A control device for a moving body according to the present disclosure is a control device for a moving body capable of recognizing and supporting a cargo handling device on which a package is placed and moving while estimating a self-location, and the control device is configured to, when causing the moving body to align and arrange multiple cargo handling devices at an arrangement location, acquire a position of a previous cargo handling device placed in advance at the arrangement location and control the moving body to place a next cargo handling device at a position determined based on the acquired position of the previous cargo handling device. Accordingly, it is possible to align and arrange multiple cargo handling devices at an arrangement location so that a gap is as small as possible by using a moving body capable of moving while estimating a self-location.

In a racking system and a method for operating a racking system having a vehicle, the vehicle has omnidirectional wheels.

A conveyor system includes a conveyor belt having a plurality of article-diverting conveyor belt rollers. An underlying drive roller assembly includes a plurality of pivotable rollers carriers, each having a freely rotatable drive roller that contacts the conveyor belt rollers from below. An actuator engages an orientation device to pivot the carriers and change the orientation of the drive rollers. The drive rollers may also move into and out of engagement with the conveyor belt rollers as their orientation changes. The orientation device is sandwiched between three-dimensional support plates to adjust the orientation of the drive rollers relative to the belt rollers. A top support plate includes corrugated vertical walls forming wearstrip holders. The orientation device may raise or lower the drive rollers during pivoting of the roller carriers. The drive roller assembly may be a modular assembly that can be customized for varying sizes, shapes and configurations.

Concepts of an omnidirectional pinion wheel are described. In one embodiment, the wheel includes first and second rims each including inner and outer rim surfaces, and an annular ring of rollers affixed on the outer surface of one of the first and second annular rim. Using an axis of freedom of the rollers, the wheel can move sideways in addition to forward and backward. Further, when used with a vertical rack gear, the wheel can provide vertical displacement by engagement between teeth of the gear and the pinion ring. Additionally, various racks and tracks with teeth for pinion ring engagement are described along with an example vehicle capable of vertical displacement using the wheels.

Concepts of an omnidirectional pinion wheel are described. In one embodiment, the wheel includes a hub, first and second annular rims each including inner and outer rim surfaces, spokes that extend from the hub to the first and second annular rims, a pinion ring including pinion rods that extend between the inner surfaces of the first and second annular rims, and first and second annular rings of rollers affixed on the outer surfaces of the first and second annular rims. Using an axis of freedom of the rollers, the wheel can move sideways in addition to forward and backward. Further, when used with a vertical rack gear, the wheel can provide vertical displacement by engagement between teeth of the gear and the pinion ring. Additionally, various racks and tracks with teeth for pinion ring engagement are described along with an example vehicle capable of vertical displacement using the wheels.

A system includes an automated guided vehicle (AGV). A loading table is positioned on the AGV. The loading table is configured and sized to hold more than one storage container. A frame extends from the AGV. A robotic arm is mounted to the frame. In one form, the frame includes a gantry that moves relative to the rest of the AGV. Alternatively or additionally, the robotic arm is able to move relative to the gantry. By holding more than one storage container, the AGV facilitates automatic batch picking or placing of items. The gantry increases the degrees of freedom of movement of the robotic arm.

A conveying system for conveying objects comprising: a plurality of conveyor modules, each conveyor module comprising: at least one rotatable element comprising an engagement surface configured to engage with a surface of an object to be conveyed; a driving mechanism configured to rotate the at least one rotatable element such that rotation of the at least one rotatable element causes rotation of the engagement surface and thereby movement of the object; and a control mechanism configured to control rotation of the rotatable element via the driving mechanism; and a conveying frame comprising: a plurality of apertures, each aperture configured to receive a conveyor module so as to form an array of conveyor modules that together provide a substantially planar surface for conveying objects thereon; a control system configured to communicate with the control mechanism of the conveyor module; wherein each conveyor module is configured to be releasably mounted within an aperture; wherein mounting a conveyor module within an aperture establishes an electrical connection between the control mechanism and the control system, which facilitates electrical communication between the control system and the mounted conveyor module.

Concepts of omnidirectional vehicle transport are described. In one embodiment, an omnidirectional vehicle includes a transportation platform, a drive system, and wheels. At a surface level, the vehicle can maneuver in any direction, including longitudinal and lateral directions. The vehicle can also be positioned to engage the wheels with a track having a rack gear to engage with the wheels. A control system of the vehicle can then drive the wheels in engagement with the track to raise the vehicle to a second level. At the second level, the vehicle can maneuver to transfer items onto the vehicle for transportation of the items back to the surface level. After the items are transferred onto the vehicle, it can be positioned for engagement with the track, and the control system can drive the wheels to lower the vehicle to the surface level and offload the items.

A multi-directional or omni-roller for a conveyor system includes a first transport surface portion formed by a cylindrical roller body, and a second transport surface portion formed by multi-directional wheels. The wheels have a main body that is rotatable about a longitudinal axis of the roller, and a set of secondary wheels around an outer circumference of the main body. The secondary wheels rotate perpendicular relative to the rotation of the roller, and permit articles or drive belts to travel over the roller in a conveyance direction in a driven manner and permit articles to move laterally across the second transport surface portion without transferring lateral forces to a conveyor frame. For skew roller beds, a drive belt may drive the roller about the secondary wheels, substantially without lateral forces being transferred or introduced to the drive belt.

Provided are a motor unit and a conveyance device. In a motor unit having a motor portion and a gear portion, the motor portion is formed by accommodating a most part of a drive motor in a housing member. The gear portion is formed by arranging at least a part of a drive gear and a plurality of small gear portions in a space surrounded by an inner tooth train portion, and the plurality of small gear portions is positioned around the drive gear in the space. Each of the plurality of small gear portions meshes with one of the drive gear and the inner tooth train portion, and each of the plurality of small gear portions rotates by rotation of the drive gear. At least a part of the gear portion is at a position overlapping the motor portion in plan view.