Method for turning a rails-mounted lift-robot
A method for turning robots at an intersection of tracks. The robot moves in a first motion mode to reach a first position at the intersection. The robot turns over a corner of the intersection that includes continuous tracks connecting a vertical track and a horizontal track, whereby reaching a second position at the intersection. The robot moves in a second motion mode towards a designated direction.
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.
2. The system of claim 1 , wherein the moving in the first motion mode comprises crossing the intersection to reach the first position.
3. The system of claim 1 , wherein the moving in the second motion mode towards the designated direction comprises crossing the intersection.
4. The system of claim 1 , wherein each robot of the one or more robots comprises sets of pairs of wheels that enable the each robot to cross a gap at the intersection caused by an absence of tracks at the intersection.
5. The system of claim 1 , wherein each robot of the one or more robots comprises a plurality of sets of wheels, each set of wheels comprises at least two wheels that have a respective distance therebetween that is larger than a size of an interrupt of horizontal tracks at the intersection.
6. The system of claim 1 , wherein each robot of the one or more robots comprises a first and a second counterpart wheels mounted in a serial configuration on a common pivotable-holder, the common pivotable-holder comprises a pivoting arrangement in a mid-portion thereof, the common pivotable-holder is configured to pivot about an axis that is parallel to the axes of the wheels.
7. The system of claim 1 ,
wherein each robot of the one or more robots comprises a first and second wheels mounted in a serial configuration and a motor for driving the first and second wheels;
wherein the motor is configured to drive the first and second wheels at an equal velocity when both wheels are located on a vertical track;
wherein the motor is configured to drive the first and second wheels at an equal velocity when both wheels are located on a horizontal track;
wherein the motor is configured to drive the first and second wheels at different velocities when one of the first and second wheels is located on a vertical track and another of the first and second wheel is located on a horizontal track.
8. The system of claim 1 further comprises crates that are stored in the storage spaces, wherein the one or more robots are configured to carry crates from and to the storage spaces.
9. The system of claim 1 , wherein at least one of said moving the robot in the first motion mode and said moving the robot in the second motion mode comprises deducting a movement performed during said turning.
10. The system of claim 9 , wherein said deducting comprises moving in a lateral motion in an opposite direction to a lateral advancement made during said turning.
11. The system of claim 9 , wherein said deducting comprises moving in a vertical motion in an opposite direction to a vertical advancement made during said turning.
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.
13. The method of claim 12 , wherein said moving the robot in the first motion mode comprises crossing the intersection in the first motion mode.
14. The method of claim 12 , wherein said moving the robot in the second motion mode comprises crossing the intersection in the second motion mode.
15. The method of claim 12 , wherein the first and second motion modes are selected from a lateral motion mode and a vertical motion mode.
16. The method of claim 12 , wherein at least one of said moving the robot in the first motion mode and said moving the robot in the second motion mode comprises deducting a movement performed during said turning.
17. The method of claim 16 , wherein said deducting comprises moving in a lateral motion in an opposite direction to a lateral advancement made during said turning.
18. The method of claim 16 , wherein said deducting comprises moving in a vertical motion in an opposite direction to a vertical advancement made during said turning.