JP7725448B2 - 材料取り扱いシステム - Google Patents

材料取り扱いシステム

Info

Publication number
JP7725448B2
JP7725448B2 JP2022508888A JP2022508888A JP7725448B2 JP 7725448 B2 JP7725448 B2 JP 7725448B2 JP 2022508888 A JP2022508888 A JP 2022508888A JP 2022508888 A JP2022508888 A JP 2022508888A JP 7725448 B2 JP7725448 B2 JP 7725448B2
Authority
JP
Japan
Prior art keywords
vehicle
vertical
transport vehicle
storage
horizontal
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2022508888A
Other languages
English (en)
Japanese (ja)
Other versions
JP2022544390A (ja
JP2022544390A5 (https=
Inventor
アレクサンダー スティーブンス、
ジョセフ ヴァリンスキー、
Original Assignee
オペックス コーポレーション
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Family has litigation
First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=74567129&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=JP7725448(B2) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by オペックス コーポレーション filed Critical オペックス コーポレーション
Publication of JP2022544390A publication Critical patent/JP2022544390A/ja
Publication of JP2022544390A5 publication Critical patent/JP2022544390A5/ja
Priority to JP2025131931A priority Critical patent/JP2025166078A/ja
Priority to JP2025131929A priority patent/JP2025163222A/ja
Application granted granted Critical
Publication of JP7725448B2 publication Critical patent/JP7725448B2/ja
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0471—Storage devices mechanical with access from beneath
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1376—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning conveyor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0225—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving docking at a fixed facility, e.g. base station or loading bay
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/69—Coordinated control of the position or course of two or more vehicles
    • G05D1/692—Coordinated control of the position or course of two or more vehicles involving a plurality of disparate vehicles
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/08—Storage devices mechanical with means for presenting articles for removal at predetermined position or level the articles being fed by gravity
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Automation & Control Theory (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Human Resources & Organizations (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Tourism & Hospitality (AREA)
  • Quality & Reliability (AREA)
  • General Business, Economics & Management (AREA)
  • Operations Research (AREA)
  • Theoretical Computer Science (AREA)
  • Marketing (AREA)
  • Accounting & Taxation (AREA)
  • Strategic Management (AREA)
  • Development Economics (AREA)
  • Finance (AREA)
  • Robotics (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Vehicle Cleaning, Maintenance, Repair, Refitting, And Outriggers (AREA)
  • Lining And Supports For Tunnels (AREA)
  • Types And Forms Of Lifts (AREA)
  • Motorcycle And Bicycle Frame (AREA)
JP2022508888A 2019-08-14 2020-08-14 材料取り扱いシステム Active JP7725448B2 (ja)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2025131931A JP2025166078A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム
JP2025131929A JP2025163222A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201962886602P 2019-08-14 2019-08-14
US62/886,602 2019-08-14
PCT/US2020/046562 WO2021030779A2 (en) 2019-08-14 2020-08-14 Material handling system

Related Child Applications (2)

Application Number Title Priority Date Filing Date
JP2025131929A Division JP2025163222A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム
JP2025131931A Division JP2025166078A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム

Publications (3)

Publication Number Publication Date
JP2022544390A JP2022544390A (ja) 2022-10-18
JP2022544390A5 JP2022544390A5 (https=) 2023-08-18
JP7725448B2 true JP7725448B2 (ja) 2025-08-19

Family

ID=74567129

Family Applications (5)

Application Number Title Priority Date Filing Date
JP2022508888A Active JP7725448B2 (ja) 2019-08-14 2020-08-14 材料取り扱いシステム
JP2022508885A Active JP7566877B2 (ja) 2019-08-14 2020-08-14 材料取り扱いシステム
JP2022508886A Active JP7719054B2 (ja) 2019-08-14 2020-08-14 在庫管理システムに使用するための自動車両
JP2025131929A Pending JP2025163222A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム
JP2025131931A Pending JP2025166078A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム

Family Applications After (4)

Application Number Title Priority Date Filing Date
JP2022508885A Active JP7566877B2 (ja) 2019-08-14 2020-08-14 材料取り扱いシステム
JP2022508886A Active JP7719054B2 (ja) 2019-08-14 2020-08-14 在庫管理システムに使用するための自動車両
JP2025131929A Pending JP2025163222A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム
JP2025131931A Pending JP2025166078A (ja) 2019-08-14 2025-08-06 材料取り扱いシステム

Country Status (9)

Country Link
US (16) US11780676B2 (https=)
EP (3) EP4013702A4 (https=)
JP (5) JP7725448B2 (https=)
KR (3) KR20220044830A (https=)
CN (3) CN114555490A (https=)
AU (3) AU2020328047A1 (https=)
CA (3) CA3147501A1 (https=)
MX (3) MX2022001842A (https=)
WO (5) WO2021030705A1 (https=)

Families Citing this family (60)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017110373A1 (de) * 2017-05-12 2018-11-15 Witron Logistik + Informatik Gmbh Warenausgangspuffer für eine kommisionieranlage
US11009886B2 (en) 2017-05-12 2021-05-18 Autonomy Squared Llc Robot pickup method
CA3107946C (en) * 2018-08-31 2023-07-11 United Parcel Service Of America, Inc. Systems, methods, and apparatuses for shifting and staging storage structures and parcels thereon
CN111731729A (zh) * 2019-04-30 2020-10-02 北京京东乾石科技有限公司 货架穿梭车及货架系统
US11780676B2 (en) 2019-08-14 2023-10-10 Opex Corporation Systems and methods for managing inventory
US12339663B2 (en) * 2019-10-21 2025-06-24 Te Connectivity Solutions Gmbh Method and system for guiding autonomous mobile vehicles within a logistic facility
EP3812305B1 (de) * 2019-10-25 2025-04-09 Jungheinrich Aktiengesellschaft Stapellageranordnung und verfahren zum betreiben einer stapellageranordnung
EP3812306A1 (de) * 2019-10-25 2021-04-28 Jungheinrich Aktiengesellschaft Stapellageranordnung
WO2021178819A1 (en) 2020-03-06 2021-09-10 Berkshire Grey, Inc. Systems and methods for providing order fulfillment using a shuttle takeaway system
ES3042241T3 (en) 2020-03-06 2025-11-19 Berkshire Grey Operating Company Inc Systems and methods for providing order fulfillment using a conveyor takeaway system
US12269682B2 (en) 2020-03-06 2025-04-08 Berkshire Grey Operating Company, Inc. Systems and methods for providing order fulfillment using a recirculating routing system
EP4114769A1 (en) 2020-03-06 2023-01-11 Berkshire Grey Operating Company, Inc. Systems and methods for providing order fulfillment using a spiral tower system
WO2021252329A1 (en) * 2020-06-08 2021-12-16 Comau Llc Assembly material logistics system and methods
CN116323016B (zh) 2020-08-14 2026-03-27 欧佩克斯公司 具有单独工作站的物料搬运设备和使用方法
GB202013719D0 (en) * 2020-09-01 2020-10-14 Ocado Innovation Ltd Transporting device and storage system
ES3006034T3 (en) * 2020-10-27 2025-03-17 Movu A shuttle for propelling horizontally and vertically in a racking system
US12122332B2 (en) * 2021-01-04 2024-10-22 The Boeing Company Systems and methods for automated in-situ swapping of batteries for electric vehicles
US11453553B2 (en) * 2021-02-18 2022-09-27 Opex Corporation Material handling apparatus with vehicle track for reducing vehicle damage
AU2022227652A1 (en) 2021-02-23 2023-08-17 Opex Corporation Material handling system with automatic retrieval of sorted items
US20220269284A1 (en) * 2021-02-23 2022-08-25 Yokogawa Electric Corporation Systems and methods for management of a robot fleet
CN117177922A (zh) * 2021-02-23 2023-12-05 欧佩克斯公司 自动取回分类物品的物料搬运系统
JP2022150265A (ja) * 2021-03-26 2022-10-07 東芝テック株式会社 サーバおよびプログラム
EP4347435A1 (en) * 2021-05-24 2024-04-10 System Logistics S.P.A. A directing system for automatic shuttles
US11507922B1 (en) * 2021-06-24 2022-11-22 Coupang Corp. Computer-implemented systems and methods for artificial intelligence (AI)-based inbound plan generation using fungibility logic
US12115666B2 (en) * 2021-07-01 2024-10-15 Intelligrated Headquarters, Llc Methods, apparatuses, and systems for dynamically retrieving objects
US11724878B2 (en) 2021-07-06 2023-08-15 Intelligrated Headquarters, Llc Modular vertical lift system
AT525200A1 (de) * 2021-07-08 2023-01-15 Knapp Ag Automatisiertes Lagersystem
AT525328B1 (de) * 2021-07-16 2023-07-15 Perstling Ing Manuel Verfahren zum Betreiben eines Regallagers, sowie ein Regallager, Fahrwagen und Hubeinheit hierfür
WO2023064465A1 (en) 2021-10-13 2023-04-20 Berkshire Grey Operating Company, Inc. Robotic put wall systems and methods with mobile destination location assemblies
US12198096B2 (en) * 2021-10-15 2025-01-14 Dell Products L.P. Service parts dynamic pooling
CN116081164B (zh) * 2021-11-01 2025-08-29 湖南乐准智芯生物科技有限公司 一种芯片存储调度装置及使用其存储调度芯片的方法
WO2023126871A1 (de) * 2021-12-30 2023-07-06 Noyes Technologies Gmbh Modulares lagersystem, verfahren zum aufbau eines lagersystems und verfahren zur lagerung
US20250178837A1 (en) * 2022-02-15 2025-06-05 Beijing Geekplus Technology Co, Ltd. Warehousing system and control method therefor
US20230278799A1 (en) * 2022-03-02 2023-09-07 Rapyuta Robotics Co., Ltd. Automated storage and retrieval system
US12373771B1 (en) * 2022-03-30 2025-07-29 Amazon Technologies, Inc. Deadline-aware multi-agent tour planning
US20230385764A1 (en) * 2022-05-31 2023-11-30 Dell Products L.P. Intelligent balancing of items managed in an information processing system
CN115186878B (zh) * 2022-06-22 2023-05-16 湖南大学无锡智能控制研究院 一种多agv在线任务分配方法及系统
EP4554876A1 (en) 2022-07-11 2025-05-21 Berkshire Grey Operating Company, Inc. Systems and methods for providing mobile shuttle load handling systems with mobile carriers
DE102022119780A1 (de) * 2022-08-05 2024-02-08 Gebhardt Fördertechnik GmbH Shuttle-System und Verfahren zum Betreiben eines Shuttle-Systems mit Hilfe einer Steuerungseinrichtung
CN117566290A (zh) * 2022-08-08 2024-02-20 深圳市海柔创新科技有限公司 仓储系统、方法、机器人控制单元及分拣处理系统
DE102022002935B4 (de) * 2022-08-11 2025-08-21 Advastore Se Shuttle und Regalsystem
CN115625715B (zh) * 2022-09-26 2025-02-11 深圳优艾智合机器人科技有限公司 一种用于配电设备的执行装置及机器人
AT525735B1 (de) * 2022-10-06 2023-07-15 Knapp Ag Automatisiertes Lagersystem mit einem Shuttle zum Transport von Lagerhilfsmitteln
CN115636210B (zh) * 2022-10-27 2026-02-03 未来机器人（深圳）有限公司 货物管理方法、搬运设备及计算机可读存储介质
US12528648B1 (en) * 2023-03-13 2026-01-20 Amazon Technologies, Inc. Systems and methods for payload shuttles for efficiently loading and unloading containers
US20240330848A1 (en) * 2023-03-30 2024-10-03 Coupang Corp. Computerized systems and methods for intelligent allocation of products in a warehouse
CN119059131A (zh) 2023-05-30 2024-12-03 深圳市海柔创新科技有限公司 搬运机器人、货架、仓储系统及对接方法
CN116755438A (zh) * 2023-06-09 2023-09-15 杭州海康机器人股份有限公司 一种路径分配方法及装置
CN116902451B (zh) * 2023-07-10 2025-12-30 北京航空航天大学杭州创新研究院 一种四向穿梭车的调度方法、装置、存储介质及电子设备
US12505726B2 (en) * 2023-09-27 2025-12-23 Industrial Networks Llc Dynamic communication methods for tag systems
WO2025085562A1 (en) * 2023-10-16 2025-04-24 SIMPL Automation Inc. Load handling system for storage racking
CN117361000B (zh) * 2023-10-30 2026-03-17 北京京东乾石科技有限公司 穿梭车及立体库系统
US12338072B1 (en) * 2023-11-29 2025-06-24 Mytra, Inc. System and/or method for dynamic rebalancing of multi-rack storage
US20250269757A1 (en) * 2024-02-27 2025-08-28 Caterpillar Inc. Dispatch system and method for battery electric machines
WO2025184678A1 (de) * 2024-03-04 2025-09-12 Tgw Logistics Gmbh Vorrichtung zum bereitstellen von auftragswaren in einer reihenfolge mit kompaktem aufbau und kommissioniersystem und betriebsverfahren dazu
DE102024111688A1 (de) * 2024-04-25 2025-10-30 Bayerische Motoren Werke Aktiengesellschaft Produktionsanlage
US12503310B2 (en) 2024-06-12 2025-12-23 Mytra, Inc. System and method for multi-rack storage
CN118752125A (zh) * 2024-06-28 2024-10-11 江铃汽车股份有限公司 一种多车型快速切换夹具的装置
EP4696620A1 (en) * 2024-08-16 2026-02-18 Dematic GmbH Storage facility without lifts
US12404103B1 (en) * 2024-11-25 2025-09-02 Exotec Product France Automated item storage and recovery system

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070065258A1 (en) 2003-05-06 2007-03-22 Benedict Charles E Automated material handling system with load transfer vehicles
US20170267452A1 (en) 2015-06-09 2017-09-21 Commonsense Robotics Ltd. Robotic inventory handling
US20180148259A1 (en) 2015-04-27 2018-05-31 Attabotics Inc. Storage and Retrieval System
WO2018189110A1 (fr) 2017-04-12 2018-10-18 Exotec Solutions Système de préparation de commandes
WO2019072432A1 (fr) 2017-10-12 2019-04-18 Exotec Solutions Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

Family Cites Families (109)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3746189A (en) 1966-04-18 1973-07-17 Clark Equipment Co Automatic control system for storage systems transfer cart
US3583584A (en) 1969-08-18 1971-06-08 Mcneil Corp Warehousing
US3738506A (en) 1970-11-06 1973-06-12 A Cornford Automatic storage system
US3796327A (en) 1972-07-14 1974-03-12 R Meyer Manufacturing system
US3880299A (en) * 1972-07-17 1975-04-29 Rapistan Inc Warehousing system
US4007843A (en) * 1972-07-17 1977-02-15 Rapistan, Incorporated Multi-aisle warehouse system with mobile lift having control means for an article transfer vehicle
US3800963A (en) 1972-12-04 1974-04-02 E Holland Material storage and handling system
JPS5429797B2 (https=) 1974-08-30 1979-09-26
JPS5327971A (en) * 1976-08-24 1978-03-15 Takenaka Komuten Co Ltd Three-dimensional storehouse
JPS5447283A (en) 1977-09-20 1979-04-13 Toshiba Corp Automatic operation of warehouse
US4395181A (en) 1978-07-17 1983-07-26 Litton Systems, Inc. Robot vehicle
IT1112786B (it) 1979-04-19 1986-01-20 Elsag Macchina per lo smistamento di oggetti a varia destinazione,particolarmente adatta per corrispondenza postale voluminosa
GB2110448B (en) 1981-09-04 1986-01-22 Plessey Co Plc Material handling and sorting system
US4492504A (en) * 1981-12-07 1985-01-08 Bell & Howell Company Materials handling system
EP0099434B1 (en) 1982-07-12 1988-08-17 The Post Office Sorting system
JPS6241117A (ja) 1985-08-14 1987-02-23 Murata Mach Ltd 玉揚パツケ−ジの搬送システム
DE3731589A1 (de) 1987-09-19 1989-03-30 Fraunhofer Ges Forschung Verfahren und vorrichtung zum verteilen von postgut
JPH01289760A (ja) * 1988-05-17 1989-11-21 Toshiba Corp 無人搬送車
JPH02158433A (ja) * 1988-12-12 1990-06-18 Hitachi Ltd 無人搬送車
US5012749A (en) 1988-12-27 1991-05-07 The Allen Group Inc. Radio controlled material handling apparatus
US5096354A (en) 1989-06-26 1992-03-17 Wu Chin Sheng Apparatus for receiving and/or delivering articles
FR2652072B1 (fr) 1989-09-19 1991-10-31 Polytec Dispositif pour le deplacxement d'un objet parallelement a la courbure et a proximite d'une surface a profil variable.
US5379229A (en) 1992-06-18 1995-01-03 Communications Test Design, Inc. Automated storage and retrieval system
JPH0642810U (ja) * 1992-11-16 1994-06-07 村田機械株式会社 自動倉庫
US5676514A (en) 1994-01-03 1997-10-14 Symorex, Ltd. Trolley car for material handling train
JPH08157016A (ja) * 1994-12-02 1996-06-18 Mitsubishi Heavy Ind Ltd 縦横走行搬送台車を用いた格納設備
US5842555A (en) 1996-12-16 1998-12-01 Gannon; Donald N. Automated baggage tracking system and method for use in a baggage conveyor system
US5990437A (en) 1997-02-05 1999-11-23 W & H Systems, Inc. System for sorting articles
IT1294287B1 (it) 1997-07-30 1999-03-24 Fata Automation Magazzino a celle con carri di trasporto a movimentazione idropneumatica
GB2337970B (en) 1998-06-03 2001-12-05 Nobuyuki Tsuboi Streamline track system for self-driving carriers
US6262863B1 (en) 1998-07-01 2001-07-17 Storage Technology Corporation Automated storage library with rail mechanism providing flexible robot access
US6246023B1 (en) 1999-02-22 2001-06-12 Siemens Electrocom, L.P. Segmented tilt tray sorter
US6859009B2 (en) 1999-07-02 2005-02-22 Richard Jablin Urban transportation system
US6652213B1 (en) 2000-09-08 2003-11-25 California Natural Products Automated warehousing system and method
WO2003008306A1 (fr) 2001-07-18 2003-01-30 Chuo Logistics Engineering Co., Ltd. Procede et appareil de tri
US7138596B2 (en) 2001-08-01 2006-11-21 Pippin James M Apparatus and method for mail sorting
US6762382B1 (en) 2001-10-02 2004-07-13 Innovative Picking Technologies, Inc. Track-type sortation system
US6671580B2 (en) 2001-12-28 2003-12-30 Storage Technology Corporation Outer route for robots in a horizontal storage library
ITMO20020076A1 (it) * 2002-03-29 2003-09-29 Ronflette Sa Magazzino automatico
US6895301B2 (en) 2002-07-15 2005-05-17 Distrobot Systems, Inc. Material handling system using autonomous mobile drive units and movable inventory trays
US7101139B1 (en) 2003-05-06 2006-09-05 Benedict Charles E Automated material handling system with motorized transfer vehicles
US7591630B2 (en) 2003-08-29 2009-09-22 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
US7991505B2 (en) * 2003-08-29 2011-08-02 Casepick Systems, Llc Materials-handling system using autonomous transfer and transport vehicles
GB2407315A (en) 2003-10-25 2005-04-27 Hewlett Packard Development Co A mobile picker, storage structure and storage system
US7097095B2 (en) 2004-02-09 2006-08-29 Bowe Bell + Howell Postal Systems Company Modular mail preparation system
JP2007520342A (ja) 2004-02-09 2007-07-26 シーメンス　アクチェンゲゼルシャフト 平面式仕分け機を使用して郵便物を仕分けするためのシステムおよび方法
DE102004007412A1 (de) 2004-02-16 2005-09-01 Knapp Logistik Automation Ges.M.B.H. Verfahren und System zum Bedienen eines Regals vorzugsweise in einer Kommissionieranlage
US7381022B1 (en) * 2004-12-18 2008-06-03 Rodney Joe King Automated 3-dimensional multitasking, stocking, storage, and distribution system
WO2006104329A1 (en) 2005-04-01 2006-10-05 Kyong-Ja Jung Method and apparatus for storaging and transfering containers
JP4586990B2 (ja) 2005-05-27 2010-11-24 株式会社ダイフク 物品収納設備
US8483869B2 (en) 2005-07-19 2013-07-09 Amazon Technologies, Inc. Method and system for fulfilling requests in an inventory system
US20070100881A1 (en) * 2005-10-24 2007-05-03 International Business Machines Corporation Method, system and storage medium for identifying and allocating surplus inventory
US7943431B2 (en) 2005-12-02 2011-05-17 Unisem (Mauritius) Holdings Limited Leadless semiconductor package and method of manufacture
US8972042B2 (en) 2006-04-06 2015-03-03 Juan Uribe For transferring and organizing articles from a shelf into a container
DE102006025620A1 (de) 2006-05-24 2007-11-29 SSI Schäfer Noell GmbH Lager- und Systemtechnik Regallager und Kommissionierverfahren
WO2008089150A2 (en) 2007-01-12 2008-07-24 Opex Corporation Method and apparatus for sorting items
JP5309864B2 (ja) * 2008-10-09 2013-10-09 トヨタ車体株式会社 台車による搬送装置
HU229022B1 (hu) 2009-03-02 2013-07-29 Antal Zombori Tárolóberendezés raktározáshoz
US8740538B2 (en) 2009-04-10 2014-06-03 Symbotic, LLC Storage and retrieval system
TWI388480B (zh) 2009-10-02 2013-03-11 Inotera Memories Inc 智慧型多軌搬運倉儲裝置及其運作方法
EP2544971B1 (en) * 2010-03-12 2020-12-16 Symbotic LLC Replenishment and order fulfillment system
US8955667B1 (en) 2011-08-09 2015-02-17 Rail-Veyor Systems, Inc. Bulk material handling system and method
US9334114B2 (en) * 2011-11-20 2016-05-10 Illinois Tool Works Inc. Storage system and methods
US9334116B2 (en) * 2012-04-09 2016-05-10 Opex Corporation Method and apparatus for sorting or retreiving items
US9663293B2 (en) 2012-10-08 2017-05-30 Amazon Technologies, Inc. Replenishing a retail facility
US9139363B2 (en) 2013-03-15 2015-09-22 John Lert Automated system for transporting payloads
US9020632B2 (en) 2013-03-15 2015-04-28 Intelligrated Headquarters, Llc Storage, retrieval and sortation system
US9733638B2 (en) * 2013-04-05 2017-08-15 Symbotic, LLC Automated storage and retrieval system and control system thereof
KR101534481B1 (ko) * 2013-07-11 2015-07-07 한미아이티 주식회사 자동 안내 대차를 이용한 재고 관리 시스템
US9785911B2 (en) 2013-07-25 2017-10-10 I AM Robotics, LLC System and method for piece-picking or put-away with a mobile manipulation robot
JP5884787B2 (ja) * 2013-08-05 2016-03-15 トヨタ自動車株式会社 移載装置、及び移載方法
US10259649B2 (en) * 2014-07-12 2019-04-16 Bionichive Ltd Automatic warehouse system
EP3286114B1 (en) * 2015-04-21 2025-12-17 Opex Corporation Method and apparatus for storing or retrieving items
US11142398B2 (en) * 2015-06-02 2021-10-12 Alert Innovation Inc. Order fulfillment system
CN113148506B (zh) * 2015-06-02 2023-05-26 阿勒特创新股份有限公司 存取系统
US9616707B2 (en) * 2015-06-26 2017-04-11 Amazon Technologies, Inc. Omnidirectional pinion wheel
FR3042182B1 (fr) * 2015-10-13 2020-09-18 Exotec Solutions Systeme de preparation de commandes
US10887162B2 (en) * 2015-12-17 2021-01-05 International Business Machines Corporation Dynamic planning and configuration based on inconsistent supply
KR102824771B1 (ko) * 2016-01-14 2025-06-25 크라운 이큅먼트 코포레이션 다중레벨 랙킹, 이동식 저장 유닛, 저장 유닛 운송기 및 픽-플레이스 차량을 포함하는 물품-대-인간 창고
CN116859069A (zh) * 2016-02-17 2023-10-10 贝克顿·迪金森公司 用于相同的诊断测试的自动化样品制备系统
WO2017144055A1 (de) * 2016-02-26 2017-08-31 Baumüller Nürnberg GmbH Teleskopantrieb, ein diesen umfassendes regalbediengerät sowie betriebsverfahren und verwendung hierfür
US10071856B2 (en) 2016-07-28 2018-09-11 X Development Llc Inventory management
MX372796B (es) * 2016-08-04 2020-07-03 Opex Corp Sistema de almacenamiento y recuperación automatizado con detector para detectar productos que se extienden más alla del umbral dimensional.
US9984339B2 (en) * 2016-08-23 2018-05-29 X Development Llc Autonomous shuffling of pallets of items in a warehouse
JP6685867B2 (ja) * 2016-08-31 2020-04-22 株式会社日立製作所 多段棚搬送システム及び多段棚搬送方法
US10683171B2 (en) * 2016-09-30 2020-06-16 Staples, Inc. Hybrid modular storage fetching system
US9952589B1 (en) 2017-03-30 2018-04-24 Amazon Technologies, Inc. Inventory system with swiveling vertically mobile drive units
JP6874591B2 (ja) 2017-08-18 2021-05-19 中西金属工業株式会社 無人搬送車
US10766699B2 (en) * 2017-08-31 2020-09-08 Alert Innovation Inc. Order fulfillment robot capable of horizontal and vertical motion
EP3466844A1 (en) * 2017-10-03 2019-04-10 AJ Produkter AB A shuttle for delivering and retrieving goods, a storage system with a shuttle and methods associated therewith
KR101845918B1 (ko) * 2017-10-17 2018-04-05 주식회사 탑에이원플랜트 자동 냉동창고
NO344464B1 (en) * 2017-10-19 2019-12-23 Autostore Tech As Vehicle for an automated storage and retrieval system and method of operating an automated storage and retrieval system
US10343286B2 (en) 2017-12-01 2019-07-09 Starship Technologies Oü Storage system, use and method with robotic parcel retrieval and loading onto a delivery vehicle
CN108033184B (zh) * 2017-12-14 2019-11-26 杭州慧仓信息科技有限公司 一种基于多向穿梭车的立体库系统及穿梭车的出入库方法
EP3728079A4 (en) * 2017-12-18 2022-01-19 Caja Elastic Dynamic Solutions Ltd. WAREHOUSE MANAGEMENT, ROBOTS AND ADAPTER
WO2019157197A1 (en) * 2018-02-08 2019-08-15 Alert Innovation Inc. Modular structure for an automated storage and retrieval system
JP6848081B2 (ja) * 2018-04-26 2021-03-24 ベイジン ギークプラス テクノロジー カンパニー リミテッド ロボット、搬送システムおよび方法
CN108820663A (zh) * 2018-06-11 2018-11-16 江苏高科物流科技股份有限公司 一种自动化仓储及堆垛机系统
CN108706266B (zh) * 2018-06-11 2021-04-20 江苏高科物流科技股份有限公司 一种穿梭车式自动化仓储及穿梭车系统
CN108706265A (zh) 2018-06-11 2018-10-26 江苏高科物流科技股份有限公司 一种穿梭车式自动化仓储及穿梭车
CN109987366B (zh) 2019-01-15 2023-05-05 杭州大氚智能科技有限公司 一种无人化仓储系统及出入库方法
US11185987B2 (en) * 2019-04-26 2021-11-30 Invia Robotics, Inc. Isolated and environmental anomaly detection and correction using a distributed set of robots
CN111731728B (zh) * 2019-04-30 2025-06-13 北京京东乾石科技有限公司 物品运送系统
CN110077773B (zh) * 2019-05-31 2024-08-30 天津施格自动化科技有限公司 一种圆形货架缓存系统
US11780676B2 (en) 2019-08-14 2023-10-10 Opex Corporation Systems and methods for managing inventory
LU101481B1 (de) * 2019-11-12 2021-05-14 cellumation GmbH Verfahren zur automatisierten Umpalettierung von Packgut
CN116323016B (zh) * 2020-08-14 2026-03-27 欧佩克斯公司 具有单独工作站的物料搬运设备和使用方法
EP4347447A4 (en) * 2021-05-26 2024-12-04 Symbotic, Llc AUTONOMOUS TRANSPORT VEHICLE
CN116216155A (zh) * 2023-04-07 2023-06-06 深圳市海柔创新科技有限公司 集货运输系统、方法及相关装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20070065258A1 (en) 2003-05-06 2007-03-22 Benedict Charles E Automated material handling system with load transfer vehicles
US20180148259A1 (en) 2015-04-27 2018-05-31 Attabotics Inc. Storage and Retrieval System
US20170267452A1 (en) 2015-06-09 2017-09-21 Commonsense Robotics Ltd. Robotic inventory handling
WO2018189110A1 (fr) 2017-04-12 2018-10-18 Exotec Solutions Système de préparation de commandes
WO2019072432A1 (fr) 2017-10-12 2019-04-18 Exotec Solutions Systeme de stockage et de transport d'objets entreposes dans des rayonnages d'un entrepot

Also Published As

Publication number Publication date
JP7719054B2 (ja) 2025-08-05
AU2020328047A1 (en) 2022-03-17
US11713192B2 (en) 2023-08-01
US12134519B2 (en) 2024-11-05
US20230046794A1 (en) 2023-02-16
US11554917B2 (en) 2023-01-17
JP2022544390A (ja) 2022-10-18
US20210047117A1 (en) 2021-02-18
US11780676B2 (en) 2023-10-10
EP4013702A2 (en) 2022-06-22
WO2021030705A1 (en) 2021-02-18
EP3997014A4 (en) 2023-09-06
JP2025166078A (ja) 2025-11-05
US11999570B2 (en) 2024-06-04
JP2025163222A (ja) 2025-10-28
CN114514186A (zh) 2022-05-17
WO2021030779A3 (en) 2021-04-01
US12129121B2 (en) 2024-10-29
US11827452B2 (en) 2023-11-28
CN114555491A (zh) 2022-05-27
US11254504B2 (en) 2022-02-22
US11472632B2 (en) 2022-10-18
JP7566877B2 (ja) 2024-10-15
CN114555491B (zh) 2024-08-16
US20230174307A1 (en) 2023-06-08
KR20220044830A (ko) 2022-04-11
CN114555490A (zh) 2022-05-27
MX2022001842A (es) 2022-07-01
US20210047118A1 (en) 2021-02-18
CA3147519A1 (en) 2021-02-18
EP4013702A4 (en) 2023-09-06
CN114514186B (zh) 2025-04-01
US20230415999A1 (en) 2023-12-28
JP2022544509A (ja) 2022-10-19
CA3147501A1 (en) 2021-02-18
KR20220044829A (ko) 2022-04-11
MX2022001895A (es) 2022-03-17
EP3997014A1 (en) 2022-05-18
US12448212B2 (en) 2025-10-21
KR20220044594A (ko) 2022-04-08
US20210047121A1 (en) 2021-02-18
US20240109726A1 (en) 2024-04-04
WO2021030779A2 (en) 2021-02-18
WO2021030681A1 (en) 2021-02-18
AU2020330078A1 (en) 2022-03-17
JP2022544510A (ja) 2022-10-19
WO2021030647A1 (en) 2021-02-18
US20210047112A1 (en) 2021-02-18
EP4013703A4 (en) 2023-09-06
MX2022001844A (es) 2022-05-30
US20220162002A1 (en) 2022-05-26
US20220411189A1 (en) 2022-12-29
CA3147492A1 (en) 2021-02-18
EP4013703A1 (en) 2022-06-22
WO2021030692A1 (en) 2021-02-18
US12275589B2 (en) 2025-04-15
US11731834B2 (en) 2023-08-22
US20240034562A1 (en) 2024-02-01
US12017855B2 (en) 2024-06-25
US20220315340A1 (en) 2022-10-06
AU2020330131A1 (en) 2022-03-17
US11535452B2 (en) 2022-12-27
US11975920B2 (en) 2024-05-07
US20210047116A1 (en) 2021-02-18
US20240308770A1 (en) 2024-09-19
US20240109725A1 (en) 2024-04-04
US20250382135A1 (en) 2025-12-18

Similar Documents

Publication Publication Date Title
JP7725448B2 (ja) 材料取り扱いシステム
USRE47108E1 (en) Automated warehousing using robotic forklifts
CA2539334C (en) Transponder-assisted positioning system

Legal Events

Date Code Title Description
A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20221117

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20230809

A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20230809

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20240927

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20241105

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20250129

A601 Written request for extension of time

Free format text: JAPANESE INTERMEDIATE CODE: A601

Effective date: 20250402

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20250501

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20250708

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20250806

R150 Certificate of patent or registration of utility model

Ref document number: 7725448

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150