US 11,945,648 B2
Method for turning a robot in an array of vertical and horizontal rack-based tracks
Shay Cohen, Shoham (IL); Guy Blotnik, Tel Aviv (IL); Nadav Laor, Hod Hasharon (IL); Asaf Kaufman, Tal Shahar (IL); and Bar Cohen, Hod Hasharon (IL)
Assigned to COMMONSENSE ROBOTICS, LTD., Tel Aviv (IL)
Filed by Commonsense Robotics, Ltd., Tel Aviv (IL)
Filed on Jul. 22, 2022, as Appl. No. 17/871,360.
Application 17/871,360 is a division of application No. 16/479,715, granted, now 11,608,227, previously published as PCT/IL2018/050200, filed on Feb. 21, 2018.
Claims priority of provisional application 62/461,243, filed on Feb. 21, 2017.
Prior Publication US 2022/0356013 A1, Nov. 10, 2022
Int. Cl. B65G 1/04 (2006.01); B25J 9/10 (2006.01); B61B 13/00 (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); 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)] 7 Claims
OG exemplary drawing
 
1. A method for turning a pinion-driven robot in an intersection of rails, wherein the pinion-driven lift-robot moves through an array of a plurality of intersecting vertical and horizontal rack-based tracks in which rack segments extend along vertical and horizontal rails and are interrupted and absent in intersection regions thereof, the rack segments are disposed in the rails along one end of the horizontal rails and on one end of the vertical rails, wherein said turning is performed in an absence of racks in a first corner of the intersection about which the turn is intended, the method comprises:
moving the pinion-driven robot in a first motion mode to position the pinion-driven lift-robot in a first position at the intersection;
turning the pinion-driven robot over a second corner of the intersection that is accessible from the first position, wherein the second corner comprises continuous rails connecting a vertical track and a horizontal track, whereby positioning the pinion-driven lift-robot in a second position at the intersection; and
moving the pinion-driven lift-robot in a second motion mode towards a designated direction.