Patent ID: 11919155
Assignee: TRACTONOMY ROBOTICS BV
Field: Handling (Mechanical engineering)
Classification: CPC B  G | IPC B  G

Claim 6:
7. The AMR system of claim 1, further comprising a rotating system, which is configured to rotate the cart coupling system relative to the robot body about a rotation axis, and a docking control system, which is configured to track the position of at least three reference points and a rotating angle α;
wherein the reference points include a first reference point PGE positioned along a first axis running through the grips, a second reference point PGH positioned along a second axis running through the gripper hands and a third reference point PR positioned on the rotation axis cart of the rotating system; wherein the rotating angle α is defined as the angle between the cart coupling system and the robot body when rotating with the rotating system; and,
wherein the docking control system is configured to determine, from changes in the position of at least one tracked reference point and/or the rotating angle α, a docking correction factor for adjusting a movement of the robot body and/or a rotation of the cart coupling system.