US 12,252,338 B2
Method for turning a rails-mounted lift-robot
Shay Cohen, Shoham (IL); Guy Blotnik, Tel Aviv (IL); and Nadav Laor, Hod Hasharon (IL)
Assigned to GET FABRIC LTD, Tel Aviv (IL)
Filed by Commonsense Robotics, Ltd., Tel Aviv (IL)
Filed on Apr. 2, 2024, as Appl. No. 18/624,211.
Application 17/871,360 is a division of application No. 16/479,715, granted, now 11,608,227, issued on Mar. 21, 2023, previously published as PCT/IL2018/050200, filed on Feb. 21, 2018.
Application 18/624,211 is a continuation of application No. 17/871,360, filed on Jul. 22, 2022, granted, now 11,945,648, issued on Apr. 2, 2024.
Claims priority of provisional application 62/461,243, filed on Feb. 21, 2017.
Prior Publication US 2024/0246761 A1, Jul. 25, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. B65G 1/04 (2006.01); B25J 9/10 (2006.01); B61F 99/00 (2006.01); B65G 1/06 (2006.01); B66F 9/06 (2006.01); G05B 19/4155 (2006.01); G05B 19/418 (2006.01); B61B 13/00 (2006.01); B61C 13/00 (2006.01)
CPC B65G 1/0414 (2013.01) [B25J 9/1035 (2013.01); B61F 99/00 (2013.01); B65G 1/0492 (2013.01); B65G 1/065 (2013.01); B66F 9/063 (2013.01); G05B 19/4155 (2013.01); G05B 19/41895 (2013.01); B61B 13/00 (2013.01); B61C 13/00 (2013.01); B65G 2203/0208 (2013.01); G05B 2219/50362 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A system comprising:
a plurality of shelving units, each of which comprises a plurality of storage spaces, wherein each shelving units comprise, on a respective vertical plane thereof, a plurality of intersecting vertical and horizontal tracks that are interrupted and absent in intersection regions thereof, wherein each intersection of the plurality of intersecting vertical and horizontal tracks comprises a first corner and a second corner, the first corner is absent of tracks, the second corner comprises continuous tracks connecting a vertical track and a horizontal track;
one or more robots that are configured to travel on the vertical planes of the shelving units in both a lateral motion mode and a vertical motion mode, wherein the one or more robots are configured to turn in an intersection of the vertical and horizontal tracks by:
moving in a first motion mode to a first position at the intersection;
turning over the second corner of the intersection that is accessible from the first position, whereby moving to a second position at the intersection; and
moving in a second motion mode towards a designated direction.
 
12. A method for turning a robot in an intersection of tracks, wherein the robot moves through an array of a plurality of intersecting vertical and horizontal tracks that are interrupted and absent in intersection regions thereof, wherein said turning is performed in an absence of tracks in a first corner of the intersection of tracks, the method comprises:
moving the robot in a first motion mode to position the robot in a first position at the intersection;
turning the robot over a second corner of the intersection that is accessible from the first position, wherein the second corner comprises continuous tracks connecting a vertical track and a horizontal track, whereby positioning the robot in a second position at the intersection; and
moving the robot in a second motion mode towards a designated direction.