US 12,227,355 B2
Controlling movements of a robot running on tracks
Ingvar Hognaland, Nedre Vats (NO); Ivar Fjeldheim, Haugesund (NO); and Jørgen Djuve Heggebø, Olen (NO)
Assigned to AutoStore Technology AS, Nedre Vats (NO)
Filed by Autostore Technology AS, Nedre Vats (NO)
Filed on Dec. 8, 2021, as Appl. No. 17/643,358.
Application 17/643,358 is a continuation of application No. 16/347,159, granted, now 11,225,377, previously published as PCT/EP2017/077171, filed on Oct. 24, 2017.
Claims priority of application No. 20161733 (NO), filed on Nov. 2, 2016.
Prior Publication US 2022/0097968 A1, Mar. 31, 2022
Int. Cl. B65G 1/04 (2006.01); B25J 5/00 (2006.01); G05D 1/00 (2024.01)
CPC B65G 1/0492 (2013.01) [B25J 5/007 (2013.01); G05D 1/0229 (2013.01); G05D 1/0272 (2013.01); B65G 1/0464 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid, the method comprising:
detecting a current speed and an angular position for one wheel in a pair of wheels of the robot;
tracking a current position of the robot relative to at least a portion of the frame structure;
setting a driving sequence for the pair of wheels, based on a position information of the robot, wherein the driving sequence defines an acceleration, a deceleration, and a set speed for moving the robot from the current position to a stop position; and
adjusting movement of the one wheel when the current speed detected for the one wheel deviates from the set speed defined by the driving sequence, such that movements of the pair of wheels are synchronized.