIGS. 11A, 11B, 11C, and 11D, the brake 510 includes a frame 510F, a motor 550 (FIG. 11A), locking links 560, 561, and brake levers 570. , 571). The configuration of brake 510 shown is exemplary and may have any suitable configuration in other aspects. The motor 550 may be any suitable motor, including but not limited to a stepper motor, servo motor, linear actuator, etc. The motor 550 is coupled to frame 510F in any suitable manner, such as mechanical fasteners. A shaft collar 552 is coupled to the output shaft 551 of the motor 550 by friction or any suitable method, so that the output shaft 551 drives the rotation of the shaft collar 552. . The shaft collar includes eccentric locking link pivots 553 and 554, each of which has a respective locking link pivot axis 553X and 554X. Each locking link 560, 561 has a substantially “U” shaped configuration, comprising first ends 560E1, 561E1, second ends 560E2, 561E1, and respective first ends 560E1, 561E1. ) and base portions 560B, 561B connecting the respective second ends, wherein the first ends 560E1, 561E1 and the second ends 560E2, 561E2 are connected to each of the base portions 560B, 561B. ) and form a substantially “U” shaped configuration. In other aspects, the locking links 560, 561 can have any suitable configuration.

In one aspect, first end 560E1 of locking link 560 is coupled to eccentric locking link pivot 554 to pivot about locking link pivot axis 554X. The second end 560E2 of the locking link 560 is coupled to the first end 570E1 of the brake lever 570 around the first brake lever pivot axis 570X1, so that the brake lever 570 is a locking link ( 560). The second end 570E2 of the brake lever 570 is coupled to the frame 510F to pivot about the second brake lever pivot axis 570X2.

Similarly, the first end 561E1 of the locking link 561 is coupled to the eccentric locking link pivot 553 to pivot about the locking link pivot axis 553X. The second end 561E2 of the lock link 561 is coupled to the first end 571E1 of the brake lever 571 around the third brake lever pivot axis 571X1, so that the brake lever 571 is a lock link ( 561). The second end 571E2 of the brake lever 571 is coupled to the frame 510F to pivot about the fourth brake lever pivot axis 571X2. In other aspects, a linear actuator may extend between the pivot axes 570 Release.

Each of the brake levers 570 and 571 includes friction pads 570P and 571P arranged in opposing relationship to each other for gripping and releasing the shock housing 312H. As described above, the second ends 570E2 and 571E2 of the brake levers 570 and 571 have a gap 598 between the second brake lever pivot axis 571X2 and the fourth brake lever pivot axis 571X2. It is fixed and coupled to the frame 510F around one of the second brake lever pivot axis 570X2 and the fourth brake lever pivot axis 571X2 so as not to change. Rotation of the shaft collar 552 by the motor 550 causes eccentric rotation of the lock links 560 and 561, so that the lock links 560 and 561 are positioned at the first position of each brake lever 570 and 571. By pushing or pulling the ends (570E1, 571E1) (according to the rotation direction of the shaft collar 552), the distance between the first brake lever pivot axis 570X1 and the third brake lever pivot axis 571X1 (shaft collar (depending on the direction of rotation of 552)) to increase or decrease. For example, the brake 510 is shown in FIGS. 11B and 11C in a disengaged configuration where friction pads 570P and 571P are not in contact with shock housing 312H (i.e., each independent multi-link Suspension system 280 is freely movable). The brake is shown in FIG. 11D in a locked configuration where friction pads 570P, 571P are in contact with shock housing 312H (i.e., each independent multi-link suspension system 280 operates in a direction of wheel movement (SUS). ) is locked to stop wheel movement). In the unlocked configuration, the distance between the first brake lever pivot axis 570X1 and the third brake lever pivot axis 571X1 is distance 599R. In the locking configuration, the distance between first brake lever pivot axis 570X1 and third brake lever pivot axis 571X1 is distance 599C, where distance 599C is less than distance 599R.

To lock the brake 510 from the unlocked configuration, the shaft collar 552 is rotated in direction 580 (FIG. 11D) so that the locking links 560, 561 are positioned at the first end of the brake levers 570, 571. By moving the pads 570E1 and 571E1 toward each other, the distance between the first brake lever pivot axis 570 571P) is in contact with the impact housing (312H). For example, when shaft collar 552 is rotated in direction 580, locking link 560 moves first end 570E1 of brake lever 570 in direction 507, while locking link ( 561 moves the first end 571E1 of the brake lever 571 in the opposite direction 508.

To unlock the brake 510 from the locking configuration, the shaft collar 552 is rotated in direction 581 (FIG. 11B) so that the locking links 560, 561 are positioned in the first position of the brake levers 570, 571. By moving the ends 570E1 and 571E1 away from each other, the distance between the first brake lever pivot axis 570X1 and the third brake lever pivot axis 571 , 571P) does not contact the impact housing (312H). For example, when shaft collar 552 rotates in direction 581, locking link 561 moves first end 571E1 of brake lever 571 in direction 507, while locking link ( 560 moves the first end 570E1 of the brake lever 570 in the opposite direction 508.

As shown in FIG. 11D , the “U” shaped configuration of the locking links 560, 561 substantially allows the brake levers 570, 571 to be overloaded in a locking configuration without the assistance of force by the motor 550. -Provides over-center locking. For example, referring to FIGS. 11D and 11E where brake 510 is in a locked configuration, friction pads 570P, 571P are compressed against shock housing 312H, which is coupled to third brake lever pivot axis 571X1. A force F1 is applied by the brake lever 571 to the second end 561E2 of the locking link 561 at (a similar force is applied to the second end 561E2 of the locking link 560 by the brake lever 570 (applied to 560E2)). The force F1 applied to the locking link 561 eventually produces a force F2 at the locking link pivot axis 553X (a similar force is created at the locking link pivot axis 554X). As shown in FIG. 11E , the moment generated by force F2 about the axis of rotation 551 ), the forces F1, F2 may be substantially equal in magnitude and centered on the drive shaft 551/shaft collar 552 (e.g. For example, located on either side (i.e., over-center) of the axis of rotation 551X. The motor 550 provides sufficient torque to overcome over-center locking to move the brake levers 570, 571 between a locked and unlocked configuration.

As described above, the frame 200 includes one or more idler wheels 250 disposed adjacent to the front end 200E1. In one aspect, the idler wheels 250 are located adjacent each front corner of the frame 200 and are combined with drive wheels 310 disposed at each rear corner of the frame 200, thereby making the frame (200) 200 stably traverses the transfer deck 130B and the picking passage 130A of the storage structure 130. 2, 12A, and 12B, in one aspect, each idler wheel 250 includes any suitable caster 600. In one aspect, the caster 600 is a non-electric or manual caster 600P (see FIG. 2), where the wheels 610 of the caster 600P are responsive to changes in the direction of movement of the autonomous guided vehicle 110. In response, the caster passively pivots in direction 690 about the pivot axis 691. In other aspects, the caster 600 is a powered caster 600M configured to actively pivot the wheel 610 in a direction 690 about the caster pivot axis 691 (FIGS. 2, 12A, and 12B reference).

Regardless of whether the caster 600 is a manual caster 600P or an electric caster 600M, the caster 600 may include an articulated fork 740 suspension system as described herein. Although it can; In other aspects, the caster 600 may have no suspension (see FIGS. 14A and 14B). The articulated fork caster 600S combines with drive wheels 260 coupled to the frame by respective independent suspension systems 280 to convey storage structure 130 as described in more detail herein. Providing the autonomous guided vehicle 100 with independent suspension at all four corners of the frame 200 to effect stable traversing of the frame 200 along/on deck 130B and picking aisles 130A. do.

In one or more aspects where the casters 600 are powered casters 600M, each powered caster 600M has a frameless motor 670 (also referred to as a casting assistance motor). ), which is integrated within the caster frame 650 and includes a caster pivot shaft 630. The caster pivot shaft 630 is rotatably coupled to the caster frame 650 by any suitable bearings 666 and driven rotationally about an axis 691 by a frameless motor 670. The frameless motor 670 may be a servo motor, a stepper motor, or a controlled intermittent bi-directional motor of the articulated fork 740 (and the wheel 610 coupled to the articulated fork 740) about a pivot axis 691. It may be any other suitable type of motor configured to provide rotation.

As described herein, the castering auxiliary motor 670 includes at least one caster auxiliary motor 670 for imparting castering auxiliary torque to at least one caster wheel 250 that assists casting of the at least one caster wheel 250. It engages with the wheel (610). Here, the castering auxiliary motor 670 operates at each casting position of the caster wheel 250 (e.g., each rotational position of the wheel 610 with respect to each caster pivot axis 691). A bias force (BF) (FIG. 14B) is applied to the wheel 250. The biasing force (BF) is used to separate at least one caster wheel 250 from castering scrub (described herein) in a manner similar to the commanded casting assistance torque (τcd). The vehicle yaw generated by the casting resistance imparted to (e.g., torque imparted about the caster pivot axis 691) and the differential torque from the at least two independently driven drive wheels 260A, 260B. The resistance from the castering scrub imparted against the moment (e.g., the moment or torque created by the castering scrub acting about origin 900 and opposing the drive motion torque τd) is substantially nullified. - Substantially invalidate at least one of (see FIG. 31).

Each powered caster wheel 600M, as described in more detail herein, has at least a pivot axis to assist in effecting a change in direction of movement of the autonomous guided vehicle 1100 (e.g., to assist with differential steering). It is configured to actively pivot each wheel 610 (independently of the rotation of the other wheels of the other powered casters) in direction 690 about 691. The powered caster wheel(s) 600M. For example, if an autonomous guided vehicle uses only differential drive wheel steering with manual (e.g., non-electric) casters (i.e., referred to as differential drive wheel steering in conjunction with manual casters), Compared to conventional steering, it can provide faster steering response.The powered caster wheel(s) 600M can also be used in combination with differential drive wheel steering, differential drive wheel steering in parallel with manual casters. compared to autonomous (e.g., from rest (e.g., for zero-radius turn/turn of an autonomous guided vehicle about origin 900 or to initiate a precise trajectory from rest) or while moving). May provide less torque applied by the drive wheels to differentially steer the transport vehicle 110. Here, each of the powered caster wheel(s) 600M operates in one or more of a torque assist mode and a steering mode. In the torque assist mode, the powered caster wheel(s) 600M reduces the torque required by the drive wheels to differentially steer the autonomous guided vehicle 110 as mentioned above. In the steering mode, the powered caster wheel(s) 600M provide steering of the autonomous guided vehicle 110 substantially without differential drive wheel steering. The powered casters ( 600M) includes motors 670 for driving the rotation of each wheel 610 about each pivot axis 691, but the motor/caster is a wheel (670) about the pivot axis 691. When no motor torque is applied to rotate 610 , in one or more aspects, wheel 610 is free about its respective axis 691 (i.e., in a manner substantially similar to a manual/non-powered caster). Configured to pivot; In other aspects, the motor/caster biases the wheels 610 for casting about the pivot axis 691 and caster wheels 250 while the autonomous guided vehicle is in motion, as described herein. Note that it is configured to maintain a predetermined steady-state position (e.g., relative to the pivot axis and/or axis of symmetry (LAX)).

14A and 14B, each electric caster 600M includes a caster mounting housing 620 (also referred to herein as a caster housing) configured to accommodate a castering auxiliary motor 670. The castering auxiliary motor 670 is, in one or more aspects, a frameless motor 670F integrated within the caster housing 620. For example, the frameless motor 670F (also referred to as motor 670) is integrated within the caster frame 650 of the caster housing 620. However, in other aspects, the powered casters 600M may include any suitable motors for driving rotation of each wheel 610 about each pivot axis 691. The frameless motor 670 may be a servo motor, stepper motor, or any other suitable type of motor configured to provide controlled intermittent bi-directional rotation of the wheel 610 about the pivot axis 691. Typically, the frameless motor 670F includes a motor rotor 631 and a motor stator built into a mechanical assembly (e.g., a caster assembly) to transmit torque to drive rotation of the wheel 610 of the electric caster 600M. Includes (625). The motor stator 625 is coupled to the caster housing 620 (so as to be integrated with the caster housing 620). For example, the motor stator 625 is arranged to be in contact with and supported by the caster housing 620. The motor rotor 631 is disposed in contact with the caster pivot shaft 630, where the caster pivot shaft 630 pivotably couples at least one wheel 610 to the caster housing 620. Here, the motor rotor 631 is coupled to the caster pivot shaft 630 so as to be integrated with the caster pivot shaft 630. The caster pivot shaft 630 is rotatably coupled to the caster frame 650 of the caster housing 620 by any suitable bearing 666, wherein the caster housing 620 is connected to the caster pivot shaft 630. It accommodates at least a portion of the caster pivot shaft 630 and is driven to rotate about the axis 691 by a frameless motor 670. As described herein, wheel 610 is integral with caster pivot shaft 630 (see FIGS. 14A and 14B) in any suitable manner for rotation with caster pivot shaft 630 about axis 691. It is mounted on a wheel fork (640) or a wheel fork (640) coupled thereto. The caster wheel 610 is coupled to the wheel fork 640 around the rotation axis 692 of the wheel fork 640. The wheel fork 640 is coupled to the caster pivot shaft 630, or, in other aspects, is formed integrally with the caster pivot shaft 630 and forms a single unit about the pivot axis 691. rotates with

Caster 600 with articulated fork 740 is shown in FIGS. 13A and 13B (see also FIGS. 12A and 12B) as powered caster 600M for illustrative purposes only; However, in other aspects, caster 600 with articulated fork 740 may be the manual caster 600P described above. As mentioned above, the casters 600 (whether powered or manual), in combination with the drive wheels 260, provide the autonomous guided vehicle 100 with a four-wheel fully independent suspension (i.e., four corners of the frame 200). Provides independent suspension for each. The four-wheel fully independent suspension is provided at the front end 200E1 (and each corner of the front end 200E1) and the rear end 200E2 (and each corner of the rear end 200E2) of the autonomous guided vehicle 110. Configured for autonomous guided vehicle handling/vehicle drive dynamics with different/variable suspension geometries. The different/variable geometries may affect autonomous guided vehicle 110 handling/vehicle drive dynamics between each of the articulated fork casters 600S and the drive wheels 260 as well as within the wheel base (e.g. wheel compliance (i.e., wheel compliance between front end 200E1 and rear end 200E2), wheel track (wheel compliance, e.g., to rolling or vehicle moving surface 395 - see FIGS. 9A and 9B) wheel compliance within the track (i.e., wheel compliance between sides 200LS1, 200LS2 - see Figure 2), and diagonal wheel compliance (i.e., wheel compliance between opposing front and rear corners FC1, RC2). and wheel compliance between opposing front and rear corners (FC2, RC1 - see Figure 2). The articulated fork casters 200S combine with drive wheels 260 to allow the autonomous guided vehicle 110 to pick and place case units CU and traverse the rolling surface 390. (110) Provides and maintains a stable platform.

Referring to FIG. 14B, to detect the rotation angle of each wheel 610 about the pivot axis 691, each motorized caster 600M is equipped with any suitable sensor, such as a rotary encoder 682 or other suitable sensor. Includes a feedback device 681. For example, rotary encoder track 682T may be configured to rotate caster pivot shaft 630 in any suitable manner (such that it rotates as a unit about axis 691 with caster pivot shaft 630 and caster wheel 610). ) can be attached to (or integrated with). Sensor 682S configured to read the encoder track may be mounted on frame 650 at a fixed location on frame 650. The feedback device 681 provides a predetermined (e.g., home, zero, or starting position) wheel orientation about axis 691, a direction of wheel rotation about axis 691, and It is coupled to one or more of the controller 1220 and the electronic motor drive 688 to provide feedback signals that implement a rotation speed around the center. The feedback device 681 is configured to determine one or more of the absolute and incremental positions of the caster pivot shaft 630 (and thus the wheel 610) about axis 691.

The motor 670 of the electric caster 600M is variable along the pivot axis 691 (e.g., under the control of a controller 1220 - see FIG. 1 for example) to rotate the caster wheel 610. It is configured to apply positive torque. Here, each electric caster 600M is driven by an electronic motor drive 688, which uses a controller 1220 (FIG. 1 and 33) and configured to receive a motor current/torque command (e.g., for the motor 670) and implement the motor current/torque command. The electronic motor drive 688 provides periodically updated motor current/torque (e.g., an actual control of the motor current commanded by the controller 1220 and processed by the electronic motor drive 688 on a millisecond basis). It is configured to receive real-time updates).

Here, each motor 670 operates (e.g., when the autonomous guided vehicle is stationary or does not traverse the moving surface 394 of transfer deck 130B, including rails 800 within picking aisle 130A). state) is sized to provide a sufficient amount of torque to rotate each caster wheel 610 in a predetermined direction about the axis 691, and this sufficient amount of torque is provided to the caster wheels 610 and It is consistent with the amount of traction/friction between moving surfaces 395. The controller 1220 applies a casting assistance torque (τc) (torque (τc) to at least one wheel 610 by the motor 670 when the autonomous guided vehicle 110 is at rest or moving. ), which biases at least one wheel 610 in a castering direction to a predetermined skew orientation (as described herein with respect to FIGS. 31 and 32). It is composed.

As an example, referring also to FIG. 30, the autonomous transport vehicle 110 can move in direction 810 along the rail 800 within the picking aisle 130A, and moves to move in direction 820. The direction can be reversed. The controller 1220 moves each wheel 610 from the sides 800S of the picking passage 130A in order to prevent the wheels 610 from being caught in the sides 800S of the rails 800. It is configured to command the electronic motor drive 688 for each electric caster 600M to rotate in the away direction 830, 831 (i.e., to rotate the wheels toward the center of the picking passage 130A). Here, when the autonomous transport vehicle 110 changes the direction of movement within the picking passage 130A, the motor of the electric caster wheel 600M causes the trail of the caster wheel 610 to flip or rotate approximately 180 degrees. Torque is applied by (670). The torque is applied by motor 670 to caster pivot shaft 630 (and thus to wheel 610) in directions 830 and 831, such that wheel 610 moves in picking passage 130A as described above. ) to rotate inward toward the center. The wheel 610 behaves in a manner similar to an inverted pendulum and follows the picking passage 130A to initiate an inward rotation of the caster wheel 610 about the caster pivot axis 691. Note that in combination with the traversing autonomous guided vehicle 110, only minimal bias (e.g., amount of torque) is required from the motor 670. Here, caster locking mechanisms and special autonomous guided vehicle behaviors (e.g. deceleration to unlock caster wheels, reduction of preload, caster wheel wear management) are virtually eliminated.

As another example, referring to FIG. 32 , when autonomous guided vehicle 110 is placed on a non-deterministic surface, such as a flat, open transfer deck 130B, autonomous guided vehicle 110 may come to a stop. state (i.e., not traversing in the direction of travel), where the autonomous guided vehicle begins a turn from rest to pivot about the origin 900. In other aspects, autonomous guided vehicle 110 is moving along transfer deck 130B and begins turning while moving. Here, in one or more aspects, the controller 1220 is communicatively coupled to the casting assistance motor 670 and causes the autonomous guided vehicle 110 to be placed in a predetermined kinematic state (e.g., vehicle Trajectory 10667 - FIG. 32 - This trajectory defines the movement of autonomous guided vehicle 110 along a given path) from at least two independently driven drive wheels 260A, 260B. It is configured to execute through a combination of vehicle yaw generated by differential torque and casting assistance of at least one caster wheel (250A, 250B). In one or more aspects, the controller 1220 is communicatively coupled to a castering auxiliary motor 670, the vehicle being generated by differential torque from at least two independently driven drive wheels 260A, 260B. Through the casting assistance torque τc from the castering assistance motor 670, which assists the casting input from vehicle yaw, the autonomous guided vehicle 110 is placed in a predetermined kinematic state (e.g., vehicle It is configured to implement substantially scrub-free casting of the at least one caster wheel 250 in a moving state. In one or more aspects, the controller 1220 is communicatively coupled to a castering auxiliary motor 670, the vehicle being generated by differential torque from at least two independently driven drive wheels 260A, 260B. Through a combination of vehicle yaw and casting auxiliary torque τc from the castering auxiliary motor 670, the autonomous guided vehicle 110 is moving in a predetermined kinematic state while at least one caster wheel ( 250), wherein the casting assistance torque τc is developed to substantially nullify the resistance from the castering scrub at each predetermined kinematic state of the autonomous guided vehicle 110. For example, the controller 1220 may apply a casting assistance torque (τc) to the caster wheels 250A and 250B so that each wheel 610A and 61B moves in a respective skew orientation (e.g., each zero Scrub angles (δ1, δ2) can be used to bias in the casting direction. Deflecting the wheels 610 to their respective skew orientations allows rotation (e.g., traversing along an arcuate path) of the autonomous guided vehicle from a standstill or while the autonomous guided vehicle is in motion, as described herein. To begin with, one may reduce the amount of output (e.g., of drive wheel motors 261M) that differentially drives drive wheels 260A, 260B. In one or more aspects, the controller 1220 may provide a casting input to the at least one caster wheel 250 from the vehicle yaw to implement scrub-free casting of the at least one caster wheel 250. It is configured to determine the torque τc as a supplement torque.

The casting auxiliary motor 670 has a maximum casting auxiliary torque (τcm) (FIG. 31) that corresponds to the motor rated (full-load) torque of the motor 670 (i.e., at full-load speed without overheating of the motor). Note that it is configured to provide the torque required to produce the motor's rated output. Additionally, the commanded castering assistance torque (τcd) (see motor torque commands in FIGS. 31 and 33) can be calculated from the casting scrub at each predetermined kinematic state (e.g., of autonomous guided vehicle 110). The resistance is configured to be substantially nullified, such that the vehicle path 10666 (see FIG. 32) is substantially independent of the vehicle path 10666 and the kinematic state, respectively, through the commanded castering assistance torque τcd. Note that this achieves substantially scrub-free casting of the caster wheels 250 along and throughout each vehicle path. As described herein, in one or more aspects, the commanded castering assistance torque τcd for each caster wheel 250A, 250B of the at least one caster wheel 250 is dependent on vehicle path and kinematic conditions. is determined independently for each caster wheel 250A, 250B in order to achieve substantially scrub-free casting of each caster wheel 250A, 250B. In one or more aspects, as described herein, the commanded casting assistance torque (τcd) for each caster wheel 250A, 250B of at least one caster wheel 250 is substantially equal to that of each caster wheel. The castering auxiliary torque τc commanded independently for each corresponding caster wheel 250A, 250B is determined independently to implement scrub-free castering, and the respective commanded castering auxiliary torque τc is determined by the turning radius (e.g., instantaneous turning radius or steady-state turning radius). radius - see FIG. 32 ) varies between corresponding caster wheels 250A, 250B of at least one caster wheel 250 to achieve respective zero-scrub angles δ1, δ2. For this reason, the casting auxiliary torque τca for the caster wheel 250A may be greater than the casting auxiliary torque τcb for the caster wheel 250B. The commanded castering assistance torque (Tcd) is the casting resistance (e.g., torque) imparted to at least one caster wheel 250 from the casting scrub and at least two independently driven drive wheels 260A, 260B. Substantially nullifies at least one of the resistance (e.g., moment) from the castering scrub imparted to the vehicle yaw moment generated by the differential dock from ).

14B and 31, when torque τc is applied to caster pivot axis 691 by motor 670 (e.g., based on commanded torque τcd), the proportional torque/moment (here (referred to as moment (τb) in It varies depending on the angle (σ1, σ2) of the point of contact (or center of the contact area/patch) between 610A, 610B) and moving surface 395. The origin 900 is defined by the rotation axis of each drive wheel 260A, 260B and is located along an axis 971 extending between the rotation axes of each drive wheel 260A, 260B. 260A, 260B) (e.g., approximately half the width (W) of the autonomous guided vehicle - e.g., substantially on the axis of symmetry (LAX)). For example, the moment τb at origin 900 is expressed as:

where τc is the torque applied to the caster pivot axis 691, TA is the length of the caster pivot arm (e.g., caster trail - see FIGS. 14A, 14B, and 31), and Px and Py are the origin (900). are the components (e.g., distances) of the vector from to the caster wheel pivot point 941, and σ is the angle (σ1 or σ2) of the caster wheel 610A or 610B. A linear force fb applied at origin 900 along the centerline or longitudinal axis LAX of autonomous guided vehicle 110 as a result of the torque τc applied to caster pivot axis 691 by motor 670. ) is expressed as follows:

The ratio Px/TA resulting from the angle σ of the caster wheel pivot point 941 of approximately 0 degrees or approximately 180 degrees (see FIG. 31) is equal to the distance Px of the caster wheel pivot point 941 from the drive wheels. Note that there is a moment multiplier due to the relatively “small” trailing arm (TA). As an example, for the geometry of autonomous guided vehicle 110 shown in the figures (e.g., illustrated in FIG. 31 ), the ratio Px/TA (as a result of the pivoting caster wheels 610) is This results in a torque τb applied about the origin 900, which is approximately 48 times greater than the torque τc applied to the caster pivot axis 691. In comparison, the torque τd applied to origin 900 (as a result of differential steering by drive wheels 260A, 260B) is approximately four times greater than the torque applied to drive wheels 260A, 260B. . As can be understood from the above, (e.g., from a standstill or with the autonomous guided vehicle in motion, with caster wheels 610 at an orientation of approximately 0 degrees or approximately 180 degrees), each Starting rotation of the autonomous guided vehicle 110 by applying torque τc to the caster pivot axis 691 of the electric caster 600M is equivalent to starting rotation by applying only differential torque to the drive wheels 260A and 260B. more efficient than Here, by initiating rotation of the autonomous guided vehicle 110 by means of the motorized casters 600M, the drive motors 261M and associated electronics (e.g. For example, electronic motor drives, amplifiers, etc.) are reduced in size. As can be understood from the above, the angle generated at origin 900 by motorized casters 600M (e.g., with caster wheels 610 at an angular orientation of approximately 0 degrees or approximately 180 degrees) A large moment provides a faster steering response when compared to the moment generated at origin 900 by drive wheels 260A, 260B and the steering response provided by this.

1 and 30, as described above, powered wheels 600M may be used to move autonomous guided vehicle 110 within picking aisle 130A and along transfer deck 130B. For example, as described above, torque τc may be directed inwardly toward the center of the picking aisle 130A to effect a change in the direction of movement of the autonomous guided vehicle 110 along the rails 800 of the picking aisle 130A. It is applied to the caster wheels 610 by each motor 670 to bias the rotation of the caster wheels 610. In addition to the biasing torque to initiate rotation of the caster wheels 610 in an inward direction about the caster pivot axis 691, the caster pivot shaft 670 is driven by the motor 670 while the autonomous guided vehicle 110 pivots along the picking aisle. Note that no torque is applied to 630. (For example, the caster wheels 610 can rotate freely to naturally align with the direction of movement along the picking passage 130A rails 800 due to the caster wheel trail).

When the autonomous guided vehicle 110 moves along the transfer deck 130B, the powered casters 600M adjust the amount of differential torque applied by the drive wheels to move the autonomous guided vehicle along the transfer deck 130B. helping to align the caster wheels 610 with their nominal trailing position to minimize scrubbing of the caster wheels 610 on the moving surface 395. It is employed for more than one (see Figures 14a and 14b). Here, the controller 1220 controls the caster while the autonomous guided vehicle 110 is in motion (e.g., to move the autonomous guided vehicle 110 along a substantially straight travel path or along an arcuate travel path). It is configured to position the caster auxiliary motors 670 to bias each of the at least one caster wheel 250 relative to the ring and maintain the at least one caster wheel 250 in a predetermined steady state position.

2, 14B, and 32, in an example operation of autonomous guided vehicle 110 moving on transfer deck 130B, the controller 1220 controls wheels 610A of caster wheels 250A, 250B. Motorized casters 600M (e.g., casters 250A, 250B) such that 610B) (similar to caster wheel 610) is rotated to zero-scrub angles δ1, δ2, respectively. is controlled independently. The zero-scrub angle δ1, δ2 is defined as (e.g., at any given moment the angle measurement is employed by the controller 1220 to control the angles σ1, σ2 of the caster wheels 610A, 610B. Given the current angle of the caster wheels 610A, 610B (as measured by feedback device 681) and the desired velocity vector of the autonomous guided vehicle 110, the wheels 610A, 610B are centered on the contact patch with the moving surface. It is a rotation angle about the caster pivot axis 691 that causes it to pivot (for example, the rotation angle of the caster wheels 610A, 610B about each caster pivot axis 691 (at this rotation angle) The directional friction force is substantially zero and substantially zero scrub) is exerted on the caster wheel by the moving surface it traverses.

As described in more detail herein, the zero-scrub angles δ1 and δ2 are adjusted to rotate the respective wheels 610A and 610B toward each zero-scrub angle δ1 and δ2 while balancing the amount of steering torque τc. ) is a predetermined skew orientation of at least one caster wheel 250 that is used by the controller 1220 as a feed-forward term to drive the rotation of. If there is sufficient traction between caster wheels 610A, 610B and moving surface 395 (FIGS. 14A and 14B), the direction of torque τc to rotate caster wheels 610A, 610B (FIG. 31) is It is generally in the same direction as the torque for steering the autonomous guided vehicle 110; However, in other aspects, it may be the case that the direction of torque τc to rotate caster wheels 610A, 610B (FIG. 31) is opposite to the torque to steer autonomous guided vehicle 110.

As shown in Figure 32, the zero-scrub angles δ1, δ2 for the different caster wheels 250A, 250B and the torque τc applied to the different caster wheels 250A, 250B are defined by the autonomous guided vehicle ( may be different for any given turning radius R of 1100; however, at least the zero-scrub angles δ1, δ2 may be different for different caster wheels with the autonomous guided vehicle 110 moving along a substantially straight path. The same may be true for wheels 250A and 250B. Here, the controller 1220 independently calculates and controls the scrub angle for each of the caster wheels 610A and 610B. Normal state (e.g. For a constant turning radius R (path) and constant speed along the path (trajectory), the zero-scrub angles δ1, δ2 lie on the line between the caster wheel pivot point 941 and the center RC of the turning radius R. (Note again that the turning radius R is measured or defined from the origin 900 of the autonomous guided vehicle 110). Here, the controller 1220 controls the motor ( By applying the casting auxiliary torque τc to the at least one caster wheel 250 by 670), the at least one caster wheel 250 is moved in a casting direction (e.g., as shown in FIGS. 31 and 32). to deflect the at least one caster wheel 250 to a predetermined skew orientation/zero-scrub angle δ1, δ2, wherein the predetermined skew orientation/zero-scrub angle δ1, δ2 causes the at least one caster wheel 250 to ) and, with a predetermined skew orientation, the axis of symmetry LAX of the autonomous guided vehicle (see also angles σ1, σ2).

2, 14B, 31, 32, and 33, as described above, the autonomous guided vehicle 110 has a moving surface (e.g., excluding the case unit picking/placement features of the autonomous guided vehicle 1100). It is a robot of the non-holonomic differential drive type with two degrees of freedom (in relation to the movement of the autonomous guided vehicle along . Here, the movement of the autonomous guided vehicle 110 along the movement surface 395 (FIGS. 14a and 14b) The two degrees of freedom for are linear and rotational movements, and these two degrees of freedom are connected to the origin 900 by the motors 261M of the drive wheels 260A, 260B and the motors 6700 of the electric casters 600M. Corresponds to the applied two-dimensional moving motion forces (e.g., net (or summed) drive motion torque (τd) and net (or summed) drive motion force (fd). The torque generated by τb may be a component (i.e., supplementary) of the net drive motion torque τd, and the force fb generated by the powered casters 600M may be a net drive motion force fd (FIG. Note that the two drive wheels 260A, 260B and the drive for each drive wheel 260A, 260B by two-dimensional moving motion forces (see 31). Motor 261M torque is defined by the desired force and desired moment to move the autonomous guided vehicle along a predetermined travel path; however, in accordance with aspects of the disclosed embodiment, the powered casters 600M are capable of driving the autonomous guided vehicle ( Under-constraint of autonomous guided vehicle 110 by providing four motors (rather than the conventional two motors) contributing to net drive motion force (fd) and net drive motion torque (τd) to 110). -constrained) drive system, where the generation of drive motion force (fd) and torque (τd) is generated by four motors 670 of drive wheels 260A, 260B and caster wheels 250A, 250B. , 261M. This means that the motors 261M of the drive wheels 260A, 260B (e.g., of size, power, etc., as described herein) of the autonomous guided vehicle 110 (e.g. For example, rather than being configured to generate a moment (about origin 900), the motors 261M are optimized for linear inertial changes in the motion of the autonomous guided vehicle 110 (e.g., motors 261M may be configured to generate a moment (e.g., about origin 900)). ) and does not need to have a size that generates moments about the origin 900 that perform casting; These moments are larger than those needed to implement only the linear inertial changes of autonomous guided vehicle motion).

33 shows the dynamic distribution of the drive motion force (fd) and torque (τd) for the four motors 670, 261M of the drive wheels 260A, 260B and caster wheels 250A, 250B and the caster wheels. An example control architecture for an autonomous guided vehicle 110 that implements one or more of the following (610A, 610B): substantial zero-scrubbing. According to aspects of the disclosed embodiment, the controller 1220 includes any suitable speed controller 1111 and an optimization solver 1112. The speed controller 1111 determines a predetermined drive motion force to move the autonomous guided vehicle along a travel path to complete the commanded task based on the commanded task (e.g., case unit transport task, crossing task, etc.). (fpd) and/or determine and output a predetermined driving motion moment (τpd) (e.g., to the optimization solver 1112). The optimization solver 1112 uses feedback from one or more of the caster wheels 250A, 250B and the drive wheels 260A, 260B to ) of the four motors 261M, 670, the net drive motion force (fd) and the net drive motion torque (τd) are the output of the speed controller 1111 and the maximum available torque from each of the motors 261M, 670. It is configured to minimize the optimization function 1113 to satisfy the constraints defined by . The optimization function 1113 balances force (fd)/moment (τd) between the four motors (261M, 670) and minimizes the maximum torque applied to any given wheel (260A, 260B, 610A, 610B). , and/or minimizing energy waste due to heat losses in the motor windings across the four motors 261M, 670 (i.e., minimizing the sum of I ² R, where I is current and R is resistance) ) may be any suitable optimization function, including but not limited to.

The above-mentioned constraints may be expressed as linear equality or inequality constraints, and the optimization function 1113 may be a quadratic function correspondingly. Here, the optimization solver consists of, for example, any suitable quadratic programming solution method; However, in other aspects, any suitable solution method for carrying out the determination of the motor torque command for executing the traverse of the autonomous guided vehicle 110 is provided.

To achieve substantially zero scrubbing of the wheels 610A, 610B of the caster wheels 250A, 250B, the feed-forward control described herein is employed to provide feedback/input to the optimization solver 1112. Here, the controller 1220 sets the zero-scrub angles δ1 and δ2 for each of the caster wheels 250A and 250B in the manner described above for the commanded travel path and speed of the autonomous guided vehicle 110. Calculate. The controller 1220 also receives the current angles σ1 and σ2 (see FIG. 31) for each of the wheels 610A and 610B (e.g., measured by feedback device 681). The controller 1220 is configured to determine the difference between the zero-scrub angle δ1 and the current angle σ1 of the caster wheel 610A to determine the caster angle error 1160. The caster angle error 1160 is processed through the proportional gain 1120 of the controller 1220, where the output of the proportional gain is output to the motor of the caster 250A to determine the limited caster torque 1161. Employed by controller 1220 to limit the amount of torque available to 670. It should be noted that as the caster angle error 1160 increases, the caster torque of caster 250A is further limited to push caster wheel 610A toward zero-scrub angle δ1. Likewise, the controller 1220 is configured to determine the difference between the zero-scrub angle δ2 and the current angle σ2 of the caster wheel 610B to determine the caster angle error 1162. The caster angle error 1162 is handled through the proportional gain 1121 of the controller 1220 (which may be the same or different from the proportional gain 1121), where the output of the proportional gain is the limited caster torque 1163. ) is employed by the controller 1220 to limit the amount of torque available to the motor 670 of caster 250B. It should be noted that as the caster angle error 1162 increases, the caster torque of caster 250B is further limited to push caster wheel 610B toward zero-scrub angle δ2.

In general, when traction is maintained between the wheels 610A, 610B and the moving surface 395 (see FIGS. 14A and 14B), the sign of the torque required to maintain the zero-scrub angles δ1, δ2 is ( Since the direction (i.e., direction) is the same sign (i.e., direction) as the steering torque, the limited caster torques 1161 and 1163 do not create additional constraints on the optimization solver 1112. In the event that traction between the caster wheels 610A, 610B and the moving surface 395 is lost, the caster angle errors 1160, 1162 may increase and be of opposite sign (e.g., direction) as the steering torque. Here, the caster wheels 610A, 610B are pushed back or driven to zero-scrub angles δ1, δ2, while ensuring that the predetermined drive motion force fpd and/or the predetermined drive motion moment τpd are met. Torque is redistributed from the casters 250A, 250B to the drive wheels 260A, 260B. If the caster angle errors 1160, 1162 are of opposite sign (e.g., direction) than the steering torque, then the proportional gains 1120, 1121 are the obtained zero-scrub angles δ1, δ2, and δ2 and the wheels 610A. , 610B, 250A, 250B). Here, dynamic redistribution of the drive motion force and/or drive motion moment between the casters 250A, 250B and the drive wheels 260A, 260B provides heavy steering of the casters, while still driving the drive wheels. Provides zero-radius rotation by differential drive of (260A, 260B).

A predetermined force (fpd) known to the optimization solver 1112, a predetermined moment (τpd), and motor torque from drive wheels 260A, 260B (determined by any suitable sensor in communication with controller 1220). DWMTA, DWMTB, and limited caster torques 1161, 1163, the optimization solver determines the casters to execute the movement of the autonomous guided vehicle 110 along a predetermined path and with a predetermined kinematic state. Current/real-time motor commands (e.g., current force ( frt) and the current moment (τrt)). In one or more aspects, the limited caster torques 1161, 1163 may be greater than the maximum torque available to casters 250A, 250B, in which case the limited caster torques 1161, 1163 are greater than the maximum torque available. is limited to Similarly, the limited caster torques 1161, 1163 may be less than the minimum torque available to casters 250A, 250B, in which case the limited caster torques 1161, 1163 are limited to the minimum available torque. As described herein, the above-mentioned controls include motor torque commands (e.g., current force (frt) with autonomous guided vehicle 110 moving along substantially straight and/or curved path(s). ) and the current moment (τrt)) are updated in real time to maintain the caster wheels 610A and 610B at their respective zero-scrub angles (δ1 and δ2).

34, as well as FIGS. 1, 2, 14B, 30, 31, 32, and 33, embodiment aspects of an exemplary method for operating an autonomous guided vehicle 110 in the storage and retrieval system 100 are disclosed. It will be explained accordingly. In this method, an autonomous guided vehicle 110 is provided (Figure 34, block 12110). The autonomous guided vehicle 110 includes a frame 200, a controller 1220, at least two independently driven drive wheels 260A, 260B mounted on the frame 200, and It is mounted on the frame 200 and includes at least one caster wheel 250 having a casting auxiliary motor 670. A caster coupled to at least one caster wheel 250 to assist casting (e.g., rotation of the wheel 610 about the caster pivot axis 691) of the at least one caster wheel 250. Castering auxiliary torque τc is provided by ring auxiliary motor 670 (Figure 34, block 12120). As described herein, autonomous guided vehicle 110 traverses both transfer deck 130B and picking aisle 130A. With the autonomous guided vehicle 110 on the transfer deck 130B, the controller 1220 controls the vehicle yaw generated by the differential torque from at least two independently driven drive wheels 260A, 260B. Casting of at least one caster wheel 250 is performed through a combination of vehicle yaw) and casting auxiliary torque τc from the castering auxiliary motor 670 (FIG. 34, block 12130). Here, casting of the at least one caster wheel 250 is performed with the autonomous guided vehicle 110 moving in a predetermined kinematic state; However, the controller 1220 may also control the predetermined skew orientations δ1, δ2 while the autonomous guided vehicle 110 is stationary (such as initiating a rotational or arcuate path motion from a stationary state as described herein). A castering auxiliary torque (τc) that biases at least one caster wheel in the casting direction may be applied to at least one caster wheel 250. The autonomous guided vehicle 110 traverses the transfer deck 130B under the control of the controller 1220 (Figure 34, block 12140), wherein a change in direction of the autonomous guided vehicle on the transfer deck is effected by at least a casting assistance torque (τc). ) to at least one caster wheel 250.

As the autonomous guided vehicle 110 traverses along the transfer deck 130B, in one or more aspects, the controller 1220 directs a predetermined path to a predetermined kinematic state (e.g., velocity vector). Casters to bias at least one caster wheel 250 relative to the caster while the autonomous guided vehicle 110 is moving along the transfer deck 130B to maintain traversing of the autonomous guided vehicle 110 along the transfer deck 130B. Position the ring auxiliary motor 607 and maintain at least one caster wheel 250 in a predetermined steady state position. The controller 1220 (as described herein while the autonomous guided vehicle 110 is stationary or moving) is configured to adjust at least one caster wheel 250 to a predetermined skew orientation (δ1, δ2) in the casting direction. Apply a casting assistance torque (τc) that biases to at least one caster wheel 250, and predetermined skew orientations (δ1, δ2) are applied to at least one caster wheel 250 (e.g., Forms a deflection angle (see angles σ1, σ2) between the wheels 610 and the axis of symmetry LAX of the autonomous guided vehicle 110.

As described herein, with the autonomous guided vehicle 110 traversing along the transfer deck 130B, the controller controls each caster wheel 250A, 250B substantially independent of the vehicle path and kinematic state. Commanded casting for each caster wheel 250A, 250B independently for each caster wheel 250A, 250B of at least one caster wheel 250, in order to implement substantially scrub-free casting. Determine the auxiliary torque (τc). As shown in FIG. 32 and described above, the controller 1220, independently for each caster wheel 250A, 250B, controls each caster wheel 250A, 250B to achieve substantially scrub-free casting of each caster wheel. Determine the commanded casting assist torque (τcd) for the wheels 250A, 250B, where the respective commanded castering assist torque for each corresponding caster wheel is the difference between the corresponding caster wheels 250A, 250B. varies based on the radius of rotation.

With the autonomous guided vehicle 110 in the picking aisle, the controller 1220 assists in linear vehicle motion and casting generated by torque from at least two independently driven drive wheels 260A, 260B. Casting of at least one caster wheel 250 is performed through a combination of casting assistance torques τc from motors 670 (FIG. 34, block 12150). Here, casting of the at least one caster wheel 250 may cause the autonomous guided vehicle 110 to move within the picking aisle (e.g., from movement in direction 810 to movement in direction 820 - see FIG. 30 ) is performed while changing direction. The casting of the at least one caster wheel 250 is performed at least in part by an autonomous guided vehicle moving in a predetermined kinematic state (eg, moving along a picking aisle with a predetermined velocity vector). Here, the controller 1220 controls the casting direction on at least one caster wheel while the autonomous guided vehicle 110 is at rest (e.g., to initiate a direction change within the picking aisle 130A). At least one caster wheel 250 by applying a casting assistance torque τc to the at least one caster wheel 250 to bias it toward (e.g., toward the center of the picking passage 130A as described herein) ) begins casting. The autonomous guided vehicle 110 traverses picking aisle 130A (FIG. 34, block 12160) under control of controller 1220 as described herein, and in one aspect, while traversing along the picking aisle: Castering assistance torque τc is not substantially applied to at least one caster wheel 250 . Meanwhile, in other aspects, with the autonomous guided vehicle 110 moving along the picking aisle 130A, the at least one caster wheel 250 is biased for casting and the at least one caster wheel 250 A casting assistance torque τc is applied to at least one caster wheel 250 to maintain it in a predetermined steady-state position.

Although the operation of the casting auxiliary motor 670 is described herein with respect to the electric caster 600M of FIGS. 14A and 14B (e.g., without suspension), the operation of the casting auxiliary motor 670 is similar to that of FIG. 12A. , 12b, 13a, and 13b and described herein, it should be understood that this is substantially similar to the operation by motorized caster 600M equipped with fully independent suspension 780.

As mentioned above, and referring again to FIGS. 12A, 12B, 13A, and 13B, where each of the casters 600 includes a fully independent suspension 780, the articulated fork 740 can be mounted on any suitable connected to caster pivot shaft 630 (or, in other aspects, the caster pivot shaft of manual caster 600P) in a manner such as, for example, by any suitable mechanical and/or chemical fastener 777. The articulated fork 740 includes a fork frame 741 and a fork pivot arm 742. The fork frame 741 includes a leading end 778 that leads the movement of the articulated fork caster 600S. The fork frame 741 also includes a trailing end 779 that follows the movement of the caster 600. The fork frame 741 defines a pivot axis 792 adjacent the tip 778, where the fork pivot arm 742 is attached to the fork frame 741 for rotation about the pivot axis 192. are combined. The wheel 610 is coupled to the fork pivot arm 742 about the rotation axis 692, so that the wheel 610 and the fork pivot arm 742 rotate about the axis 792 as one unit.

The rotational (or pivoting) movement between the fork frame 741 and the fork pivot arm 742 is biased about a stop, such that the autonomous guided vehicle 110 frame 200 is substantially in contact with the rolling surface 395. so that they are at the same height (see Figures 9a, 9b, 15a, and 15b). For example, rotational (or pivoting) movement between the fork frame 741 and the fork pivot arm 742 may cause the fork to substantially contact or engage the rest surface 710 of the fork frame 741 adjacent the rear end. It is limited by a suspension travel stop 790 extending from the pivot arm 742. In the examples shown in FIGS. 12A, 12B, 13A, and 13B, the suspension travel stop 790 forms an “open box-like frame” with an opening 790A (FIG. 12A) defined therein. The fork frame 741 extends into the opening 790A such that a stop surface 710 of the fork frame 741 engages one or more corresponding stop surfaces 721 of the suspension travel stop 790. The stop surfaces 721 may have one or more protruding surfaces extending from the “open box-like frame” towards the stop surface 710 (e.g., coupled to and forming part of a portion of the suspension travel stop 790). ends of pins 791); However, in other aspects, the one or more surfaces 721 have any suitable configuration for contacting/engaging with the rest surface 710 of the fork frame 741.

As shown in FIGS. 12A, 12B, 13A, and 13B, the suspension movement stop 790 causes rotational movement of the fork pivot arm 742 in direction 792A (FIG. 12A) relative to the fork frame 741. It is designed to deter. The configuration of the suspension movement stop 790 is exemplary, and in other aspects the suspension movement stop prevents rotational movement of the fork pivot arm 742 in direction 792A (FIG. 12A) relative to the fork frame 741. It may have any suitable configuration for:

The caster 600 includes a biasing member 750 disposed between the fork frame 741 and the fork pivot arm 742. The biasing member 750 is shown as a compression spring. However, in other embodiments, the biasing member 750 is a torsion spring or bidor arranged to exert a biasing torque in the direction 792A relative to the fork pivot arm 742 at the axis of rotation 792 or the fork pivot. It may be any other suitable elastic member configured to bias rotation of the arm in direction 792A about axis of rotation 792.

The caster 600 receives the ends of one or more seats 711, 722, for example spring seats or biasing members 750, and is positioned on each of the fork frame 741 and the fork pivot arm 742. and other receiving members configured to limit movement of the ends of the biasing member 750 relative to one of the other receiving members. For example, one end of the biasing member 750 is retained within the seat 722 of the fork pivot arm 742 such that movement in the directions LON, LAT, VER (see FIGS. 12A, 12B) is limited. The seat 722 is coupled to or formed integrally with the fork pivot arm 742 in any suitable manner.

The other end of the biasing member 750 is maintained in the seat 711 movably coupled to the fork frame 741 to reciprocate in the direction VER, where the direction VER is the caster pivot axis 691. extends along. For example, the seat may include a recess to receive an adjustment member 711 (e.g., a screw or other movable post) such that the adjustment member 711 is positioned in a direction (LAT). ) and limit the movement of the sheet 721 in the direction (LON) while executing the movement of the sheet 722 in the direction (VER). For example, the fork frame 741 includes a threaded aperture (shown in FIG. 12B) through which the adjustment member 711 extends and is threadedly coupled to the aperture. (For example, adjustment member 711 includes threads that engage the threads of the threaded opening). Rotation of the adjustment member 711 about its rotation axis drives the adjustment member 711 and the sheet 721 in the direction VER (against the biasing force of the biasing member 750) to form the biasing member 750. ), thereby setting the preload applied to the fork pivot arm 742 by the biasing member 750. In one or more other aspects, the seat 721 is secured to the fork frame 741 so as to be secured relative to the fork frame 741 in directions LON, LAT, VER, wherein the preload of the biasing member 750 is set (non-adjustably) by (or in conjunction with) the configuration of the biasing member (e.g. length of the biasing member, number of coils, spring rate, biasing member wire thickness, etc.).

As will be appreciated, the autonomous guided vehicle carries case units (CU) of different weights and sizes (e.g., for illustrative purposes only, case units (CU) may weigh up to approximately 60 lbs or more. may have weight). Here, the weight/mass supported by the autonomous guided vehicle 110 suspension varies depending on the case unit (CU) being transported. The casters 600 are configured to resist any moments induced in the frame 200 when picking and placing case units CU. For example, to transfer case units to and from autonomous guided vehicle 110, transfer arm 210A is extended and retracted, for example as shown in FIG. 15B. With the transfer arm 210A extended, the fingers 210AF of the transfer arm 210A and any case unit CU held on the fingers 210AF cantilever from the frame 200. , where the cantilevered fingers 210AF and case unit CU generate a moment 893, for example about the center of gravity CG of the autonomous guided vehicle 110 (FIG. 15B reference). This moment 893 , left uncompensated, causes the autonomous guided vehicle 110 to tilt and tilt the rolling surface 395 and any case unit holding position 866 where case units CU are picked and placed. It can be prevented from being horizontal. Here, the spring rate and spring preload of at least the biasing member 750 of each caster 600 are determined such that the heaviest case unit CU expected to be handled by the autonomous guided vehicle 110 has cantilevered fingers 210AF. When held by (e.g., during a picking/placement operation of transfer arm 210A), the stop surface 710 of the fork frame 741 is one or more corresponding stop surfaces of the suspension travel stop 790 ( 721), the autonomous guided vehicle 110 is positioned at the rolling surface 395 and at any case unit holding location 866 where a case unit (CU) is picked/placed. keep it level.

In addition to keeping the autonomous guided vehicle 110 level, the casters 600 maintain a consistent payload height (RHT) of the autonomous guided vehicle 110, which is consistent with the payload reference position (PDP). It is configured to do so. At least a deflection member of each caster 600 to maintain a consistent ride height (RHT) (e.g., such that the ride height does not vary regardless of the case unit weight/mass held by autonomous guided vehicle 110). The spring rate and spring preload of 750 are such that the heaviest case unit (CU) expected to be handled by autonomous guided vehicle 110 is that of the fork frame 741 when held by autonomous guided vehicle 110. The stop surface 710 is sized such that it substantially engages (e.g., substantially contacts) one or more corresponding stop surfaces 71 of the suspension travel stop 790. As can be appreciated, the shock absorbers 312 of the multi-link suspension system 280 (see FIGS. 5A, 5B, and 10A-10C) are the shock absorbers 312 expected to be handled by the autonomous guided vehicle 110. The heavy case unit (CU) is configured to have a sized spring rate and spring preload such that the ride height (RHT) is maintained when held by the autonomous transport vehicle (110).

2, 15A, and 15B, the frame 200 includes wheel interfaces 222A-222D. Each drive wheel 260 is coupled to the frame 200 at a respective interface 222A-222D, where interfaces 222A and 222B drive the drive wheel 260 at a known location on the frame 200. 200). The interfaces 222A, 222B, in one or more aspects, include multi-link suspension system 280 link-frame mounting points (axes) described herein. On the other hand, in other aspects, the drive wheels 260 and the multi-link suspension system 280 are provided as modular units, wherein the modular units include a frame configured to engage with interfaces 222A and 222B. It has a frame mount. Each of the casters 260 is coupled to the frame 200 at a respective interface 222C, 222D, where the interfaces 222C, 222D connect the caster 260 to the frame 200 at a known location on the frame 200. ) is combined with. The interfaces 222C, 222D include coupling features (e.g., screw holes, locating pins, recesses, stop surfaces, etc.), which provide corresponding couplings of the caster frame 650. It is coupled with features (e.g., recesses, locating pins, fastener through holes, stop surfaces, etc.).

Mounting the casters 600 and drive wheels 620 to the frame at known locations in combination with the known suspension geometry of each of the casters 600 and drive wheels 620 allows the autonomous guided vehicle 110 Facilitates setting the mounting height (RHT) of For example, in conjunction with casters 600, biasing member 750 biases one or more rest surfaces 721 of fork pivot arm 742 relative to rest surface 710 of fork frame 741. Set the angle Ψ between the rotation axis 792 of the fork pivot arm 742 and the rotation axis 692 of the wheel 610, where the angle Ψ is determined by the direction of the extended axis of the caster pivot axis 691. Measured against a defined datum (DAT1) (see Figure 13a). This angle Ψ sets, at least in part, the payload height (RHT) of autonomous vehicle 110 relative to rolling surface 395.

The multi-link suspension system 280 of each drive wheel 260 is also configured to have a predetermined extension that at least partially sets the ride height RHT. For example, the shock absorber 312 may, in one or more aspects, have integral stops 555 (e.g., a piston) that limit the extension of the shock absorber to a known length (SAL) (see FIG. 10C). (312P) and impact housing 312H - see FIG. 11A); On the other hand, in other aspects, the extended movement of the shock absorber 312 (and multi-link suspension system 280) is achieved by bump stops 556 mounted on the frame 200 (see FIG. 11A). ) (which interface with and impede movement of one or more suspension links of the multi-link suspension system 280) in any suitable manner, including but not limited to.

15A and 15B, the payload height (RHT) (and payload reference position (PDP)) of the autonomous guided vehicle 110 extends from the rolling surface 395 to the delivery arm 210A fingers 210AF. of the case unit support surface (210AFS) (also referred to herein as the payload seating surface); However, in other aspects, ride height (RHT) may be measured from rolling surface 395 to any suitable location on autonomous guided vehicle 110 (e.g., the bottom of frame 200 or any other suitable location). there is. Here, the mounting height RHT is such that the transfer arm 210A approaches the case units CU at each case unit holding position accessible from the transfer deck 130B and the picking passages 130A (i.e. It is set to allow picking and placement. For example, as shown in FIG. 15B, the mounting height RHT corresponding to case unit support surface 210AFS of fingers 210AF is such that transfer arm 210A is positioned at and from case unit holding position 866. Lower than the height SHT of the case unit support plane CUSPH of the case unit holding position 866 to be raised and lowered for picking and placing case units in position.

As described herein, the payload height (RHT), which coincides with the payload reference position (PDP), is at a minimum distance (MIND) above the rolling surface 395. The minimized distance of the payload height (RHT) from the rolling surface 395 supports the case unit at a case unit holding location 866 (e.g., a shelf in a storage rack in a picking aisle or other suitable location in the storage structure 130). Places the plane (CUSPH) closer to the cloud surface 395 compared to conventional storage and retrieval systems. Here, the vertical storage density of storage structure 130 (and storage and retrieval system 100) may be increased based on the minimized payload height (RHT) of autonomous guided vehicle 100.

According to aspects of the disclosed embodiment, with reference to FIGS. 2, 5A, 5B, 12B, and 20, the fully independent suspension of the autonomous guided vehicle may be configured to support a rolling surface 395 of the transfer deck 130B and/or the picking aisle 130A. ) transient vibrations induced in the storage structure by the autonomous guided vehicle 110 traversing over it (e.g., these vibrations may cause movement/movement of case units from predetermined positions on a storage shelf or other case unit holding location) may result in displacement) as well as is tuned to minimize transient vibrations of the autonomous guided vehicle 110 as it traverses the cloud surface 395. The frame 200 of the autonomous guided vehicle 110 has a predetermined rigidity characteristic 289 (e.g., a vibration characteristic of the frame), which includes at least one caster wheel 250A, 250B and at least Defines the transient response of the frame 200 from transient loads transmitted to the frame 200 through at least one of the one traction drive wheels 260A, 260B.

The predetermined stiffness characteristic 289 may be a predetermined transient of the fully independent suspension 780, 280 of at least one of the at least one caster wheels 250A, 250B and at least one of the traction drive wheels 260A, 260B. Set based on response characteristics (e.g., one or more of response frequency, impact G-force in X, Y, and/or Z directions, and acceleration in X, Y, and/or Z directions) (e.g., tuned) and/or predetermined transient response characteristics of at least one fully independent suspension 780, 280 of the at least one caster wheels 250A, 250B and the at least one traction drive wheels 260A, 260B. is set (e.g., tuned) based on predetermined stiffness characteristics of frame 200. The predetermined stiffness characteristic 289 also provides the frame 200 from transients of at least one of the caster wheels 250A, 250B and at least one of the drive wheels 260A, 260B rolling on the rolling surface 395. Predetermined transient response characteristics of frame 200 (e.g., response frequency, impact G-forces in X, Y, and/or Z directions, and accelerations in X, Y, and/or Z directions) that determine the transient response of frame 200. It is set/adjusted based on. The predetermined stiffness characteristics 289 of the frame 200 include at least one of the drive wheels 260A and 260B and at least one caster wheel 250A, 250B that rolls the frame 200 on a rolling surface 395. It is determined to be substantially rigid for the fully independent suspension of the drive wheels 260A, 260B. The predetermined stiffness characteristics 289 may also include predetermined transient response characteristics of the frame 200 when the autonomous guided vehicle is carrying a payload and/or is not carrying a payload (e.g., unloaded). It can be set based on .

For example, each of the biasing members 312, 750 at each corner of autonomous guided vehicle 110 may be adjusted to determine the mass of autonomous guided vehicle 110 and the payload to be carried by autonomous guided vehicle 110 (e.g. For example, one or more of the case units (CU) are preloaded with respective preloads (P1, P2, P3, P4) depending on each other. The preloads (P1, P2, P3, P4), in some embodiments, have substantially similar values, while in other embodiments, one or more of the preloads (P1, P2, P3, P4) are preloads ( P1, P2, P3, P4) may be set to a different value from the others. The preloads P1, P2, P3, and P4 may also be applied to any of the autonomous guided vehicle 110 (e.g., to set the weight of the autonomous guided vehicle and the portion of the payload carried by each wheel). It can be set to provide appropriate weight distribution.

As an exemplary preload arrangement, as noted herein, the preloads PL1 and PL2 of casters 250A and 250B, respectively, may be set to the weight of the heaviest case unit (CU) carried by the autonomous guided vehicle. wherein when the transfer arm 210A extends to transfer case units CU to and from the payload bed 210B, the frame 200 is substantially horizontal with the rolling surface 395. maintained (e.g., parallel) and with delivery arm 210A in its lowest position within payload bed 210B, at a predetermined height set by suspension travel stops 790 (e.g. , payload height (RHT)) is maintained. The preload PL3, PL4 of the drive wheels 290A, 260B can also be set to the weight of the heaviest case unit CU carried by the autonomous guided vehicle, so that the transfer arm 210A is positioned on the payload bed 210B. ), the frame 200 is maintained substantially horizontal (e.g., parallel) with the rolling surface 395, and the transfer arm 210A ) is maintained at the load height (RHT) set by the stops 555 and 556, with the payload bed 210B at its lowest position.

In other aspects, one or more of the preloads PL1, PL2, PL3, PL4 of the autonomous guided vehicle 110 may be set to a different value than one or more of the other preloads PL1, PL2, PL3, PL4. there is. For example, the preloads PL1, PL3, PL4 can be set to the weight of the heaviest case unit (CU) transported by autonomous transport vehicle 110, while the preload PL2 is set to the weight of the heaviest case unit (CU) transported by autonomous transport vehicle 110. The load/weight may be set to be less than the heaviest case unit (CU) carried by vehicle 110. Setting the preload PL2 to a load/weight that is less than the heaviest case unit (CU) carried by the autonomous guided vehicle 110 may, for example, allow the autonomous guided vehicle 110 to move through the transfer deck 130B and the picking aisles. When crossing transients (e.g., steps, joints, debris, etc.) on 130A, the maximum vibration/force between autonomous guided vehicle 110 and rolling surface 395 may be reduced.

The preloads PL1, PL2, PL3, PL4 are such that when the autonomous guided vehicle is unloaded (e.g. not carrying a payload), the weight distribution is substantially equal between the picking side and the non-picking side. It can be set to have a weight distribution of approximately 40% (front) to approximately 60% (rear). Although exemplary preloads and weight distributions have been described, in other aspects, any suitable preload to minimize vibration of the autonomous guided vehicle and minimize vibration induced in the storage structure from the autonomous guided vehicle's crossing over the rolling surface 395. It should be understood that weight distributions may be provided.

23A and 23B illustrate tuning of predetermined stiffness characteristics of the autonomous guided vehicle 110 when the autonomous guided vehicle is unloaded (e.g., not carrying payload/case unit(s)). Shown are example plots/graphs. 23A shows the preloads PL1, PL3, PL4 of the fully independent suspensions 780, 280 set to substantially the same value (e.g., set to the weight of the heaviest case unit carried by the autonomous guided vehicle). On the other hand, with the preload PL2 set to a lower value than the preloads PL1, PL3, PL4, there is a transient ( The transient response of the portion of frame 200 responsive to 395T is shown (as G-force (i.e., force per unit mass due to gravity) and vibration frequency). 23B shows the preloads PL1, PL2, PL3, PL4 of the fully independent suspensions 780, 280 set to substantially the same value (e.g., set to the weight of the heaviest case unit carried by the autonomous guided vehicle). In this case, the transient response and vibration frequency of the same portion of frame 200 in response to transient 395T on rolling surface 395 are shown, reacting by completely independent suspensions 780, 280. 23A and 23B, with the autonomous guided vehicle 110 traversing over the transition 395T on the rolling surface 395, the front traverse of the frame 200 (end 200E1) is oriented in the traverse direction. Both the (with end 200E2 leading the rear traverse) and rear traverse (with end 200E2 leading the rear traverse) transient load responses are shown. Additionally, as shown, the transient load response of the frame 200 shown in FIG. 23B with the preloads PL1, PL2, PL3, and PL4 are substantially the same, with the preload PL2 being substantially the same as the preloads PL1, PL3, and PL4. ) is less than the transient load response of the frame 200 shown in FIG. 23A. As will be understood, the tuning shown in FIGS. 23A and 23B is exemplary only, and the preloads PL1, PL2, PL3, PL4 of each fully independent suspension at each corner of frame 200 are autonomous. For a given payload carried by transport vehicle 110, delivered to frame 200 by/through at least one of at least one caster wheel 250A, 250B and at least one traction drive wheel 260A, 260B. It can be set to any suitable value to reduce/minimize the frame's transient response to transient loads.

24A and 24B are example plots showing tuning of predetermined stiffness characteristics of autonomous guided vehicle 110 when the autonomous guided vehicle is loaded (e.g., carrying payload/case unit(s)). These are fields/graphs. 24A shows the preloads PL1, PL3, PL4 of the fully independent suspensions 780, 280 set to substantially the same value (e.g., set to the weight of the heaviest case unit carried by the autonomous guided vehicle). On the other hand, the same transient 395T on the rolling surface 395 reacts by a completely independent suspension 780, 280, with the preload PL2 set to a lower value than the preloads PL1, PL3, PL4. The transient response of the same portion of frame 200 (as in FIGS. 23A and 23B) in response to is shown (as G-force (i.e., force per unit mass due to gravity) and vibration frequency). 24B shows the preloads PL1, PL2, PL3, PL4 of the fully independent suspensions 780, 280 set to substantially the same value (e.g., set to the weight of the heaviest case unit carried by the autonomous guided vehicle). In this case, the transient response and vibration frequency of the same portion of frame 200 in response to transient 395T on rolling surface 395 are shown, reacting by fully independent suspensions 780, 280. 24A and 24B, with the autonomous guided vehicle 110 traversing over the transition 395T on the rolling surface 395, the front traverse of the frame 200 (end 200E1) is oriented in the traverse direction. Both the (with end 200E2 leading the rear traverse) and rear traverse (with end 200E2 leading the rear traverse) transient load responses are shown. As shown, the transient load response of frame 200 shown in FIG. 24B with preloads PL1, PL2, PL3, and PL4 being substantially the same is that preload PL2 is greater than preloads PL1, PL3, and PL4. is smaller than the transient load response of frame 200 shown in Figure 24A in the small condition. As will be appreciated, the tuning shown in FIGS. 24A and 24B is exemplary only, and the preloads PL1, PL2, PL3, PL4 of each fully independent suspension at each corner of frame 200 are autonomous. For a given payload carried by transport vehicle 110, delivered to frame 200 by/through at least one of at least one caster wheel 250A, 250B and at least one traction drive wheel 260A, 260B. It can be set to any suitable value to reduce/minimize the frame's transient response to transient loads.

As can be seen by comparing FIGS. 23A and 23B with each of FIGS. 24A and 24B, by tuning the fully independent suspensions 280, 780, the predetermined stiffness characteristics 289 are This can be set/tuned (with the autonomous guided vehicle loaded and/or unloaded) to be substantially the same when loaded and unloaded. In some cases, the predetermined stiffness characteristics 289 may be determined by comparing the G-forces and vibrations with the autonomous guided vehicle 110 loaded compared to the G-forces and vibrations with the autonomous guided vehicle 110 unloaded. Forces and vibrations can be set to be smaller. Tuning of the predetermined stiffness properties 289 may be achieved by adjusting the payload (e.g., case unit(s) CU) carried by the autonomous guided vehicle 110, as shown in FIGS. 23A-24B. It minimizes low frequency vibration response and minimizes G-forces so that it remains in a substantially constant position when held on payload bed 210B in an ungripped and released state as described.

The tuning of the fully independent suspension of the autonomous guided vehicle is such that maximum vibration/force and vibration duration are minimized (eg, frame settling time is minimized). Tuning of the fully independent suspension includes placement of case units (CU) on the payload bed 210B, securing of the case units (CU) to the payload bed (e.g., appropriate gripping such as case pushers, fences, etc.) /gripping by alignment features), and releasing (e.g., releasing from gripping) case units (CU) within the payload bed along the rolling surface 395. Provides a substantially constant autonomous guided vehicle 110 ride height (RHT) that implements starting/stopping of traverse motion of the autonomous guided vehicle 110 (and smoothness of motion maintaining a substantially constant ride height). Here, tuning of the fully independent suspension is performed within the payload bed 210B (e.g., prior to deployment of the case unit) while the autonomous guided vehicle 110 is traversing the rolling surface. Provides “pre-processing” of case units (CU) or “post-processing” of case units (CU) (e.g., after picking of case units).

Preprocessing of the case units (CU) during traversal of the autonomous guided vehicle 110 along the rolling surface 395 includes the release of the case unit(s) CU from grip and any suitable case unit holding position from the payload bed. It may include aligning the case unit(s) (CU) to a predetermined location on the payload bed 210B for delivering the case unit(s) (CU). Post-processing of the case units (CU) during the traversal of the autonomous guided vehicle 110 along the rolling surface 395 positions the case unit(s) CU at the payload reference position (PDP) (described herein). including lowering the delivery arm 210A, aligning the case unit(s) (CU) within the payload bed 210B, and securing the case unit(s) (CU) within the payload bed 210B. can do. Pre- and post-processing of the case unit(s) (CU) substantially simultaneously with the traverse start and traverse stop motions of the autonomous guided vehicle 110 each include a transfer arm/end effector and alignment features for case unit picking and placing operations. Provides superior takt time (e.g., for fulfilling product orders) compared to conventional storage and retrieval systems in which autonomous guided vehicles do not move along a rolling surface during operation.

2, 16, 17, and 18, the autonomous guided vehicle 110 is equipped with a traction control system 1000 that performs navigation of the autonomous guided vehicle 110 through the transfer deck 130B and the picking aisle 130A. ) includes. As described herein, the traction control system provides the autonomous guided vehicle 110 with excellent wheel odometer measurements for localization of the autonomous guided vehicle 110 within the storage and retrieval system 100. It works synergistically with the fully independent suspension to achieve this.

As described herein, the autonomous guided vehicle 110 is not supported by the “unsprung mass or structure” of the autonomous guided vehicle 110 (e.g., a fully independent suspension as described herein). A differential drive system (e.g., the output of the drive motors 261M is connected substantially directly to the respective drive wheels 261W without gear reduction) to reduce or minimize unloaded weight). For example, independently operable drive wheels 260A, 260B). The drive section 261D is such that each traction drive wheel 261W of at least one pair of traction drive wheels 261W is individually powered by a corresponding traction motor 261M closely coupled to each traction drive wheel. (i.e. directly driven with low moment of inertia drive by almost instantaneous motor applied torque). The traction motor 261M for each traction drive wheel 261W is distinct and individual from the traction motor 261W of the drive section 261D corresponding to each other traction drive wheel 261W. Each traction drive wheel 261W of the drive section 261D has a corresponding traction motor 261M that individually powers a traction drive wheel 261W that is closely coupled to each traction drive wheel 261W. have

In aspects of the disclosed embodiment, the autonomous guided vehicle 110 sprung structure (i.e., a structure of the autonomous guided vehicle supported by a fully independent suspension, e.g., frame 200, transfer arm 200). ), controllers, etc.) and the drive motors 261M, there is a large effective inertia ratio (e.g., the inertia of the spring-like structure is greater than the inertia of the drive motors 261M and the respective wheels 261W). big). Here, loss of traction between the drive wheels 261W and the rolling surface 395 during acceleration of the autonomous guided vehicle 110 may result in rapid acceleration of the drive motors 261M and the respective wheels 261W. there is.

Traction control system 1000 of aspects of the disclosed embodiment minimizes the slip angle between drive wheels 260A, 260B to an amount of relative wheel slip of less than approximately 1° (e.g., loss of traction). When the relative rotation amount between the wheels 261W of the drive wheels 260A and 260B is less than approximately 1°), slip is alleviated. To achieve relative wheel slip of less than approximately 1°, the traction control system 1000 may adjust slip from the onset of slip, given a position feedback system that includes noise in the feedback signal, as described herein. It is configured to have sufficient bandwidth to have very low latency (e.g., less than approximately 2 ms) until the damping control response. For example, Figure 16 shows a slip event in which wheel 261W loses (some or all) traction at approximately t=1 ms and the wheel accelerates beyond the speed at which frame 200 moves in any given transverse direction. This is one graph. The controller, such as controller 1220 of autonomous guided vehicle 110, reacts to reduce wheel 261W speed such that wheel 261W speed substantially matches (i.e., is synchronized with) frame 200 speed. Here, the traction control system 1000 is configured to operate motors 261M to apply the maximum available motor torque in response to a slip event.

The traction control system 1000 has a multi-loop architecture that includes speed estimation and control, and a control loop that provides very fast (e.g., data sampling rate less than approximately 2 ms) speed estimation and control. The multi-loop architecture of the traction control system 1000 also includes other loops operating at slower sampling rates (e.g., less than approximately 10 ms). For example, referring to FIG. 17, the traction control system 1000 (which may be integrated into a controller 1220 or any other suitable controller mounted on an autonomous guided vehicle 110) may, for example, It is communicatively coupled to drive wheels 260A, 260B via a controller area network (CAN) bus interface 1070 of autonomous guided vehicle 110. The traction control system 1000 may include any suitable sensors (e.g., line following sensors, vision systems, accelerometers, wheel encoder, current sensor, etc.). The traction control system 1000 also includes a communications (e.g., “comms”) interface 1010, a trajectory handler 1015, a position estimator 1020, and a position controller ( 1025), a speed estimator 1030, and a speed controller 1035. In other aspects, the traction control system 1000 may have any suitable configuration, and the configuration shown and described herein is exemplary. In the example provided, the communication interface 1010, orbit handler 1015, position estimator 1020, and position controller 1025 operate at a sampling rate of less than approximately 10 ms (in other aspects the sampling rate may be greater than approximately 10 ms). while the sensor 1080, speed estimator 1030, and speed controller 1035 operate at a sampling rate of less than approximately 2 ms (in other aspects, the sampling rate may be greater than approximately 2 ms). do.

The sensors 1080 are configured to sense/detect spatial position data (e.g., line following position, visual position data, wheel odometer readings, etc.) and provide it to the position estimator 1020. The sensors 1080 are also configured to sense/detect inertial measurements (e.g., including at least acceleration) of the autonomous guided vehicle 110 and provide them to the speed estimator 1030. The speed estimator 1030 (e.g., from any suitable wheel encoders 1080W of drive wheels 260A, 260B, where wheel encoders 1080W perform wheel odometry determination) Receives encoder data and measured current (e.g., of motors 261M of drive wheels 260A, 260B as measured by any suitable current sensor) via CAN bus interface 1070. The speed estimator 1030 provides a speed estimate to the position estimator 1020. The position estimator 1020 determines a position estimate from the spatial position data and the velocity estimate and provides the position estimate to one or more of the trajectory handler 1015 and the position controller 1025. The trajectory handler 1015 is configured to receive. configured to receive waypoint/navigation data from the communication interface 1010 and determine a trajectory of the autonomous guided vehicle 110 based on the waypoint/navigation data and the position estimate. The position controller 1025 receives the trajectory from the trajectory handler 1015 and determines a speed target for the autonomous guided vehicle 110 based on the trajectory and position estimate.

The speed estimator 1030 also provides a speed estimate to speed controller 1035. The speed controller 1035 receives a speed target value from the position controller 1025 and based on the speed target value and the speed estimate value (e.g., for motors 261M of drive wheels 260A, 260B). ) Determine the current target values. Motors 261M of the drive wheels 260A, 260B are operated/driven based on current target values from speed controller 1035.

As described herein, the wheel encoder data and measured current (as well as any other sensor data from sensors 1080) are the respective feedback data signals employed for control of drive wheels 260A, 260B. There is noise in the field. To achieve a low-latency (e.g., less than approximately 2 ms) response time of the traction control system 1000 in the presence of noise in the feedback signals, the speed controller 1035 and speed estimator 1030 consists of multi-input and multi-output controllers, respectively, which, rather than explicitly detecting and reacting to slip events as they occur, resolve incipient slip (e.g., prevent wheel slip from occurring effectively, e.g. , such that the relative rotation of the drive wheels 261W is limited to less than approximately 1°), resolves near-instantaneous slip, and achieves a number of control objectives (i.e., wheel speed while achieving a predetermined speed of the autonomous guided vehicle frame 200 It is configured to deal with matching the frame rate. An exemplary configuration of the speed controller 1035 and speed estimator 1030 is shown in FIG. 18.

wherein the multi-input/multi-output speed controller 1035 determines predetermined kinematic characteristics (e.g., velocity gradient, acceleration, etc.) of the autonomous guided vehicle 110 based on a time optimal autonomous guided vehicle trajectory; about traction drive wheels 261W to match traction drive wheel 261W rotation with predetermined kinematic characteristics of the autonomous transport robot within predetermined wheel slip characteristics of traction drive wheels 261W relative to rolling surface 395. to adjust the motor applied torque (described herein) (e.g., from a predetermined applied torque, such as the maximum available applied torque for optimal trajectory, i.e., a bang-bang control input) ) is configured to adjust the motor applied torque from ). The predetermined wheel slip characteristics of the traction drive wheels 261W result in a near-instantaneous (relative to the autonomous guided vehicle trajectory path) rotational adjustment of the traction drive wheels 261W, which is performed by the multi-input/multi-output speed controller 1035. ) to resolve the wheel slip of the traction drive wheel 261W based on the adjusted applied torque commanded by . Here, as described, the near-instantaneous traction drive wheel 261W modulation is less than about 10 ms, and approximately less than 2 ms. The multi-input/multi-output speed controller 1035 determines the adjustment of applied torque in response to wheel position data from wheel position sensors 1080W and traction relative to the rolling surface 395 based on the wheel position data. and configured to determine the relative initial slip of the drive wheel 261W.

According to aspects of the disclosed embodiment, the speed estimator 1030 includes (left and right) wheels speed estimators 1030W1, 1030W2 and a chassis (or frame) speed estimator 1030C. The speed controller 1035 includes (left and right) wheel speed (sub)controllers 1035W1, 1035W2 and a chassis (or frame) speed (sub)controller 1035C operating in parallel with each other. The output of each wheel speed controller 1035W1, 1035W2 is summed with the output of chassis speed controller 1035C to determine the respective net torque for each of the (left and right) drive wheels 260A, 260B.

The wheel speed estimators 1030W1 and 1030W2 provide speed estimates (e.g., speed vectors) of each wheel 261W based on the wheel encoder measurements of each wheel 261W to each wheel speed controller. Provided at (1035W1, 1035W2). The wheel speed estimators 1030W1 and 1030W2 differentiate the respective wheel encoder data and pass it through a low pass filter with minimal delay (e.g., within a sampling rate of approximately less than 2 ms), respectively. It is configured to estimate the wheel speed of . Note that a low-pass filter can be incorporated into each of the wheel speed estimators 130W1 and 130W2.

The chassis speed estimator 1030C determines the frame or chassis (e.g., for both drive wheels 260A and 260B) based on wheel encoder measurements and inertial measurements of autonomous guided vehicle 110. 200) Provide speed estimates (e.g., speed vectors) to chassis speed controller 1035. The chassis speed estimator 1030C also calculates the frame 200 speed estimates to nominal wheel speeds for each wheel 261W of drive wheels 260A, 260B (e.g., when the wheels are at the frame speed and without wheel slip). the resulting wheel speeds being synchronized), wherein the nominal wheel speeds are provided to each wheel speed controller 1035W1, 1035W2.

As described above, the chassis speed controller 1035C receives chassis speed estimates (or vectors) as well as a target speed (e.g., speed vector) of frame 200. The chassis speed controller 1035C may have any suitable configuration to output (left and right) motor 261M torques to each of the (left and right) drive wheels 260A, 260B, which motor torques may be A force/moment is transmitted to the frame 200 to achieve the target chassis speed. The wheel speed controllers 1035W1, 1035W2 receive nominal wheel speeds and speed estimates for each wheel 261W of each drive wheel 260A, 260B. Each wheel speed controller (1035W1, 1035W2) is configured to have a nonlinear control law and uses it.

The non-linear control law is configured to minimize the amount of encoder differentiation noise that can be amplified by wheel speed controllers 1035W1 and 1035W2 and chassis speed controller 1035C. The non-linear control law also configures the traction control system 1000 such that the output of the wheel speed controllers 1035W1, 1035W2 is small when the error (e.g., difference) between the wheel speed estimate and the nominal wheel speed is small; However, the output of wheel speed controllers 1035W1 and 1035W2 increases rapidly as the error between the wheel speed estimate and the nominal wheel speed increases. Here, in accordance with aspects of the disclosed embodiment, the contribution of wheel speed controllers 1035W1, 1035W2 to drive wheel torque commands (e.g., net wheel torque) is minimized when wheel slip is substantially nonexistent; However, in the presence of wheel slip the contribution of the wheel speed controllers 1035W1, 1035W2 to the drive torque commands dominates the drive wheel control output (e.g., the contribution of the wheel speed controllers to determine the net wheel torque is dominates the contribution of the chassis speed controller in determining net wheel torque). An example of a non-linear control law of the wheel speed controllers 1035W1, 1035W2 is as follows:

Torque = Kp * e ² * sin(e)

where e is the error between the nominal wheel speed and the estimated wheel speed, and Kp is the gain that can be adjusted to select how much priority the speed controller 1035 gives to achieving the target wheel speed relative to the target chassis speed. .

1, 17, 18, and 19, an exemplary application of drive wheel 260A, 260B traction control utilizing the above non-linear control law will be described. The chassis speed controller 1035C of the autonomous guided vehicle 110 controls the drive wheels 290A, 260B to accelerate the autonomous guided vehicle 110 along a given trajectory on the transfer deck 130B or along the picking aisle 130A. ) to cause each motor 261M to apply its maximum torque (i.e., the maximum available torque according to the motor specifications) to each wheel 261W (Figure 19, block 1200). Here, the wheels 261W and the frame 200 are accelerated proportionally and their respective speeds are synchronized (eg, no slip of the wheels 261W). Drive wheel (260A, 260B) control commands from the chassis speed controller (1035C) cause wheel speed controllers (1035W1, 1035W2) (also known as wheel slip controllers) to control each (left and right) wheels when no wheel slip is present. ) to determine the respective (left and right) net drive wheel torques (e.g., each of the wheel speed controllers 1035W1 and 1035W2 and the chassis speed controller ( In each sum of torques from 1035C) - see Figure 18) is dominant.

Upon occurrence of a wheel slip event (e.g., one or more wheels 261W of drive wheels 260A, 260B slip/lose traction on a rolling surface), the wheel(s) being slipped 261W are autonomous. The transport vehicle 110 begins to accelerate at a faster rate than the acceleration of the frame 200. Slip/loss of traction of one or more wheels 261W results in a difference between the drive wheel speed of the slipping drive wheel(s) 260A, 260B and the speed of frame 200. One or more of each of the wheel speed controllers 1035W1, 1035W2 (employing a non-linear control law) issues respective drive wheel 260A, 260B torque commands counter to the torque commands of chassis speed controller 1035C. Thus, the drive wheel (260A, 260B) torque commands issued by one or more of the wheel speed controllers (1035W1, 1035W2) are in the respective (left and right) order for the drive wheel(s) 260A, 260B to slip. Initiate or cause to dominate the determination of the drive wheel torques (e.g., the respective sum of the torques from each of the wheel speed controllers 1035W1, 1035W2 and the chassis speed controller 1035C - see FIG. 18) (FIG. 19) , block 1210), thereby weakening the influence of chassis speed controller 1035C on the net drive wheel torque for the slipping drive wheels 260A, 260B when wheel slip exists. Torque commands issued by one or more of the wheel speed controllers 1035W1, 1035W2 reduce the wheel speed of the driving wheel(s) 260A, 260B to slip and drive wheels 260A, 260B to slip. As the speed of The torque commands issued by again govern the determination of the net drive wheel torque(s) (Figure 19, block 1220).

The traction control system 1000 controls the utilization of drive wheels 260A, 260B by applying the maximum available motor torque of each drive wheel 260A, 260B to the point where each wheel 261W begins to slip. The available traction force is continuously monitored, at which point the non-linear control law determines the speed of the slipping drive wheels 260A, 260B (e.g., such that wheel speed and chassis speed are substantially synchronized as described herein). Return to wheel speed.

As the loss of traction of the drive wheel(s) 260A, 260B is alleviated, the chassis speed controller uses the maximum available motor torque of the drive wheels 260A, 260B to move the transfer deck 130B and/or the picking aisle ( Execute the crossing of the autonomous guided vehicle according to 130A). As described above, the low latency of the traction control system 1000 limits wheel slip to less than approximately 1° relative rotation between wheels 261W of drive wheels 260A and 260B. According to aspects of the disclosed embodiment, the traction control system 1000 described herein substantially eliminates explicit detection and response to slip events. Rather, the traction control system 1000 responds to wheel slip events substantially continuously, with the magnitude of the response by the traction control system varying depending on the magnitude of the slip event.

According to aspects of the disclosed embodiment, and as noted herein, the fully independent suspension system and traction control system 1000 provides dynamic response of a moving autonomous guided vehicle 110, which fulfills product orders. Implements excellent tact time to do this. For example, by a fully independent suspension that maintains a substantially constant/steady state payload height (RHT) (see FIG. 15A) and reduces vibration of the autonomous guided vehicle (due to traversing of the autonomous guided vehicle through the storage structure) Traction control systems address wheel slip, which can cause yawing of autonomous guided vehicles. Reduced vibration, steady-state ride height (RHY), and substantial prevention of wheel slip (e.g., smoother bot stability due to the synergistic effects of fully independent suspension, chassis/suspension tuning, and traction control system) are achieved through the case unit ( a stable case unit holding platform that substantially maintains the position of the case unit(s) on the case unit support surface 210AFS (e.g., without pushing/moving) while the unit(s) are not substantially gripped/constrained. to provide.

Here, the predetermined stiffness characteristic 289 of the frame 200 is determined by at least one of the at least one caster wheel 250A, 250B and the at least one traction drive wheel 260A, 260B (e.g., a rolling surface From transients (induced by rolling over transients 395T on 395), the payload (e.g., case unit(s) CU) passes through frame 200 and onto payload seating surface 210AFS. ) is set to minimize transient loads transmitted to the device. The transient loads are such that the unconstrained payload on the payload seating surface 210AFS rolls on the rolling surface 395 (at predetermined kinematic states, such as acceleration and/or deceleration of the autonomous guided vehicle 110). Transient loads by vehicle 100 are minimized to be substantially constant (in at least one degree of freedom, e.g., at least one of Herein, the synergistic dynamic response of the moving autonomous guided vehicle 110 is within the payload bed 210B substantially simultaneously with the starting and stopping of the transverse motion of the autonomous guided vehicle 110 along the rolling surface as described herein. Provides grip release/release manipulation of case unit(s) (CU), which is superior to conventional autonomous guided vehicles where traversing of the autonomous guided vehicle along a surface is stopped before releasing the case unit(s) for manipulation. Implement tact time.

2, 5A, 5B, 9A-15B, and 21, an example method for an autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, an autonomous guided vehicle 110 is provided with a frame 200, a transfer arm 210A, and a drive section 261D (Figure 21, block 1400). As described herein, the frame 200 has an integral payload support (e.g., also referred to as payload support bed 210B); The transfer arm 210A provides automatic transfer of payload (e.g., case units (CU)) to and from frame 200; The drive section is connected to the frame 200 and has a pair of traction drive wheels 260A, 260B spanning both sides of the drive section 261D. In the method, the entire traverse of the at least one traction drive wheel 260A, 260B over the rolling surface 395 is achieved by a completely independent suspension coupling each wheel of the at least a pair of traction drive wheels to the frame. , a substantially steady state traction contact patch (CNTC) is maintained between the rolling surface 395 and at least one traction drive wheel 260A, 260B over the rolling surface transitions 395T (FIG. 21, block 1410), The fully independent suspension has at least one intermediate pivot link (e.g., upper and lower frame links 310, 311) interposed between the frame 200 and at least one traction drive wheel 260A, 260B. .

With continued reference to FIGS. 2, 5A, 5B, 9A-15B, and 22, an example method for an autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, an autonomous guided vehicle 110 is provided with a frame 200, a transfer arm 210A, and a drive section 261D (Figure 22, block 1500). As described herein, the frame 200 has an integral payload support (e.g., also referred to as payload support bed 210B); The transfer arm 210A provides automatic transfer of payload (e.g., case units (CU)) to and from frame 200; The drive section is connected to the frame 200 and has a pair of traction drive wheels 260A, 260B spanning both sides of the drive section 261D. In this method, for at least one traction drive wheel rolling over the surface transitions of the rolling surface in a linear direction substantially perpendicular to the frame throughout each transition (at least one intermediate pivot link, for example an upper and lower frame links (310, 311)) to produce a substantially linear transient response (FIG. 22, block 1510), wherein the at least one pair of traction drive wheels ( It has a fully independent suspension coupling each wheel 261W of 260A, 260B to frame 200, which has at least one intermediate pivot between at least one traction drive wheel 260A, 260B and frame 200. have a link

2, 5A, 5B, 9A-15B, and 25, an exemplary method for the autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, autonomous guided vehicle 110 includes a frame 200 (Figure 25, block 1800), transfer arms 210A (Figure 25, block 1810), and caster wheel(s) 250A, 250B (Figure 25). Block 1820), and drive section 261D (FIG. 25, block 1830). At least one traction drive wheel (260A, 260B) of the at least one caster wheel (250A, 250B) and the pair of traction drive wheels (260A, 260B) is the payload at the payload reference position (PDP). disposed on the frame 200 (FIG. 25, block 1840) across both sides of the integral payload support 210B such that a seating surface 210AFS is positioned at a minimum distance above the rolling surface 395, wherein at least one The caster wheels 250A, 250B and at least one traction drive wheel 260A, 260B of the pair of traction drive wheels 260A, 260B roll on the rolling surface so that the autonomous guided vehicle 110 rolls on the rolling surface 395. ), and each of at least one caster wheel (250A, 250B) and a pair of traction drive wheels (260A, 260B) has a completely independent suspension (780, 280).

2, 5A, 5B, 9A-15B, and 26, an example method for an autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, autonomous guided vehicle 110 includes a frame 200 (Figure 26, block 1900), transfer arms 210A (Figure 26, block 1910), and caster wheel(s) 250A, 250B (Figure 26). Block 1920), and drive section 261D (FIG. 26, block 1930). The predetermined stiffness characteristic 289 is dependent on the predetermined transient response characteristic of the fully independent suspension 780, 280 of at least one of the at least one caster wheel 250A, 250B and the at least one traction drive wheel 260A, 260B. is set based on (Figure 26, block 1940).

2, 5A, 5B, 9A-15B, and 27, an example method for an autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, an autonomous transport robot is provided with a frame 200, a transfer arm 210A, at least one caster wheel 250A, 250B, and a drive section 261D (Figure 27, block 2000). The frame 200 has an integrated payload support 210B. The transfer arm 210A is coupled to the frame 200 and configured for automatic transfer of payload (e.g., case units (CU)) to and from the frame 200. The at least one caster wheel 250A, 250B is mounted on the frame 200, and the drive section 261D has at least one pair of traction drive wheels 260A, 260B spanning both sides of the drive section 261D. . The drive section 261D is connected to a frame 200, wherein at least one caster wheel 250A, 250B and at least one traction drive wheel 260A, 260B of a pair of traction drive wheels 260A, 260B ) rolls on the cloud surface 395 and causes the autonomous guided vehicle to traverse the cloud surface 395. Each of the at least one caster wheel 250A, 250B and the at least one traction drive wheel 260A, 260B has a completely independent suspension 780, 280. The predetermined stiffness characteristics 289 of the frame 200 include at least one caster wheel 250A, 250B rolling on a rolling surface 395 and a traction drive of at least one of a pair of traction drive wheels 260A, 260B. is set based on a predetermined transient response characteristic of frame 200 that determines the transient response of frame 200 from the transients of wheels 260A and 260B (FIG. 27, block 2010), wherein the predetermined stiffness characteristic ( 298) defines a transient response of frame 200 from transient loads transmitted to frame 200 through at least one of at least one caster wheel (250A, 250B) and at least one traction drive wheel (260A, 260B) do.

2, 5A, 5B, 9A-15B, and 28, an example method for an autonomous guided vehicle 110 will be described in accordance with aspects of the disclosed embodiment. In this method, an autonomous transport robot is provided with a frame 200 and a drive section 261D (Figure 28, block 2100). The frame 200 has an integral payload support 210B, and the drive section 261D has at least one pair of traction drive wheels 260A, 260B spanning both sides of the drive section 261D (e.g. , see wheels (261W)). The drive section 261D is connected to the frame 200, and each of the at least one pair of traction drive wheels 260A, 260B has a respective traction drive wheel 260A, 260B. (which is distinct and separate from each other traction motor 261M of the corresponding drive section 261D of each other traction drive wheel 260A, 260B) closely coupled thereto. It is configured to be powered by. Each traction drive wheel 260A, 260B of the at least one pair of traction drive wheels 260A, 260B is configured to drive a corresponding drive section 261D closely coupled to the respective traction drive wheel 260A, 260B. Individually powered by motor 261M (Figure 28, block 2110). The traction motor 261M is distinct and separate from each other traction motor 261M of the drive section 261D corresponding to each other traction drive wheel 260A, 260B. The multi-input/multi-output (speed) controller 1035 determines predetermined kinematic characteristics of the autonomous guided vehicle 110 based on the optimal robot trajectory and traction drive wheels relative to the rolling surface 395. Adjust the motor applied torque to the traction drive wheels 260A, 260B to match the traction drive wheel rotation with the predetermined kinematic characteristics of the automated guided vehicle 110 within the predetermined wheel slip characteristics of 260A, 260B ( 28, block 2120).

2, 5A, 5B, 9A-15B, and 29, an example method for an autonomous guided vehicle 110 will be described in accordance with one or more aspects of the disclosed embodiment. In this method, an autonomous transport robot is provided with a frame (Figure 29, block 2200), a transfer arm 210A (Figure 29, block 2210), and a drive section (Figure 29, block 2220). The frame 200 has an integrated payload support 210B and the delivery arm 210A is connected to the frame 200 and carries payload (e.g., case units CU) to and from the frame 200. ) is configured for automatic delivery. The drive section 261D is connected to the frame 200 and has at least one pair of traction drive wheels 260A, 260B spanning both sides of the drive section 261D, wherein the at least one pair of traction drives Wheels 260A, 260B have a fully independent suspension 280 that couples each traction drive wheel 260A, 260B of at least one pair of traction drive wheels 260A, 260B to frame 200. The fully independent suspension 280 is locked in a predetermined position relative to the frame 200 by a locking device/suspension locking system 500 releasably coupled to the fully independent suspension 280 (FIG. 29, block 2230 ). As described herein, the controller 2330 locks each fully independent suspension 280 by extension of the delivery arm 210A (e.g., from the reference payload position (PDP)). The actuation of 500 and the retraction of the delivery arm (e.g. to the reference payload position PDP) automatically perform the release of the locking device 500 of each fully independent suspension 280 .

The foregoing descriptions should be understood as merely illustrating aspects of the disclosed embodiments. Various alternatives and modifications may be devised by those skilled in the art without departing from the aspects of the disclosed embodiments. Accordingly, the aspects of the disclosed embodiments are intended to cover all alternatives, variations and modifications that fall within the scope of the appended claims. Moreover, the mere fact that different features are recited in mutually different dependent or independent claims does not indicate that the combination of features cannot be used advantageously, as long as the combination of features falls within the scope of the embodiments of the present invention.

Claims (278)

An autonomous transport vehicle for transporting goods in a storage and retrieval system, said autonomous transport vehicle comprising:
frame;
controller;
at least two independently driven drive wheels mounted on the frame; and
At least one caster wheel mounted on the frame and having a casting assistance motor, wherein the caster wheel assists the at least one caster wheel with casting of the at least one caster wheel. At least one caster wheel coupled to the at least one caster wheel to provide auxiliary castering auxiliary torque,
The controller is communicatively coupled to the casting auxiliary motor and controls vehicle yaw generated by differential torque from the at least two independently driven drive wheels and the casting auxiliary motor. configured to implement casting of the at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state, through a combination of casting assistance torque from: is determined to supplement the differential torque. According to paragraph 1,
The castering auxiliary motor is configured such that the maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is calculated from the casting scrub in each predetermined kinematic state. substantially scrub-free caster along and throughout each vehicle path via the commanded casting assistance torque, configured to substantially nullify resistance, substantially independent of vehicle path and kinematic state; Autonomous guided vehicle implementing a ring. According to paragraph 2,
The commanded casting assistance torque for each caster wheel of the at least one caster wheel is adjusted to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state. Autonomous guided vehicles with independent decisions about their wheels. According to paragraph 2,
The commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, and is each commanded for each corresponding caster wheel. and wherein the casting assistance torque varies between corresponding caster wheels of the at least one caster wheel based on turning radius. According to paragraph 2,
and wherein the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub. According to paragraph 2,
wherein the commanded casting assistance torque substantially nullifies resistance from castering scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. According to paragraph 1,
The controller may be configured to bias the at least one caster wheel for casting while the autonomous guided vehicle is in motion and to maintain the at least one caster wheel in a predetermined steady state position. An autonomous transport vehicle configured to position. According to paragraph 1,
The controller generates, by the castering auxiliary motor, a casting auxiliary torque that biases the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel. and configured to apply to at least one caster wheel, wherein the predetermined skew orientation forms a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle. According to clause 8,
The controller is configured to apply a casting auxiliary torque to the at least one caster wheel to bias the at least one caster wheel to a predetermined skew orientation in a casting direction by the casting auxiliary motor when the autonomous transport vehicle is stopped. An autonomous guided vehicle configured to apply power to wheels. According to paragraph 1,
wherein the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing. According to paragraph 1,
The at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and a stator of the castering auxiliary motor is arranged to be supported in contact with the caster mounting housing, and the casting auxiliary motor is provided. The rotor of the motor is disposed to abut a caster pivot shaft of the at least one caster wheel, the caster pivot shaft pivotally coupling the at least one caster wheel to the caster mounting housing. According to paragraph 1,
The caster auxiliary motor is at least one of a servo motor and a stepper motor. According to paragraph 1,
wherein the casting auxiliary motor performs optimization of the drive wheel motors of at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous transport vehicle motion. An autonomous transport vehicle for transporting items in a storage and retrieval system, said autonomous transport vehicle comprising:
frame;
controller;
at least two independently driven drive wheels mounted on the frame; and
At least one caster wheel of a non-holonomic steering system mounted on the frame and having a casting auxiliary motor, wherein the casting auxiliary motor is connected to the at least one caster wheel. At least one caster wheel coupled to the at least one caster wheel to provide a casting auxiliary torque to assist casting of the caster wheel,
The controller is communicatively coupled to the casting assistance motor and assists the caster with a casting input from vehicle yaw generated by differential torque from the at least two independently driven drive wheels. An autonomous guided vehicle, configured to implement substantially scrub-free casting of the at least one caster wheel with the autonomous guided vehicle moving in a predetermined kinematic state, via a casting assistance torque from a ring auxiliary motor. According to clause 14,
The controller may provide a supplementary torque that supplements the casting input to the at least one caster wheel from vehicle yaw to implement scrub-free casting of the at least one caster wheel. An autonomous transport vehicle configured to determine torque. According to clause 14,
The castering auxiliary motor is configured such that the maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is calculated from the casting scrub in each predetermined kinematic state. substantially scrub-free caster along and throughout each vehicle path via the commanded casting assistance torque, configured to substantially nullify resistance, substantially independent of vehicle path and kinematic state; Autonomous guided vehicle implementing a ring. According to clause 16,
The commanded casting assistance torque for each caster wheel of the at least one caster wheel is adjusted to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state. Autonomous guided vehicles with independent decisions about their wheels. According to clause 16,
The commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, and is each commanded for each corresponding caster wheel. and wherein the casting assistance torque varies between corresponding caster wheels of the at least one caster wheel based on turning radius. According to clause 16,
and wherein the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub. According to clause 16,
wherein the commanded casting assistance torque substantially nullifies resistance from castering scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. According to clause 14,
The controller may be configured to bias the at least one caster wheel for casting while the autonomous guided vehicle is in motion and to maintain the at least one caster wheel in a predetermined steady state position. An autonomous transport vehicle configured to position. According to clause 14,
The controller generates, by the castering auxiliary motor, a casting auxiliary torque that biases the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel. and configured to apply to at least one caster wheel, wherein the predetermined skew orientation forms a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle. According to clause 22,
The controller is configured to apply a casting auxiliary torque to the at least one caster wheel to bias the at least one caster wheel to a predetermined skew orientation in a casting direction by the casting auxiliary motor when the autonomous transport vehicle is stopped. An autonomous guided vehicle configured to apply power to wheels. According to clause 14,
wherein the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing. According to clause 14,
The at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and a stator of the castering auxiliary motor is arranged to be supported in contact with the caster mounting housing, and the casting auxiliary motor is provided. The rotor of the motor is disposed to abut a caster pivot shaft of the at least one caster wheel, the caster pivot shaft pivotally coupling the at least one caster wheel to the caster mounting housing. According to clause 14,
The caster auxiliary motor is at least one of a servo motor and a stepper motor. According to clause 14,
wherein the casting auxiliary motor performs optimization of the drive wheel motors of at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous transport vehicle motion. An autonomous transport vehicle for transporting items in a storage and retrieval system, said autonomous transport vehicle comprising:
frame;
controller;
at least two independently driven drive wheels mounted on the frame; and
At least one caster wheel mounted on the frame and having a castering auxiliary motor, wherein the castering auxiliary motor imparts a casting auxiliary torque to the at least one caster wheel to assist casting of the at least one caster wheel. At least one caster wheel coupled to the at least one caster wheel for
The controller is communicatively coupled to the casting auxiliary motor and controls vehicle yaw generated by differential torque from the at least two independently driven drive wheels and casting from the casting auxiliary motor. configured to implement casting of the at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state, through a combination of auxiliary torque, wherein the casting auxiliary torque is provided to each of the autonomous guided vehicles. An autonomous guided vehicle that deploys to substantially nullify resistance from castering scrub in a predetermined kinematic state. According to clause 28,
The controller determines the casting assistance torque as a supplemental torque that supplements the casting input to the at least one caster wheel from vehicle yaw to implement scrub-free casting of the at least one caster wheel. An autonomous transport vehicle configured to: According to clause 28,
The castering auxiliary motor is configured such that the maximum casting auxiliary torque is the motor rated torque of the casting auxiliary motor, and the commanded casting auxiliary torque is calculated from the casting scrub in each predetermined kinematic state. substantially scrub-free caster along and throughout each vehicle path via the commanded casting assistance torque, configured to substantially nullify resistance, substantially independent of vehicle path and kinematic state; Autonomous guided vehicle implementing a ring. According to clause 30,
The commanded casting assistance torque for each caster wheel of the at least one caster wheel is adjusted to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state. Autonomous guided vehicles with independent decisions about their wheels. According to clause 30,
The commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, and is each commanded for each corresponding caster wheel. and wherein the casting assistance torque varies between corresponding caster wheels of the at least one caster wheel based on turning radius. According to clause 30,
and wherein the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub. According to clause 30,
wherein the commanded casting assistance torque substantially nullifies resistance from castering scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. According to clause 28,
The controller is configured to position the castering auxiliary motor to bias the at least one caster wheel for casting and maintain the at least one caster wheel in a predetermined steady state position while the autonomous guided vehicle is in motion. becoming an autonomous transport vehicle. According to clause 28,
The controller generates, by the castering auxiliary motor, a casting auxiliary torque that biases the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel. and configured to apply to at least one caster wheel, wherein the predetermined skew orientation forms a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle. According to clause 36,
The controller is configured to apply a casting auxiliary torque to the at least one caster wheel to bias the at least one caster wheel to a predetermined skew orientation in a casting direction by the casting auxiliary motor when the autonomous transport vehicle is stopped. An autonomous guided vehicle configured to apply power to wheels. According to clause 28,
wherein the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing. According to clause 28,
The at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and a stator of the castering auxiliary motor is arranged to be supported in contact with the caster mounting housing, and the casting auxiliary motor is provided. The rotor of the motor is disposed to abut a caster pivot shaft of the at least one caster wheel, the caster pivot shaft pivotally coupling the at least one caster wheel to the caster mounting housing. According to clause 28,
The caster auxiliary motor is at least one of a servo motor and a stepper motor. According to clause 28,
wherein the casting auxiliary motor performs optimization of the drive wheel motors of at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous transport vehicle motion. An autonomous transport vehicle for transporting items in a storage and retrieval system, said autonomous transport vehicle comprising:
frame;
controller;
at least two independently driven drive wheels mounted on the frame; and
At least one caster wheel mounted on the frame and having a casting assistance electromagnetic actuator, wherein the casting assistance electromagnetic actuator assists the at least one caster in each casting position of the at least one caster wheel. At least one caster wheel coupled to the at least one caster wheel to impart a bias force to the wheel,
The controller is communicatively coupled to a casting auxiliary electromagnetic actuator and is configured to control vehicle yaw generated by differential torque from the at least two independently driven drive wheels and deflection from the casting auxiliary electromagnetic actuator. Through a combination of forces, the autonomous transport vehicle is configured to implement casting of the at least one caster wheel while the autonomous transport vehicle is moving in a predetermined kinematic state, wherein the biasing force moves the at least one caster wheel to the autonomous transport vehicle. An autonomous guided vehicle that is commanded to deflect at each predetermined kinematic state of the vehicle to a corresponding casting position that substantially nullifies resistance from a castering scrub. According to clause 42,
and wherein the commanded biasing force substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub. According to clause 42,
and wherein the commanded biasing force substantially nullifies resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. According to clause 42,
The controller is configured to provide a casting input to the at least one caster wheel from a vehicle yaw to apply a casting assistance torque of the castering auxiliary electromagnetic actuator to implement scrub-free casting of the at least one caster wheel. An autonomous guided vehicle configured to determine as a supplement torque. According to clause 45,
The casting auxiliary electromagnetic actuator is configured such that the maximum casting auxiliary electromagnetic actuator is the motor rated torque of the casting auxiliary electromagnetic actuator, and the commanded casting auxiliary torque is castering scrub in each predetermined kinematic state. configured to substantially nullify the resistance from the vehicle, thereby substantially scrubbing along and throughout each vehicle path via the commanded casting assistance torque, substantially independent of the vehicle path and kinematic state. An autonomous transport vehicle that achieves zero casting. According to clause 46,
The commanded casting assistance torque for each caster wheel of the at least one caster wheel is adjusted to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state. Autonomous guided vehicles with independent decisions about their wheels. According to clause 46,
The commanded castering assistance torque for each caster wheel of the at least one caster wheel is independently determined to achieve substantially scrub-free casting of each caster wheel, and is each commanded for each corresponding caster wheel. and wherein the casting assistance torque varies between corresponding caster wheels of the at least one caster wheel based on turning radius. According to clause 42,
The controller may be configured to bias the at least one caster wheel relative to castering and maintain the at least one caster wheel in a predetermined steady state position while the autonomous guided vehicle is in motion. An autonomous guided vehicle configured to position an actuator. According to clause 42,
The controller generates a castering auxiliary torque that biases the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel by the castering auxiliary electromagnetic actuator. configured to apply to the at least one caster wheel, wherein the predetermined skew orientation forms a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle. . According to clause 50,
The controller is configured to apply a casting auxiliary torque to bias the at least one caster wheel to a predetermined skew orientation in a castering direction by the castering auxiliary electromagnetic actuator when the autonomous guided vehicle is stopped. An autonomous guided vehicle configured to apply caster wheels. According to clause 42,
wherein the at least one caster wheel has a caster mounting housing, the castering auxiliary electromagnetic actuator is a frameless motor, and the frameless motor is integrated within the mounting housing. According to clause 42,
The at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the castering auxiliary electromagnetic actuator, the stator of the castering auxiliary electromagnetic actuator is arranged to be supported in contact with the caster mounting housing, and the caster The rotor of the ring auxiliary electromagnetic actuator is disposed to abut a caster pivot shaft of the at least one caster wheel, the caster pivot shaft pivotally coupling the at least one caster wheel to the caster mounting housing. According to clause 42,
The castering auxiliary electromagnetic actuator is at least one of a servo motor and a stepper motor. According to clause 42,
wherein the casting auxiliary motor performs optimization of the drive wheel motors of at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertial changes of autonomous transport vehicle motion. A method of operating an autonomous guided vehicle in a storage and retrieval system, said method comprising:
Providing an autonomous guided vehicle having a frame, a controller, at least two independently driven drive wheels mounted on the frame, and at least one caster wheel mounted on the frame and having a casting auxiliary motor. ;
imparting castering auxiliary torque to assist casting of the at least one caster wheel by the casting auxiliary motor coupled to the at least one caster wheel; and
vehicle yaw generated by differential torque from the at least two independently driven drive wheels and casting from the casting auxiliary motor, by the controller communicatively coupled to the casting auxiliary motor. Implementing casting of the at least one caster wheel while the autonomous guided vehicle is moving in a predetermined kinematic state through a combination of auxiliary torques. According to clause 56,
The maximum casting auxiliary torque of the casting auxiliary motor is the motor rated torque of the casting auxiliary motor, and the resistance from casting scrub in each predetermined kinematic state is determined by the commanded casting auxiliary torque. substantially null, thereby implementing substantially scrub-free casting along and throughout each vehicle path via the commanded casting assistance torque, substantially independent of vehicle path and kinematic state. , method. According to clause 57,
The method includes commanded casting assistance for each caster wheel of the at least one caster wheel to achieve substantially scrub-free casting of each caster wheel substantially independent of vehicle path and kinematic state. The method further comprising determining the torque independently for each caster wheel. According to clause 57,
The method includes independently determining for each caster wheel a commanded castering assistance torque for each caster wheel of the at least one caster wheel, to implement substantially scrub-free casting of each caster wheel. The method further comprising: wherein each commanded castering assistance torque for each corresponding caster wheel varies between corresponding caster wheels of the at least one caster wheel based on a turning radius. According to clause 57,
The method of claim 1 , wherein the commanded casting assistance torque substantially nullifies casting resistance imparted to the at least one caster wheel from casting scrub. According to clause 57,
The method of claim 1 , wherein the commanded casting assistance torque substantially nullifies the resistance from casting scrub imparted to a vehicle yaw moment generated by differential torque from the at least two independently driven drive wheels. According to clause 56,
The method includes, by the controller, biasing the at least one caster wheel against caster while the autonomous guided vehicle is in motion and maintaining the at least one caster wheel in a predetermined steady state position. The method further comprising positioning the castering auxiliary motor so that: According to clause 56,
The method includes biasing the at least one caster wheel in a casting direction to a predetermined skew orientation of the at least one caster wheel by the casting auxiliary motor, under control of the controller. further comprising applying a casting assistance torque to the at least one caster wheel, wherein the predetermined skew orientation is a bias angle between the at least one caster wheel of the predetermined orientation and the axis of symmetry of the autonomous guided vehicle. ), method of forming. According to clause 63,
The method includes a casting assistance torque that, under control of the controller, biases the at least one caster wheel to a predetermined skew orientation in a castering direction, by the casting assistance motor, when the autonomous guided vehicle is stationary. The method further comprising applying to the at least one caster wheel. According to clause 56,
The method of claim 1, wherein the at least one caster wheel has a caster mounting housing, the castering auxiliary motor is a frameless motor, and the frameless motor is integrated within the mounting housing. According to clause 56,
The at least one caster wheel has a caster mounting housing, the caster mounting housing accommodates the casting auxiliary motor, and a stator of the castering auxiliary motor is arranged to be supported in contact with the caster mounting housing, and the casting auxiliary motor is provided. A rotor of a motor is disposed to abut a caster pivot shaft of the at least one caster wheel, the caster pivot shaft pivotally coupling the at least one caster wheel to the caster mounting housing. According to clause 56,
The method wherein the caster auxiliary motor is at least one of a servo motor and a stepper motor. According to clause 56,
The method of claim 1 , wherein the casting auxiliary motor performs optimization of the drive wheel motors of at least two independently driven drive motors such that the drive wheel motors are optimized to implement linear inertia changes of autonomous guided vehicle motion. An autonomous transport robot vehicle for transporting a payload, the autonomous transport robot vehicle comprising:
A chassis that is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and a chassis formed by respective front and rear lateral beams closing opposite ends;
a payload support connected to and supported by the chassis; and
Ride wheels supported on the chassis proximate opposing end corners of the chassis, on which the autonomous guided robotic vehicle traverses a transversal surface, the ride wheels Travel wheels, including a pair of drive wheels and at least one caster wheel supporting the chassis from a surface,
The driving wheels and the chassis combine to form a low profile height from the transverse surface to the top of the chassis, wherein the chassis height and the driving wheel height at least partially overlap, and the payload support extends to the driving wheel. is nested within a field,
The space frame has predetermined modular coupling interfaces, each of the modular coupling interfaces arranged to removably couple a corresponding predetermined electronic or mechanical component module of the autonomous guided robot vehicle to the chassis on a module-by-module basis. An autonomous transport robot vehicle. According to clause 69,
The predetermined modular coupling interfaces include at least one of at least one caster wheel module coupling interface, at least one drive wheel module coupling interface, and at least one payload support module coupling interface. According to clause 70,
wherein the at least one caster wheel is selectable from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics. According to clause 70,
wherein the drive wheels of the pair of drive wheels are selectable from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics. According to clause 70,
Wherein the payload support is selectable from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics. According to clause 70,
wherein the at least one drive wheel module coupling interface includes individually distinct interfaces for each individual and distinct drive wheel module of each different drive wheel of the pair of drive wheels. According to clause 69,
The longitudinal hollow section beams of the space frame and the respective front and rear lateral beams are mechanically fastened to each other. According to clause 69,
The payload support includes a payload support contact surface on which a payload resting on the payload support is seated, the payload support contact surface being disposed on an upper portion of the chassis. According to clause 69,
wherein the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. According to clause 69,
wherein the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis. According to clause 69,
wherein the chassis has a selectively variable configuration selectable from different configurations each having different chassis form factors. According to clause 69,
At least one of the longitudinal hollow section beams, the front lateral beam, and the rear lateral beam is a plurality of different, optionally interchangeable longitudinal hollow section beams, each having different predetermined mechanical properties. An autonomous guided robotic vehicle selectable from lateral beams, and rear lateral beams. According to clause 80,
Of the longitudinal hollow section beams, the front lateral beams, and the back lateral beams from the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and back lateral beams, respectively. An autonomous guided robotic vehicle, wherein the at least one selection determines a selected variable configuration of the chassis. An autonomous delivery robot vehicle for transporting a payload, said autonomous delivery robot vehicle comprising:
A chassis bus with predetermined modular coupling interfaces, each of the modular coupling interfaces connecting corresponding predetermined component modules of the autonomous transportable robot vehicle to have a modular configuration. It includes a chassis bus, arranged to be removably coupled to the chassis bus in module units,
The corresponding predetermined component modules are:
a payload support module having a payload support contact surface removably coupled to the chassis bus on a module-by-module basis through a corresponding payload support module coupling interface;
a caster wheel module having caster wheels removably coupled to the chassis bus in module units through a corresponding caster wheel module coupling interface; and
a drive wheel module having a drive wheel removably coupled to the chassis bus in module units through a corresponding drive wheel module coupling interface; An autonomous guided robot vehicle, comprising at least one of: According to clause 82,
wherein the caster wheel module is selectable from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics. According to clause 82,
wherein the drive wheel module is selectable from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics. Paragraph 84:
wherein the corresponding drive wheel module coupling interface includes individually distinct interfaces for each individual and distinct drive wheel module. According to clause 82,
wherein the payload support module is selectable from a plurality of different interchangeable payload support modules each having different predetermined payload support module characteristics. According to clause 82,
The chassis bus is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and respective front and rear sides closing opposite ends of the space frame. An autonomous guided robotic vehicle formed from directional beams. According to clause 87,
The longitudinal hollow section beams of the space frame and the respective front and rear lateral beams are mechanically fastened to each other. According to clause 87,
wherein the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. According to clause 87,
wherein the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis. According to clause 87,
At least one of the longitudinal hollow section beams, the front lateral beam, and the rear lateral beam is a plurality of different, optionally interchangeable longitudinal hollow section beams, each having different predetermined mechanical properties. An autonomous guided robotic vehicle selectable from lateral beams, and rear lateral beams. According to clause 91,
Of the longitudinal hollow section beams, the front lateral beams, and the back lateral beams from the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and back lateral beams, respectively. An autonomous guided robotic vehicle, wherein the at least one selection determines a selected variable configuration of the chassis. According to clause 82,
The autonomous guided robot vehicle includes at least one caster wheel module and at least one drive wheel module, wherein the at least one caster wheel module and the at least one drive wheel module are proximate to opposing end corners of the chassis. Supported on the chassis bus, the autonomous guided robot vehicle is mounted on at least one caster wheel of the at least one caster wheel module and at least one drive wheel of the at least one drive wheel module to traverse a transversal surface. Autonomous transport robot vehicle. According to clause 93,
the at least one caster wheel, the at least one drive wheel, and the chassis bus combine to form a low profile height from the transverse surface to the top of the chassis,
The at least one drive wheel includes a pair of drive wheels, and the at least one caster wheel includes a pair of caster wheels,
the chassis height and the height of the at least one drive wheel at least partially overlap,
A payload support contact surface on which a payload placed on the payload support module is seated is nested within the pair of drive wheels and the pair of caster wheels. According to clause 82,
A payload support contact surface on which a payload resting on the payload support module rests is disposed on an upper portion of the chassis bus. According to clause 82,
wherein the chassis bus has a selectively variable configuration selectable from different configurations each having different chassis form factors. A chassis that is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and a chassis formed by respective front and rear lateral beams closing opposite ends;
a payload support connected to and supported by the chassis; and
Ride wheels supported on the chassis proximate opposing end corners of the chassis, on which the autonomous guided robotic vehicle traverses a transversal surface, the ride wheels Providing an autonomous guided robot vehicle with traveling wheels, including a pair of drive wheels supporting the chassis from a surface and at least one caster wheel,
The driving wheels and the chassis combine to form a low profile height from the transverse surface to the top of the chassis, wherein the chassis height and the driving wheel height at least partially overlap, and the payload support extends to the driving wheel. steps, nested within fields; and
Removably coupling corresponding predetermined electronic or mechanical component modules of the autonomous guided robotic vehicle to the chassis on a module-by-module basis via predetermined modular coupling interfaces of the space frame. Paragraph 97:
The method of claim 1, wherein the predetermined modular coupling interfaces include at least one of at least one caster wheel module coupling interface, at least one drive wheel module coupling interface, and at least one payload support module coupling interface. According to clause 98,
The method further comprises selecting the at least one caster wheel from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics. According to clause 98,
The method further includes selecting drive wheels of the pair of drive wheels from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics. According to clause 98,
The method further includes selecting the payload support from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics. According to clause 98,
The method of claim 1, wherein the at least one drive wheel module coupling interface comprises individually distinct interfaces for each individual and distinct drive wheel module of each different drive wheel of the pair of drive wheels. Paragraph 97:
The method further comprises the step of mechanically fastening the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams to each other. Paragraph 97:
The method of claim 1, wherein the payload support includes a payload support contact surface upon which a payload resting on the payload support is seated, the payload support contact surface being disposed on an upper portion of the chassis. Paragraph 97:
The method of claim 1 , wherein the chassis has predetermined stiffness characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. Paragraph 97:
The method of claim 1, wherein the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis. Paragraph 97:
The method further includes selecting a selectively variable configuration of the chassis from different configurations each having different chassis form factors. Paragraph 97:
The method comprises forming the longitudinal hollow section beams, the front lateral beams, and the front lateral beams from a plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams, each having different predetermined mechanical properties. The method further comprising selecting at least one of a lateral beam and the back lateral beam. Paragraph 108:
Of the longitudinal hollow section beams, the front lateral beams, and the back lateral beams from the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and back lateral beams, respectively. The method of claim 1, wherein the at least one selection determines a selected variable configuration of the chassis. Providing an autonomous guided robotic vehicle with a chassis bus having predetermined modular coupling interfaces; and
Removably coupling corresponding predetermined component modules of the autonomous transportable robot vehicle to the chassis bus on a module basis, through the predetermined modular coupling interfaces, so that the autonomous transportable robot vehicle has a modular configuration. As a method including ;
The predetermined component modules are:
a payload support module having a payload support contact surface removably coupled to the chassis bus on a module-by-module basis through a corresponding payload support module coupling interface;
a caster wheel module having caster wheels removably coupled to the chassis bus in module units through a corresponding caster wheel module coupling interface; and
a drive wheel module having a drive wheel removably coupled to the chassis bus in module units through a corresponding drive wheel module coupling interface; Method, comprising at least one of: According to clause 110,
The method further includes selecting the caster wheel module from a plurality of different, optionally interchangeable caster wheel modules, each having different predetermined caster wheel module characteristics. According to clause 110,
The method further includes selecting the drive wheel module from a plurality of different, optionally interchangeable drive wheel modules, each having different predetermined drive wheel module characteristics. According to clause 112,
The method of claim 1, wherein the drive wheel module coupling interface includes individually distinct interfaces for each individual and distinct drive wheel modules. According to clause 110,
The method further includes selecting the payload support module from a plurality of different interchangeable payload support modules, each having different predetermined payload support module characteristics. According to clause 110,
The chassis bus is a space frame, the space frame comprising longitudinal hollow section beams arranged to form longitudinally extending sides of the space frame, and respective front and rear sides closing opposite ends of the space frame. A method formed of directional beams. According to clause 115,
The method further comprises the step of mechanically fastening the longitudinal hollow section beams of the space frame and the respective front and rear lateral beams to each other. According to clause 115,
The method of claim 1 , wherein the space frame is configured such that the chassis has predetermined rigidity characteristics so that it is substantially rigid and has a shape and form that provides a minimum height from the transverse surface to the top of the chassis. According to clause 115,
The method of claim 1, wherein the space frame configuration addresses both predetermined stiffness characteristics and a minimum low profile height of the chassis from the transverse surface to the top of the chassis. According to clause 115,
The method comprises forming the longitudinal hollow section beams, the front lateral beams, and the front lateral beams from a plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and rear lateral beams, each having different predetermined mechanical properties. The method further comprising selecting at least one of a lateral beam and the rear lateral beam. According to clause 119,
Of the longitudinal hollow section beams, the front lateral beams, and the back lateral beams from the plurality of different, optionally interchangeable longitudinal hollow section beams, front lateral beams, and back lateral beams, respectively. The method of claim 1, wherein the at least one selection determines a selected variable configuration of the chassis. According to clause 110,
The autonomous guided robot vehicle includes at least one caster wheel module and at least one drive wheel module, wherein the at least one caster wheel module and the at least one drive wheel module are proximate to opposing end corners of the chassis. Supported on the chassis bus, the autonomous guided robot vehicle is mounted on at least one caster wheel of the at least one caster wheel module and at least one drive wheel of the at least one drive wheel module to traverse a transversal surface. method. According to clause 121,
the caster wheels, drive wheels, and chassis bus combine to form a low profile height from the transverse surface to the top of the chassis,
The at least one drive wheel includes a pair of drive wheels, and the at least one caster wheel includes a pair of caster wheels,
the chassis height and the height of the at least one drive wheel at least partially overlap,
A payload support contact surface on which a payload resting on the payload support module rests is nested within the pair of drive wheels and the pair of caster wheels. According to clause 110,
A payload support contact surface on which a payload resting on the payload support module rests is disposed on an upper portion of the chassis bus. According to clause 110,
The method further includes selecting a selectively variable configuration selectable for the chassis bus from different configurations each having different chassis form factors. An autonomous transport robot for transporting a payload, the autonomous transport robot comprising:
Frame with integral payload support;
a transfer arm coupled to the frame and configured to autonomously transfer a payload to and from the frame; and
a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section,
The at least one pair of traction drive wheels couples each traction drive wheel of the at least one pair of traction drive wheels to the frame by at least one intermediate pivot link between the at least one traction drive wheel and the frame. and a fully independent suspension, wherein the at least one intermediate pivot link comprises: the at least one intermediate pivot link over rolling surface transients, throughout the traverse of the at least one traction drive wheel over the rolling surface; An autonomous transport robot configured to maintain a substantially steady state traction contact patch between a traction drive wheel and the rolling surface. Paragraph 125:
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. Paragraph 125:
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , autonomous transport robot. Paragraph 125:
The substantially steady state traction contact patch is positioned at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. Deployed autonomous transport robot. Paragraph 125:
The frame is configured such that the integrated payload support has a payload seat surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the payload reference position In an autonomous transport robot, the payload seating surface is placed at a minimum distance above the rolling surface. Paragraph 125:
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. According to clause 130,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. Paragraph 125:
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
Frame with integral payload support;
a transfer arm coupled to the frame and configured to autonomously transfer a payload to and from the frame; and
a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section,
The at least one pair of traction drive wheels fully couples each wheel of the at least one pair of traction drive wheels to the frame by at least one intermediate pivot link between the at least one traction drive wheel and the frame. having an independent suspension, wherein the at least one intermediate pivot link is substantially perpendicular to the frame throughout each transition to the at least one traction drive wheel that rolls over surface transients of the rolling surface. An autonomous transport robot configured to produce a substantially linear transient response in a linear direction. According to clause 133,
At least one intermediate pivot link between the at least one traction drive wheel and the frame is configured to be configured to connect the at least one traction drive wheel over rolling surface transitions throughout the traverse of the at least one traction drive wheel over the rolling surface. configured to maintain a substantially steady state traction contact patch between the rolling surfaces;
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 134,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. robot. According to clause 134,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , autonomous transport robot. According to clause 133,
The frame is configured such that the integrated payload support has a payload seat surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the payload reference position In an autonomous transport robot, the payload seating surface is placed at a minimum distance above the rolling surface. According to clause 133,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. According to clause 138,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. According to clause 133,
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. A method for an autonomous transport robot, said method comprising:
providing the autonomous transport robot with a frame having an integral payload support, a delivery arm connected to the frame to provide autonomous delivery of the payload to and from the frame, and a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section; and
Rolling surface transitions throughout the traverse of the at least one traction drive wheel above the rolling surface by means of a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame. maintaining a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over (transients);
The method of claim 1, wherein the fully independent suspension has at least one intermediate pivot link between the at least one traction drive wheel and the frame. According to clause 141,
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 141,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. According to clause 141,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , method. According to clause 141,
The method further includes defining a payload reference position by a payload seat surface of the integrated payload support, wherein the payload reference position is a predetermined payload reference position for the autonomous transport robot. Determining a position, and wherein from the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface. According to clause 141,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. Paragraph 146:
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. According to clause 141,
The method further comprises the step of locking the fully independent suspension in a predetermined position relative to the frame by a locking device of the fully independent suspension. A method for an autonomous transport robot, said method comprising:
providing the autonomous transport robot with a frame having an integral payload support, a delivery arm connected to the frame to provide autonomous delivery of the payload to and from the frame, and a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section; and
For the at least one traction drive wheel rolling over surface transients of a rolling surface, a substantially linear transient response in a linear direction substantially perpendicular to the frame throughout each transient. It includes; generating a
The at least one pair of traction drive wheels fully couples each wheel of the at least one pair of traction drive wheels to the frame by at least one intermediate pivot link between the at least one traction drive wheel and the frame. How to have independent suspension. According to clause 149,
The method further comprises, by means of at least one intermediate pivot link between the at least one traction drive wheel and the frame, the at least one traction drive wheel over rolling surface transitions, throughout the traverse of the at least one traction drive wheel over the rolling surface. maintaining a substantially steady state traction contact patch between the traction drive wheels and the rolling surface,
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 150,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. According to clause 150,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , method. According to clause 149,
The method further includes defining a payload reference position by the integrated payload support, wherein the payload reference position determines a predetermined payload position for the autonomous transport robot, and the payload reference position In the method, the payload resting surface is placed at a minimum distance above the rolling surface. According to clause 149,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. According to clause 154,
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. According to clause 149,
The method of claim 1 , wherein the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
a frame with an integrated payload support having a payload seating surface defining a payload reference position that determines a predetermined payload position for the autonomous delivery robot;
a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
at least one caster wheel mounted on the frame; and
a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section,
At least one of the at least one caster wheel and the pair of traction drive wheels rolls on a rolling surface such that the autonomous transport robot traverses the rolling surface, each having a fully independent suspension, An autonomous transport robot positioned on the frame across both sides of the integrated payload support such that the payload seating surface is positioned at a minimum distance above the rolling surface at the load reference position. According to clause 157,
The autonomous transport robot has completely independent suspension for each of the at least one caster wheel and each traction drive wheel. According to clause 157,
The fully independent suspension of the at least one traction drive wheel is configured to be positioned between the at least one traction drive wheel and the rolling surface over each rolling surface transition, throughout the traverse of the at least one traction drive wheel over the rolling surface. An autonomous transport robot configured to maintain a substantially steady state traction contact patch. Paragraph 159:
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. Paragraph 159:
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transient. Transport robot. Paragraph 159:
The substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel substantially independently of a transient state of the at least one traction drive wheel due to traversing over the respective rolling surface transition. An autonomous transport robot. According to clause 157,
The fully independent suspension may be configured to move each of the at least one caster and each of the at least one traction drive wheel relative to the frame with and without the integrated payload support and during one or more transients of the transfer arm. An autonomous transport robot configured to be maintained in a steady state position. According to clause 157,
and wherein the payload resting surface at the payload reference position is disposed at a minimum distance above the rolling surface. According to clause 157,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. According to clause 165,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. According to clause 157,
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
Frame with integrated payload support:
a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
at least one caster wheel mounted on the frame; and
a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section,
wherein the at least one caster wheel and at least one of the pair of traction drive wheels roll on a rolling surface such that the autonomous transport robot traverses the rolling surface, each having a fully independent suspension;
The frame has a predetermined stiffness that defines a transient response of the frame from transient loads imparted to the frame through at least one of the at least one caster wheel and the at least one traction drive wheel. an autonomous transport having a rigidity characteristic, wherein the predetermined rigidity characteristic is set based on a predetermined transient response characteristic of a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel. robot. According to clause 168,
and wherein predetermined transient response characteristics of at least one of the at least one caster wheel and the at least one traction drive wheel are set based on the predetermined rigidity characteristic of the frame. According to clause 168,
The integrated payload support has a payload resting surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the predetermined stiffness characteristics extending through the frame and on the payload resting surface. An autonomous transport robot configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel imparted to the payload. According to clause 170,
wherein the transient loads are minimized such that the posture of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on a rolling surface. According to clause 168,
The fully independent suspension of the at least one traction drive wheel includes: the at least one traction drive wheel and the An autonomous transport robot configured to maintain a substantially steady state traction contact patch between rolling surfaces. According to clause 172,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 172,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transient. Transport robot. According to clause 172,
The substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the respective rolling surface transient. , autonomous transport robot. According to clause 168,
The fully independent suspension may be configured to move each of the at least one caster and each of the at least one traction drive wheel relative to the frame with and without the integrated payload support and during one or more transients of the transfer arm. An autonomous transport robot configured to be maintained in a steady state position. According to clause 168,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface, an autonomous transport robot. In clause 177,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. In clause 178,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. According to clause 168,
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. According to clause 168,
The predetermined stiffness characteristics are set based on predetermined transient response characteristics of a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel while the autonomous transport robot is carrying a payload. An autonomous transport robot. A method for an autonomous transport robot, said method comprising:
Providing a frame with an integrated payload support for the autonomous transport robot, the integrated payload support having a payload resting surface, wherein the payload resting surface determines a predetermined payload position for the autonomous transport robot. defining a payload reference position to determine;
providing a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
providing at least one caster wheel mounted on the frame;
providing a drive section coupled to the frame, the drive section having at least one pair of traction drive wheels spanning either side of the drive section; and
The integrated payload support supports the at least one caster wheel and at least one of the pair of traction drive wheels such that the payload seating surface is positioned at a minimum distance above the rolling surface at the payload reference position. It includes placing on the frame across both sides,
At least one of the at least one caster wheel and the pair of traction drive wheels rolls on a rolling surface such that the autonomous transport robot traverses the rolling surface, and the at least one caster wheel and the pair of traction drive wheels roll on a rolling surface such that the autonomous transport robot traverses the rolling surface. Wherein each of at least one of the traction drive wheels has a completely independent suspension. According to clause 182,
The method of claim 1 , wherein the autonomous transport robot has fully independent suspension on each of the at least one caster wheel and each traction drive wheel. According to clause 182,
The method comprises, by means of a fully independent suspension of the at least one traction drive wheel, the at least one traction drive wheel over each rolling surface transition throughout the traverse of the at least one traction drive wheel over the rolling surface. The method further comprising maintaining a substantially steady state traction contact patch between the cloud surface and the rolling surface. According to clause 184,
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 184,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transition. . According to clause 184,
The substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel substantially independently of a transient state of the at least one traction drive wheel due to traversing over the respective rolling surface transition. How to become. According to clause 182,
The method further comprises coupling each of the at least one caster and each of the at least one traction drive wheel to the frame while the integrated payload support is loaded and unloaded with a payload and during one or more transient states of the delivery arm. and positioning the fully independent suspension on the frame to maintain it in a steady state position relative to each other. According to clause 182,
and wherein at the payload reference position the payload resting surface is positioned at a minimum distance above the rolling surface. According to clause 182,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. According to clause 190,
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. According to clause 182,
The method further comprises locking the fully independent suspension in a predetermined position relative to the frame. A method for an autonomous transport robot, said method comprising:
providing the autonomous transport robot with a frame having an integrated payload support;
providing a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
providing at least one caster wheel mounted on the frame;
providing a drive section coupled to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the at least one caster wheel and the pair of traction drive wheels at least one traction drive wheel of which rolls on a rolling surface to allow the autonomous transport robot to traverse the rolling surface, each having a fully independent suspension, wherein the frame includes the at least one caster wheel and the at least one traction drive wheel having a predetermined rigidity characteristic defining a transient response of the frame from transient loads imparted to the frame through at least one of the following; and
Setting the predetermined stiffness characteristics based on predetermined transient response characteristics of a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel. According to clause 193,
and wherein predetermined transient response characteristics of at least one of the at least one caster wheel and the at least one traction drive wheel are set based on the predetermined stiffness characteristics of the frame. According to clause 193,
The predetermined stiffness characteristics are set based on predetermined transient response characteristics of a fully independent suspension of at least one of the at least one caster wheel and the at least one traction drive wheel while the autonomous transport robot is carrying a payload. How to become. According to clause 193,
The integrated payload support has a payload resting surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the predetermined stiffness characteristics extending through the frame and on the payload resting surface. and wherein transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transferred to the payload are set to be minimized. According to clause 196,
wherein the transient loads are minimized such that the attitude of the unconstrained payload on the payload resting surface is substantially constant in response to transient loads by a bot rolling on a rolling surface. According to clause 193,
The fully independent suspension of the at least one traction drive wheel includes: the at least one traction drive wheel and the A method configured to maintain a substantially steady state traction contact patch between the rolling surfaces. Paragraph 198:
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. Paragraph 198:
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transition. . Paragraph 198:
The substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the respective rolling surface transient. , method. According to clause 193,
The fully independent suspension may be configured to move each of the at least one caster and each of the at least one traction drive wheel relative to the frame with and without the integrated payload support and during one or more transients of the transfer arm. A method configured to maintain the steady state position. According to clause 193,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface. According to Section 203,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. Paragraph 204:
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. According to clause 193,
The method further comprises locking the fully independent suspension in a predetermined position relative to the frame. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
Frame with integrated payload support;
a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
at least one caster wheel mounted on the frame; and
a drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section,
wherein the at least one caster wheel and at least one of the pair of traction drive wheels roll on a rolling surface such that the autonomous transport robot traverses the rolling surface, each having a fully independent suspension;
The frame has a predetermined stiffness that defines a transient response of the frame from transient loads imparted to the frame through at least one of the at least one caster wheel and the at least one traction drive wheel. has a rigidity characteristic, wherein the predetermined rigidity characteristic is characterized by a rigidity characteristic of the frame from transients of the at least one drive wheel of the pair of traction drive wheels and the at least one caster wheel rolling on a rolling surface. An autonomous guided robot, wherein the transient response is determined based on predetermined transient response characteristics of the frame. In section 207,
wherein the predetermined stiffness characteristics of the frame determine the frame to be substantially rigid with respect to a fully independent suspension of the at least one drive wheel of the pair of traction drive wheels and the at least one caster wheel rolling on a rolling surface. Autonomous transport robot. In section 207,
The integrated payload support has a payload resting surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the predetermined stiffness characteristics extending through the frame and on the payload resting surface. An autonomous transport robot configured to minimize transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel imparted to the payload. Paragraph 209:
wherein the transient loads are minimized such that the posture of the unconstrained payload on the payload seating surface is substantially constant in response to transient loads by a bot rolling on a rolling surface. In section 207,
A fully independent suspension of said at least one traction drive wheel. maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over each rolling surface transient throughout the traverse of the at least one traction drive wheel over the rolling surface. Consisting of an autonomous transport robot. According to clause 211,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 211,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transient. Transport robot. According to clause 211,
The substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the respective rolling surface transient. , autonomous transport robot. In section 207,
The fully independent suspension is configured to support each of the at least one caster and each of the at least one traction drive wheel during one or more transients of the transfer arm and with and without a payload on the integrated payload support. An autonomous transport robot arranged to remain in a steady state position relative to the frame. In section 207,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface, an autonomous transport robot. In clause 216,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. In clause 216,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. In section 207,
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. In section 207,
wherein the predetermined stiffness characteristics are set based on predetermined transient response characteristics of the frame in one or more of a state in which the autonomous transport robot is carrying a payload and a state in which the autonomous transport robot is not carrying a payload. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
Frame with integrated payload support;
A drive section connected to the frame, the drive section having at least a pair of traction drive wheels spanning both sides of the drive section, the drive section having a traction drive wheel of each of the at least one pair of traction drive wheels. a drive closely coupled to each traction drive wheel and configured to be individually powered by a corresponding traction motor that is distinct and separate from each other traction motor of the drive section corresponding to each other traction drive wheel, section; and
Includes a multi-input/multi-output controller connected to the drive section,
The drive section is configured such that each traction drive wheel of the at least one pair of traction drive wheels is closely coupled to each other traction drive wheel and is separate from each other traction motor of the drive section corresponding to each other traction drive wheel. configured to be individually powered by distinct and individually corresponding traction motors;
The multi-input/multi-output controller determines a predetermined kinematic characteristic of the autonomous guided robot based on an optimal robot trajectory,
Motor applied torque ( An autonomous transport robot configured to regulate motor applied torque. In clause 221,
wherein the predetermined wheel slip characteristic results in a near-instantaneous wheel rotation adjustment that corrects wheel slip of the traction drive wheels based on the adjusted applied torque commanded by the multi-input/multi-output controller. . In clause 221,
The near-instantaneous wheel rotation adjustment occurs in less than about 10 ms and on the order of less than 2 ms. In clause 221,
The multi-input/multi-output controller is configured to determine an adjustment of applied torque in response to wheel position data from a wheel position sensor and to determine relative slip of the traction drive wheels relative to the rolling surface based on the wheel position data. An autonomous transport robot. In clause 221,
wherein each traction drive wheel of the drive section has a corresponding traction motor that individually powers a traction drive wheel closely coupled to each traction drive wheel. In clause 221,
The at least one pair of traction drive wheels has a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame, and at least one intermediate traction drive wheel between the at least one traction drive wheel and the frame. The pivot link comprises a substantially steady-state traction contact patch between the at least one traction drive wheel and the rolling surface over rolling surface transients, throughout the traverse of the at least one traction drive wheel over the rolling surface. An autonomous transport robot configured to maintain a steady state traction contact patch. In clause 226,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. In clause 226,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. robot. In clause 226,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , autonomous transport robot. In clause 226,
The frame is configured such that the integrated payload support has a payload seat surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the payload reference position In an autonomous transport robot, the payload seating surface is placed at a minimum distance above the rolling surface. In clause 226,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. According to clause 231,
wherein the height profile of the at least one traction drive wheel and the fully independent suspension comprising the intermediate pivot link defines a minimum height profile. In clause 226,
and the fully independent suspension has a locking device configured to lock the fully independent suspension in a predetermined position relative to the frame. 1. A method for an autonomous delivery robot carrying a payload, said method comprising:
The autonomous transport robot includes a frame having an integrated payload support, a delivery arm connected to the frame and configured to autonomously transfer a payload to and from the frame, at least one caster wheel mounted on the frame, and the frame. A step of providing a drive section connected to:
The drive section has at least one pair of traction drive wheels spanning both sides of the drive section,
wherein the at least one caster wheel and at least one of the pair of traction drive wheels roll on a rolling surface such that the autonomous transport robot traverses the rolling surface, each having a completely independent suspension; and
A predetermined device of the frame that determines a transient response of the frame from transients of the at least one drive wheel and the at least one caster wheel of the pair of traction drive wheels rolling on a rolling surface. Establishing a predetermined rigidity characteristic of the frame based on transient response characteristics, wherein the predetermined rigidity characteristic is connected to the frame via at least one of the at least one caster wheel and the at least one traction drive wheel. Defining a transient response of the frame from transient loads imposed on the frame. In clause 234,
wherein the predetermined stiffness characteristics of the frame determine the frame to be substantially rigid with respect to a fully independent suspension of the at least one drive wheel of the pair of traction drive wheels and the at least one caster wheel rolling on a rolling surface. method. In clause 234,
The integrated payload support has a payload resting surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the predetermined stiffness characteristics extending through the frame and on the payload resting surface. and wherein transient loads from transients of at least one of the at least one caster wheel and the at least one traction drive wheel transferred to the payload are set to be minimized. According to clause 236,
wherein the transient loads are minimized such that the attitude of the unconstrained payload on the payload resting surface is substantially constant in response to transient loads by a bot rolling on a rolling surface. In clause 234,
The method comprises, by means of a fully independent suspension of the at least one traction drive wheel, over each rolling surface transient, the at least one The method further comprising maintaining a substantially steady state traction contact patch between a traction drive wheel and the rolling surface. According to clause 238,
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 238,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the transients of the at least one traction drive wheel due to traversing over each rolling surface transition. . According to clause 238,
The substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the respective rolling surface transient. , method. In clause 234,
The fully independent suspension is configured to support each of the at least one caster and each of the at least one traction drive wheel during one or more transients of the transfer arm and with and without a payload on the integrated payload support. A method arranged to maintain a steady state position relative to the frame. In clause 234,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface. In clause 243,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. In clause 244,
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. In clause 234,
The method further comprises locking the fully independent suspension in a predetermined position relative to the frame. In clause 234,
The method further comprises setting the predetermined stiffness characteristics based on predetermined transient response characteristics of the frame while the autonomous transport robot is carrying a payload. A method for an autonomous transport robot, said method comprising:
Providing the autonomous transport robot with a frame having an integrated payload support, and a drive section coupled to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section, A drive section is configured such that each traction drive wheel of said at least one pair of traction drive wheels is closely coupled to each other traction drive wheel and distinct from each other traction motor of said drive section corresponding to each other traction drive wheel. and configured to be individually powered by respective corresponding traction motors;
By said drive section, each other traction motor of said drive section is closely coupled to each traction drive wheel of said at least one pair of traction drive wheels and corresponds to each other traction drive wheel; individually powered by distinct and individual corresponding traction motors; and
By means of a multi-input/multi-output controller, based on an optimal robot trajectory, determine predetermined kinematic characteristics of the autonomous transport robot and rotate the traction drive wheels relative to the rolling surface. Adjusting a motor applied torque to the traction drive wheel to match a predetermined kinematic characteristic of the autonomous transport robot within a predetermined wheel slip characteristic of method. In clause 248,
The method of claim 1, wherein the predetermined wheel slip characteristic results in a near-instantaneous wheel rotation adjustment that corrects wheel slip of the traction drive wheel based on an adjusted applied torque commanded by the multi-input/multi-output controller. In clause 248,
The near-instantaneous wheel rotation adjustment takes less than about 10 ms, and approximately less than 2 ms. In clause 248,
wherein the multi-input/multi-output controller determines an adjustment of applied torque in response to wheel position data from a wheel position sensor and determines a relative slip of the traction drive wheel relative to the rolling surface based on the wheel position data. method. In clause 248,
Each traction drive wheel of the drive section has a corresponding traction motor that individually powers a traction drive wheel closely coupled to each traction drive wheel. In clause 248,
The at least one pair of traction drive wheels has a fully independent suspension coupling each wheel of the at least one pair of traction drive wheels to the frame, and the fully independent suspension couples the at least one traction drive wheel to the frame. has at least one intermediate pivot link between,
The method comprises, by means of the fully independent suspension, a position between the at least one traction drive wheel and the rolling surface over rolling surface transients, throughout the traverse of the at least one traction drive wheel over the rolling surface. The method further comprising maintaining a substantially steady state traction contact patch. According to clause 253,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. According to clause 253,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. According to clause 253,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , method. According to clause 253,
The frame is configured such that the integrated payload support has a payload seat surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, the payload reference position wherein the payload resting surface is positioned at a minimum distance above the rolling surface. According to clause 253,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. In clause 258,
The height profile of the fully independent suspension including the intermediate pivot link and the at least one traction drive wheel defines a minimum height profile. According to clause 253,
The method further comprises a predetermined locking of the fully independent suspension to the frame. An autonomous delivery robot for carrying a payload, the autonomous delivery robot comprising:
Frame with integrated payload support;
a delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
A drive section connected to the frame, the drive section having at least one pair of traction drive wheels spanning both sides of the drive section, the at least one pair of traction drive wheels corresponding to each of the at least one pair of drive wheels. a drive section having a fully independent suspension coupling traction drive wheels to the frame; and
An autonomous transport robot comprising: a locking device releasably coupled to the fully independent suspension and configured to lock the fully independent suspension in a predetermined position relative to the frame. According to Article 261,
The autonomous transport robot further includes a controller, the controller configured to operate the locking device of each fully independent suspension by extension of the delivery arm, and the operation of the locking device of each fully independent suspension by retraction of the delivery arm. An autonomous transport robot configured to automatically perform the unlocking of the locking device. According to Article 261,
The fully independent suspension has at least one intermediate pivot link between the at least one traction drive wheel and the frame, the intermediate pivot link extending throughout the traverse of the at least one traction drive wheel above the rolling surface. An autonomous transport robot configured to maintain a substantially steady state traction contact patch between the at least one traction drive wheel and the rolling surface over surface transients. In clause 263,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. In clause 263,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position on the at least one traction drive wheel throughout transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. robot. In clause 263,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , autonomous transport robot. According to Article 261,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface, an autonomous transport robot. According to Article 261,
wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within the height profile of the at least one traction drive wheel. robot. In clause 268,
The height profile of the suspension, which is completely independent of the at least one traction drive wheel, defines a minimum height profile. A method for an autonomous transport robot, said method comprising:
providing the autonomous transport robot with a frame having an integrated payload support;
providing the autonomous transport robot with a delivery arm, the delivery arm coupled to the frame and configured to autonomously deliver a payload to and from the frame;
Providing the autonomous transport robot with a drive section, the drive section connected to a frame and having at least one pair of traction drive wheels spanning both sides of the drive section, the at least one pair of traction drive wheels comprising: having a fully independent suspension coupling each traction drive wheel of at least one pair of drive wheels to the frame; and
locking the fully independent suspension in a predetermined position relative to the frame by a locking device releasably coupled to the fully independent suspension. According to Article 270,
The method includes automatic, by a controller, actuation of the locking device of each fully independent suspension by extension of the transmission arm and release of the locking device of each fully independent suspension by retraction of the transmission arm. A method further comprising steps performed as. According to Article 270,
the fully independent suspension has at least one intermediate pivot link between at least one traction drive wheel and the frame,
The method comprises, by means of the fully independent suspension, a position between the at least one traction drive wheel and the rolling surface over rolling surface transients, throughout the traverse of the at least one traction drive wheel over the rolling surface. The method further comprising maintaining the traction contact patch in a substantially steady state. In clause 272,
The method of claim 1 , wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout the traverse of the at least one traction drive wheel over the rolling surface. In clause 272,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel throughout transients of the at least one traction drive wheel resulting from traversing over the rolling surface transitions. In clause 272,
wherein the substantially steady state traction contact patch is disposed at a predetermined reference position of the at least one traction drive wheel substantially independently of transients of the at least one traction drive wheel due to traversing over the rolling surface transitions. , method. According to Article 270,
The frame is configured such that the integral payload support has a payload seating surface that defines a payload reference position that determines a predetermined payload position for the autonomous transport robot, wherein the payload seating surface defines a payload reference position that determines a predetermined payload position for the autonomous transport robot. The surface is placed at a minimum distance above the cloud surface. According to Article 270,
The method of claim 1 , wherein the at least one pair of traction drive wheels are arranged such that the payload reference position defined by the integral payload support is at a minimum distance above the rolling surface and extends within a height profile of the at least one traction drive wheel. According to Article 270,
wherein the height profile of the suspension completely independent of the at least one traction drive wheel defines a minimum height profile.