US 12,227,401 B2
Autonomous transport vehicle with power management
Akram Zahdeh, Wilmington, MA (US); David Gratiano, Wilmington, MA (US); Alan Phillips, Wilmington, MA (US); and Stephen Debaryshe, Wilmington, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on May 25, 2022, as Appl. No. 17/804,039.
Claims priority of provisional application 63/251,398, filed on Oct. 1, 2021.
Prior Publication US 2023/0107709 A1, Apr. 6, 2023
Int. Cl. B66F 9/06 (2006.01); B25J 5/00 (2006.01); B25J 19/00 (2006.01); B60L 58/13 (2019.01); B66F 9/075 (2006.01)
CPC B66F 9/063 (2013.01) [B25J 5/007 (2013.01); B25J 19/005 (2013.01); B60L 58/13 (2019.02); B66F 9/07513 (2013.01); B60L 2200/36 (2013.01); B60L 2240/547 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous guided vehicle comprising:
a vehicle chassis with a power supply mounted thereon and powered sections connected to the chassis and each powered by the power supply, the powered sections including:
a drive section with motors driving wheels, supporting the vehicle chassis, and disposed to traverse the autonomous guided vehicle on a traverse surface in a facility under autonomous guidance;
a payload handling section with at least one payload handling actuator configured so that actuation of the at least one payload handling actuator effects transfer of a payload to and from a payload bed, of the vehicle chassis, and a storage in the facility;
a peripheral electronics section having at least one of an autonomous pose and navigation sensor, at least one of a payload handling sensor, and at least one peripheral motor, the at least one peripheral motor being separate and distinct from each of the motors of the drive section and each actuator of the payload handling section; and
a controller communicably coupled respectively to the drive section, the payload handling section, and peripheral electronics section so as to effect each autonomous operation of the autonomous guided vehicle, wherein the controller comprises a comprehensive power management section communicably connected to the power supply so as to monitor a charge level of the power supply, and
wherein the comprehensive power management section is connected to each respective branch circuit of the drive section, the payload handling section, and the peripheral electronics section respectively powering the drive section, the payload handling section, and the peripheral electronics section from the power supply, the comprehensive power management section being configured to manage power consumption of the branch circuits based on a demand level of each branch circuit relative to the charge level available from the power supply.