Symbotic LLC

An automatic health assessment system for an autonomous transport vehicle for transporting a payload in at least one direction relative to a predetermined reference frame, having a frame forming a transport payload area with a payload surface that supports the payload held in the transport payload area with vehicle traverse, a payload handling system connected to the frame disposed to engage the payload in transport of the payload in the at least one direction, and a drive section with at least one degree of freedom driving the transport of the payload in the at least one direction; and a controller operably connected to the drive section configured to register predetermined operating data embodying at least one dynamic performance variable output by the drive section effecting a predetermined motion, that defines a predetermined common motion manifold, of the transport of the payload in the at least one direction with the vehicle.

A system includes sensors, memory, and a processor. The sensors are configured to capture images of a workspace, and the memory is configured to store the images and a model of machinery located within the workspace. The processor is configured to generate a spatial representation of the workspace based on the captured images. The processor is also configured to identify non-machinery entities within the workspace and, for each of the identified entities, generate an object that specifies a spatial extent of the respective entity and a protective separation distance for the entity. Further, the processor is configured to recognize an interaction between the entities and merge the corresponding objects into a merged object specifying a protective separation distance therefor. Moreover, the processor is configured to control operation of the machinery in accordance with a safety protocol and the protective separation distance for the merged object.

An automated order fulfillment system, comprising mobile robots configured to transport containers carrying goods, the automated order fulfillment system including a storage structure having an array of storage locations configured to store containers or totes, the storage structure having a first end, a second end and a length between the first and second ends, and one or more turning decks integrated into the storage structure, between the first and second ends of the storage structure, allowing the mobile robots to change direction while in the storage structure, where a turning deck of the one or more turning decks is configured so as to engage at least one of the mobile robots so as to position and stably hold the at least one of the mobile robots in a predetermined pose on the turning deck.

An order fulfillment system for fulfilling orders for goods includes a storage structure configured to store totes, mobile robots configured to transport the totes, and a workstation. The workstation includes a first station configured to receive product totes storing the goods for fulfilling the orders and a second station configured to receive order totes storing the goods of fulfilled orders. The order fulfillment system may also include containers configured to receive the goods from the product totes or the order totes. The containers may be stored at a third station of the workstation and/or in an order tote located at the second station of the workstation and/or in at least one shopping cart located at the workstation.

An order fulfillment system includes a storage structure for storing totes, workstations for processing customer orders and a staging and sequencing buffer having staging locations for storing the totes. The staging and sequencing buffer provides a buffer for totes as mobile robots transfer totes from the storage structure and to the one or more workstations.

A tool, for depalletizing mixed pallet load article units, includes: a frame; a first grip assembly interfacing and engaging with a surface of a pallet load article unit, where the first grip assembly is movable, relative to the frame, in a first direction between gripping and ungripping positions; a second grip assembly, movably connected to the frame, and has at least a grip contact point oriented to interface with and generate a grip force, on another surface of the pallet load article unit, in a direction angled to the first direction, the second grip assembly being configured so as to effect, in combination with the first grip assembly, stable hold and pose of the pallet load article unit in a predetermined position; and an article unit seat member, is movably mounted to the frame, and disposed in opposition to at least one of the first and the second grip assembly.

Image sensors distributed about a workcell including industrial machinery are registered using a registration object and an information tag associated therewith. The tag contains information specifying the location of the object and/or the pose of the object. This information is acquired along with images of the registration object, and the sensors are registered based at least in part on the images and the acquired information.

An autonomous transport robot for transporting a payload, autonomous transport robot including, frame with integral payload support that has a payload seat surface defining a payload datum position that determines predetermined payload position relative to autonomous transport robot, transfer arm connected to the frame and configured for autonomous transfer of payload to and from the frame, one caster wheel mounted to frame, drive section with a pair of traction drive wheels astride the drive section, drive section being connected to the frame, wherein the one caster wheel and one traction drive wheel of the pair of traction drive wheels roll, on a rolling surface effecting autonomous transport robot traversal over the rolling surface, each having a fully independent suspension, and are disposed on the frame astride the integral payload support so that the payload seat surface at the payload datum position is disposed at minimum distance above the rolling surface.

A storage and retrieval system is provided and includes a transfer deck having a longitudinal axis, a first storage section and a second storage section. The first storage section and second storage section are located on opposite sides of the transfer deck and are substantially symmetrically opposed to one another about the longitudinal axis, where each of the first and second storage sections includes storage aisles that are in communication with the transfer deck.

An order fulfillment facility with a delivery system is disclosed having plurality of mobile robots with containers to bring customer orders and/or power supply device/s to UAV/s for final delivery. UAV leaves the discharged power supply devices that are received in empty container and transported to storage area for replenishment and diagnostic checks. Order fulfillment operations along with power supply device charging and monitoring is performed to achieve timely delivery of customer orders.