GB2624291A

GB2624291A - Systems and devices for stock management

Info

Publication number: GB2624291A
Application number: GB2314354.8A
Authority: GB
Inventors: Sverker Ture Lindbo Lars; Ingram-Tedd Andrew
Original assignee: Ocado Innovation Ltd
Current assignee: Ocado Innovation Ltd
Priority date: 2022-09-30
Filing date: 2023-09-19
Publication date: 2024-05-15
Also published as: GB202214374D0; GB202314354D0; WO2024068374A1

Abstract

A vehicle 500’ to transport and handle stock items, comprises shelving unit 514’, with a plurality of moveably attached shelved trays C. Vehicle 500’ comprises a motorised body 501’ and at least one robotic / autonomous arm 518’, 515’ mounted thereon that is able to move a shelving tray between open / closed positions via first and second arm components 518A’, 518B’, and pick or move items within the tray and/or between the vehicle and a tray via end effector 517’ or the second robotic arm 515’ which may be mounted on pillar or stand 516’. Containers / trays C may be stacked and moveable between upright rails 506’, via lifting base member D. An associated system for managing and replenishing shelving stock, and thereby reducing manual intervention is also disclosed.

Description

SYSTEMS AND DEVICES FOR STOCK MANAGEMENT

Field of the invention

The invention relates to systems and devices for managing and replenishing stocks in stores. In particular, the present invention relates to systems and devices for managing and replenishing stocks of items stored on shelving within a store.

Background

In traditional supermarket, grocery and other stores with stock that is relatively quick moving, the shelves need to be regularly replenished for the flow of customers through the store. This shelf replenishment is highly time consuming operation that is typically performed manually and is therefore incurs a significant cost. Furthermore, if performed during store opening hours, replenishment operations can disrupt shoppers due to obstructing the shopping aisles and blocking access to items on shelves.

It is against this background that the present invention has been devised. Summary of the invention According to a first aspect, there is provided a vehicle arranged to transport and handle items of stock stored on a shelving unit, the shelving unit comprising a plurality of shelves, each shelf comprising at least one tray that is movably attached to the shelf. The vehicle comprises a body mounted on a motorized movement means that is arranged to move the body, and at least one robotic arm mounted to the body. The at least one robotic arm is arranged to (i) move a tray of the shelving unit between an inserted position and an withdrawn position and (ii) to pick items transported by the vehicle and place them on a tray that is in the withdrawn position. The at least one robotic arm may also be arranged to pick items from a tray that is in the withdrawn position and place them on the vehicle.

The vehicle may comprise a first robotic arm that is arranged to move a tray of the shelving unit between the inserted position and the withdrawn position, a second robotic arm that is arranged to place items on a tray of the shelving unit that is in the withdrawn position. The second robotic arm may also be arranged to pick items from a tray of the shelving unit that is in the withdrawn position and place them on the vehicle.

The vehicle may comprise a robotic arm that is arranged to both (i) move a tray of the shelving unit between the inserted position and the withdrawn position and (ii) to place items on a tray of the shelving unit that is in the withdrawn position. The robotic arm may also be arranged to pick items from a tray of the shelving unit that is in the withdrawn position and place them on the vehicle.

Wherein the vehicle is the vehicle may be configured to operate as any of an autonomous vehicle and an autonomous mobile robot (AMR). The vehicle may further comprise a control system that is configured to control the movement of the vehicle and the operation of the at least one robotic arm.

The body may comprise a container storage section that is arranged to accommodate a plurality of storage containers that are arranged to contain items of stock, and a container handling mechanism that is arranged to convey a target storage container from the container storage section to a pick position at which content of the target storage container can be accessed. The control system may then be further configured to control the container handling mechanism. The container storage section may be arranged to accommodate the storage containers in a vertical sequence and the container handling mechanism arranged to convey the storage containers to the pick position section sequentially. The container storage section may be arranged to accommodate a vertical stack of storage containers, and the container handling mechanism is arranged to convey the storage containers to the pick position in the order in which they are stacked. The body may comprise a pick station section that is arranged to provide the pick position.

According to a second aspect, there is provided a system for managing and replenishing shelving stock, the system comprising one or more shelving units arranged in rows. Each shelving unit comprising a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit; and, for each shelf, at least one tray that is movably attached to the shelf, the tray being arranged to be moved between an inserted position and a withdrawn position. The system further comprises a vehicle according to the first aspect.

According to a third aspect, there is provided a vehicle arranged to adjust a position of items of stock stored on a shelving unit, the shelving unit comprising a plurality of shelves, each shelf comprising at least one tray that is movably attached to the shelf. The vehicle comprises a body mounted on a motorized movement means that is arranged to move the body, and at least one robotic arm mounted to the body. The at least one robotic arm is arranged to (i) move a tray of the shelving unit between an inserted position and a withdrawn position and (ii) to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position.

The vehicle may comprise a first robotic arm that is arranged to move a tray of the shelving unit between the inserted position and the withdrawn position, and a second robotic arm that is arranged to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position. Alternatively, the vehicle may comprise a robotic arm that is arranged to both (i) move a tray of the shelving unit between the inserted position and the withdrawn position and (ii) to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position. The vehicle may be configured to operate as any of an autonomous vehicle and an autonomous mobile robot (AMR), Wherein the vehicle further comprises a control system that is configured to control the movement of the vehicle and the operation of the at least one robotic arm.

According to a fourth aspect, there is provided a system for managing and replenishing shelving stock, the system comprising one or more shelving units arranged in rows. Each shelving unit comprising a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit and, for each shelf, at least one tray that is movably attached to the shelf, the tray being arranged to be moved between an inserted position and a withdrawn position. The system further comprises a vehicle according to the third aspect.

There is also provided a system for managing and replenishing shelving stock. The system comprises one or more shelving units arranged in rows, each shelving unit comprising a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit and, for each shelf, at least one tray that is movably attached to the shelf, the tray being arranged to be moved between an inserted position and a withdrawn position.

In addition, there is provided a method of managing and replenishing shelving stock, the shelving comprising one or more shelving units arranged in rows, each shelving unit comprising a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit, and each shelf comprises at least one movable tray that is arranged to be moved between an inserted position and a withdrawn position. The method comprises (i) moving a tray from the inserted position to the extended position, (H) depositing one or more items on the tray, and (iii) moving the tray from the withdrawn position to the inserted position. The shelving may comprise a system according to the first aspect.

Other variations and advantages will become apparent from the following description.

BRIEF DESCRIPTION OF THE DRAWINGS

These and other aspects of the invention will now be described, by way of example only, and with reference to the accompanying drawings, in which: Figure 1A and 1B are perspective views of a system for managing and replenishing shelving stock; Figure 2 is a perspective view of a conventional vehicle that is used to perform replenishment; Figure 3 is a perspective view of an improved vehicle for use in performing stock management and replenishment; Figure 4 is a perspective view of a first alternative vehicle for use in performing stock management and replenishment; Figures 5A and 5B are perspective views of a second alternative vehicle for use in performing stock management and replenishment; Figures 6A and 6B are perspective views of a third alternative vehicle for use in performing stock management and replenishment; Figures 6C to 6F are a sequence showing the third alternative vehicle performing a replenishment operation; Figure 7 is a perspective view of a fourth alternative vehicle for use in performing stock management and replenishment; Figure 8 is a perspective view of a fifth alternative vehicle for use in performing stock management and replenishment; Figures 9A and 9B are perspective views of a vehicle for use in performing stock management; Figures 9C to 9F are a sequence showing the vehicle of Figures 9A and 9B performing a stock management operation; In the figures, like features are denoted by like reference signs where appropriate. Detailed description The following embodiments represent preferred examples of how the invention may be practiced, but they are not necessarily the only examples of how this could be achieved. These examples are described in sufficient detail to enable those skilled in the art to practice the invention. Other examples may be utilised and structural changes may be made without departing from the scope of the invention as defined in the appended claims. Moreover, direction references and any other terms having an implied orientation are given by way of example to aid the reader's understanding of the particular examples described herein. They should not be read to be requirements or limitations, particularly as to the position, orientation, or use of the invention unless specifically set forth in the appended claims. Similarly, connection references (e.g., attached, coupled, connected, joined, secured, and the like) are to be construed broadly and may include intermediate members between a connection of elements and relative movement between elements. As such, connection references do not necessarily infer that two elements are directly connected and in fixed relation to each other, unless specifically set forth in the appended claims. Similarly, wording such as "movement in the n-direction" and any comparable wording, where n is one of x, y or z, is intended to mean movement substantially along or parallel to the n-axis, in either direction (i.e., towards the positive end of the n-axis or towards the negative end of the n-axis).

Figures 1A and 1B illustrate a system 100 for managing stock (i.e. a supply or quantity of items) stored on shelving within a store. The system 100 comprises a number of shelving units 101 that are arranged in rows. Each shelving unit 101 comprises a plurality of shelves 102 that extend at least partially from a front 101A of the shelving unit 101 to a rear 101B of the shelving unit 101. Each shelf 102 is open from the rear 101B to the front 101A of the shelving unit 101, such that each shelf 102 is open across the full width of the shelf 102. The shelving unit 101 then further comprises, for each shelf 102, at least one tray 103 that is movably attached to the shelf 102, the tray 103 being arranged to be moved between an inserted position and a withdrawn position. To illustrate this, Figure 1B shows a shelving unit 101 in which one of the trays 103 is in the withdrawn position, whilst the remainder of the trays 103 are in the inserted position.

The shelving units 101 are arranged in rows extending in a first direction (X) with the shelves then being arranged to extend in a second direction (Y) that is perpendicular to the first direction. The trays are therefore arranged to be moved in the second direction (Y), away from and towards the rear of the shelving unit 101. The front of each shelving unit 101 is at least partially open such that items stored within the shelving unit 101 can be accessed in order to allow depletion and so that the trays 103 that support items within the shelving unit 101 can be extended and retracted in order to enable replenishment.

Each shelving unit 101 is arranged such that a frontward separation (Dr) of the shelving unit 101 defines a front aisle 104, wherein the frontward separation (DF) is the distance between the front 101A of the shelving unit 101 and any opposing object, such as a wall or an opposing shelving unit.

The front aisle 104 provides a passage between the front of the shelving unit 101 and an adjacent object through which the stock of items on the shelving units 101 can be accessed in order to remove items and through which the stock of items on the shelves can be replenished. The front aisle 104 can therefore be referred to as a depletion and replenishment aisle. Preferably, each shelving unit 101 is arranged such that a rearward separation (DR) of the shelving unit 101 is negligible, thereby maximising the size of the front aisle 104. In this regard, the rearward separation of a shelving unit 101 is the distance between the rear 101B of the shelving unit 101 and any adjacent object, such as a wall or an adjacent shelving unit.

In the arrangement shown in Figures 1A and 1B, the shelving units 101 are arranged in pairs, each pair comprising a first shelving unit and a second shelving unit, with a rear of the first shelving unit being immediately adjacent to a rear of the second shelving unit. Consequently, within each pair, a front 101A of the first shelving unit 101 faces away from the second shelving unit 101 and a front 101A of the second shelving unit 101 faces away from the first shelving unit 101. As a result, if the plurality of shelving units 101 are arranged in a number of parallel rows, then the front 101A of each shelving unit 101 faces towards the front 101A of the nearest shelving unit 101 of any neighbouring shelving unit pair.

In the arrangement shown in Figures 1A and 1B, the shelving units 101 comprises a plurality of substantially horizontal members 105 that are vertically spaced and that are supported between first and second vertical end members 106. The shelving units 101 further comprise a plurality of vertical divider members 108 that divide up each horizontal member 105 into a plurality of horizontal shelves 102. In an alternative arrangement (not shown), each shelving unit could comprise a framework comprising horizontal members which are supported by the vertical members, with substantially horizontal shelf surfaces supported upon the horizontal members.

Each tray 103 is arranged such that, when in the inserted position, a first portion of the tray 103 is disposed inside the shelving unit 101. Specifically, when in the inserted position, the first portion of the tray 103 is behind the front of the shelving unit 101 such that it is disposed within a volume defined by the shelving unit 101. Then, when in the withdrawn position, a second portion of the tray 101 is disposed inside the shelving unit, with the first portion being greater than the second portion. In other words, when in the inserted position a greater portion of the tray 103 is disposed inside the shelving unit 101 than when in the withdrawn position. Preferably, when in the inserted position, a majority of the tray 103 is disposed inside the shelving unit 101 whilst, when in the withdrawn position, a majority of the tray 103 is disposed outside of the shelving unit 101.

In the arrangement shown in Figures 1A and 1B, each tray 103 is arranged such that, when in the inserted position, the entirety of the tray 103 is disposed inside the shelving unit 101. Then, when in the withdrawn position, a majority but not all of the tray 103 is disposed outside of the shelving unit 101. The shelving unit 101 then comprises, for each tray 103, at least one stop (not shown) that prevents movement of the tray 103 beyond the withdrawn position. The location of the stop is arranged to ensure that the majority of the tray 103 is disposed outside of the shelving unit 101 when in the withdrawn position. Each tray 103 is then an open receptacle that comprises a flat bottom surface 109 and a raised rim or edge 110 that is arranged to act as barrier that prevents items placed on the bottom surface from falling off the tray 103.

Each shelving unit 101 comprises, for each tray 103, a guide mechanism (not shown) that is configured to guide movement of the tray 103 between the inserted position and the withdrawn position. For each tray 103, a static portion of the guide mechanism is fixed to the shelving unit 101 (e.g. using fixings such as screws or adhesive), whilst a travelling portion of the guide mechanism is fixed to or integrally formed with the tray 103. The travelling portion is then movably connected to the static portion and is arranged to move relative to the static portion. In the arrangement shown in Figures 1A and 1B, the guide mechanism for each tray 103 comprises a number of runners (not shown) that allow for horizontal movement of the tray 103, with at least two static runners fixedly attached to the shelving unit 101 and at least two travelling runners that are fixed to the tray 103. The travelling runners are then arranged to telescope away from the static runners to enable horizontal movement of the tray 103.

In an alternative arrangement, some or all of the trays 103 could be arranged to slope relative to horizontal such that items placed away from the front of the tray 103 are encouraged towards the front of the tray 103 by gravity. In particular, in such an arrangement the trays 103 could be arranged to slope downwards, at an angle 8, such that a rear end of the tray 103 is higher than a front end of the tray 103. The trays 103 would therefore be capable of conveying items placed away from a front of a tray 103 towards the front of the tray 103. To support this, the surface of the trays 103 could be low friction.

In such an arrangement, the trays 103 could be movably attached to the shelving unit 101 at an angle 0 relative to horizontal, and be arranged to move in a direction that is at an angle 0 relative to horizontal, such that the angle of the trays 103 relative to the horizontal remains constant. The trays 103 would then slope when in both the inserted position and the withdrawn position. To do so, the guide mechanism may be arranged to slope at an angle 0 relative to horizontal and to guide movement of the tray 103 in a direction that is at an angle 0 relative to horizontal.

Alternatively, the trays 103 could be arranged to tilt when moving from the inserted position to the withdrawn position, such that the angle of the trays 103 relative to the horizontal is greatest when in the withdrawn position. In other words, a difference in height between a rear end of the tray 103 and a front end of the tray 103 would be greater in the withdrawn position than in the inserted position.

To do so the guide mechanism may be arranged to cause the slope of the tray 103 to increase when moved from the inserted position to the withdrawn position and to decrease when moved from the withdrawn position to the inserted position. The trays 103 could then either (i) be horizontal when in the inserted position and slope when in the withdrawn position or (ii) slope when in both the inserted position and the withdrawn position, with the slope in the withdrawn position being greater than in the inserted position. The guide mechanism may therefore be configured to allow a tray 103 to a slide relative to the shelving unit 101 and simultaneously cause the tray 103 to tilt during sliding. By way of example, the guide mechanism could comprise a static portion that is fixed to the shelving unit 101 and a travelling portion that is fixed to or integrally formed with the tray 103. The travelling portion would be then movably connected to the static portion by a pivot that is configured to slide relative to the static potion and to allow the travelling portion to rotate relative to the static potion.

In grocery retail, inbound items normally arrive at a distribution location on a pallet, stacked closely together. These pallets of inbound items are then separated and placed, individually or in groups corresponding to their stock keeping unit (SW) into separate storage containers for storage and subsequent distribution to retail stores. Replenishment operations therefore usually require the use of a vehicle to transport these storage containers containing additional items of stock around the store. Figure 2 illustrates an example of a conventional vehicle that is used to transport and handle items of stock during a replenishment operation.

In Figure 2, the vehicle takes the form of a manually operated trolley 200. The trolley 200 comprises a rack 201 mounted on castors 202, the rack 201 comprising a framework 203 of interconnected vertical members and horizontal members. The rack 201 also comprises a plurality of horizontal support rails 204 mounted to the framework 203 that are arranged in vertically spaced pairs, each pair of support rails 204 being configured to support a storage container (C). In use, a storage container (C) containing additional items of stock is inserted horizontally onto a pair of support rails 204 of the trolley 200. An operator then pushes the trolley 200 around the store to reach shelves that require replenishment, at which point the operator slides one of the storage containers along the pair of support rails 204 until it is at least partially out of the framework 203 to access the contents of the storage container, removes items from the storage container and places the items on a shelf before sliding the storage container back until it is fully supported by the pair of support rails 204. This approach is entirely manual, relying on the operator to move storage containers in and out of the framework 203 and to support a storage container whilst picking and placing items. It also requires the operator to bend down to reach into the lower storage containers and/or stretch to reach into the upper storage containers stored in the rack 201.

Figure 3 then illustrates an improved vehicle 300 for transporting and handling items of stock in order to implement stock management and replenishment. The vehicle 300 comprises a body 301 mounted on a movement means 302 that is arranged to allow the body 301 to be moved. The body 301 comprises a container storage section 303, a pick station section 304 and a container handling mechanism 305. The container storage section 303 is arranged to accommodate a plurality of storage containers (e.g. containing items of stock) in a vertical arrangement such that the plurality of storage containers are arranged one above the other in vertical alignment. The pick station section 304 is arranged to present one of the plurality of storage containers to a pick position at which the content of the storage container can be accessed so as to allow items to be picked (i.e. removed) from within the storage container. The container handling mechanism 305 is arranged to convey a storage container from the container storage section 303 to the pick position.

In the arrangement shown in Figure 3, the container storage section 303 is arranged to accommodate a vertical stack of storage containers, in which all but the bottom storage container rests upon a storage container below. However, in an alternative arrangement each storage container could be supported upon one of plurality of vertically spaced shelves or rails. Carrying the storage containers vertically (i.e. relative to a horizontal surface upon which the vehicle is supported), minimises the footprint of the vehicle 300. The provision of a separate pick station section 304 and a container handling mechanism 305 that conveys storage containers from the container storage section 303 to the pick station section 304 then reduces the manual effort required to access items in the storage containers. The provision of a separate pick station section 304 also provides that the height of the container storage section 303 can be greater than the height of the pick station section 304, which in turn provides that the height of the container storage section 303 is not necessarily restricted by the height of the operator such that the number of the storage containers that can be transported on the vehicle 300 is greater than on a conventional trolley.

In the arrangement illustrated in Figure 3, the container storage section 303 is arranged to accommodate a vertical stack of storage containers and the container handling mechanism 305 is then arranged to convey the storage containers to the pick station section 304 in the order in which they stacked. The container storage section 303 therefore accommodates the storage containers in a vertical sequence and the container handling mechanism 305 conveys the storage containers to the pick station section 304 sequentially. Specifically, the container storage section 303 is arranged to store a first in the sequence of storage containers bottommost in the container storage section 303, and a last in the sequence of storage containers topmost in the container storage section 303. The container handling mechanism 305 is then arranged to convey the bottommost storage container from the container storage section 303 to the pick station section 304. The vehicle 300 therefore further comprises a container handling controller (not shown) for controlling the container handling mechanism 305. In particular, the container handling controller is configured to activate the container handling mechanism 305 so as to move a first in the sequence of storage containers to be presented at the pick position provided by the pick station section 304.

In the arrangement illustrated in Figure 3, the container storage section 303 is horizontally adjacent to the pick station section 304. Consequently, the container handling mechanism 305 is arranged to convey a storage container horizontally from the bottom of the container storage section 303 to the bottom of the pick station section 304.

The pick station section 304 comprises an access opening 308 provided in the body 301 through which an inside of a storage container can be accessed when presented at the pick position provided by the pick station section 304. As shown in Figure 3, a suitable storage container (C) typically comprises an open box, i.e. having a base, sides and an open top through which the inside of the storage container can be accessed. Such a storage container could also have a lid that covers the open top, with the lid being removable or hinged to allow the open top of the storage container to be exposed. Consequently, when using such a storage container, the access opening 308 should be arranged so as to allow the open top of a storage container to be accessed. In the arrangement illustrated in Figure 3, the access opening 308 is provided on the horizontal upper surface of the pick station section 304.

However, in an alternative arrangement, the access opening 308 could be provided towards the top of a non-horizontal surface of the pick station section 304. For example, in an alternative arrangement the container storage section 303 and pick station section 304 could be the same height, with the access opening 308 then being provided in a vertical side surface of the pick station section 304 so that the contents of a storage container can be accessed by reaching through the access opening 308.

In the arrangement illustrated in Figure 3, the container handling mechanism 305 is therefore arranged to separate the bottommost storage container from the stack of storage containers within the container storage section 303, convey the storage container horizontally from the bottom of the container storage section 303 to the bottom of the pick station section 304, and then convey the storage container vertically from the bottom of the pick station section 304 to the access opening 308. The container handling mechanism 305 therefore comprises a container separation mechanism 310, and a container displacement mechanism 311.

The container separation mechanism 310 is arranged to vertically separate the bottommost storage container from the stack of storage containers within the container storage section 303, either by lifting the rest of the stack away from the bottommost storage container or by lowering the bottommost storage container away from the rest of the stack. In this example, the container separation mechanism 310 comprises container engagement members (not shown) that are vertically movable (using known means such as a ball screw mechanism or a belt drive) on one or more vertical rails 306 provided within the container storage section 303 and that are arranged to releasably engage a storage container. The container separation mechanism 310 can then be operated to move the container engagement members to the vertical position of the storage container immediately above the bottommost storage container. The container engagement members can then engage the storage container and move vertically upwards to lift the engaged storage container (and any storage containers that are stacked on top) away from the bottommost storage container. In Figure 3, it can be seen that the bottommost container has been vertically separated from the storage containers above.

The container engagement members may comprise any suitable mechanism for engaging a storage container. For example, the container engagement members may comprise one or more engaging features configured to move towards and away from the stack to engage and release corresponding features on a storage container. For example, the engaging features of the container engagement members may comprise one or more apertures, recesses, protrusions, rims, etc. arranged to engage corresponding apertures, recesses, protrusions, rims, etc. provided on each storage container. The container separation mechanism may then comprise one or more actuators for moving the engaging features towards and away from the stack. The engaging features may be moved relative to a portion of the container engagement members, or the container engagement members may move as a whole towards and away from the stack. The actuator may be a linear actuator. The actuator may be any suitable type of actuator, e.g. pneumatic, hydraulic, electric etc. The container displacement mechanism 311 is then arranged to convey the separated storage container horizontally from the bottom of the container storage section 303 to the bottom of the pick station section 304, and to then lift the separated storage container from the bottom of the pick station section 304 towards the access opening 308 and hold the storage container adjacent to or within the access opening 308. In this example, the container displacement mechanism 311 comprises a container conveyor (e.g. a roller conveyor or a belt conveyor) that is arranged to convey the separated storage container horizontally from the bottom of the container storage section 303 to the bottom of the pick station section 304. The container displacement mechanism 311 then further comprises a container lifting mechanism 312 that is essentially the same as the container separation mechanism 310 described above in that it comprises container engagement members (not shown) that are vertically movable (using known means such as a ball screw mechanism or a belt drive) on one or more vertical rails 307 provided within the pick station section 304 and that are arranged to releasably engage a storage container. The container engagement members can then engage a storage container at the bottom of the pick station section 304 and move vertically upwards to lift the engaged storage container. In Figure 3, it can be seen that a storage container has been lifted to and is held within the access opening 308 of the pick station section 304.

In the arrangement illustrated in Figure 3, the access opening 308 also provides an outfeed port 309 that is arranged to allow a storage container to be removed from the pick station section 304. The body 301 then further comprises an infeed port 313 that is arranged to allow a storage container to be placed at the top of stack within the container storage section 303 (i.e. at an end of the sequence).

The infeed port 313 is therefore provided towards a top of the container storage section 303 and is arranged to allow a storage container to be inserted into the container storage section 303. Specifically, the infeed port 313 is provided in a side of the container storage section 303 that faces towards the pick station section 304. This arrangement provides that a storage container that is removed from the body 301 through outfeed port 309 can then be easily returned to container storage section 303 by inserting the storage container through the infeed port 313.

The container storage section 303 then further comprises a loading port 314 that is arranged to allow more than one storage container to be loaded into and unloaded from the container storage section 303. The loading port 314 is provided in a side of the container storage section 303 that faces away from the pick station section 304. In the arrangement illustrated in Figure 3, the loading port 314 is provided in the side of the container storage section 303 that is opposite to the side that faces the pick station section 304. However, in an alternative arrangement, the loading port 314 could be provided in one of the two sides that are perpendicular relative to the side that faces the pick station section 304. As described above, in the arrangement shown in Figure 3 the container storage section 303 is arranged to support a vertical stack of storage containers. The loading port 314 is therefore arranged to allow a stack of storage containers to be loaded into and unloaded from the container storage section 303, such that multiple storage containers can be loaded/unloaded simultaneously (i.e. in a single action).

As shown in Figure 3, the body 301 comprises a framework of interconnected vertical members and horizontal members and a casing that at least partially covers the framework. The framework partially defines both the container storage section 303 and the pick station section 304 of the body 301. The casing then comprises a number of casing panels that cover the majority of the exterior of the framework, with some of the casing panels being provided with openings that form the access opening/outfeed port 308, 309, the infeed port 313 and the loading port 314. The movement means 302 then comprises a number of castors mounted to the bottom of the framework, such that the vehicle 300 therefore takes the form of a manually operated trolley. However, in alternative arrangements the movement means could equally comprise any other movement means such as wheels, continuous tracks or rollers.

At the start of a replenishment operation, a vertical stack of storage containers is loaded on to the vehicle 300 by inserting the stack through the loading port 314. At this point, the storage containers would typically be at least partially filled with items that are intended to be transported to and deposited on the shelving. Prior to loading the storage containers, the sequence of the storage containers in the vertical stack would be determined based on the efficient routing of the vehicle 300 through the shelving. For example, a storage container containing items that are to be placed on the first in a row of shelves would be located at the bottom of the vertical stack, and therefore first in the sequence, whilst a storage container containing items that are to be placed on the last in a row of shelves would be located at the top of the stack, and therefore last in the sequence.

The vehicle 300 is then used to transport the storage containers around the store to reach a shelving unit 101 that requires replenishment, and the container handling mechanism 305 conveys the next in the sequence of storage containers to be presented at the pick position provided by the pick station section 304. An operator then pulls an appropriate tray 103 out of a shelving unit 101 such that the tray 103 is moved to the withdrawn position, and moves any remaining items of stock on the tray 103 to the front of the tray. The operator then removes items from the storage container presented at the pick position and places the items towards the rear of the tray 103, behind any items that are already on the trays 103. When no further items are required for that particular tray 103, the operator then pushes the tray 103 back into the shelving unit such that the tray 103 is moved to the inserted position.

Then, when no further items are required, from the storage container, or the storage container is empty, the operator then removes the storage container from the pick station section 304 through the outfeed port 309 and returns it to the end of the sequence by inserting it through the infeed port 313. At the end of a replenishment operation, the storage containers are unloaded from the vehicle 300 by removing them through the loading port 314. At this point, the number of items in the storage containers would be less than at the start, with most if not all being empty.

Figure 4 illustrates a first alternative arrangement of an improved vehicle for transporting and handling items of stock. The vehicle of Figure 4 is similar to that of Figure 3 and corresponding reference numerals have therefore been used for like or corresponding parts or features. However, in the arrangement of Figure 4 the vehicle 300' is capable of autonomously performing replenishment operations. The vehicle of Figure 4 therefore further comprises a robotic arm 315 that is arranged to both move a tray 103 of a shelving unit 101 between the inserted position and the withdrawn position and to place items on and/or pick items from the tray 103 in the withdrawn position. The vehicle 300' is also configured to operate as an automated or autonomous vehicle, e.g. an automated guided vehicle (AGV) which is capable of following fixed routes, or an autonomous mobile robot (AMR) which is capable of planning its own routes.

In the arrangement illustrated in Figure 4, the vehicle 300' comprises a pillar or stand 316' on which the robotic arm 315) is movably mounted such that the robotic arm 315' is capable of moving vertically along the pillar 316'. The robotic arm 315' then comprises an end effector 317' at a distal end, the end effector 317' being arranged to enable the robotic arm 315' to grip both a tray 103 of a shelving unit 101 and an item from within a storage container or on the tray 103. For example, the end effector 317' could comprise a mechanical gripper or a vacuum gripper/suction cup.

The vehicle 300' then comprises a base 320', with the body 301' comprising the container storage section 303' and the pick station section 304' being disposed at a first end of the base 320' and the pillar 316' being disposed at an opposite, second end of the base 320'. The movement means 302' then comprises a number of motorized wheels mounted to the bottom of the base 320' that are configured to allow the vehicle to move in a plurality of directions. However, in alternative arrangements the movement means could equally comprise any other motorized movement means such as motorized continuous tracks or rollers.

The vehicle 300' of Figure 4 then further comprises a control system (not shown) that is configured to enable the vehicle 300' to autonomously perform replenishment operations. To do so, the control system is configured to receive inputs from a number of sensors and to use these inputs to coordinate the movement of the vehicle 300', the operation of the container handling mechanism 305', and the operation of the robotic arm 315'. For example, the control system could be configured to receive inputs from one or more sensors that detect characteristics of the environment surrounding the vehicle 300', and one or more sensors that detect the presence of a storage container at the pick station section 304' and the contents of the storage container. These sensors could be either on-board or off-board sensors such as image sensors, proximity sensors, collision sensors, motion sensors etc. The control system could therefore also be provided with a receiver for receiving data from off-board sensors. The control system further comprises a motion controller for controlling the movement means 302' and thereby controlling autonomous movement of the vehicle 300', a robotic controller for controlling the robotic arm 315', a container handling controller for controlling the container handling mechanism 305', and a master controller for coordinating control between the robotic controller, the motion controller and the container handling controller.

In the arrangement illustrated in Figure 4, the robotic arm 315' is arranged to remove a storage container from the pick station section 304' through the outfeed port 309' and return it to the end of the sequence by inserting it through the infeed port 313'. However, in an alternative arrangement, the container handling mechanism 305' could be arranged to return a storage container from the pick station section 304 to the container storage section 303'. In such an alternative arrangement, container storage section 303' and the pick station section 304 could be the same height, with the container handling mechanism 305' then being arranged to lift a storage container to the top of the pick station section 304' before moving the storage container horizontally through the infeed port 313' into the container storage section 303'. The access opening 308' could then be provided in a vertical side surface of the pick station section 304' so that the contents of a storage container can be accessed by the robotic arm 315' reaching through the access opening 308'.

Figures 5A and 5B illustrate a second alternative arrangement of an improved vehicle 500 for handling a plurality of storage containers. The vehicle 500 of Figures 5A and 5B is similar to that of Figure 3 in that it comprises a container storage section 503, a pick station section 504 and a container handling mechanism 505. However, in the arrangement of Figures 5A and 5B the vehicle 500 is capable of receiving and handling storage containers (C) that are stacked on a dolly (D).

In the arrangement shown in Figures 5A and 58, the vehicle 500 comprises a body 501 mounted on a movement means 502 that is arranged to allow the body 501 to be moved. The body 501 comprises the container storage section 503, the pick station section 504 and the container handling mechanism 505. The container storage section 503 is arranged to retain a plurality of storage containers in a vertical arrangement such that the plurality of storage containers are arranged one above the other in vertical alignment. The pick station section 304 is arranged to present one of the plurality of storage containers to a pick position at which the content of the storage container can be accessed so as to allow items to be picked (i.e. removed) from within the storage container. The container handling mechanism 505 is arranged to convey a storage container from the container storage section 503 to the pick position.

In the arrangement shown in Figures 5A and 5B, the container storage section 503 is arranged to accommodate a dolly (D) supporting a stack of storage containers (C). The container handling mechanism 505 is then arranged to convey the storage containers to the pick station section 504 in the order in which they stacked. Specifically, the container handling mechanism 505 is arranged to convey the bottommost storage container from the container storage section 503 to the pick station section 504. The vehicle 500 therefore further comprises a container handling controller (not shown) for controlling the container handling mechanism 505. In particular, the container handling controller is configured to activate the container handling mechanism 505 so as to move a first in the sequence of storage containers to be presented at the pick position provided by the pick station section 504.

In the arrangement shown in Figures 5A and 5B, the container storage section 503 is horizontally adjacent to the pick station section 504. Consequently, the container handling mechanism 505 is arranged to convey a storage container horizontally from the bottom of the container storage section 503 to the bottom of the pick station section 504.

The pick station section 504 comprises an access opening 508 provided in the body 501 through which an inside of a storage container can be accessed when presented at the pick position provided by the pick station section 504. In the arrangement illustrated in Figures 5A and 5B, the access opening 508 is provided on the horizontal upper surface of the pick station section 504. However, in an alternative arrangement, the access opening 508 could be provided towards the top of a non-horizontal surface of the pick station section 504. For example, in an alternative arrangement the container storage section 503 and pick station section 504 could be the same height, with the access opening 508 then being provided in a vertical side surface of the pick station section 504 so that the contents of a storage container can be accessed by reaching through the access opening 508.

In the arrangement illustrated in Figures 5A and 5B, the container handling mechanism 505 is therefore arranged to separate the bottommost storage container from the stack of storage containers within the container storage section 503, displace the bottommost storage container away from the dolly and convey the storage container horizontally from the bottom of the container storage section 503 to the bottom of the pick station section 504, and then convey the storage container vertically from the bottom of the pick station section 504 to the access opening 508. The container handling mechanism 505 therefore comprises a container separation mechanism 510 and a container displacement mechanism 511.

The container separation mechanism 510 is arranged to vertically separate the bottommost storage container from the stack of storage containers within the container storage section 503. To do so, the container separation mechanism 510 can be arranged to either lift the rest of the stack away from the bottommost storage container or lift the entire stack away from the dolly and then lower the bottommost storage container away from the rest of the stack. In this example, the container separation mechanism 510 comprises container engagement members (not shown) that are vertically movable (using known means such as a ball screw mechanism or a belt drive) on one or more vertical rails 506 provided within the container storage section 503 and that are arranged to releasably engage a storage container. The container separation mechanism 510 can then be operated to move the container engagement members to the vertical position of the storage container immediately above the bottommost storage container. The container engagement members can then engage the storage container and move vertically upwards to lift the engaged storage container (and any storage containers that are stacked on top) away from the bottommost storage container.

The container displacement mechanism 511 is then arranged to displace the bottommost storage container away from the dolly and convey the storage container horizontally from the bottom of the container storage section 503 to the bottom of the pick station section 504, and then convey the storage container vertically from the bottom of the pick station section 504 to the access opening 508. In this example, the container displacement mechanism 511 comprises displacement members (not shown) that are horizontally moveable to allow the displacement members to engage and horizontally extract the bottommost storage container out of the container storage section 503. In particular, at least a portion of each displacement member is horizontally moveable between an extended position that is at least partially within the container storage section 503 and a retracted position that is entirely within the pick station section 504. For example, each displacement member could comprise a retractable arm configured to linearly extend and retract in a horizontal direction between the inserted position and the extracted position.

Each displacement member is configured to releasably engage the bottommost storage container in the container storage section 503 so that once engaged, the storage container can be horizontally moved by horizontally moving the displacement member. Similar to the container engagement members, the displacement members may comprise any suitable mechanism for engaging the bottommost storage container. For example, each displacement member may comprise one or more engaging features configured to move toward and away from the stack to engage and release corresponding features on a storage container. The engaging features may, for example, be one or more protrusions (e.g. extending in a horizontal direction towards the stack), recesses, apertures, etc. The displacement members may comprise one or more actuators for moving the engaging features towards and away from the stack. The engaging features may be moved relative to a portion of the displacement members, or the displacement members may move as a whole towards and away from the stack. The actuator may be a linear actuator. The actuator may be any suitable type of actuator, e.g. pneumatic, hydraulic, electric, etc. Once the displacement members have engaged the target storage container, the arms of the displacement members are then configured to retract from the extended position to the retracted position and thereby horizontally extract the bottommost storage container out of the container storage section 503. Before horizontally moving the bottommost storage container out of the container storage section 503, the displacement members may be configured to first move vertically upwards so that the bottommost storage container is clear of the dolly (D) below it. This may be required if the storage containers comprise interlocking stacking features, for example.

The container displacement mechanism 511 then further comprises a container lifting mechanism 512 that is essentially the same as the container separation mechanism 510 described above in that it comprises container engagement members (not shown) that are vertically movable (using known means such as a ball screw mechanism or a belt drive) on one or more vertical rails 507 provided within the pick station section 504 and that are arranged to releasably engage a storage container. The container engagement members can then engage a storage container at the bottom of the pick station section 504 and move vertically upwards to lift the engaged storage container. In Figure 8A, it can be seen that a storage container has been lifted to and is held within the access opening 508 of the pick station section 504.

In the arrangement illustrated in Figures 5A and 5B, the access opening 508 also provides an outfeed port 509 that is arranged to allow a storage container to be removed from the pick station section 504. The body 301 then further comprises an infeed port 513 that is arranged to allow a storage container to be placed at the top of stack within the container storage section 503 (i.e. at an end of the sequence).

The container storage section 503 then comprises a loading port 514 that is arranged to allow more than one storage container to be loaded into and unloaded from the container storage section 503. The loading port 514 is provided in a side of the container storage section 503 that faces away from the pick station section 504. In the arrangement illustrated in Figures 5A and 5B, the loading port 514 is provided in the side of the container storage section 503 that is opposite to the side that faces the pick station section 504. As described above, in the arrangement shown in Figures 5A and 5B the container storage section 503 is arranged to receive and retain a dolly (D) supporting a stack of storage containers (C). The loading port 514 is therefore arranged to allow a dolly (D) supporting a stack of storage containers (C) to be loaded into and unloaded from the container storage section 503, such that multiple storage containers can be loaded/unloaded simultaneously (i.e. in a single action). The container storage section 503 then further comprises a dolly retention mechanism (not shown) that is arranged to releasably engage a dolly within the container storage section 503. When engaged by the dolly retention mechanism, the dolly is held in position within the container storage section 503 and will therefore move with the vehicle 500. At the end of a replenishment operation, the dolly retention mechanism can be disengaged so that the dolly (D) and the stack of storage containers (C) supported on the dolly can be unloaded from the container storage section 503.

In the arrangement shown in Figures 5A and 5B, the vehicle 500 further comprises an electronic visual display 521 arranged to present information to an operator of the vehicle. For example, the electronic visual display 521 could be arranged to display picking information (e.g. maps, routes, product images, location information etc.) that assists the operator in selecting an item and locating the correct shelf associated with that item. The information would be provided to the electronic visual display 521 by either an on-board or off-board computer-implemented stock management system.

Alternatively or additionally, the electronic visual display 521 could be arranged to display live images of the surroundings of the vehicle 500, and particularly the area in front of the vehicle 500, which then assists the operator in safely manoeuvring the vehicle 500. In such an arrangement, the vehicle 500 could further comprise an on-board video camera (not shown) that is arranged to capture images of at least the area in front of the vehicle 500 and provide the images to the electronic visual display 521.

Alternatively, the vehicle 500 could comprise a receiver (not shown) that is arranged to receive images captured by one or more off-board video cameras, such that these off-board images can then be presented on the electronic visual display 521.

In the arrangement shown in Figures 5A and 5B, the electronic visual display 521 is disposed on the side of the container storage section 503 that faces towards the pick station section 504. The electronic visual display 521 could be a touchscreen, or alternatively the vehicle 500 could be provided with a separate user input device, which would therefore allow the operator to interact with an onboard or off-board computer-implemented stock management system.

Alternatively or additionally, the vehicle 500 could further comprise a scanner or vision system (now shown) that is arranged to select and/or verify an item picked by the operator. For example, the vehicle 500 could comprise a scanner that is arranged to read either a machine-readable optical label, such a barcode or OR code, or a radio-frequency identification (RFID) or near-field communication (NFC) tag that is applied or attached to an item presented to the scanner, and communicate with either an on-board or off-board computer-implemented stock management system to verify that the item is correct/as expected.

Figures 6A and 65 illustrates a third alternative arrangement of an improved vehicle 500' for handling a plurality of storage containers. The vehicle of Figures 6A and 6B is similar to that of Figures 5A and 5B and corresponding reference numerals have therefore been used for like or corresponding parts or features. However, in the arrangement of Figures 6A and 68 the vehicle 500' is capable of autonomously performing replenishment operations. The vehicle of Figures 6A and 6B therefore further comprises a first robotic arm 518' that is arranged to move a tray between the inserted position and the withdrawn position and a second robotic arm 515' that is arranged to place items on and/or pick items from the tray 103 in the withdrawn position. The vehicle 500' is also configured to operate as an automated or autonomous vehicle, e.g. an automated guided vehicle (AGV) which is capable of following fixed routes, or an autonomous mobile robot (AMR) which is capable of planning its own routes.

In the arrangement illustrated in Figures 6A and 6B, the vehicle 500' comprises a support rail 519' on which the first robotic arm 518' is movably mounted such that the first robotic arm 518' is capable of moving vertically along the support rail 519'. The first robotic arm 515' then comprises an end effector 520' at a distal end, the end effector 520' being arranged to enable the second robotic arm to grip a tray 103 of a shelving unit 101. For example, the end effector 520' could comprise a mechanical gripper, a magnetic gripper, or a vacuum gripper/suction cup.

In the example of Figures 6A and 6B, the first robotic arm 518' comprises a first arm member 518A' and a second arm member 518W. The first arm member 518A) is movably attached to the support rail 519' and is arranged to move vertically along the support rail 519'. The second arm member 518W is then movably attached to the first arm member 518A' and is arranged to move horizontally relative to the first arm member 518A'. In particular, the second arm member 518B' is arranged to move between a retracted position and an extended position in which the second arm member 518B' projects outwardly from a side of the vehicle 500'. The end effector 520' is then attached to a distal end of the second arm member 51813'.

In the arrangement illustrated in Figures 6A and 6B, the vehicle 500' comprises a pillar or stand 516' on which the second robotic arm 515' is movably mounted such that the second robotic arm 515' is capable of moving vertically along the pillar 516'. The second robotic arm 515' then comprises an end effector 517' at a distal end, the end effector 517' being arranged to enable the second robotic arm to grip an item from within a storage container or on the tray 103. For example, the end effector 317' could comprise a mechanical gripper or a vacuum gripper/suction cup.

The vehicle 500' then comprises a body 501' comprising the container storage section 503' and the pick station section 504'. The container storage section 503' is disposed at a first end of the body 501' and the pillar 316' is disposed at an opposite, second end of the body 501', with the pick station section 504' being disposed between the container storage section 503' and the pillar 316'. The vertical support rail 519' is then attached to the body 501' of the vehicle 500', and specifically to a side of the container storage section 503'. The movement means 502 then comprises a number of motorized wheels mounted to the bottom of the body 501' that are configured to allow the vehicle to move in a plurality of directions. However, in alternative arrangements the movement means could equally comprise any other motorized movement means such as motorized continuous tracks or rollers.

The vehicle 500' of Figures 6A and 6B then further comprises a control system (not shown) that is configured to enable the vehicle 500' to autonomously perform replenishment operations. To do so, the control system is configured to receive inputs from a number of sensors and to use these inputs to coordinate the movement of the vehicle 500', the operation of the container handling mechanism 505', and the operation of the robotic arm 515'. The control system further comprises a motion controller for controlling the movement means 502' and thereby controlling autonomous movement of the vehicle 500', a robotic controller for controlling the first robotic arm 518' and the second robotic arm 515', a container handling controller for controlling the container handling mechanism 505', and a master controller for coordinating control between the robotic controller, the motion controller and the container handling controller.

At the start of a replenishment operation, a vertical stack of storage containers (C) is loaded in to the vehicle 500' by wheeling a dolly (D) supporting the stack through the loading port 514'. The dolly retention mechanism is then engaged in order to hold the dolly in position within the container storage section 503' of the vehicle 500'. The vehicle 500' then transports the storage containers around the store to reach a shelving unit 101 that requires replenishment, and the container handling mechanism 505' conveys the next in the sequence of storage containers to be presented at the pick position provided by the pick station section 504'.

The first robotic arm 518' then moves vertically along the support rail 519' to the vertical position of a target tray 103 (i.e. a tray on which items from the storage container are to be placed) and extends horizontally towards the target tray 103. Specifically, the second arm member 5185' moves horizontally from the retracted position to the extended position, such that the end effector 520' of the first robotic arm 518' can grip the front edge of the target tray 103. To illustrate this, Figure 6C shows the vehicle 500' with the first robotic arm 518' in the extended position with the end effector 520' gripping a target tray that is in the inserted position.

The first robotic arm 518' then moves horizontally from the extended position towards the retracted position and, in doing so, pulls the target tray 103 from the inserted position to the withdrawn position. Figure 6D shows the vehicle 500' with the first robotic arm 518' in an at least partially retracted position with the end effector 520' gripping a target tray that is in the withdrawn position.

As shown in Figure 6E, the second robotic arm 515' then removes an item from the storage container presented at the pick position and places the items towards the rear of the target tray 103, behind any items that are already on the target tray 103. When no further items are required for that target tray 103, the first robotic arm 518' moves horizontally from the retracted position towards the extended position and, in doing so, pushes the target tray 103 back from the withdrawn position to the inserted position. Figure 6F shows the vehicle 500' with the first robotic arm 518' in the extended position having pushed the target tray back in to the withdrawn position.

Figure 7 illustrates a fourth alternative arrangement of an improved vehicle 600 for handling a plurality of storage containers. The vehicle 600 of Figure 7 is capable of autonomously performing replenishment operations and is similar to that of Figure 4. The vehicle of Figure 7 therefore comprises a robotic arm 615 that is arranged to both move a tray 103 of a shelving unit 101 between the inserted position and the withdrawn position and to place items on and/or pick items from the tray 103 in the withdrawn position. The vehicle 600 is also configured to operate as an automated or autonomous vehicle, e.g. an automated guided vehicle (AGV) which is capable of following fixed routes, or an autonomous mobile robot (AMR) which is capable of planning its own routes.

The vehicle 600 of Figure 7 comprises a body 601 mounted towards a first end of a base 604, the base 604 being mounted on a movement means 602. The body 601 comprises a container storage section 603 and a container handling mechanism 605. The container storage section 603 is arranged to support a plurality of storage containers in a vertical arrangement such that the plurality of storage containers (C) are arranged one above the other in vertical alignment. The container handling mechanism 605 is then arranged to convey a target storage container of the plurality of storage containers to a pick position so as to allow items to be picked (i.e. removed) from within the storage container.

A pillar or stand 616 is then mounted towards an opposite, second end of the base 604, with the robotic arm 615 movably mounted to the pillar 616 such that the robotic arm 615 is capable of moving vertically along the pillar 616. The robotic arm 615 then comprises an end effector 617 at a distal end, the end effector 617 being arranged to enable the robotic arm 615 to grip both a tray 103 of a shelving unit 101 and an item from within a storage container or on the tray 103. For example, the end effector 617 could comprise a mechanical gripper or a vacuum gripper/suction cup. The movement means 602 then comprises a number of motorized wheels mounted to the bottom of the base 604 and that are configured to allow the vehicle to move in a plurality of directions. However, in alternative arrangements the movement means could equally comprise any other motorized movement means such as motorized continuous tracks or rollers.

In the arrangement illustrated in Figure 7, the container storage section 603 is arranged to support a plurality of storage containers (C) in a vertical stack. The container storage section 603 then further comprises a loading port 614 that is arranged to allow a stack of storage containers to be loaded into and unloaded from the container storage section 603, such that multiple storage containers can be loaded/unloaded simultaneously (i.e. in a single action). The loading port 614 is provided in a side of the container storage section 603 that faces away from the pillar 616 and the robotic arm 615. In the arrangement illustrated in Figure 7, the loading port 614 is provided in the side of the container storage section 603 that is opposite to the side that faces the pillar 616 and the robotic arm 615.

The container handling mechanism 605 is then arranged to separate a target storage container from the stack and move the target storage container between a stowed position and the pick position. The container handling mechanism 605 therefore comprises a container separation mechanism 610 and a container displacement mechanism 611.

The container separation mechanism 610 is arranged to vertically separate a target storage container from at least a portion of the stack of storage containers within the container storage section 603, either by lifting those storage containers above it away from the target storage container or by lowering the target storage container away from those above it. In this example, the container separation mechanism 610 comprises container engagement members (not shown) that are vertically movable (using known means such as a ball screw mechanism or a belt drive) on one or more vertical rails 606 provided within the container storage section 603 and that are arranged to releasably engage a storage container. The container separation mechanism 610 can then be operated to move the container engagement members to the vertical position of the storage container immediately above the target storage container. The container engagement members can then engage the storage container and move vertically upwards to lift the engaged storage container (and any storage containers that are stacked on top) away from the target storage container.

In this example, the container engagement members may comprise any suitable mechanism for engaging a storage container. For example, the container engagement members may comprise one or more engaging features configured to move towards and away from the stack to engage and release corresponding features on a storage container. For example, the engaging features of the container engagement members may comprise one or more apertures, recesses, protrusions, rims, etc. arranged to engage corresponding apertures, recesses, protrusions, rims, etc. provided on each storage container. The container separation mechanism may then comprise one or more actuators for moving the engaging features towards and away from the stack. The engaging features may be moved relative to a portion of the container engagement members, or the container engagement members may move as a whole towards and away from the stack. The actuator may be a linear actuator. The actuator may be any suitable type of actuator, e.g. pneumatic, hydraulic, electric, etc. In this example, the container displacement mechanism 611 comprises displacement members 612 that are vertically moveable along one side of the container storage section 603 to allow the displacement members 612 to reach the vertical position of the target storage container. Similar to the container engagement members, the displacement members 612 are vertically moveable on vertical rails 607 that are mounted on the outside of the container storage section 603. The displacement members 612 may move on the rails 607 using known means such as a ball screw mechanism or a belt drive. The displacement members 612 are also horizontally moveable to allow the displacement members 612 to engage and horizontally extract the target storage container out of the stack. In particular, at least a portion of the each displacement member 612 is horizontally moveable between an inserted position that is at least partially within the container storage section 603 and an extracted position that is entirely outside of the container storage section 603. In this example, each displacement member 612 comprises a retractable arm configured to linearly extend and retract in a horizontal direction between the inserted position and the extracted position.

Each displacement member 612 is configured to releasably engage a target storage container in the stack so that once engaged, the target storage container can be vertically and/or horizontally moved by vertically and/or horizontally moving the displacement member 612 respectively. Similar to the container engagement members, the displacement members 612 may comprise any suitable mechanism for engaging the target storage container. For example, each displacement member 612 may comprise one or more engaging features configured to move toward and away from the stack to engage and release corresponding features on a storage container. The engaging features may, for example, be one or more protrusions (e.g. extending in a horizontal direction towards the stack), recesses, apertures, etc. The displacement members 612 may comprise one or more actuators for moving the engaging features towards and away from the stack. The engaging features may be moved relative to a portion of the displacement members 612, or the displacement members 612 may move as a whole towards and away from the stack. The actuator may be a linear actuator. The actuator may be any suitable type of actuator, e.g. pneumatic, hydraulic, electric, etc. Once the displacement members 612 have engaged the target storage container, the arms of the displacement members 612 are then configured to retract from the inserted position to the extracted position and thereby horizontally extract target storage container out of the container storage section 603 to a pick position. Figure 7 shows a target storage container has been extracted to a pick position by the displacement members 612. Before horizontally moving the target storage container out of the container storage section 603, the displacement members 612 may be configured to first move vertically upwards so that the target storage container is clear of the container below it. This may be required if the storage containers comprise interlocking stacking features, for example.

The vehicle 600 further comprises a control system (not shown) configured to enable the vehicle 600 to autonomously perform replenishment operations. To do so, the control system is configured to receive inputs from a number of sensors and to use these inputs to coordinate the movement of the vehicle 600, the operation of the container handling mechanism 605, and the operation of the robotic arm 615. For example, the control system could be configured to receive inputs from one or more sensors that detect characteristics of the environment surrounding the vehicle 600, and one or more sensors that detect the presence of a storage container in a pick position and the contents of the storage container. These sensors could be either on-board or off-board sensors such as vision sensors, proximity sensors, collision sensors, motion sensors etc. The control system could therefore also be provided with a receiver for receiving data from off-board sensors. The control system further comprises a motion controller for controlling the motorized wheels and thereby controlling autonomous movement of the vehicle 600, a robotic controller for controlling the robotic arm 615, a container handling controller for controlling the container handling mechanism 605, and a master controller for coordinating control between the robotic controller, the motion controller and the container displacement controller.

Figure 8 illustrates a fifth alternative arrangement of an improved vehicle 700 for handling a plurality of storage containers. The vehicle 700 of Figure 8 is similar to that of Figures 4 and 7 in that it is capable of autonomously performing replenishment operations. The vehicle of Figure 8 therefore comprises a robotic arm 715 that is arranged to both move a tray 103 of a shelving unit 101 between the inserted position and the withdrawn position and to place items on and/or pick items from the tray 103 in the withdrawn position. The vehicle 700 is also configured to operate as an automated or autonomous vehicle, e.g. an automated guided vehicle (AGV) which is capable of following fixed routes, or an autonomous mobile robot (AMR) which is capable of planning its own routes.

The vehicle 700 of Figure 8 comprises a body 701 mounted towards a first end of a base 704, the base 704 being mounted on a movement means 702. The body 701 comprises a container storage section 703 and a container handling mechanism 705. The container storage section 703 is arranged to support a plurality of storage containers in a vertical arrangement such that the plurality of storage containers (C) are arranged one above the other in vertical alignment. The container handling mechanism 705 is then arranged to convey a target storage container of the plurality of storage containers to a pick position so as to allow items to be picked (i.e. removed) from within the storage container.

A pillar or stand 716 is then mounted towards an opposite, second end of the base 704, with the robotic arm 715 movably mounted to the pillar 716 such that the robotic arm 715 is capable of moving vertically along the pillar 716. The robotic arm 715 then comprises an end effector 717 at a distal end, the end effector 717 being arranged to enable the robotic arm 715 to grip both a tray 103 of a shelving unit 101 and an item from within a storage container or on the tray 103. The movement means 702 then comprises a number of motorized wheels mounted to the bottom of the base 704 that configured to allow the vehicle to move in a plurality of directions. However, in alternative arrangements the movement means could equally comprise any other motorized movement means such as motorized continuous tracks or rollers.

The container storage section 703 then further comprises a loading port 714 that is arranged to allow a plurality of storage containers to be loaded into and unloaded from the container storage section 703. The loading port 714 is provided in a side of the container storage section 703 that faces away from the pillar 716 and the robotic arm 715. In the arrangement illustrated in Figure 8, the loading port 714 is provided in the side of the container storage section 703 that is opposite to the side that faces the pillar 716 and the robotic arm 715.

In the arrangement illustrated in Figure 8, the container storage section 703 is arranged to support a plurality of storage containers in a vertically spaced arrangement such that each storage container is vertically separated from those above and/or below it in the container storage section 703. The container handling mechanism 705 is then arranged to move a target storage container between a stowed position in which the target storage container is vertically aligned in the container storage section 703 and a pick position in which the target storage container is horizontally displaced relative to the container storage section 703. The container handling mechanism 705 therefore comprises a container displacement mechanism 711 for each of the plurality of storage containers that are supported in the container storage section 703.

In this example, the container storage section 703 comprises a plurality of horizontal support rails 706 that are arranged in vertically spaced pairs, each pair of support rails 706 being configured to support a storage container (C). Each container displacement mechanism 711 then comprises displacement members (not shown) that are horizontally moveable to allow the displacement members to engage and horizontally displace the respective storage container. In particular, each displacement member is horizontally moveable between an inserted position that is within the container storage section 703 and an extracted position that is at least partially outside of the container storage section 703. In this example, each displacement member comprises a retractable arm configured to linearly extend and retract in a horizontal direction between the inserted position and the extracted position. The displacement members may comprise one or more actuators for moving the retractable arms. The actuators may be linear actuators and may be any suitable type of actuator, e.g. pneumatic, hydraulic, electric, etc. The arms of the displacement members are configured to extend from the inserted position to the extracted position and thereby horizontally displace the respective storage container from the stowed position, out of the container storage section 603 to a pick position. Figure 8 shows a target storage container has been extracted to a pick position by the respective displacement members.

The vehicle 700 further comprises a control system (not shown) configured to enable the vehicle 700 to autonomously perform replenishment operations. To do so, the control system is configured to receive inputs from a number of sensors and to use these inputs to coordinate the movement of the vehicle 700, the operation of the container handling mechanism 705, and the operation of the robotic arm 715. For example, the control system could be configured to receive inputs from one or more sensors that detect characteristics of the environment surrounding the vehicle 700, and one or more sensors that detect the presence of a storage container in a pick position and the contents of the storage container. These sensors could be either on-board or off-board sensors such as vision sensors, proximity sensors, collision sensors, motion sensors etc. The control system could therefore also be provided with a receiver for receiving data from off-board sensors. The control system further comprises a motion controller for controlling the motorized wheels and thereby controlling autonomous movement of the vehicle 700, a robotic controller for controlling the robotic arm 717, a container handling controller for controlling the container handling mechanism 705, and a master controller for coordinating control between the robotic controller, the motion controller and the container displacement controller.

In addition to placing or picking items from a tray 103, the vehicles of Figures 4, 6A, 7 and 8 could also use their robotic arms to adjust the position of items on a tray 103. For example, if items have been removed from a tray 103 such that there are gaps towards the front of the tray 103, or items are otherwise not in a preferred position on a tray 103, the robotic arm could be used to move those items to a different position. In doing so, the robotic arm could be used to ensure that older items are organised towards the front of a tray 103 and would make space for newer items of stock to be placed towards the rear of the tray 103. However, in an optional embodiment, a separate vehicle could also be used to implement this adjustment of the position of items on a tray. Figures 9A and 9B therefore illustrates an arrangement for such a vehicle that is capable of autonomously adjusting the position of items of stock on the shelving units.

The vehicle 800 of Figures 9A and 9B comprises a first robotic arm 818 that is arranged to move a tray between the inserted position and the withdrawn position and a second robotic arm 815 that is arranged to adjust the position of items on a tray 103. The vehicle 800 is also configured to operate as an automated or autonomous vehicle, e.g. an automated guided vehicle (AGV) which is capable of following fixed routes, or an autonomous mobile robot (AMR) which is capable of planning its own routes.

In the arrangement illustrated in Figures 9A and 9B, the vehicle 800 comprises a first support rail 819 on which the first robotic arm 818 is movably mounted such that the first robotic arm 818 is capable of moving vertically along the first support rail 819. The first robotic arm 818 then comprises an end effector 820 at a distal end, the end effector 820 being arranged to enable the first robotic arm to grip a tray 103 of a shelving unit 101. For example, the end effector 820 could comprise a mechanical gripper, a magnetic gripper, or a vacuum gripper/suction cup. The vehicle 800 then further comprises a second support rail 821 on which the second robotic arm 815 is movably mounted such that the second robotic arm 815 is capable of moving vertically along the second support rail 821. The second robotic arm 815 then comprises an end effector 822 at a distal end, the end effector 822 being arranged to enable the second robotic arm 815 to adjust the position of items on a tray 103. In this example, the end effector 820 comprises a paddle (i.e. a broad flat blade) that can be moved between a horizontal position and a downward position. However, in an alternative arrangement, the end effector 820 could comprise a mechanical gripper, a magnetic gripper, or a vacuum gripper/suction cup.

In the example of Figures 9A and 95, the first robotic arm 818 comprises a first arm member 818A and a second arm member 8185. The first arm member 818A is movably attached to the support rail 819 and is arranged to move vertically along the first support rail 819. The second arm member 8185 is then movably attached to the first arm member 818A and is arranged to move horizontally relative to the first arm member 818A. In particular, the second arm member 8185 is arranged to move between a retracted position and an extended position in which the second arm member 8185 projects outwardly from a side of the vehicle 800. The end effector 820 is then attached to a distal end of the second arm member 818B. The second robotic arm 815 then also comprises a first arm member 815A and a second arm member 8155. The first arm member 815A is movably attached to both the first support rail 819 and the second support rail 821 and is arranged to move vertically along the first and second support rails 819, 821. The second arm member 81813 is then movably attached to the first arm member 818A and is arranged to move horizontally relative to the first arm member 818A. In particular, the second arm member 588B is arranged to move between a retracted position and an extended position in which the second arm member 818B projects outwardly from a side of the vehicle 800.

The vehicle 800 of Figures 9A and 95 comprises a body 801 mounted to a base 804, the base 604 being mounted on a movement means 802. The body 801 is arranged to support the first robotic arm 818 and the second robotic arm 815. Specifically, the body 801 is arranged to support both the first support rail 819 and the second support rail 821 to which the first robotic arm 818 and the second robotic arm 815 are movably attached. In this example, the body 801 comprises an open sided box within which the second vertical support rails 819, 821 are attached to the body 801 of the vehicle 800. The movement means 802 then comprises a number of motorized wheels mounted to the bottom of the base 804 that are configured to allow the vehicle to move in a plurality of directions. However, in alternative arrangements the movement means could equally comprise any other motorized movement means such as motorized continuous tracks or rollers.

The vehicle 800 of Figures 9A and 9B then further comprises a control system (not shown) that is configured to enable the vehicle 800 to autonomously perform repositioning operations. To do so, the control system is configured to receive inputs from a number of sensors and to use these inputs to coordinate the movement of the vehicle 800, the operation of the first robotic arm 818, and the operation of the second robotic arm 815. The control system further comprises a motion controller for controlling the movement means 802 and thereby controlling autonomous movement of the vehicle 800, a robotic controller for controlling the first robotic arm 818 and the second robotic arm 815, and a master controller for coordinating control between the robotic controller, the motion controller and the container handling controller.

To perform a repositioning operation, with both the first and second robotic arms 819, 821 in the retracted position, the vehicle 800 moves to a position in which it is adjacent to a shelving unit 101 on which a target tray 103 supports one or more items that require repositioning, as illustrated in Figure 9C. The first robotic arm 818 then moves vertically along the first support rail 819 to the vertical position of the target tray 103 and extends horizontally towards the target tray 103. Specifically, the second arm member 818B of the first robotic arm 818 moves horizontally from the retracted position to the extended position, such that the end effector 820 of the first robotic arm 818 can grip the front edge of the target tray 103. The first robotic arm 818 then moves horizontally from the extended position towards the retracted position and, in doing so, pulls the target tray 103 from the inserted position to the withdrawn position, as shown in Figures 9D, 9E and 9F.

The second robotic arm 815 then moves vertically along the first and second support rails 819, 821 to the vertical position of the target tray 103 and moves to the extended position with the end effector 822 in the horizontal position so as to avoid the end effector 822 from contacting any items on the target tray 103. Specifically, the second arm member 815B of the second robotic arm 815 moves horizontally from the retracted position towards the extended position, such that the end effector 822 of the second robotic arm 815 is disposed behind an item on the tray.

In order to reposition an item, the end effector 822 of the second robotic arm 815 is moved to the downward position. In this position, the end effector 822 of the second robotic arm 815 points downwards with the faces of the end effector 822 being substantially vertical, as shown in Figures 9D and 9E. The second robotic arm 815 then moves horizontally towards the retracted position such that the end effector 822 will contact an item on the target tray 103 and pull it forwards towards the front of the target tray 103, as shown in Figure 9F. If necessary, the second robotic arm 815 can then move back towards the extended position and move horizontally so that the end effector 822 is then positioned behind a further item on the target tray 103 before again moving towards the retracted position so as to pull the further item towards the front of the target tray 103. When the repositioning of items on the target tray 103 has been completed, the end effector 822 moves back in to the horizontal position before the second robotic arm 815 is moved in to the retracted position. The first robotic arm 818 then moves horizontally from the retracted position towards the extended position and, in doing so, pushes the target tray 103 back from the withdrawn position to the inserted position.

The system 100 illustrated in Figures 1A and 15 could further comprises a stock management control system (now shown) for controlling the management of the shelving stock. This would be particularly useful when using the autonomous vehicles of any of Figures 4, 6A, 7, 8 or 9A as part of the system. The control system would then be configured to receive inputs from a number of sensors and to use these inputs to identify shelves that should be replenished and/or that require items stored thereon to be adjusted, and coordinate the operation of the autonomous vehicle. For example, the control system could comprise a vision system comprising a number of image sensors that are configured to capture images of the shelving, and one or more processors (not shown) that are configured to analyse the images of the shelving to identify shelves that require additional stock (e.g. shelves on which there are no items, shelves on which the number of items is lower than a threshold or shelves on which there is space for additional items) and/or shelves that require the items stored thereon to adjusted.

The control system could then use this information to identify specific storage containers containing items require replenishment and to determine the order in which these storage containers should be loaded on to the autonomous vehicle. The control system could also use this information to coordinate the movement of the autonomous vehicle as it travels through the aisles, and the operation of the robotic arm(s) of the autonomous vehicle.

Claims

CLAIMS1. A vehicle arranged to transport and handle items of stock stored on a shelving unit, the shelving unit comprising a plurality of shelves, each shelf comprising at least one tray that is movably attached to the shelf, the vehicle comprising: a body mounted on a motorized movement means that is arranged to move the body; and at least one robotic arm mounted to the body, the at least one robotic arm being arranged to (i) move a tray of the shelving unit between an inserted position and a withdrawn position and (ii) to pick items transported by the vehicle and place them on a tray that is in the withdrawn position. 10 2. A vehicle according to claim 1, wherein the vehicle comprises: a first robotic arm that is arranged to move a tray of the shelving unit between the inserted position and the withdrawn position; and a second robotic arm that is arranged to place items on a tray of the shelving unit that is in the withdrawn position.3. A vehicle according to claim 1, wherein the vehicle comprises a robotic arm that is arranged to both (i) move a tray of the shelving unit between the inserted position and the withdrawn position and (ii) to place items on a tray of the shelving unit that is in the withdrawn position.4. A vehicle according to any of claims 1 to 3, wherein the body comprises a container storage section that is arranged to accommodate a plurality of storage containers that are arranged to contain items of stock, and a container handling mechanism that is arranged to convey a target storage container from the container storage section to a pick position at which content of the target storage container can be accessed.5. A vehicle according to claim 4, wherein the container storage section is arranged to accommodate the storage containers in a vertical sequence and the container handling mechanism arranged to convey the storage containers to the pick position section sequentially.6. A vehicle according to any of claims 4 and 5, wherein the container storage section is arranged to accommodate a vertical stack of storage containers, and the container handling mechanism is arranged to convey the storage containers to the pick position in the order in which they are stacked.7. A vehicle according to any of claims 4 to 6, wherein the body comprises a pick station section that is arranged to provide the pick position 8. A system for managing and replenishing shelving stock, the system comprising: one or more shelving units arranged in rows, each shelving unit comprising: a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit; and for each shelf, at least one tray that is movably attached to the shelf, the tray being arranged to be moved between an inserted position and a withdrawn position; and a vehicle according to any one of claim 1 to 3.9. A vehicle arranged to adjust a position of items of stock stored on a shelving unit, the shelving unit comprising a plurality of shelves, each shelf comprising at least one tray that is movably attached to the shelf, the vehicle comprising: a body mounted on a motorized movement means that is arranged to move the body; at least one robotic arm mounted to the body, the at least one robotic arm being arranged to (i) move a tray of the shelving unit between an inserted position and a withdrawn position and (ii) to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position.10. A vehicle according to claim 9, wherein the vehicle comprises: a first robotic arm that is arranged to move a tray of the shelving unit between the inserted position and the withdrawn position; and a second robotic arm that is arranged to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position.11. A vehicle according to claim 9, wherein the vehicle comprises a robotic arm that is arranged to both (i) move a tray of the shelving unit between the inserted position and the withdrawn position and (ii) to adjust a position items of stock supported on a tray of the shelving unit that is in the withdrawn position 12. A system for managing and replenishing shelving stock, the system comprising: one or more shelving units arranged in rows, each shelving unit comprising: a plurality of shelves that extend from a rear of the shelving unit to a front of the shelving unit; and for each shelf, at least one tray that is movably attached to the shelf, the tray being arranged to be moved between an inserted position and a withdrawn position; and a vehicle according to any one of claim 9 to 11.