TILTING PLATFORM FOR STABILITY CONTROL

摘要

A mobile drive unit including a docking head assembly is provided. The docking head assembly is configured with two or more actuator assemblies to lift an inventory holder and tilt the inventory holder in two or more directions. The direction of tilt and an associated angle may be determined based on a location of a center of gravity of the inventory holder relative to the mobile drive unit. The direction of tilt and the associated angle may also be determined based on information describing external forces acting on the inventory holder.

主权项

1. A system, comprising:
an inventory holder comprising one or more compartments holding one or more inventory items; and a mobile drive unit comprising:
a base;a docking head assembly comprising:
a platform moveably attached to the base via a first actuator assembly and a second actuator assembly, the first actuator assembly configured to raise and lower a front portion of the platform and the second actuator assembly configured to raise and lower a rear portion of the platform;a plurality of sensors disposed about a top surface of the platform; anda management module configured to:
instruct the first actuator assembly and the second actuator assembly to raise the platform into engagement with the inventory holder and to lift the inventory holder in an initial orientation;receive sensing information from the plurality of sensors, the sensing information indicating a plurality of relative forces exerted by the inventory holder on the top surface of the platform when the inventory holder is detachably coupled to the mobile drive unit via the platform;determine, based at least in part on the sensing information, a location of a center of gravity of the inventory holder; andinstruct, based at least in part on the location of the center of gravity, at least one of the first actuator assembly or the second actuator assembly to raise or lower the platform relative to the base to an adjusted orientation, the adjusted orientation being distinct from the initial orientation and comprising a translation of the location of the center of gravity of the inventory holder relative to the base.