An autonomous transport vehicle (110) for transporting items in a storage and retrieval system, the autonomous transport vehicle comprising: a frame (110FR); a controller (1220); at least two independently driven drive wheels (1211, 1212) mounted to the frame; and at least one caster wheel (1261, 1262) mounted to the frame and having a releasably lockable swivel lock, the controller being configured to lock and unlock the releasably lockable swivel lock during a transport of items through the storage and retrieval system based on a predetermined kinematic state of the autonomous transport vehicle.
AUTONOMOUS TRANSPORT VEHICLE
AUTONOMES TRANSPORTFAHRZEUG
VÉHICULE DE TRANSPORT AUTONOME
2023-01-11
Patent
Electronic Resource
English