WO2014075937A1 - Storage system - Google Patents

Storage system Download PDF

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Publication number
WO2014075937A1
WO2014075937A1 PCT/EP2013/072887 EP2013072887W WO2014075937A1 WO 2014075937 A1 WO2014075937 A1 WO 2014075937A1 EP 2013072887 W EP2013072887 W EP 2013072887W WO 2014075937 A1 WO2014075937 A1 WO 2014075937A1
Authority
WO
WIPO (PCT)
Prior art keywords
grid structure
bin
storage
top level
grid
Prior art date
Application number
PCT/EP2013/072887
Other languages
French (fr)
Inventor
Ingvar Hognaland
Original Assignee
Jakob Hatteland Logistics 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 to EA201590919A priority Critical patent/EA201590919A1/en
Priority to ES13786231.4T priority patent/ES2643269T3/en
Application filed by Jakob Hatteland Logistics As filed Critical Jakob Hatteland Logistics As
Priority to CA2885984A priority patent/CA2885984A1/en
Priority to AU2013347061A priority patent/AU2013347061B2/en
Priority to CN201380059159.4A priority patent/CN104781163B/en
Priority to LTEP13786231.4T priority patent/LT2920088T/en
Priority to PL13786231T priority patent/PL2920088T3/en
Priority to DK13786231.4T priority patent/DK2920088T3/en
Priority to JP2015541087A priority patent/JP6463686B2/en
Priority to US14/442,410 priority patent/US10189641B2/en
Priority to RS20170984A priority patent/RS56495B1/en
Priority to SI201330797T priority patent/SI2920088T1/en
Priority to EP13786231.4A priority patent/EP2920088B1/en
Publication of WO2014075937A1 publication Critical patent/WO2014075937A1/en
Priority to HK16100366.8A priority patent/HK1212310A1/en
Priority to HRP20171467TT priority patent/HRP20171467T1/en
Priority to CY20171101024T priority patent/CY1119688T1/en
Priority to US15/807,597 priority patent/US11072494B2/en
Priority to US16/569,688 priority patent/US11827448B2/en
Priority to US18/492,530 priority patent/US20240092573A1/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
    • B65G1/0464—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
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F40/00—Handling natural language data
    • G06F40/20—Natural language analysis
    • G06F40/279—Recognition of textual entities
    • G06F40/284—Lexical analysis, e.g. tokenisation or collocates
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F40/00—Handling natural language data
    • G06F40/30—Semantic analysis
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/084—Backpropagation, e.g. using gradient descent
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06Q30/00—Commerce
    • G06Q30/02—Marketing; Price estimation or determination; Fundraising
    • G06Q30/0201—Market modelling; Market analysis; Collecting market data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q50/00—Systems or methods specially adapted for specific business sectors, e.g. utilities or tourism
    • G06Q50/01—Social networking
    • 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
    • B65G2201/0258—Trays, totes or bins
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
    • G06F16/90—Details of database functions independent of the retrieved data types
    • G06F16/95—Retrieval from the web
    • G06F16/958—Organisation or management of web site content, e.g. publishing, maintaining pages or automatic linking
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N20/00—Machine learning
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/04—Architecture, e.g. interconnection topology
    • G06N3/045—Combinations of networks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
    • G06N3/00—Computing arrangements based on biological models
    • G06N3/02—Neural networks
    • G06N3/08—Learning methods
    • G06N3/086—Learning methods using evolutionary algorithms, e.g. genetic algorithms or genetic programming
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/10—Protocols in which an application is distributed across nodes in the network
    • H04L67/1097—Protocols in which an application is distributed across nodes in the network for distributed storage of data in networks, e.g. transport arrangements for network file system [NFS], storage area networks [SAN] or network attached storage [NAS]

Definitions

  • the present invention relates to the technical field of logistics and storage systems.
  • the invention relates to a storage system which comprises a first grid structure of storage cells, each storage cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level.
  • the system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station.
  • the first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device.
  • the bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station.
  • the Applicant's already known AutoStore system is a storage system of the type mentioned in the introduction.
  • the AutoStore system comprising a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height.
  • the storage grid is constructed as aluminium columns interconnected by top rails.
  • a number of vehicles, or robots, are arranged on the top rails.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid.
  • the storage system 10 comprises a grid structure 20 of storage cells. Each cell is arranged to accommodate a vertical stack of storage bins 30.
  • the grid structure has a top level.
  • the storage system 10 further comprises a vehicle 40, which is arranged to move at the top level of the grid structure and also arranged to receive a bin from a storage cell at the top level of the grid structure.
  • the storage system 10 may include a plurality of such vehicles 40, as illustrated.
  • the storage system 10 further comprises a bin lift device 50.
  • the bin lift device 50 is arranged to receive a bin from the first vehicle 40 at the top level of the first grid structure and to convey the bin down in a vertical direction to a delivery station, or port, 60.
  • the storage system 10 may include a plurality of such lift devices 50 and ports 60, as illustrated.
  • An object of the invention is to provide an improved storage system with respect to at least one of performance, capacity, utilization of area, and flexibility.
  • the invention has been defined in the patent claims. More specifically, the invention provides a system as set forth in the introduction, which further comprises a second grid structure of storage cells at a different vertical level than the first grid structure, and a second vehicle that is arranged to move horizontally at the top level of the second grid structure.
  • the second vehicle is further arranged to receive a storage bin from a storage cell at the top level of the second grid structure and to deliver the storage bin to the bin lift device.
  • the bin lift device is further arranged to convey a bin in a vertical direction between the top level of the first grid structure and the second grid structure.
  • Fig. 1 is a schematic, partly cut perspective view of a storage system according to the background art
  • Fig. 2 is a schematic, partly cut perspective view illustrating certain aspects of a storage system
  • Fig. 3 is a schematic side elevation illustrating certain aspects of a storage system
  • Fig. 4 is a schematic perspective view illustrating certain aspects of a bin lift device
  • Fig. 5 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an upper grid structure
  • Fig. 6 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an intermediate grid structure
  • Fig. 7 is a schematic perspective view illustrating certain aspects of a bin lift device and a delivery station
  • Fig. 8 is a schematic perspective view illustrating certain aspects of a twin bin lift device at the top of an upper grid structure
  • Fig. 9 is a schematic perspective view illustrating certain aspects of a twin bin lift device and two delivery stations
  • Fig. 10 is a schematic block diagram illustrating principles of network
  • Fig. 1 is a schematic, partly cut perspective view of a storage system according to the background art, which has already been referred to in the background section.
  • Fig. 2 is a schematic, partly cut perspective view illustrating certain aspects of a storage system;
  • the storage system includes a first, upper grid structure of storage cells, arranged on an upper floor 80. Each storage cell is arranged to accommodate a vertical stack of storage bins.
  • the first grid structure has a top level 20.
  • a first vehicle 40 is arranged to move at the top level 20 of the upper grid structure and arranged to receive a storage bin from a storage cell at the top level 20.
  • a plurality of such vehicles may be arranged on the top level 20 of the upper grid structure, as appears from figure 2.
  • At least one vertical bin lift device is arranged in the system.
  • One such bin lift device has been shown at 56. It is arranged to receive a bin from the vehicle at the top level of the upper grid structure 20 and to convey the bin down in a vertical direction to a delivery station 66, which in this example is arranged at the ground floor in the building wherein the storage system is installed.
  • the inter-grid bin lift device 56 is arranged to deliver bins to an operator at the delivery station 66 arranged on a ground floor 26.
  • the delivery station 66 may also receive bins from the operator and deliver them to the inter-grid bin lift device 56.
  • the storage system further comprises a lower grid structure of storage cells on a different vertical level than the first grid structure. In this example the lower grid structure has a top level 22 and is arranged below the upper grid structure.
  • the lower grid structure may e.g. be a main storage grid structure.
  • Vehicles of the kind previously described are arranged to move at the top level of both the upper and the lower grid structure.
  • Each vehicle is arranged to receive a storage bin from a storage cell at the top level of the respective grid structure.
  • Each inter-grid bin lift device such as the inter-grid bin lift device 56, is arranged to receive a storage bin from the vehicle at the top level of the upper grid structure and to convey the storage bin in a vertical direction to the top level of the lower grid structure.
  • the inter-grid bin lift device 56 is further arranged to convey the storage bin in a vertical direction to the delivery station 66.
  • the inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level 22 of the lower grid structure and to convey the storage bin in a vertical direction to the top level 20 of the upper grid structure.
  • the system may also include at least one additional inter-grid bin lift device, which is not necessarily connected to a delivery station, and which is arranged to receive a storage bin from the vehicle at the top level of any one of the upper or lower grid structures and to convey the storage bin in a vertical direction to the top level of any one of the upper or lower grid structures.
  • at least one additional inter-grid bin lift device which is not necessarily connected to a delivery station, and which is arranged to receive a storage bin from the vehicle at the top level of any one of the upper or lower grid structures and to convey the storage bin in a vertical direction to the top level of any one of the upper or lower grid structures.
  • the system may also include any number of bin lift devices which do not extend between grids on different levels (i.e., which are not inter-grid bin lift devices), but which merely provides access from one particular grid to a delivery station.
  • bin lift devices such as the bin lift device 56 are each connected to a delivery station 66 which is arranged below the lowermost grid structure, since the lower grid structure is on a higher vertical level than the delivery station 66.
  • any number of bin lift devices may be connected to a delivery station which is installed on any side of the grid structures, on any grid structure level. Delivery station(s) may in certain circumstances even be located at a level above the top of the uppermost grid structure.
  • the bin lift exchanges this bin with the previously used bin and the vehicle returns it back to storage.
  • the storage system may further comprise additional vehicles arranged to move at the top level of the upper grid structure 20 and arranged to receive a storage bin from a storage cell at the top level of the upper grid structure.
  • the storage system may further comprise additional vehicles arranged to move at the top level of the lower grid structure 22 and arranged to receive a storage bin from a storage cell at the top level of the lower grid structure.
  • Each vehicle typically has two sets (pairs) of wheels that enable it to move horizontally on rails which extend along two axes on the top of each grid structure 20, 22. The axes may be perpendicular. This makes it possible for all vehicles to reach any position on the top of the relevant grid structure.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing storage bins that are stored in the corresponding grid structure.
  • the robot communicates with a control system via a wireless link and is automatically recharged when needed, typically at night.
  • the storage system may further comprise additional grid structures of storage cells. More particularly, the storage system may include 2, 3, 4, 5 or more grid structures of storage cells, each arranged on a separate vertical level.
  • the storage system may further comprise additional vehicles arranged to move at the top level of any possible further grid structure included in the system, e.g. a third grid structure, and arranged to receive a storage bin from a storage cell at the top level of that grid structure.
  • Each grid structure may, e.g. be constructed as an aluminium (or other possible materials) structure, organized in rectangular storage cells.
  • Each storage cell has room for several storage bins that are stored on top of each other. Different configurations of height and shape are possible, making the grid structure able to surround pillars and other obstacles.
  • On the top of each grid structure 20, 22 there is arranged tracks in two dimensions, allowing the vehicles assigned for this particular grid to move.
  • a storage bin is the basic module in which goods are stored.
  • the storage bin may, e.g., be embodied in two different heights and can be produced in different materials in order to achieve particular properties, such as polypropylene or high- density polyethylene.
  • anti-static bins may be used for accommodating electronics components.
  • a bin may have length 600mm x width 400mm, with heights of 210 mm or 310mm.
  • At least one of the grid structures may be a consolidation grid.
  • a consolidation grid is a grid used for intermediate storing, e.g., for storing a plurality of bins that contain goods intended for a particular order.
  • Fig. 3 is a schematic side elevation illustrating certain aspects of a storage system.
  • This embodiment of the storage system includes a first, upper grid structure of storage cells, arranged on an upper floor 80. Each storage cell is arranged to accommodate a vertical stack of storage bins.
  • the first grid structure has a top level
  • a first vehicle (not shown) is arranged to move at the top level 20 of the first grid structure and arranged to receive a storage bin from a storage cell at the top level 20.
  • a plurality of such vehicles may be arranged on the top level 20 of the first grid structure.
  • At least one vertical bin lift device is arranged in the system.
  • One such bin lift device has been shown at 56, although a plurality of bin lift devices may be employed.
  • the bin lift device 56 is arranged to receive a bin from the vehicle at the top level of the first grid structure 20 and to convey the bin down in a vertical direction to a delivery station 66, which in this example is arranged at the ground floor in the building wherein the storage system is installed.
  • the inter-grid bin lift device 56 is arranged to deliver bins to an operator at the delivery station 66 arranged on a ground floor 26 in a building.
  • the delivery station 66 may also receive bins from the operator and deliver them to the inter-grid bin lift device 56.
  • the storage system further comprises a second, intermediate grid structure of storage cells on a different vertical level than the first grid structure.
  • the second, intermediate grid structure has a top level 22 and is arranged below the first grid structure.
  • the storage system further comprises a third, lower grid structure of storage cells on a different vertical level than the first grid structure and the second grid structure.
  • the third, lower grid structure has a top level 24 and is arranged below the second grid structure.
  • the third grid structure may be a main storage grid structure.
  • Vehicles of the kind previously described are arranged to move at the top level of both the second and the third grid structure. They are arranged to receive a storage bin from a storage cell at the top level of the respective grid structure.
  • Each inter-grid bin lift device such as the inter-grid bin lift device 56, is arranged to receive a storage bin from the vehicle at the top level of the first grid structure and to convey the storage bin in a vertical direction to the top level of the second grid structure.
  • the inter-grid bin lift device 56 is further arranged to convey the storage bin in a vertical direction to the delivery station 66.
  • the inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level of the second grid structure and to convey the storage bin in a vertical direction to the top level of the first grid structure.
  • the inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level of any of the first, second or third grid structures and to convey the storage bin in a vertical direction to the top level of any one of the first, second or third grid structures.
  • the system may also include at least one additional inter-grid bin lift device, which if not necessarily connected to a delivery station, and which is arranged to receive a storage bin from the vehicle at the top level of any one of the first, second or third grid structures and to convey the storage bin in a vertical direction to the top level of any one of the first, second or third grid structures.
  • the system may also include bin lift devices such as the bin lift device 50 which do not extend between grids on different levels (i.e., not inter-grid bin lift devices), but which merely provides access from one particular grid to a delivery station 60.
  • Delivery station(s) may be installed on all sides of the grid structures, or even below the lowermost grid structure if the grid structure is on a higher vertical level than the delivery station. The delivery station may even be located at a level above the top of the uppermost grid structure.
  • the storage system may further comprise additional vehicles arranged to move at the top level of the first grid structure 20 and arranged to receive a storage bin from a storage cell at the top level of the first grid structure.
  • the storage system may further comprise additional vehicles arranged to move at the top level of the second grid structure 22 and arranged to receive a storage bin from a storage cell at the top level of the second grid structure.
  • the storage system may further comprise additional vehicles arranged to move at the top level of any further grid structure, e.g. the third grid structure 24, and arranged to receive a storage bin from a storage cell at the top level of that grid structure.
  • the storage system may further comprise additional grid structures of storage cells. More particularly, the storage system may include 2, 3, 4, 5 or more grid structures of storage cells, each arranged on a separate vertical level.
  • Each grid structure may, e.g. be constructed as an aluminium (or other possible materials) structure, organized in rectangular storage cells.
  • Each storage cell has room for several storage bins that are stored on top of each other. Different configurations of height and shape are possible, making the grid structure able to surround pillars and other obstacles.
  • a storage bin is the basic module in which goods are stored.
  • the storage bin may, e.g., be embodied in two different heights and can be produced in different materials in order to achieve particular properties, such as polypropylene or high- density polyethylene.
  • anti-static bins may be used for accommodating electronics components.
  • a bin may have length 600mm x width 400mm, with heights of 210 mm or 310mm.
  • at least one of the grid structures may be a consolidation grid.
  • a consolidation grid is a grid used for intermediate storing, e.g., for storing a plurality of bins that contain goods intended for a particular order.
  • Each vehicle has two sets of wheels that enable it to move horizontally on rails which extend along two axes on the top of each grid structure 20, 22, 24.
  • the axes may be perpendicular. This makes it possible for all vehicles to reach any position on the top of the relevant grid structure.
  • Each vehicle is equipped with a lift for picking up, carrying, and placing storage bins that are stored in the corresponding grid structure.
  • the robot communicates with a control system via a wireless link and is automatically recharged when needed, typically at night.
  • Fig. 4 is a schematic perspective view illustrating certain aspects of a bin lift device.
  • the bin lift device 50 includes a movable support for a bin 30, the movable support being arranged to slide in a vertical frame which includes at least two, possibly four, vertical columns, which are arranged at corresponding corners of the bin when positioned to be supported by the movable support.
  • the bin lift device is further arranged to be elevated or lowered by appropriate lifting means.
  • Fig. 5 is a schematic perspective view illustrating certain aspects of a bin lift device 30 at the top of an upper grid structure.
  • the upper ends of the columns of the vertical frames are interconnected by an upper framework constituting the upper level 20 of the grid structure.
  • the upper framework has openings corresponding to the shape and size of the bin 30 that is lifted and lowered by the bin lift device 50.
  • Fig. 6 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an intermediate grid structure.
  • the bin lift device 50 has features corresponding to those illustrated in figure 5, but the framework 70 constitutes the upper level 22 of an intermediate grid structure. Further, two columns of the bin lift device 50 extend further upwards to another grid structure at a higher level, e.g. the upper grid structure 20.
  • Fig. 7 is a schematic perspective view illustrating certain aspects of a bin lift device and a delivery station.
  • the delivery station 60 or port, is arranged at the lower end of the bin lift device 30.
  • the delivery station 60 serves the purpose of delivering a bin to a human operator of the system, and to receive bins from the operator.
  • the delivery station may be arranged, e.g., at a ground floor.
  • Fig. 8 is a schematic perspective view illustrating certain aspects of a twin bin lift device at the top of an upper grid structure.
  • the twin bin lift device includes two bin lift devices 50, 52 as already described with reference to the bin lift device 50 above, which may be arranged at opposite sides of a pillar, or constructional supporting column, 80.
  • Fig. 9 is a schematic perspective view illustrating certain aspects of a twin bin lift device and two delivery stations.
  • the twin bin lift device includes two bin lift devices as already described with reference to fig. 8, and two delivery stations 60, 62 arranged at opposite sides of the pillar, or constructional supporting column, 80.
  • Fig. 10 is a schematic block diagram illustrating principles of network
  • Each vehicles 40, 42 is remotely controlled, for instance by means of a wireless radio-based communication link.
  • an access point 1 10 has been provided as a wireless router for providing communication between a control unit 100, e.g. a computer, and each vehicle 40, 42.
  • the access point may be arranged in the vicinity of the system as a whole, or separate access points may be employed for different parts of the storage etc.
  • each vehicle is provided with wireless communication means configured to provide wireless communication.
  • Each vehicle is further provided with an electrical energy source, such as a rechargeable battery, in order to supply electrical effect to a motor or a plurality of motors which are also incorporated in each vehicle.
  • the control unit 100 is further operatively connected to control equipment controlling the delivery stations 66.
  • the control unit 100 is further operatively connected to console equipment and viewing equipment.
  • the control unit 100 includes an interface network and a customer network, which is configured, in use, to provide communication with a database such as an SQL database and further computing equipment or devices.
  • a database such as an SQL database and further computing equipment or devices.

Abstract

A storage system comprises a first grid structure of storage cells, each cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level (20), a first vehicle (40), arranged to move horizontally at the top level of the first grid structure, and to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to a bin lift device (56), arranged to convey a bin between the top level (20) of the grid structure and a delivery station (66). The system further comprises a second grid structure of storage cells at a different vertical level than the first grid structure, and a second vehicle (42), arranged to move horizontally at the top level (22) of the second grid structure, and arranged to receive a storage bin from a storage cell at the top level of the second grid structure and to deliver the storage bin to the bin lift device.

Description

STORAGE SYSTEM
TECHNICAL FIELD
The present invention relates to the technical field of logistics and storage systems.
More specifically the invention relates to a storage system which comprises a first grid structure of storage cells, each storage cell being arranged to accommodate a vertical stack of storage bins, the first grid structure having a top level. The system further comprises a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station. The first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device. Moreover, the bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station.
BACKGROUND The Applicant's already known AutoStore system is a storage system of the type mentioned in the introduction. The AutoStore system comprising a three dimensional storage grid containing storage bins that are stacked on top of each other to a certain height. The storage grid is constructed as aluminium columns interconnected by top rails. A number of vehicles, or robots, are arranged on the top rails. Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid.
Such a storage system of the background art has been illustrated in fig. 1. The storage system 10 comprises a grid structure 20 of storage cells. Each cell is arranged to accommodate a vertical stack of storage bins 30. The grid structure has a top level.
The storage system 10 further comprises a vehicle 40, which is arranged to move at the top level of the grid structure and also arranged to receive a bin from a storage cell at the top level of the grid structure. The storage system 10 may include a plurality of such vehicles 40, as illustrated. The storage system 10 further comprises a bin lift device 50. The bin lift device 50 is arranged to receive a bin from the first vehicle 40 at the top level of the first grid structure and to convey the bin down in a vertical direction to a delivery station, or port, 60. The storage system 10 may include a plurality of such lift devices 50 and ports 60, as illustrated. An object of the invention is to provide an improved storage system with respect to at least one of performance, capacity, utilization of area, and flexibility.
SUMMARY
The invention has been defined in the patent claims. More specifically, the invention provides a system as set forth in the introduction, which further comprises a second grid structure of storage cells at a different vertical level than the first grid structure, and a second vehicle that is arranged to move horizontally at the top level of the second grid structure. The second vehicle is further arranged to receive a storage bin from a storage cell at the top level of the second grid structure and to deliver the storage bin to the bin lift device. The bin lift device is further arranged to convey a bin in a vertical direction between the top level of the first grid structure and the second grid structure.
Further possible features, including exemplary aspects, structure and operation of various embodiments, have been described in detail below with reference to the accompanying drawings. In the drawings, like reference numbers indicate identical or functionally similar elements.
BRIEF DESCRIPTION OF THE DRAWINGS
Fig. 1 is a schematic, partly cut perspective view of a storage system according to the background art;
Fig. 2 is a schematic, partly cut perspective view illustrating certain aspects of a storage system;
Fig. 3 is a schematic side elevation illustrating certain aspects of a storage system;
Fig. 4 is a schematic perspective view illustrating certain aspects of a bin lift device; Fig. 5 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an upper grid structure;
Fig. 6 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an intermediate grid structure;
Fig. 7 is a schematic perspective view illustrating certain aspects of a bin lift device and a delivery station;
Fig. 8 is a schematic perspective view illustrating certain aspects of a twin bin lift device at the top of an upper grid structure; Fig. 9 is a schematic perspective view illustrating certain aspects of a twin bin lift device and two delivery stations;
Fig. 10 is a schematic block diagram illustrating principles of network
communication between storage system components;
DETAILED DESCRIPTION
Fig. 1 is a schematic, partly cut perspective view of a storage system according to the background art, which has already been referred to in the background section.
Fig. 2 is a schematic, partly cut perspective view illustrating certain aspects of a storage system; The storage system includes a first, upper grid structure of storage cells, arranged on an upper floor 80. Each storage cell is arranged to accommodate a vertical stack of storage bins. The first grid structure has a top level 20.
A first vehicle 40 is arranged to move at the top level 20 of the upper grid structure and arranged to receive a storage bin from a storage cell at the top level 20. A plurality of such vehicles may be arranged on the top level 20 of the upper grid structure, as appears from figure 2.
At least one vertical bin lift device is arranged in the system. One such bin lift device has been shown at 56. It is arranged to receive a bin from the vehicle at the top level of the upper grid structure 20 and to convey the bin down in a vertical direction to a delivery station 66, which in this example is arranged at the ground floor in the building wherein the storage system is installed. The inter-grid bin lift device 56 is arranged to deliver bins to an operator at the delivery station 66 arranged on a ground floor 26. The delivery station 66 may also receive bins from the operator and deliver them to the inter-grid bin lift device 56. The storage system further comprises a lower grid structure of storage cells on a different vertical level than the first grid structure. In this example the lower grid structure has a top level 22 and is arranged below the upper grid structure. The lower grid structure may e.g. be a main storage grid structure.
Vehicles of the kind previously described are arranged to move at the top level of both the upper and the lower grid structure. Each vehicle is arranged to receive a storage bin from a storage cell at the top level of the respective grid structure.
Each inter-grid bin lift device, such as the inter-grid bin lift device 56, is arranged to receive a storage bin from the vehicle at the top level of the upper grid structure and to convey the storage bin in a vertical direction to the top level of the lower grid structure. The inter-grid bin lift device 56 is further arranged to convey the storage bin in a vertical direction to the delivery station 66.
The inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level 22 of the lower grid structure and to convey the storage bin in a vertical direction to the top level 20 of the upper grid structure.
The system may also include at least one additional inter-grid bin lift device, which is not necessarily connected to a delivery station, and which is arranged to receive a storage bin from the vehicle at the top level of any one of the upper or lower grid structures and to convey the storage bin in a vertical direction to the top level of any one of the upper or lower grid structures.
The system may also include any number of bin lift devices which do not extend between grids on different levels (i.e., which are not inter-grid bin lift devices), but which merely provides access from one particular grid to a delivery station.
In the embodiment illustrated in figure 2, bin lift devices such as the bin lift device 56 are each connected to a delivery station 66 which is arranged below the lowermost grid structure, since the lower grid structure is on a higher vertical level than the delivery station 66. However, alternatively or in addition, any number of bin lift devices may be connected to a delivery station which is installed on any side of the grid structures, on any grid structure level. Delivery station(s) may in certain circumstances even be located at a level above the top of the uppermost grid structure.
When a vehicle delivers a storage bin to a bin lift, the bin lift exchanges this bin with the previously used bin and the vehicle returns it back to storage.
The storage system may further comprise additional vehicles arranged to move at the top level of the upper grid structure 20 and arranged to receive a storage bin from a storage cell at the top level of the upper grid structure.
The storage system may further comprise additional vehicles arranged to move at the top level of the lower grid structure 22 and arranged to receive a storage bin from a storage cell at the top level of the lower grid structure. Each vehicle typically has two sets (pairs) of wheels that enable it to move horizontally on rails which extend along two axes on the top of each grid structure 20, 22. The axes may be perpendicular. This makes it possible for all vehicles to reach any position on the top of the relevant grid structure.
Each vehicle is equipped with a lift for picking up, carrying, and placing storage bins that are stored in the corresponding grid structure. The robot communicates with a control system via a wireless link and is automatically recharged when needed, typically at night.
The storage system may further comprise additional grid structures of storage cells. More particularly, the storage system may include 2, 3, 4, 5 or more grid structures of storage cells, each arranged on a separate vertical level.
The storage system may further comprise additional vehicles arranged to move at the top level of any possible further grid structure included in the system, e.g. a third grid structure, and arranged to receive a storage bin from a storage cell at the top level of that grid structure. Each grid structure may, e.g. be constructed as an aluminium (or other possible materials) structure, organized in rectangular storage cells. Each storage cell has room for several storage bins that are stored on top of each other. Different configurations of height and shape are possible, making the grid structure able to surround pillars and other obstacles. On the top of each grid structure 20, 22 there is arranged tracks in two dimensions, allowing the vehicles assigned for this particular grid to move.
A storage bin is the basic module in which goods are stored. The storage bin may, e.g., be embodied in two different heights and can be produced in different materials in order to achieve particular properties, such as polypropylene or high- density polyethylene. In a particular aspect, anti-static bins may be used for accommodating electronics components. By example, a bin may have length 600mm x width 400mm, with heights of 210 mm or 310mm.
In an aspect, at least one of the grid structures may be a consolidation grid. A consolidation grid is a grid used for intermediate storing, e.g., for storing a plurality of bins that contain goods intended for a particular order.
Fig. 3 is a schematic side elevation illustrating certain aspects of a storage system.
This embodiment of the storage system includes a first, upper grid structure of storage cells, arranged on an upper floor 80. Each storage cell is arranged to accommodate a vertical stack of storage bins. The first grid structure has a top level
20.
A first vehicle (not shown) is arranged to move at the top level 20 of the first grid structure and arranged to receive a storage bin from a storage cell at the top level 20. A plurality of such vehicles may be arranged on the top level 20 of the first grid structure.
At least one vertical bin lift device is arranged in the system. One such bin lift device has been shown at 56, although a plurality of bin lift devices may be employed. The bin lift device 56 is arranged to receive a bin from the vehicle at the top level of the first grid structure 20 and to convey the bin down in a vertical direction to a delivery station 66, which in this example is arranged at the ground floor in the building wherein the storage system is installed. The inter-grid bin lift device 56 is arranged to deliver bins to an operator at the delivery station 66 arranged on a ground floor 26 in a building. The delivery station 66 may also receive bins from the operator and deliver them to the inter-grid bin lift device 56.
The storage system further comprises a second, intermediate grid structure of storage cells on a different vertical level than the first grid structure. In this example the second, intermediate grid structure has a top level 22 and is arranged below the first grid structure.
The storage system further comprises a third, lower grid structure of storage cells on a different vertical level than the first grid structure and the second grid structure. In this example the third, lower grid structure has a top level 24 and is arranged below the second grid structure. The third grid structure may be a main storage grid structure.
Vehicles of the kind previously described are arranged to move at the top level of both the second and the third grid structure. They are arranged to receive a storage bin from a storage cell at the top level of the respective grid structure. Each inter-grid bin lift device, such as the inter-grid bin lift device 56, is arranged to receive a storage bin from the vehicle at the top level of the first grid structure and to convey the storage bin in a vertical direction to the top level of the second grid structure. The inter-grid bin lift device 56 is further arranged to convey the storage bin in a vertical direction to the delivery station 66. The inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level of the second grid structure and to convey the storage bin in a vertical direction to the top level of the first grid structure.
The inter-grid bin lift device 56 is further arranged to receive a storage bin from the vehicle at the top level of any of the first, second or third grid structures and to convey the storage bin in a vertical direction to the top level of any one of the first, second or third grid structures.
The system may also include at least one additional inter-grid bin lift device, which if not necessarily connected to a delivery station, and which is arranged to receive a storage bin from the vehicle at the top level of any one of the first, second or third grid structures and to convey the storage bin in a vertical direction to the top level of any one of the first, second or third grid structures. The system may also include bin lift devices such as the bin lift device 50 which do not extend between grids on different levels (i.e., not inter-grid bin lift devices), but which merely provides access from one particular grid to a delivery station 60.
Delivery station(s) may be installed on all sides of the grid structures, or even below the lowermost grid structure if the grid structure is on a higher vertical level than the delivery station. The delivery station may even be located at a level above the top of the uppermost grid structure.
When a vehicle delivers a storage bin to a bin lift, the bin lift exchanges this bin with the previously used bin and the vehicle returns it back to storage. The storage system may further comprise additional vehicles arranged to move at the top level of the first grid structure 20 and arranged to receive a storage bin from a storage cell at the top level of the first grid structure.
The storage system may further comprise additional vehicles arranged to move at the top level of the second grid structure 22 and arranged to receive a storage bin from a storage cell at the top level of the second grid structure.
The storage system may further comprise additional vehicles arranged to move at the top level of any further grid structure, e.g. the third grid structure 24, and arranged to receive a storage bin from a storage cell at the top level of that grid structure. The storage system may further comprise additional grid structures of storage cells. More particularly, the storage system may include 2, 3, 4, 5 or more grid structures of storage cells, each arranged on a separate vertical level.
Each grid structure may, e.g. be constructed as an aluminium (or other possible materials) structure, organized in rectangular storage cells. Each storage cell has room for several storage bins that are stored on top of each other. Different configurations of height and shape are possible, making the grid structure able to surround pillars and other obstacles.
On the top of each grid structure 20, 22, 24 there is arranged tracks in two dimensions, allowing the vehicles assigned for this particular grid to move. A storage bin is the basic module in which goods are stored. The storage bin may, e.g., be embodied in two different heights and can be produced in different materials in order to achieve particular properties, such as polypropylene or high- density polyethylene. In a particular aspect, anti-static bins may be used for accommodating electronics components. By example, a bin may have length 600mm x width 400mm, with heights of 210 mm or 310mm. In an aspect, at least one of the grid structures may be a consolidation grid. A consolidation grid is a grid used for intermediate storing, e.g., for storing a plurality of bins that contain goods intended for a particular order.
Each vehicle has two sets of wheels that enable it to move horizontally on rails which extend along two axes on the top of each grid structure 20, 22, 24. The axes may be perpendicular. This makes it possible for all vehicles to reach any position on the top of the relevant grid structure.
Each vehicle is equipped with a lift for picking up, carrying, and placing storage bins that are stored in the corresponding grid structure. The robot communicates with a control system via a wireless link and is automatically recharged when needed, typically at night.
Fig. 4 is a schematic perspective view illustrating certain aspects of a bin lift device. The bin lift device 50 includes a movable support for a bin 30, the movable support being arranged to slide in a vertical frame which includes at least two, possibly four, vertical columns, which are arranged at corresponding corners of the bin when positioned to be supported by the movable support. The bin lift device is further arranged to be elevated or lowered by appropriate lifting means.
Fig. 5 is a schematic perspective view illustrating certain aspects of a bin lift device 30 at the top of an upper grid structure. The upper ends of the columns of the vertical frames are interconnected by an upper framework constituting the upper level 20 of the grid structure. The upper framework has openings corresponding to the shape and size of the bin 30 that is lifted and lowered by the bin lift device 50.
Fig. 6 is a schematic perspective view illustrating certain aspects of a bin lift device at the top of an intermediate grid structure. The bin lift device 50 has features corresponding to those illustrated in figure 5, but the framework 70 constitutes the upper level 22 of an intermediate grid structure. Further, two columns of the bin lift device 50 extend further upwards to another grid structure at a higher level, e.g. the upper grid structure 20.
Fig. 7 is a schematic perspective view illustrating certain aspects of a bin lift device and a delivery station. The delivery station 60, or port, is arranged at the lower end of the bin lift device 30. The delivery station 60 serves the purpose of delivering a bin to a human operator of the system, and to receive bins from the operator. The delivery station may be arranged, e.g., at a ground floor.
Fig. 8 is a schematic perspective view illustrating certain aspects of a twin bin lift device at the top of an upper grid structure. The twin bin lift device includes two bin lift devices 50, 52 as already described with reference to the bin lift device 50 above, which may be arranged at opposite sides of a pillar, or constructional supporting column, 80.
Fig. 9 is a schematic perspective view illustrating certain aspects of a twin bin lift device and two delivery stations. The twin bin lift device includes two bin lift devices as already described with reference to fig. 8, and two delivery stations 60, 62 arranged at opposite sides of the pillar, or constructional supporting column, 80.
Fig. 10 is a schematic block diagram illustrating principles of network
communication between storage system components.
Each vehicles 40, 42 is remotely controlled, for instance by means of a wireless radio-based communication link. To this end, an access point 1 10 has been provided as a wireless router for providing communication between a control unit 100, e.g. a computer, and each vehicle 40, 42. The access point may be arranged in the vicinity of the system as a whole, or separate access points may be employed for different parts of the storage etc. Also, each vehicle is provided with wireless communication means configured to provide wireless communication. Each vehicle is further provided with an electrical energy source, such as a rechargeable battery, in order to supply electrical effect to a motor or a plurality of motors which are also incorporated in each vehicle.
The control unit 100 is further operatively connected to control equipment controlling the delivery stations 66.
The control unit 100 is further operatively connected to console equipment and viewing equipment.
The control unit 100 includes an interface network and a customer network, which is configured, in use, to provide communication with a database such as an SQL database and further computing equipment or devices.
The detailed description has been presented above for the purpose of understanding the principles of the present invention. It will be understood that the invention is not limited to the particular embodiments described herein. Various modifications, rearrangements and substitutions may readily become apparent to those skilled in the art without departing from the scope of the invention, which is defined by the following claims and their equivalents.

Claims

1. Storage system, comprising a first grid structure of storage cells, each storage cell being arranged to
accommodate a vertical stack of storage bins, the first grid structure having a top level, a first vehicle, arranged to move horizontally at the top level of the first grid structure, and a bin lift device, arranged to convey a bin in a vertical direction between the top level of the grid structure and a delivery station, wherein the first vehicle is further arranged to receive a storage bin from a storage cell at the top level of the first grid structure and to deliver the storage bin to the bin lift device, wherein the bin lift device is arranged to receive a bin from the vehicle at the top level of the first grid structure and to convey the bin to the delivery station, characterized in that the storage system further comprises a second grid structure of storage cells at a different vertical level than the first grid structure, a second vehicle, arranged to move horizontally at the top level of the second grid structure, wherein the second vehicle is further arranged to receive a storage bin from a storage cell at the top level of the second grid structure and to deliver the storage bin to the bin lift device,
wherein the bin lift device is further arranged to convey a bin in a vertical direction between the top levels of the first grid structure and the second grid structure, and wherein the second grid structure is arranged below the first grid structure.
2. Storage system according to claim 1 ,
wherein the first and second grid structures are arranged on separate floors or mezzanines in a building.
3. Storage system according to one of the preceding claims,
wherein the bin lift device is arranged to receive a bin from the vehicle at the top level of the second grid structure and to convey the bin to the delivery station.
4. Storage system according to claim 3, wherein
the second grid structure is arranged below the first grid structure and
the delivery station is arranged below the level of the second grid structure.
5. Storage system according to claim 4, wherein
the delivery station is arranged on the ground floor in a building.
6. Storage system according to one of the preceding claims,
further comprising additional vehicles arranged to move at the top level of the first grid structure and arranged to receive a storage bin from a storage cell at the top level of the first grid structure.
7. Storage system according to one of the preceding claims,
further comprising additional vehicles arranged to move at the top level of the second grid structure and arranged to receive a storage bin from a storage cell at the top level of the second grid structure.
8. Storage system according to one of the preceding claims,
further comprising at least one additional grid structure of storage cells, arranged on a vertical level different from the vertical levels of other grid structures in the system.
9. Storage system according to claim 8, wherein
the first grid structure is an upper grid structure and the second grid structure is an intermediate grid structure, and wherein the at least one additional grid structures includes a lower grid structure.
10. Storage system according to claim 8,
wherein at least one of the grid structures is a consolidation grid.
1 1. Storage system according to one of the preceding claims, wherein the inter- grid bin lift device is further arranged to receive a storage bin from the vehicle at the top level of the second grid structure and to convey the storage bin in a vertical direction to the top level of the first grid structure.
12. Storage system according to one of the preceding claims, further comprising at least one additional inter-grid bin lift device, arranged to receive a storage bin from the vehicle at the top level of the first grid structure and to convey the storage bin in a vertical direction to the top level of the second grid structure.
13. Storage system according to one of the preceding claims, further comprising a control unit and network communication devices configured to provide wireless communication between the control unit and said vehicles.
PCT/EP2013/072887 2012-11-13 2013-11-04 Storage system WO2014075937A1 (en)

Priority Applications (19)

Application Number Priority Date Filing Date Title
RS20170984A RS56495B1 (en) 2012-11-13 2013-11-04 Storage system
US14/442,410 US10189641B2 (en) 2012-11-13 2013-11-04 Storage system
SI201330797T SI2920088T1 (en) 2012-11-13 2013-11-04 Storage system
ES13786231.4T ES2643269T3 (en) 2012-11-13 2013-11-04 Storage system
CN201380059159.4A CN104781163B (en) 2012-11-13 2013-11-04 Stocking system
LTEP13786231.4T LT2920088T (en) 2012-11-13 2013-11-04 Storage system
PL13786231T PL2920088T3 (en) 2012-11-13 2013-11-04 Storage system
DK13786231.4T DK2920088T3 (en) 2012-11-13 2013-11-04 STORAGE SYSTEM
JP2015541087A JP6463686B2 (en) 2012-11-13 2013-11-04 Storage system
EA201590919A EA201590919A1 (en) 2012-11-13 2013-11-04 STORAGE SYSTEM
AU2013347061A AU2013347061B2 (en) 2012-11-13 2013-11-04 Storage system
CA2885984A CA2885984A1 (en) 2012-11-13 2013-11-04 Storage system
EP13786231.4A EP2920088B1 (en) 2012-11-13 2013-11-04 Storage system
HK16100366.8A HK1212310A1 (en) 2012-11-13 2016-01-14 Storage system
HRP20171467TT HRP20171467T1 (en) 2012-11-13 2017-10-02 Storage system
CY20171101024T CY1119688T1 (en) 2012-11-13 2017-10-03 STORAGE SYSTEM
US15/807,597 US11072494B2 (en) 2012-11-13 2017-11-09 Storage system
US16/569,688 US11827448B2 (en) 2012-11-13 2019-09-13 Storage system
US18/492,530 US20240092573A1 (en) 2012-11-13 2023-10-23 Storage system

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NO20121335A NO334806B1 (en) 2012-11-13 2012-11-13 storage System
NO20121335 2012-11-13

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US15/817,597 Continuation US10691770B2 (en) 2017-11-20 2017-11-20 Real-time classification of evolving dictionaries

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CA (1) CA2885984A1 (en)
CY (1) CY1119688T1 (en)
DK (1) DK2920088T3 (en)
EA (1) EA201590919A1 (en)
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HK (1) HK1212310A1 (en)
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PL (1) PL2920088T3 (en)
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EP2920088A1 (en) 2015-09-23
PL2920088T3 (en) 2017-12-29
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US11072494B2 (en) 2021-07-27
CN104781163B (en) 2016-09-07
NO20121335A1 (en) 2014-05-14
AU2013347061B2 (en) 2017-05-11
HK1212310A1 (en) 2016-06-10
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US10189641B2 (en) 2019-01-29
US11827448B2 (en) 2023-11-28
KR20150084773A (en) 2015-07-22
NO334806B1 (en) 2014-06-02
US20230331476A9 (en) 2023-10-19
CY1119688T1 (en) 2018-04-04
US20180065804A1 (en) 2018-03-08
SI2920088T1 (en) 2017-11-30
US20160272421A1 (en) 2016-09-22
RS56495B1 (en) 2018-01-31
US20200042563A1 (en) 2020-02-06
DK2920088T3 (en) 2017-10-16
ES2643269T3 (en) 2017-11-21
CN104781163A (en) 2015-07-15
EA201590919A1 (en) 2015-10-30
US20240092573A1 (en) 2024-03-21
TW201429837A (en) 2014-08-01
PT2920088T (en) 2017-10-09
EP2920088B1 (en) 2017-07-12
JP6463686B2 (en) 2019-02-06
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CA2885984A1 (en) 2014-05-22
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