AutoStore Technology Patente

The disclosure relates to a method for use in an automated storage and retrieval system, the method comprising: determining that a first robotic vehicle has been involved in a collision or is otherwise lost; and responsive to determining that the first robotic vehicle has been involved in a collision or is otherwise lost, determining, based at least in part on pre-existing data and data captured by the first robotic vehicle, a location of the first robotic vehicle.

The disclosure relates to a container for an automated storage and retrieval system. The container comprises a compartment for receiving an item to be stored, and an output device operable to provide picking and/or stocking information.

The disclosure relates to an automated storage and retrieval system comprising a reader and a part of the automated storage and retrieval system, the part comprising a transponder arranged to wirelessly communicate an identifier associated with the part to the reader when the transponder is within a reading range of the reader.

The disclosure relates to a container access station configured to receive a container at a container-handling compartment. The container access station comprises an access opening configured to provide access to a container when the container is received at the container handling compartment; and an output device adjacent to or within the container handling compartment, the output device operable to provide picking and/or stocking information by indicating at least a portion of a container when the container is received at the container handling compartment.

The disclosure relates to automated storage and retrieval system comprising a grid comprising a plurality of vertical columns each formed by four vertical frame members, one or more of the vertical columns for accommodating a stack of storage containers, wherein at least one of the vertical columns comprises a frame structure within its four vertical frame members and in contact with one or more of its four vertical frame members, and at least one vertically inclined connecting means comprising a first end configured to be secured to a top of the frame structure and a second end configured to be secured at a base of the system.

The disclosure relates to a method for removing robots from a main operational grid in an automated storage and retrieval system, wherein the automated storage and retrieval system comprises a main operational grid, a robot holding area, and robot servicing area, wherein the main operational grid is physically segregated from the robot holding area, and the robot servicing area is segregated from the robot holding area comprising the steps of causing a first robot to move from the main operational grid to the robot holding area, holding the first robot in the robot holding area, and causing the first robot to move from the robot holding area to the robot servicing area.

The disclosure relates to a storage system for an automated storage and retrieval system. The storage system comprises a storage grid and a rail system arranged on top of the storage grid. The rail system comprises a first section configured to move between open and closed positions to enable access between an access space located beneath the rail system and at least a portion of the rail system.

The disclosure relates to a sorting apparatus (802) for use in an automated storage and retrieval system, the apparatus comprising a first ramp (804) configured to guide, in a first direction, an item received from the storage system, and a second ramp (806) configured to guide, in a second direction different from the first direction, an item received from the storage system.

An automated storage and retrieval system (510) comprises a plurality of containers (112) arranged in stacks, the containers for the storage of goods. The system also comprises a network (520) of tracks (610) extending above the stacks. In addition, the system comprises a plurality of robotic container handling vehicles (630) arranged to travel on the tracks, between locations above the stacks. The plurality of vehicles are arranged to cooperatively engage an uppermost container of one of the stacks to collectively lift that container for moving to another location.

The disclosure relates a door assembly for controlling passage of a vehicle between a first area and a second area of an automated storage and retrieval system, the first area having a first rail system and the second area having a second rail system. The door assembly comprises: a first door; a second door; and an intermediate space for accommodating the vehicle. The intermediate space comprises a connecting rail system configured to interface at a first end with the first rail system and at a second end with the second rail system. The intermediate space is situated between the first door and the second door. The first and second door are independently moveable between respective closed and open positions.

The disclosure relates to a method of locating a lost robot on an automated storage and retrieval system, the method comprising transmitting and receiving at least one signal between the lost robot and one or more finding robots located at a plurality of finding locations, measuring a strength of the at least one signal received, associating a value for the strength of the at least one signal received with each of the plurality of finding locations respectively, and determining the location of the lost robot based on the respective values for strength of the at least one signal.

The disclosure relates to a kit for an automated storage and retrieval system. The kit comprising: a support member arranged to lie within an opening of a grid of rails of the automated storage and retrieval system and having an upper surface for supporting human passage and/or a column of one or more storage bins; and one or more first height setters arranged to couple to the support member and set the height of the upper surface of the support member relative to the grid of rails by bearing against one or more of a frame or floor of the automated storage and retrieval system or a storage bin stored within the automated storage and retrieval system.

The disclosure relates to a stackable container (500) for use in an automated storage and retrieval system (100). The stackable container (500) comprises: an enclosure (502); a vessel (510a, 510b) held therein by the enclosure (502) and comprising a fire suppressant reservoir; and a fluidic outlet for releasing fire suppressant from the stackable container (500). The vessel (510a, 510b) is activatable to bring the fire suppressant reservoir into communication with the fluidic outlet.

The disclosure relates to a port for an automated storage and retrieval system, the port comprising: one or more drop positions for receipt of respective storage containers from a storage grid of the automated storage and retrieval system; a conveyor comprising a buffer position and a presentation position and configured to transport the storage containers between the buffer position and the presentation position, wherein the storage containers are accessible to a user when at the presentation position; and a container transfer means configured to: transport a first storage container of the storage containers from a first drop position of the one or more drop positions to the presentation position; and transport a second storage container of the storage containers from the first drop position to the buffer position.

The disclosure relates to a mobile storage system comprising a mobile container and an automated storage and retrieval system "AS/RS" arranged inside the mobile container. The mobile container comprises a plurality of panels, wherein the plurality of panels comprises a displaceable panel configured to slide between a first position and a second position, wherein the AS/RS is accessible from outside the mobile container when the displaceable panel is in the second position.

The disclosure relates to a mobile system for inserting a storage bin into an automated storage and retrieval system, the mobile system comprising a mobile platform; a storage bin input stage; a storage bin output stage; and a robotic arm for transferring a storage bin from the storage bin input stage to the storage bin output stage. At least one of the storage bin input stage, storage bin output stage and robotic arm is on the mobile platform.

The disclosure relates to a mobile rack for an automated storage and retrieval system, the mobile rack comprising: a base configured to support a plurality of containers in a stack; a frame structure configured to at least partially surround sides of the plurality of containers; and a coupling mechanism configured to selectively fix the mobile rack to a storage grid of the automated storage and retrieval system.

The disclosure relates to a charger for an automated storage and retrieval system having a first charging point (511) configured to charge a first connected vehicle (610) according to a first charging profile (710), a second charging point (512) configured to charge a second connected vehicle (620) according to a second charging profile (820) and concurrently to the charging of the first connected vehicle, and a power supply configured to supply power (520) to the first charging point and the second charging point, the power supply having a maximum power supply capacity, wherein the charger is configured to determine that a sum of the first charging profile and the second charging profile at a first point in time exceeds the maximum power supply capacity, and in response to determining, modify the second charging profile such that the sum of the first charging profile and the second charging profile at the first point in time does not exceed the maximum power supply capacity.

The disclosure relates to a port (600) for an automated storage and retrieval system, the port (600) comprising a conveyor (602) configured to transport a container (602) and comprising a transfer position (608) for transfer of the container (602) onto and/or off of the conveyor (602) and a presentation position (606) for providing access to the container (602) and at least three position sensors (624, 626, 628) each disposed at a different respective point along a length of the conveyor (602) and configured to determine positioning of the container (602).

The disclosure relates to an automated storage and retrieval system comprising a first grid having a first grid frame formed by first vertical storage columns for accommodating one or more first stacks of storage containers, a second grid, disposed above the first grid, the second grid having a second grid frame formed by second vertical storage columns for accommodating one or more second stacks of storage containers, and at least one vertical beam disposed in the first grid.

The disclosure relates to a storage bin for use in an automated storage and retrieval system comprising a flat baseplate, and a plurality of sidewalls at least partially surrounding the flat baseplate and defining a top opening of the storage bin, wherein the flat baseplate is configured to be moveable with respect to the plurality of sidewalls

The disclosure relates to a method for operating an automated storage and retrieval system comprising a port, the method comprising: presenting, at a first opening of the port, a first storage container with an item therein; presenting, at a second opening of the port, a transfer container, the transfer container having a retractable panel; and receiving, within the transfer container, the item from the first storage container.

The disclosure relates to a container for use in an automated storage and retrieval system, the container comprising a first opening in a sidewall of the container arranged to enable insertion or removal of items therethrough, wherein the container is configured to interact with a drive mechanism to enable items stored within the container to move towards the first opening.

The disclosure relates to a bin for an automated storage and retrieval system, said bin comprising four generally vertical sides and a base, at least one of the vertical sides comprising an openable hatch.

The disclosure relates to an insert (500) configured to be removably inserted into a bin (112) for an automated storage and retrieval system. The insert (500) comprises a base (510) having a supporting surface for supporting a storage item to be stored in the bin (112), wherein the base (510) defines at least one aperture (512) in the supporting surface for receiving, through the at least one aperture (512), an actuator for moving a storage item into or out of the insert (500) in a first direction parallel to the supporting surface. The insert (500) comprises at least one attachment portion (520) for releasably attaching to a suspending device, wherein the insert (500) is configured to be suspended from the at least one attachment portion (520). The disclosure also relates to a corresponding bin (112) with the insert (500), an item handling device for moving a storage item into or out of an insert (500), a method for moving a storage item into or out of the insert (500).

There is described a grid base for an automated storage and retrieval system of the type that comprises a plurality of vertically extending structural upright members disposed to form a storage grid having a plurality of vertically extending storage columns, within each of which one or more storage containers may be stored, alone or in a stacked configuration. Usually, on such storage grids, a rail system is provided on which one or more container-handling vehicles travel and perform any storage/retrieval operations concerning the aforementioned storage containers. The grid base comprises a plurality of height-adjustable foot devices which support a number of grid base rails over a floor. Since the foot devices are height-adjustable, the automated storage and retrieval system maybe stably assembled on a relatively uneven floor. Further, in this manner, the storage containers, or stacks thereof, may be supported on a virtually perfectly horizontal plane defined by said grid base rails, which facilitates the automated storage and/or retrieval operations performed by the container handling vehicles.

A robotic vehicle for an automated storage and retrieval system, the automated storage and retrieval system comprising a grid having a plurality of vertical columns for storage of bins therein, and a rail system located above the grid. The robotic vehicle comprising: a set of wheels for movement along the rail system; a lifting device; and a carton handling robot attached to the lifting device. The lifting device being configured for raising and lowering the carton handling robot relative to the robotic vehicle. The carton handling robot comprising: a platform for receiving cartons thereon; and a robotic arm coupled to the platform and configured for moving cartons to and from the platform in a horizontal direction.

The disclosure relates to method for operating a port of an automated storage and retrieval system, the method comprising: presenting, at a first opening of the port, a first container; receiving, within the first container, waste packaging; and conveying, via the port, the first container with the waste packaging held therein to a storage grid of the automated storage and retrieval system.

The disclosure relates to a goods handling station for transferring goods to and/or from a bin of an automated storage and retrieval system. The goods handling station comprises a bin receiving area configured to receive a bin of the automated storage and retrieval system, a first goods conveyor comprising a transfer position arranged adjacent to the bin receiving area, the first goods conveyor configured to move goods in a conveying direction towards or away from the transfer position, and a goods manipulator configured to move goods in at least one direction between the transfer position of the goods conveyor and a bin received at the bin receiving area. The goods manipulator is configured to move items in a substantially horizontal direction that is substantially perpendicular to the conveying direction.

The disclosure relates to a goods handling station for transferring goods to and/or from a bin of an automated storage and retrieval system, the goods handling station comprising: a bin receiving area configured to receive a bin of the automated storage and retrieval system; a first goods manipulator at the bin receiving area for directly supporting and unloading goods from the bin and/or loading goods into the bin; a goods conveyor comprising a transfer position arranged adjacent to the bin receiving area, the goods conveyor configured to move goods in a conveying direction towards or away from the transfer position; and a second goods manipulator configured to carry goods between the transfer position of the goods conveyor and the first goods manipulator.

The disclosure relates to a computer-implemented method for compensating for height deviations in a floor. The method comprises obtaining a 3D model of the floor, analysing the 3D model to identify one or more points of height deviation in the floor, and producing a specification which specifies the location and magnitude of each identified point of deviation.

The disclosure relates to a computer-implemented method of updating radio firmware of a radio of a robotic container-handling vehicle in an automated storage and retrieval system, the method comprising: determining whether a bootloader of the radio is capable of updating the radio firmware to an updated radio firmware version; responsive to determining that the bootloader is not capable of updating the radio firmware to the updated radio firmware version, uploading bootloader update firmware to the robotic container-handling vehicle; and responsive to determining that the bootloader has been updated with the bootloader update firmware, uploading the updated radio firmware version to the robotic container-handling vehicle.

The disclosure relates to a connection device (502) configured to connect a second vehicle (506) to a first vehicle (504) in an automated storage and retrieval system. The connection device comprises a support member (510) attachable to the first vehicle, and a bracket (508) engaged with the support member to have substantially free movement in a Z-direction along the support member. The bracket is configured to move in the Z-direction to connect the second vehicle to the first vehicle when the second vehicle is adjacent to the first vehicle, such that the first vehicle is capable of moving the second vehicle in the X-direction and the Y-direction

The disclosure relates to a computer-implemented method for determining a user access route to a target location within a storage grid for an automated storage and retrieval system. The method comprises receiving an indicator of the target location, receiving data associated with a current storage configuration of the storage grid, and determining a user access route to the target location, in view of the current storage configuration of the storage grid.

The disclosure relates to a service vehicle (500) for operation in an automated storage and retrieval system comprising a storage grid having a rail system formed thereon, the rail system comprising pairs of rails extending in a first grid direction and a second grid direction different from the first grid direction. The service vehicle comprises: a chassis (510) having a powered drive system for moving the service vehicle over the rail system of the grid in the first grid direction and the second grid direction; and an operator area (520) atop the chassis for accommodating an operator, wherein at least a portion of the powered drive system is also manually operable, such that the service vehicle is also manually moveable over the rail system in the first grid direction and the second grid direction

The invention relates to an expansion joint (10) for connecting regions of a rail-based grid storage system (50, 50', 50"; 104, 104', 104"), the expansion joint (10) comprising: - a first rail element (12) and a second rail element (11), the rail elements (12, 11) being elongate and configured to slide relative to one another in a longitudinal direction in a junction area where they overlap, - the expansion joint (10) having a profiled upper surface that defines one or more tracks (27', 27") for supporting container handling vehicles (200, 300, 400), the tracks (27', 27") extending from the first rail element (12) through the junction area to the second rail element (11), wherein in the junction area, each rail element (11, 12) provides a portion of the or each track (27', 27") of the profiled upper surface so that there is a transition extending along the expansion joint (10) from the first rail element (12) to the second rail element (10) for the or each track (27', 27"). The invention further relates to an automated storage and retrieval system comprising said expansion joint (10) and a method of connecting regions (50, 50', 50"; 104, 104', 104") of a rail-based grid storage system and/or delivery rail system using one or more of the expansion joints (10)

An autonomous grid storage system (1) arranged in a warehouse space (12) . The autonomous grid storage system is divided within the warehouse space, for example on a single floor of said space, into a plurality of sub grids (10a/10b) separated by fire walls (18). One or more bridges (14) pass through openings in the fire wall to allow bin handling vehicles (210/301) to traverse between the sub grids. The openings (20) are provided with closable fire door (22).

The disclosure relates to an automated storage and retrieval system comprising a storage grid for housing a plurality of storage containers; a robotic arm arranged to retrieve items stored in storage containers; and a receptable arranged to receive spillages and/or items dropped by the robotic arm

The disclosure relates to a computer-implemented method for designing an automated storage and retrieval system at a storage site. The method comprises capturing a material dimension of the storage site, generating a virtual storage system based on the material dimension, and displaying, to a user, the virtual storage system synchronously overlaying a representation of the storage site. The virtual storage system comprises a virtual frame delineating a plurality of virtual storage columns for receiving virtual stacks of storage containers. The representation portrays the material dimension.

The invention concerns an access station for an automated storage and retrieval system and a method for operating such an access station. The access station comprises a receiving area for receiving storage containers from an automated storage and retrieval system; a first picking position for presentation of the storage container to a picker, the first picking position being arranged on a first side of the receiving area; a second picking position for presentation of the storage container to a picker, the second picking position being arranged on a second side of the receiving area, opposite the first side; and a primary carriage for transporting a storage container between the picking positions and the receiving area.