NO20181344A1 - System and applicable method of collecting items from containers by means of robot arm - Google Patents

System and applicable method of collecting items from containers by means of robot arm

Info

Publication number
NO20181344A1
NO20181344A1 NO20181344A NO20181344A NO20181344A1 NO 20181344 A1 NO20181344 A1 NO 20181344A1 NO 20181344 A NO20181344 A NO 20181344A NO 20181344 A NO20181344 A NO 20181344A NO 20181344 A1 NO20181344 A1 NO 20181344A1
Authority
NO
Norway
Prior art keywords
container
storage
rails
delivery
grid
Prior art date
Application number
NO20181344A
Other languages
Norwegian (no)
Other versions
NO346213B1 (en
Inventor
Trond Austrheim
Original Assignee
Autostore Tech As
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
Priority claimed from NO20181005A external-priority patent/NO344662B1/en
Priority claimed from NO20181098A external-priority patent/NO20181098A1/en
Application filed by Autostore Tech As filed Critical Autostore Tech As
Priority to NO20181344A priority Critical patent/NO346213B1/en
Priority to NO20181524A priority patent/NO345059B1/en
Priority to NO20181581A priority patent/NO344742B1/en
Priority to NO20181595A priority patent/NO344619B1/en
Priority to NO20181656A priority patent/NO345886B1/en
Priority to PCT/EP2019/065237 priority patent/WO2019238698A1/en
Priority to CA3099086A priority patent/CA3099086A1/en
Priority to CN201980039378.3A priority patent/CN112262089B/en
Priority to US15/734,431 priority patent/US20210221618A1/en
Priority to JP2020568997A priority patent/JP7466467B2/en
Priority to CN201980037162.3A priority patent/CN112218806B/en
Priority to EP19730326.6A priority patent/EP3807189A1/en
Priority to US17/054,531 priority patent/US11498757B2/en
Priority to EP24185318.3A priority patent/EP4417544A2/en
Priority to CA3099204A priority patent/CA3099204A1/en
Priority to JP2020569174A priority patent/JP7386186B2/en
Priority to EP19730152.6A priority patent/EP3807176A1/en
Priority to PCT/EP2019/065145 priority patent/WO2019238641A1/en
Publication of NO20181344A1 publication Critical patent/NO20181344A1/en
Publication of NO346213B1 publication Critical patent/NO346213B1/en
Priority to US17/938,512 priority patent/US20230057925A1/en
Priority to JP2024059300A priority patent/JP2024084790A/en

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
    • B65G1/0457—Storage devices mechanical with suspended load carriers
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • B65G1/137—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
    • G05D1/02—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
    • G05D1/0289—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 with means for avoiding collisions between vehicles
    • 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
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
    • B65G2207/40—Safety features of loads, equipment or persons
    • 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
    • B65G57/00—Stacking of articles
    • B65G57/02—Stacking of articles by adding to the top of the stack
    • B65G57/03—Stacking of articles by adding to the top of the stack from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G57/00—Stacking of articles
    • B65G57/30—Stacking of articles by adding to the bottom of the stack

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

The invention relates to an automated storage and retrieval system comprising an automated storage and retrieval grid (104) and a delivery system (140): wherein the automated storage and retrieval grid (104) comprises: - acontainer handling vehicle rail system (108) for guiding a plurality of container handling vehicles (200,300), the container handling vehicle rail system comprising a first set of parallel rails (110) arranged in a horizontal plane (P) and extending in a first direction (X), and a second set of parallel rails (111) arranged in the horizontal plane (P) and extending in a second direction (Y) which is orthogonal to the first direction (X), which first and second sets of rails (110,111) form a grid pattern in the horizontal plane (P) comprising a plurality of adjacent container handling vehicle grid cells (122), each container handling vehicle grid cell (122) comprising a container handling vehicle grid opening (115) defined by a pair of neighboring rails (110a, 110b) of the first set of rails (110) and a pair of neighboring rails (Illa,111b) of the second set of rails (111), the container handling vehicles (200,300) being operable to retrieve a storage container (106) from a stack (107) of storage containers beneath the container handling rail system (108); and - a delivery column (119,120) adapted for transport of a storagecontainer (106) between a container handling vehicle (200,300) and a delivery port (150) situated at a lower end of the delivery column (119,120); and wherein the delivery system (140) comprises a remotely operated delivery vehicle (30) comprising a container carrier (35) adapted to support the storage container (106), the delivery vehicle (30) being further adapted to transport the storage container (106) between a first location represented by the delivery port (150) and a second location, wherein the second location comprises a robotic operator (160'; 160") for handling of product item in the storage container (106). The invention further relates to methods of moving storage containers with product items from storage grid and to a robotic operator at the second location for handling of product item in the storage container.
NO20181344A 2018-06-12 2018-10-19 System and applicable method of collecting items from containers by means of robot arm NO346213B1 (en)

Priority Applications (20)

Application Number Priority Date Filing Date Title
NO20181344A NO346213B1 (en) 2018-06-12 2018-10-19 System and applicable method of collecting items from containers by means of robot arm
NO20181524A NO345059B1 (en) 2018-06-12 2018-11-28 Safety device for a delivery vehicle
NO20181581A NO344742B1 (en) 2018-06-12 2018-12-10 A delivery system with an access point and a method of accessing an access point of the delivery system
NO20181595A NO344619B1 (en) 2018-06-12 2018-12-12 Storage system
NO20181656A NO345886B1 (en) 2018-06-12 2018-12-20 Vehicle tilting Device and Method of accessing a Storage container
EP19730152.6A EP3807176A1 (en) 2018-06-12 2019-06-11 System and applicable methods of collecting items from storage containers using robotic operator
PCT/EP2019/065145 WO2019238641A1 (en) 2018-06-12 2019-06-11 System and applicable methods of collecting items from storage containers using robotic operator
JP2020568997A JP7466467B2 (en) 2018-06-12 2019-06-11 System and applicable method for collecting items from a storage container using a robotic operator
CA3099204A CA3099204A1 (en) 2018-06-12 2019-06-11 Storage system
CN201980039378.3A CN112262089B (en) 2018-06-12 2019-06-11 System and application method for collecting articles from storage containers using a robotic operator
US15/734,431 US20210221618A1 (en) 2018-06-12 2019-06-11 System and applicable methods of collecting items from storage containers using robotic operator
PCT/EP2019/065237 WO2019238698A1 (en) 2018-06-12 2019-06-11 Storage system
CN201980037162.3A CN112218806B (en) 2018-06-12 2019-06-11 Storage system
EP19730326.6A EP3807189A1 (en) 2018-06-12 2019-06-11 Storage system
US17/054,531 US11498757B2 (en) 2018-06-12 2019-06-11 Storage system
EP24185318.3A EP4417544A2 (en) 2018-06-12 2019-06-11 Storage system
CA3099086A CA3099086A1 (en) 2018-06-12 2019-06-11 System and applicable methods of collecting items from storage containers using robotic operator
JP2020569174A JP7386186B2 (en) 2018-06-12 2019-06-11 storage system
US17/938,512 US20230057925A1 (en) 2018-06-12 2022-10-06 Storage system
JP2024059300A JP2024084790A (en) 2018-06-12 2024-04-02 System and applicable method for collecting item from storage container using robotic operator

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
NO20180813 2018-06-12
NO20181005A NO344662B1 (en) 2018-06-12 2018-07-19 An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
NO20181039A NO346265B1 (en) 2018-06-12 2018-08-02 Storage system
NO20181098A NO20181098A1 (en) 2018-06-12 2018-08-21 A method of operating an automated storage and retrieval system
NO20181344A NO346213B1 (en) 2018-06-12 2018-10-19 System and applicable method of collecting items from containers by means of robot arm

Publications (2)

Publication Number Publication Date
NO20181344A1 true NO20181344A1 (en) 2019-12-13
NO346213B1 NO346213B1 (en) 2022-04-25

Family

ID=74100085

Family Applications (1)

Application Number Title Priority Date Filing Date
NO20181344A NO346213B1 (en) 2018-06-12 2018-10-19 System and applicable method of collecting items from containers by means of robot arm

Country Status (1)

Country Link
NO (1) NO346213B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO20210513A1 (en) * 2021-04-27 2022-10-28 Autostore Tech As A double ended access station for an automated storage and retrieval system and a method for using same

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6011998A (en) * 1997-05-09 2000-01-04 Lichti; Wayne High speed picking system
DE102009017241A1 (en) * 2009-04-09 2010-10-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Storage system for accommodation of e.g. pallets in storage locations, has horizontal storage planes in which storage locations are provided, where locations are accessible by operating vehicles over set of horizontal planes
DE102013009340A1 (en) * 2013-06-04 2014-12-04 Immatec AG Device and method for storing and retrieving stackable containers
WO2014195901A1 (en) * 2013-06-06 2014-12-11 Ocado Limited Storage and retrieval system
WO2014195902A1 (en) * 2013-06-06 2014-12-11 Ocado Limited Order filling system
WO2016198565A1 (en) * 2015-06-11 2016-12-15 Jakob Hatteland Logistics As Storage system with robot device
WO2017081281A1 (en) * 2015-11-11 2017-05-18 Ocado Innovation Limited Picking systems and methods
WO2018050816A1 (en) * 2016-09-15 2018-03-22 Ocado Innovation Limited Growing systems and methods
US9988216B1 (en) * 2016-12-16 2018-06-05 Amazon Technologies, Inc. Parallel vertical recirculating gantry system

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6011998A (en) * 1997-05-09 2000-01-04 Lichti; Wayne High speed picking system
DE102009017241A1 (en) * 2009-04-09 2010-10-21 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Storage system for accommodation of e.g. pallets in storage locations, has horizontal storage planes in which storage locations are provided, where locations are accessible by operating vehicles over set of horizontal planes
DE102013009340A1 (en) * 2013-06-04 2014-12-04 Immatec AG Device and method for storing and retrieving stackable containers
WO2014195901A1 (en) * 2013-06-06 2014-12-11 Ocado Limited Storage and retrieval system
WO2014195902A1 (en) * 2013-06-06 2014-12-11 Ocado Limited Order filling system
WO2016198565A1 (en) * 2015-06-11 2016-12-15 Jakob Hatteland Logistics As Storage system with robot device
WO2017081281A1 (en) * 2015-11-11 2017-05-18 Ocado Innovation Limited Picking systems and methods
WO2018050816A1 (en) * 2016-09-15 2018-03-22 Ocado Innovation Limited Growing systems and methods
US9988216B1 (en) * 2016-12-16 2018-06-05 Amazon Technologies, Inc. Parallel vertical recirculating gantry system

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
NO20210513A1 (en) * 2021-04-27 2022-10-28 Autostore Tech As A double ended access station for an automated storage and retrieval system and a method for using same
NO347479B1 (en) * 2021-04-27 2023-11-20 Autostore Tech As A double ended access station for an automated storage and retrieval system and a method for using same

Also Published As

Publication number Publication date
NO346213B1 (en) 2022-04-25

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