US 11,989,016 B2
Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
Rick K. Dorval, Dunbarton, NH (US); and Todd Comins, Chelmsford, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Jul. 12, 2022, as Appl. No. 17/812,009.
Application 17/812,009 is a continuation of application No. 16/987,963, filed on Aug. 7, 2020, granted, now 11,385,634.
Application 16/987,963 is a continuation of application No. 16/519,958, filed on Jul. 23, 2019, granted, now 10,739,766, issued on Aug. 11, 2020.
Application 16/519,958 is a continuation of application No. 16/150,085, filed on Oct. 2, 2018, granted, now 10,359,777, issued on Jul. 23, 2019.
Application 16/150,085 is a continuation of application No. 14/215,355, filed on Mar. 17, 2014, granted, now 10,088,840, issued on Oct. 2, 2018.
Claims priority of provisional application 61/794,065, filed on Mar. 15, 2013.
Prior Publication US 2022/0342413 A1, Oct. 27, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. G05D 1/00 (2006.01)
CPC G05D 1/00 (2013.01) [G05D 1/0297 (2013.01); G05D 2201/0216 (2013.01)] 23 Claims
OG exemplary drawing
 
1. A transportation system comprising:
a transportation space including destinations distributed in the transportation space;
multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the vehicles are dynamically distributed through the transportation space; and
a control system communicably connected via a remote communication link to each of the vehicles, the control system includes a vehicle accountant controller separate and distinct from a system controller, of the control system, directing each vehicle to different destinations, the vehicle accountant controller being connected via the remote communication link to each of the multiple independent automated vehicles and the vehicle accountant controller is configured to
independently and automatically register a dynamic location of each of the multiple independent automated vehicles, selected from the multiple independent automated vehicles in the transportation space,
commands stopping, via the remote communication link, of only the at least one selected independent automated vehicles at the registered location if the registered location corresponds to a user identified portion of the transportation space, and
wherein the system controller effects routing changes of other of the at least one selected independent automated vehicles from the portion of the transportation space depending on the commanded stopping of the at least one selected independent automated vehicles.