US 12,444,246 B2
Autonomous transport vehicle and health assessment method therefor
Daniel J. Burns, Wilmington, MA (US)
Assigned to Symbotic LLC, Wilmington, MA (US)
Filed by Symbotic LLC, Wilmington, MA (US)
Filed on Oct. 27, 2023, as Appl. No. 18/496,285.
Claims priority of provisional application 63/381,443, filed on Oct. 28, 2022.
Prior Publication US 2024/0144742 A1, May 2, 2024
Int. Cl. G07C 5/02 (2006.01); B66F 9/06 (2006.01); G05B 23/02 (2006.01)
CPC G07C 5/02 (2013.01) [B66F 9/063 (2013.01); G05B 23/0283 (2013.01)] 20 Claims
OG exemplary drawing
 
1. An autonomous transport vehicle for transporting a payload comprising:
a frame forming a transport payload area of the autonomous transport vehicle, the payload area includes a payload contact support surface that defines a payload support plane of the autonomous transport vehicle that supports the payload held in the transport payload area with vehicle traverse;
a payload handling system connected to the frame, the payload handling system having:
a payload transport disposed to engage the payload and transport the payload in at least one direction relative to the frame, and
a drive section with at least one degree of freedom driving the payload transport in the at least one direction; and
a controller operably connected to the drive section configured to register predetermined operating data embodying at least one dynamic performance variable output by the drive section effecting a predetermined motion, that defines a predetermined common motion manifold, of the payload transport in the at least one direction;
wherein the controller has a resolver arranged to resolve from the predetermined common motion manifold a conservative motion component of the predetermined motion, the conservative motion component being substantially common across each motion within the predetermined common motion manifold.