AutoStore Technology Patente

The disclosure relates to a storage grid of an automated storage and retrieval system. The storage grid includes a vertical column for stacking stackable modules, and the vertical column has a vertical frame member comprising an interlocking element. The interlocking element may couple with a complementary interlocking element on a stackable module, in order to secure the stackable module to the vertical frame member when the stackable module is stored in the vertical column.

The disclosure relates to a bracket (500) affixable to an upper end of a vertical frame member (10) of a storage grid (116), the bracket (500) comprising an elongate arm (506) configured to provide a rail section (508) for a container-handling vehicle. A vertical frame member (104, 800) which maybe used to define an edge of a storage grid is also described.

The disclosure relates to a cell blocking device for a storage grid, the cell blocking device comprising: a panel configured to engage with a reinforcing structure of the storage grid to block a grid cell thereof; and a protruding element configured to enable selective movement of the panel with respect to the grid cell.

The disclosure relates to a storage container (502) for use in an automated storage and retrieval system. In the system, a plurality of the containers (502) can be stacked, one on top of another. The container comprises a body part (504) formed of a non-flammable material. The body part is arranged to hold goods for storage and retrieval. The container also comprises at least one reinforcing part (506) coupled to the body part and arranged to withstand the compressive load of containers stacked on top of the container and to transmit this load to structure below the container.

The disclosure relates to a method of controlling a robotic vehicle in an automated storage and retrieval system.The method comprises determining (S600) to route a first robotic vehicle to a first location in the automated storage and retrieval system, and determining (S605) that a second robotic vehicle is occupying the first location. A first command is sent (S610) in response to determining that the second robotic vehicle is occupying the first location. The first command comprises commanding the first robotic vehicle to travel to a second location that is proximal to the first location. A second command is buffered (S615) for the first robotic vehicle while the second robotic vehicle is occupying the first location, and sent (S620) to the first robotic vehicle when the second robotic vehicle has vacated the first location.

The disclosure relates to a computer implemented method of monitoring an environmental condition in a container of an automated storage and retrieval system. The method comprises: receiving, from a transponder coupled to an environmental condition sensor in the container and via a reader in communication with the transponder, environmental condition data indicating the environmental condition; determining, by a controller, whether the environmental condition data meets a threshold criterion; and responsive to determining that the environmental condition data meets the threshold criterion, instructing, by the controller, the automated storage and retrieval system to transport the container to an inspection station.

The disclosure relates to a method for enhancing safety in an automated storage and retrieval system, AS/RS, the method comprising: associating the SVU with one or more security guard bots, SGBs; preventing, using the one or more SGBs, a potential collision including the SVU within the AS/RS.

The disclosure relates to a location monitoring system for monitoring the location of one or more robotic vehicles (122) in an automated storage and retrieval system comprising a grid (100) on which the robotic vehicles move. The location monitoring system comprises a first communication module (502) configured to be positioned on or in a robotic vehicle, and a plurality of second communication modules (504) configured to be arranged at fixed positions relative to the automated storage and retrieval system and displaced from the grid by a displacement that is greater than or equal to a maximum projection of the robotic vehicles from the grid. The first communication module and the second communication modules are configured such that signals are communicated therebetween. A location determining module (506) determines a location of the robotic vehicle based on the signals communicated between the first communication module and the second communication modules.

The disclosure relates to a gripping device for a robotic container-handling vehicle, comprising one or more gripping elements configured to engage a container and a heating system capable of supplying heat to the one or more gripping elements.

The disclosure relates to a monitoring system configured to monitor acoustic signals at an automated storage and retrieval system in which one or more robotic vehicles move. The monitoring system comprises an acoustic sensor configured to be arranged on or in at least one robotic vehicle of the one or more robotic vehicles and configured to detect (S6oo) an acoustic signal. A controller is communicatively coupled to the acoustic sensor. The controller is configured to: compare (S604) the detected acoustic signal to an acoustic signal library comprising one or more known acoustic signals indicative of one or more events, and perform (S6o8) an action based on the comparison.

The disclosure relates to an exchange cell (500) configured to enable a storage container (112)of a storage and retrieval system to be accessed from at least two directions. The exchange cell (500) comprises a frame configured to support a storage container(112), wherein the frame enables the storage container (112) to be accessed from a vertical direction by a first container-handling vehicle (502) and from at least one horizontal direction by a second container-handling vehicle (504). The frame comprises a securing mechanism configured to resist horizontal movement of the storage container (112) in order to align the storage container (112) at a desired position within the exchange cell (500).

The disclosure relates to a conveyor system for a port in an automated storage and retrieval system, the conveyor system comprising a rail; a cart moveable along the rail between a first position and a second position, and configured to convey a storage container; a slider slidably mounted on the cart, and configured to move a storage container relative to the cart; and a gearing set configured such that as the cart is moved along the rail, the slider is moved on the cart by the gearing set.

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System and method for unloading a container of its content, comprising an automated storage and retrieval system, wherein the system comprises a rail system comprising a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction (X) across the top of a framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction (Y) which is perpendicular to the first direction (X), the first and second sets of parallel rails dividing the rail system into a plurality of grid cells, the framework structure comprises upright members and horizontal members, at least one container handling vehicle configured to operate on the rail system, wherein the at least one container handling vehicle is provided with at least one orientation sensor configured to measure at least one orientation parameter of the sensor in a three-dimensional cartesian reference system, a central control unit configured to receive, transmit and process data signals of the container handling vehicle and to receive and process data signals of the sensor, at least one container comprised of four side walls and a bottom creating an open box structure, means for transporting the container to an unloading station where the content of the container is emptied by gravity wherein the unloading station comprises a container tipping device that tips the container around at least one axis, emptying the content.

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