CN106575391A - 机器人物品处理系统、设备与方法 - Google Patents

机器人物品处理系统、设备与方法 Download PDF

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Publication number
CN106575391A
CN106575391A CN201580044136.5A CN201580044136A CN106575391A CN 106575391 A CN106575391 A CN 106575391A CN 201580044136 A CN201580044136 A CN 201580044136A CN 106575391 A CN106575391 A CN 106575391A
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China
Prior art keywords
grid
containers
load handling
wheels
robotic
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Pending
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CN201580044136.5A
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English (en)
Chinese (zh)
Inventor
斯威克·林德伯
安德鲁·约翰·英格拉姆-泰德
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Ocado Innovation Ltd
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Ocado Innovation Ltd
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Application filed by Ocado Innovation Ltd filed Critical Ocado Innovation Ltd
Publication of CN106575391A publication Critical patent/CN106575391A/zh
Pending legal-status Critical Current

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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/083—Shipping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B25J11/008—Manipulators for service tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • 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
    • 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
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    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0414—Storage devices mechanical using stacker cranes provided with satellite cars adapted to travel in storage racks
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
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    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • 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
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    • 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
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    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • 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
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    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
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    • B65G1/02—Storage devices
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    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/644—Optimisation of travel parameters, e.g. of energy consumption, journey time or distance
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06315—Needs-based resource requirements planning or analysis
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/06—Resources, workflows, human or project management; Enterprise or organisation planning; Enterprise or organisation modelling
    • G06Q10/063—Operations research, analysis or management
    • G06Q10/0631—Resource planning, allocation, distributing or scheduling for enterprises or organisations
    • G06Q10/06316—Sequencing of tasks or work
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Information and communication technology [ICT] specially adapted for implementation of business processes of specific business sectors, e.g. utilities or tourism
    • G06Q50/60—Business processes related to postal services
    • 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
    • B65G1/0464—Storage devices mechanical with access from above
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Mechanical Engineering (AREA)
  • Economics (AREA)
  • Human Resources & Organizations (AREA)
  • Strategic Management (AREA)
  • Entrepreneurship & Innovation (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • General Business, Economics & Management (AREA)
  • Tourism & Hospitality (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Development Economics (AREA)
  • Quality & Reliability (AREA)
  • Game Theory and Decision Science (AREA)
  • Robotics (AREA)
  • Educational Administration (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Health & Medical Sciences (AREA)
  • General Health & Medical Sciences (AREA)
  • Primary Health Care (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Stacking Of Articles And Auxiliary Devices (AREA)
CN201580044136.5A 2014-06-25 2015-06-24 机器人物品处理系统、设备与方法 Pending CN106575391A (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
GB1411254.4 2014-06-25
GB1411254.4A GB2527543A (en) 2014-06-25 2014-06-25 System and method for managing shipping containers
GB1506364.7 2015-04-15
GBGB1506364.7A GB201506364D0 (en) 2014-06-25 2015-04-15 Robotic object handling system,device and method
PCT/EP2015/064283 WO2015197709A1 (en) 2014-06-25 2015-06-24 Robotic object handling system, device and method

Publications (1)

Publication Number Publication Date
CN106575391A true CN106575391A (zh) 2017-04-19

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CN201580044136.5A Pending CN106575391A (zh) 2014-06-25 2015-06-24 机器人物品处理系统、设备与方法
CN201580045164.9A Pending CN106575393A (zh) 2014-06-25 2015-06-24 包裹分类机系统与方法

Family Applications After (1)

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CN201580045164.9A Pending CN106575393A (zh) 2014-06-25 2015-06-24 包裹分类机系统与方法

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US (4) US20170140327A1 (enExample)
EP (4) EP3792853A1 (enExample)
JP (5) JP6700202B2 (enExample)
KR (4) KR102512253B1 (enExample)
CN (2) CN106575391A (enExample)
AU (4) AU2015279238A1 (enExample)
CA (1) CA2953028C (enExample)
DK (1) DK3161751T3 (enExample)
ES (2) ES2929290T3 (enExample)
GB (4) GB2527543A (enExample)
HU (1) HUE060009T2 (enExample)
PL (2) PL3161751T3 (enExample)
WO (2) WO2015197696A1 (enExample)

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CN107499849A (zh) * 2017-09-22 2017-12-22 王燏斌 一种集装箱输送装置及其输送方法
CN108584263A (zh) * 2018-05-03 2018-09-28 华中科技大学无锡研究院 一种分层单向交互仓储装置及系统
CN109775270A (zh) * 2017-11-10 2019-05-21 北京京东尚科信息技术有限公司 物品拣选系统
CN110789898A (zh) * 2019-11-11 2020-02-14 北京京邦达贸易有限公司 立体仓库以及物品出入库的方法和装置
CN111278753A (zh) * 2017-10-27 2020-06-12 伯克希尔格雷股份有限公司 用于处理物体的包括移动矩阵载体系统的移动系统和方法
CN111406029A (zh) * 2017-11-02 2020-07-10 自动存储科技股份有限公司 自动储存和取回系统、运行该系统的方法和多台车载具
CN111655598A (zh) * 2018-01-22 2020-09-11 奥卡多创新有限公司 拣选货品的系统和方法
CN112262083A (zh) * 2018-06-12 2021-01-22 自动存储科技股份有限公司 具有存取点的输送系统和存取输送系统的存取点的方法
CN113165805A (zh) * 2018-12-20 2021-07-23 自动存储科技股份有限公司 容器处理载具在不同高度的储存网格之间的运输
US11390459B2 (en) 2017-03-20 2022-07-19 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects including mobile matrix carrier systems
CN114803251A (zh) * 2017-11-22 2022-07-29 自动存储科技股份有限公司 容器处理载具、自动储存和取回系统及其相关方法
US11402831B2 (en) 2017-03-23 2022-08-02 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects, including automated mobile matrix bins
US11479407B2 (en) 2018-01-09 2022-10-25 Autostore Technology AS Displacement mechanism for a remotely operated vehicle
US11485375B2 (en) 2018-06-12 2022-11-01 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
US11493910B2 (en) 2017-03-23 2022-11-08 Berkshire Grey Operating Company, Inc. Systems and methods for processing objects, including automated mobile matrix carriers
US11498757B2 (en) 2018-06-12 2022-11-15 Autostore Technology AS Storage system
US11505198B2 (en) 2018-06-12 2022-11-22 Autostore Technology AS Vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
CN115427330A (zh) * 2020-03-03 2022-12-02 奥卡多创新有限公司 网格框架结构
US11572231B2 (en) 2018-06-12 2023-02-07 Autostore Technology AS Storage system with modular container handling vehicles
US11603107B2 (en) 2018-06-12 2023-03-14 Autostore Technology AS Unloading arrangement and unloading station, as well as method of unloading an item from a storage container
US11628849B2 (en) 2018-06-12 2023-04-18 Autostore Technology AS Express bin lift for automated storage system
US11685391B2 (en) 2018-06-12 2023-06-27 Autostore Technology AS Automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
US11691635B2 (en) 2018-06-12 2023-07-04 Autostore Technology AS Storage grid with container accessing station with locking device to lock remotely operated vehicle
US11697422B2 (en) 2018-06-12 2023-07-11 Autostore Technology AS Delivery vehicle, an automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
US11772685B2 (en) 2018-06-12 2023-10-03 Autostore Technology AS System for storing and transporting storage containers
US11820389B2 (en) 2018-06-12 2023-11-21 Autostore Technology AS Container accessing station with lifting device
TWI827615B (zh) * 2018-06-08 2024-01-01 加拿大商亞特波堤克斯公司 改進式儲存和取回系統以及以順序方式將從儲存系統取回的儲存單元呈現至工作站的存取點的方法
CN117412911A (zh) * 2021-06-02 2024-01-16 奥卡多创新有限公司 存储和取回系统
CN117425602A (zh) * 2021-06-02 2024-01-19 奥卡多创新有限公司 网格框架结构
US11891095B2 (en) 2018-06-12 2024-02-06 Autostore Technology AS Method for handling malfunctioning vehicles on a rail system and a storage and retrieval system using such a method
US11975744B2 (en) 2018-06-12 2024-05-07 Autostore Technology AS Method and system for controlling the operation of container handling vehicles and drones serving an automated storage and retrieval system
US11993163B2 (en) 2018-06-12 2024-05-28 Autostore Technology AS Automated storage system with a container vehicle and a charging system
US12145632B2 (en) 2018-06-12 2024-11-19 Autostore Technology AS Vehicle tilting device, an access station, a delivery system and a method of accessing a storage container
US12151894B2 (en) 2018-06-12 2024-11-26 Autostore Technology AS System and applicable methods of collecting items from storage containers using robotic operator
US12179807B2 (en) 2018-06-12 2024-12-31 Autostore Technology AS Automated storage system
US12179806B2 (en) 2018-06-12 2024-12-31 Autostore Technology AS Method of operating an automated storage and retrieval system
US12246757B2 (en) 2018-06-12 2025-03-11 Autostore Technology AS Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
US12312176B2 (en) 2019-08-22 2025-05-27 Autostore Technology AS Delivery system, an automated storage and retrieval system and a method of transporting a container

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KR102722732B1 (ko) 2015-04-15 2024-10-25 오카도 이노베이션 리미티드 로봇 주차 장치 및 핸들링 방법
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