CA3032968C - Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold - Google Patents

Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold Download PDF

Info

Publication number
CA3032968C
CA3032968C CA3032968A CA3032968A CA3032968C CA 3032968 C CA3032968 C CA 3032968C CA 3032968 A CA3032968 A CA 3032968A CA 3032968 A CA3032968 A CA 3032968A CA 3032968 C CA3032968 C CA 3032968C
Authority
CA
Canada
Prior art keywords
vehicles
vehicle
detector
items
item
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CA3032968A
Other languages
English (en)
French (fr)
Other versions
CA3032968A1 (en
Inventor
Christopher Lynch
Alexander Stevens
Robert R. DeWitt
William L. Heins
Original Assignee
Opex Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Opex Corp filed Critical Opex Corp
Publication of CA3032968A1 publication Critical patent/CA3032968A1/en
Application granted granted Critical
Publication of CA3032968C publication Critical patent/CA3032968C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/12—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like
    • B65G1/133—Storage devices mechanical with separate article supports or holders movable in a closed circuit to facilitate insertion or removal of articles the articles being books, documents, forms or the like the circuit being confined in a horizontal plane
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/02—Measuring arrangements characterised by the use of optical techniques for measuring length, width or thickness

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Control Of Conveyors (AREA)
  • Sorting Of Articles (AREA)
  • Information Retrieval, Db Structures And Fs Structures Therefor (AREA)
CA3032968A 2016-08-04 2017-08-03 Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold Active CA3032968C (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201662370912P 2016-08-04 2016-08-04
US62/370,912 2016-08-04
PCT/US2017/045320 WO2018027045A1 (en) 2016-08-04 2017-08-03 Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold

Publications (2)

Publication Number Publication Date
CA3032968A1 CA3032968A1 (en) 2018-02-08
CA3032968C true CA3032968C (en) 2020-06-30

Family

ID=59687016

Family Applications (1)

Application Number Title Priority Date Filing Date
CA3032968A Active CA3032968C (en) 2016-08-04 2017-08-03 Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold

Country Status (12)

Country Link
US (3) US10589930B2 (enExample)
EP (1) EP3507216B1 (enExample)
JP (3) JP6850867B2 (enExample)
CN (1) CN109843749A (enExample)
AU (3) AU2017306566B2 (enExample)
CA (1) CA3032968C (enExample)
DK (1) DK3507216T3 (enExample)
MX (2) MX372796B (enExample)
NZ (1) NZ751645A (enExample)
PL (1) PL3507216T3 (enExample)
SG (1) SG11201901017VA (enExample)
WO (1) WO2018027045A1 (enExample)

Families Citing this family (36)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10336540B2 (en) 2015-04-27 2019-07-02 Attabotics Inc. Storage and retrieval system
EP3507216B1 (en) 2016-08-04 2021-01-20 Opex Corporation Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold
GB2568803B (en) * 2017-10-31 2022-10-19 Itoh Denki Co Ltd Lifting and lowering apparatus
CN110554690B (zh) * 2018-05-31 2022-11-08 北京京东乾石科技有限公司 智能小车的定位方法和系统
US10913641B2 (en) 2018-06-08 2021-02-09 Attabotics Inc. Storage units and robotic storage/retrieval vehicles for a three-dimensional storage system
JP7300468B2 (ja) 2018-06-08 2023-06-29 アタボティックス インコーポレイテッド 保管格子と外部作業ステーションとの間で共通ロボット車両隊を共有する保管及び回収システム
US11017548B2 (en) 2018-06-21 2021-05-25 Hand Held Products, Inc. Methods, systems, and apparatuses for computing dimensions of an object using range images
WO2020006433A1 (en) * 2018-06-29 2020-01-02 Fast Global Solutions, Inc. Segmentation of boxes from a 3d point cloud for automatic unloading and loading
EP3844025A1 (en) * 2018-08-31 2021-07-07 United Parcel Service Of America, Inc. Systems, methods, and apparatuses for shifting and staging storage structures and parcels thereon
JP7111633B2 (ja) 2019-01-18 2022-08-02 ファナック株式会社 加工品の自動三次元測定検査システム
KR102803355B1 (ko) * 2019-02-06 2025-05-08 크라운 이큅먼트 코포레이션 랙 다리 식별 및 마스트 흔들림 보상을 사용한 차량 위치 교정을 위한 시스템 및 방법
CN109809150B (zh) * 2019-03-19 2024-02-23 公安部第一研究所 一种识别安检行李托盘清空状态的系统
BR112021010618A2 (pt) 2019-06-11 2022-01-18 Attabotics Inc Sistema de fabricação e método para executar um fluxo de trabalho em um sistema de fabricação
DE102019117026B4 (de) * 2019-06-25 2021-11-25 Asm Assembly Systems Gmbh & Co. Kg Transportsystem
US11780676B2 (en) * 2019-08-14 2023-10-10 Opex Corporation Systems and methods for managing inventory
CN110510311B (zh) * 2019-08-23 2024-08-20 中南大学湘雅医院 一种标本盒分发回收装置
US12686563B2 (en) 2019-12-03 2026-07-21 Lafayette Systems Canada ULC Automated storage and retrieval system reducing bin moves by selecting multi-stock bins containing highest number of SKUs on workstation stock waitlist
US11318499B2 (en) 2019-12-19 2022-05-03 Nimble Robotics, Inc. Robotic system having shuttle
NO20200499A1 (en) * 2020-04-28 2021-10-29 Autostore Tech As Adjustable storage container
TWI757826B (zh) * 2020-08-13 2022-03-11 所羅門股份有限公司 自動置物方法及系統
JP7781853B2 (ja) 2020-08-14 2025-12-08 オペックス コーポレーション 別個の作業所を有する材料取り扱い装置とその使用方法
JP7136950B2 (ja) * 2021-02-25 2022-09-13 楽天グループ株式会社 制御装置、運搬機、制御方法、及び運搬システム
CN113359754B (zh) * 2021-06-25 2024-07-26 深圳市海柔创新科技有限公司 障碍物躲避方法、装置、电子设备和存储介质
US20240386606A1 (en) * 2021-09-15 2024-11-21 Yamaha Hatsudoki Kabushiki Kaisha Image processing device, component gripping system, image processing method and component gripping method
US20240346798A1 (en) * 2021-09-15 2024-10-17 Yamaha Hatsudoki Kabushiki Kaisha Image processing device, component gripping system, image processing method and component gripping method
US12258032B2 (en) * 2021-10-06 2025-03-25 Cottrell, Inc. System and method for cargo load height observation
CN116142676A (zh) * 2021-11-19 2023-05-23 北京极智嘉科技股份有限公司 取放容器机构、仓储系统及仓储系统的控制方法
CN115258508B (zh) * 2022-07-21 2025-09-16 京东科技控股股份有限公司 物品拣选方法及装置、计算机可读存储介质
IT202200017040A1 (it) * 2022-08-09 2024-02-09 Ambrosi S R L Magazzino verticale per lo stoccaggio di una pluralità di merci
GB2624696B (en) * 2022-11-28 2025-07-16 Ocado Innovation Ltd Container-handling system
CN116384884B (zh) * 2023-06-05 2023-08-11 北京麒麟车车科技有限公司 一种智能保管控制系统
KR102892163B1 (ko) * 2023-07-13 2025-12-01 현대무벡스 주식회사 로봇 팔을 이용한 물체 이송 시스템
CN117201736A (zh) * 2023-08-30 2023-12-08 通力电梯有限公司 用于传送设备的监控方法和监控装置
CN117252503B (zh) * 2023-11-15 2024-03-15 佛山市南海区微高软件有限公司 一种门窗派送信息生成方法、装置、电子设备及存储介质
DE102025103935A1 (de) * 2025-02-04 2026-08-06 Kardex Produktion Deutschland Gmbh Lagerroboter und Lagersystem
CN121724374A (zh) * 2026-02-10 2026-03-24 陕西韦智立体停车设备有限公司 一种垂直升降式智能立体停车控制系统及停车设备

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3323661A (en) * 1965-01-25 1967-06-06 Triax Co Load sensing apparatus
US3372816A (en) * 1966-01-20 1968-03-12 Triax Co Detecting device for improperly positioned loads in an automatic warehousing system
JPH07104132B2 (ja) * 1986-06-20 1995-11-13 松下電工株式会社 実装部品外観検査方法
JPH089048Y2 (ja) * 1989-09-29 1996-03-13 株式会社イトーキクレビオ 容器高さおよび収容物はみ出し検出装置
JPH0572301A (ja) 1991-09-12 1993-03-26 Mitsubishi Electric Corp 半導体集積回路
DE4411448C5 (de) * 1994-03-31 2009-05-14 Sick Ag Verfahren und Vorrichtung zur Kontrolle eines vorgegebenen Überwachungsbereichs
DE4411884A1 (de) 1994-04-07 1995-10-12 Hueppe Gmbh & Co Badewanne mit einer tür- oder schirmförmigen Duschabtrennung
JPH0930614A (ja) * 1995-07-14 1997-02-04 Toyota Autom Loom Works Ltd 自動倉庫
JP3954135B2 (ja) 1996-06-18 2007-08-08 株式会社モリテックス 照明装置
JPH1023465A (ja) * 1996-07-05 1998-01-23 Canon Inc 撮像方法及び装置
JP3261423B2 (ja) * 1996-10-21 2002-03-04 株式会社ダイフク 物品収納設備
DE19835033C1 (de) 1998-07-23 1999-11-04 Bellheimer Metallwerk Gmbh Lagerlift
JP2003042732A (ja) * 2001-08-02 2003-02-13 Topcon Corp 表面形状測定装置及びその方法、表面形状測定プログラム、並びに表面状態図化装置
JP2003292117A (ja) * 2002-04-01 2003-10-15 Nippon Steel Corp 荷姿異常位置検出装置
DE102004044973B4 (de) * 2004-09-16 2014-12-04 Sick Ag Kontrolle eines Überwachungsbereiches
AU2014216046B2 (en) * 2007-01-12 2017-04-27 Opex Corporation Method and apparatus for sorting items
US7861844B2 (en) * 2007-01-12 2011-01-04 Opex Corporation Method and apparatus for sorting items
JP5259286B2 (ja) * 2008-07-16 2013-08-07 株式会社日立製作所 ３次元物体認識システム及びそれを用いた棚卸システム
EP2401721A2 (en) * 2009-02-27 2012-01-04 Body Surface Translations, Inc. Estimating physical parameters using three dimensional representations
WO2012012841A1 (en) * 2010-07-28 2012-02-02 Qantas Airways Limited Luggage processing station
KR101486833B1 (ko) 2010-07-28 2015-01-29 엑손모빌 케미칼 패턴츠 인코포레이티드 점도 개질제로서의 에틸렌계 공중합체 조성물 및 이의 제조 방법
JP2013086891A (ja) * 2011-10-14 2013-05-13 Jx Nippon Mining & Metals Corp 自動倉庫
US9269263B2 (en) * 2012-02-24 2016-02-23 Magna Electronics Inc. Vehicle top clearance alert system
MX373976B (es) 2012-04-09 2020-07-09 Opex Corp Metodo y aparato para clasificar o encontrar piezas
JP6020265B2 (ja) * 2012-04-11 2016-11-02 株式会社ダイフク 物品搬送設備
CN102687902A (zh) * 2012-06-08 2012-09-26 深圳市格雷柏机械有限公司 一种智能型烟梗检测剔除装置及其工作方法
JP6188212B2 (ja) 2013-09-09 2017-08-30 株式会社岡村製作所 段床構造
US9299013B1 (en) * 2014-03-27 2016-03-29 Amazon Technologies, Inc. Visual task feedback for workstations in materials handling facilities
EP3134709A4 (en) * 2014-04-22 2018-01-03 BASF (China) Company Ltd. Detector for optically detecting at least one object
CN104046368B (zh) * 2014-06-09 2016-02-24 京东方科技集团股份有限公司 一种液晶薄膜及其制备方法和温度响应器件、圆偏振片
US9580245B2 (en) * 2014-06-10 2017-02-28 Amazon Technologies, Inc. Item-detecting overhead sensor for inventory system
KR20150142923A (ko) * 2014-06-12 2015-12-23 한국전자통신연구원 소포 인입 시스템 및 그 방법
US9926148B2 (en) * 2014-06-27 2018-03-27 Rite-Hite Holding Corporation Pedestrian-vehicle safety systems for loading docks
CN204086162U (zh) * 2014-06-30 2015-01-07 江苏中烟工业有限责任公司 烟箱外形检测装置
WO2016103452A1 (ja) * 2014-12-26 2016-06-30 株式会社日立製作所 搬送車及び搬送システム
US9694498B2 (en) * 2015-03-30 2017-07-04 X Development Llc Imager for detecting visual light and projected patterns
US9964398B2 (en) * 2015-05-06 2018-05-08 Faro Technologies, Inc. Three-dimensional measuring device removably coupled to robotic arm on motorized mobile platform
SG11201805623WA (en) * 2016-01-11 2018-07-30 Opex Corp Material handling apparatus with delivery vehicles
CN105668188B (zh) * 2016-04-08 2018-10-09 龙岩烟草工业有限责任公司 烟草物料包检测装置和方法、烟草物料处理系统
EP3507216B1 (en) 2016-08-04 2021-01-20 Opex Corporation Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold
US10451405B2 (en) * 2016-11-22 2019-10-22 Symbol Technologies, Llc Dimensioning system for, and method of, dimensioning freight in motion along an unconstrained path in a venue
US12437258B2 (en) * 2020-08-12 2025-10-07 Carnegie Mellon University System and method for identifying products in a shelf management system

Also Published As

Publication number Publication date
US20200148475A1 (en) 2020-05-14
JP2022172274A (ja) 2022-11-15
SG11201901017VA (en) 2019-03-28
AU2021200584A1 (en) 2021-03-04
CA3032968A1 (en) 2018-02-08
PL3507216T3 (pl) 2021-07-12
DK3507216T3 (da) 2021-04-19
CN109843749A (zh) 2019-06-04
US20180037412A1 (en) 2018-02-08
EP3507216B1 (en) 2021-01-20
US12091253B2 (en) 2024-09-17
JP7137653B2 (ja) 2022-09-14
AU2022252707B2 (en) 2024-11-14
MX372796B (es) 2020-07-03
AU2017306566B2 (en) 2021-02-18
MX2019001508A (es) 2019-09-06
WO2018027045A1 (en) 2018-02-08
AU2017306566A1 (en) 2019-04-11
US11319149B2 (en) 2022-05-03
US20220324650A1 (en) 2022-10-13
JP7645846B2 (ja) 2025-03-14
JP2019524602A (ja) 2019-09-05
JP6850867B2 (ja) 2021-03-31
JP2021098610A (ja) 2021-07-01
AU2022252707A1 (en) 2022-11-03
MX2020005689A (es) 2020-08-20
AU2021200584B2 (en) 2023-04-06
NZ751645A (en) 2020-07-31
US10589930B2 (en) 2020-03-17
EP3507216A1 (en) 2019-07-10

Similar Documents

Publication Publication Date Title
US12091253B2 (en) Automated storage and retrieval system with detector for detecting items extending beyond dimensional threshold
US11970378B2 (en) Warehouse inspection system
CN107037438B (zh) 用于确定在测量区域内移动的车辆承载的物体的尺寸的设备和方法
JP7052666B2 (ja) 搬送装置
US12253349B2 (en) Load scanning apparatus
WO2017042747A2 (en) An apparatus for the determination of the features of at least a moving load
US12595140B2 (en) Intelligent robotized depalletizer
US20240005543A1 (en) A method for measuring and analysing packages for storage
CN118723537A (zh) 一种智能货架用取送货装置
CN120303628A (zh) 具有稳健的对象检测、定位和监测的物流自主运载器
CN120500455A (zh) 具有鲁棒的物体检测、定位和监测的物流自主车辆
CN121107127A (zh) 一种自动装车系统
CN121591007A (zh) 一种用于厢式货车的自动装货方法及相关产品

Legal Events

Date Code Title Description
EEER Examination request

Effective date: 20200109

MPN Maintenance fee for patent paid

Free format text: FEE DESCRIPTION TEXT: MF (PATENT, 7TH ANNIV.) - STANDARD

Year of fee payment: 7

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20240729

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20240729

MPN Maintenance fee for patent paid

Free format text: FEE DESCRIPTION TEXT: MF (PATENT, 8TH ANNIV.) - STANDARD

Year of fee payment: 8

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20250708

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20250708

MPN Maintenance fee for patent paid

Free format text: FEE DESCRIPTION TEXT: MF (PATENT, 9TH ANNIV.) - STANDARD

Year of fee payment: 9

U00 Fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U00-U101 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE REQUEST RECEIVED

Effective date: 20260707

U11 Full renewal or maintenance fee paid

Free format text: ST27 STATUS EVENT CODE: A-4-4-U10-U11-U102 (AS PROVIDED BY THE NATIONAL OFFICE); EVENT TEXT: MAINTENANCE FEE PAYMENT PAID IN FULL

Effective date: 20260707