# US 11,110,593 B2 · Robots and systems for automated storage and retrieval

> Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt

- Number: US 11,110,593 B2
- Document ID: US11110593B2
- Status: Granted
- Kind: B2
- Application number: 16/231,347
- Filed: 2018-12-21
- Published: 2019-07-04
- Granted: 2021-09-07
- Earliest claimed: 2017-12-23
- Assignees: Ferromotion Technologies Inc.
- Applicants: Ferromotion Technologies Inc.
- Inventors: Vira Tarbaieva; Andriy Volodymyrovych Shvydky; Mykhailo Anatolievich Smetaniuk; Victor Anatolievich Smetaniuk
- Web page: https://patentgrep.com/patent/US11110593B2

## CPC

- B25J 5/007: {mounted on wheels}
- B25J 9/1633: {compliant, force, torque control, e.g. combined with position control}
- B25J 9/1694: {characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion}
- B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)}
- B60B 19/006: {Magnetic wheels}
- B65G 1/0464: {with access from above}
- B65G 1/0471: {with access from beneath}
- B65G 1/0492: {with cars adapted to travel in storage aisles}
- G05B 19/4185: {characterised by the network communication}
- G05D 1/0287: {involving a plurality of land vehicles, e.g. fleet or convoy travelling (traffic control systems for road vehicles G08G1/00, particularly anticollision systems G08G1/16)}
- B60B 19/00: Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
- B65G 54/02: electrostatic, electric, or magnetic
- Y02P 90/02: Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
- B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50})
- B60B: VEHICLE WHEELS (making wheels or wheel parts by rolling B21H1/00, by forging, hammering or pressing B21K1/28); CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G)
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS

## Abstract

Automated storage and retrieval systems which include robots that move along ceilings and/or walls to retrieve and/or transport goods. The robots use magnetic adhesion to hold to the surfaces. The robots adjust the magnetic adhesion force in response to changes in weight or other conditions.

## Claims

### Claim 1

A system for storing and transporting objects, the system comprising:
a storage structure comprising a first downwardly-facing surface;
a first robot configured to travel on the first surface, the first robot comprising:
one or more adhesion magnets constructed and arranged to adhere the robot to the surface via an attractive magnetic force;
a load sensor; and
a controller configured to adjust the attractive magnetic force in response to a change in a force measured by the load sensor; and
a second robot configured to receive objects from the first robot, wherein:
the first robot is configured to retrieve an object from the storage structure and travel along the first surface; and
the first and second robots are configured to transfer the object from the first robot to the second robot.

### Claim 2 (depends on 1)

The system of claim 1, wherein the first surface is a horizontal surface.

### Claim 3 (depends on 1)

The system of claim 1, wherein the first surface is a vertical surface.

### Claim 4 (depends on 1)

The system of claim 1, further comprising ramps, wherein the second robot is configured to travel along the ramps while using one or more adhesion magnets to adhere the second robot to the ramps.

### Claim 5 (depends on 4)

The system of claim 4, wherein the first robot is configured to travel along the ramps while using the one or more adhesion magnets to adhere the first robot to the ramps.

### Claim 6 (depends on 1)

The system of claim 1, wherein the storage structure includes two or more levels connected by at least one of ramps and walls, wherein the first and second robots are configured to move between the two or more levels of the storage structure via the at least one of ramps and walls.

### Claim 7 (depends on 1)

The system of claim 1, wherein the system comprises a plurality of robots including the first robot and the second robot, wherein the plurality of robots includes robots configured to place objects on other robots.

### Claim 8 (depends on 1)

The system of claim 1, wherein the system comprises a plurality of robots including the first robot and the second robot, wherein the plurality of robots includes robots comprising a gripper.