WO2019238676A1 - Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille - Google Patents
Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille Download PDFInfo
- Publication number
- WO2019238676A1 WO2019238676A1 PCT/EP2019/065210 EP2019065210W WO2019238676A1 WO 2019238676 A1 WO2019238676 A1 WO 2019238676A1 EP 2019065210 W EP2019065210 W EP 2019065210W WO 2019238676 A1 WO2019238676 A1 WO 2019238676A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- remotely operated
- delivery vehicle
- vehicle
- container
- storage
- Prior art date
Links
- 238000000034 method Methods 0.000 title claims description 9
- 238000003860 storage Methods 0.000 claims abstract description 138
- 238000005096 rolling process Methods 0.000 claims abstract description 44
- 238000006073 displacement reaction Methods 0.000 claims abstract description 41
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000003213 activating effect Effects 0.000 claims description 6
- 230000006378 damage Effects 0.000 description 5
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 208000014674 injury Diseases 0.000 description 3
- 230000036316 preload Effects 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- CIWBSHSKHKDKBQ-JLAZNSOCSA-N Ascorbic acid Chemical compound OC[C@H](O)[C@H]1OC(=O)C(O)=C1O CIWBSHSKHKDKBQ-JLAZNSOCSA-N 0.000 description 1
- 241001481828 Glyptocephalus cynoglossus Species 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0055—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot with safety arrangements
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- B65G1/0471—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
- B65G1/137—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
- 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
- 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
Definitions
- the present invention relates to a safety device for a delivery vehicle adapted for transport of storage containers between a storage grid for storage of storage containers, and a second predetermined location adapted for handling of the storage container.
- the framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, in which storage columns 105 storage containers 106, also known as bins, are stacked one on top of another to form stacks 107.
- the safety device may comprise a collision mechanism and a sensor, a switch or a combination thereof.
- the sensor or switch may be activated when a dangerous situation occurs such as in the event of a collision.
- the sensor or switch operates as a fail-safe device providing a signal to the control unit which automatically stops or reverses the delivery vehicle, by applying a reverse torque to the wheels, for bringing the vehicle to a safe state, when activated.
- Such safe state may be for example reversing the vehicle at least a distance, or reduce the power to idle, or applying brakes while leaving the vehicle still active and ready to resume normal operation once control is reestablished.
- a mechanism may be provided with a preset resistance or force that must be overcome such that it is activated only when a force transmitted to the delivery vehicle exceeds a predefined value.
- a preset force or resistance may rely on friction, spring or some other form of pre-load that must be overcome by the force of the collision.
- Fig. 9 A-B illustrates a remotely operated delivery vehicle comprising a collision mechanism in form of a pressor sensor arranged as a list at the top of the container carrier.
Abstract
L'invention concerne un véhicule de livraison télécommandé pour le transport d'un conteneur de stockage entre une grille de stockage et de récupération automatisée, qui est configurée pour stocker une pluralité de piles de conteneurs de stockage, et une station d'accès pour la manipulation du conteneur de stockage par un opérateur robotique et/ou un opérateur humain. Le véhicule de livraison télécommandé comprend : - une carrosserie de véhicule comprenant un moteur permettant d'entraîner une pluralité de dispositifs de roulement pour déplacer le véhicule de livraison télécommandé dans un plan horizontal ; - une unité de commande permettant de commander le véhicule de livraison télécommandé ; et - un porte-conteneurs (35) disposé au-dessus de la carrosserie de véhicule motorisé pour transporter un conteneur de stockage. Le véhicule de livraison télécommandé comprend un dispositif de sécurité qui transmet un signal à l'unité de commande de sorte qu'il exécute une action d'actionnement du véhicule de livraison télécommandé dans le cas où une collision est détectée. La collision est provoquée par une force (F) agissant sur le véhicule de livraison télécommandé (30) et est détectée par un mécanisme de collision (60) du dispositif de sécurité et le mécanisme de collision est un dispositif de déplacement de porte-conteneurs (60) agencé de sorte qu'il déclenche le dispositif de sécurité lors du déplacement du porte-conteneurs (35) par rapport à la carrosserie de véhicule motorisé (31), ladite première position étant la position non déplacée et la seconde position étant la position déplacée.
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US17/059,222 US20210086782A1 (en) | 2018-06-12 | 2019-06-11 | Safety device for a remotely operated vehicle, a system and a method of mproving the operational safety of a grid system |
EP19730166.6A EP3807185A1 (fr) | 2018-06-12 | 2019-06-11 | Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille |
Applications Claiming Priority (6)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
NO20180813 | 2018-06-12 | ||
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 |
NO20181005 | 2018-07-19 | ||
NO20181524A NO345059B1 (en) | 2018-06-12 | 2018-11-28 | Safety device for a delivery vehicle |
NO20181524 | 2018-11-28 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2019238676A1 true WO2019238676A1 (fr) | 2019-12-19 |
Family
ID=66826984
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2019/065210 WO2019238676A1 (fr) | 2018-06-12 | 2019-06-11 | Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille |
Country Status (1)
Country | Link |
---|---|
WO (1) | WO2019238676A1 (fr) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112744501A (zh) * | 2020-12-29 | 2021-05-04 | 昆船智能技术股份有限公司 | 一种航材的自动化存储配送系统及方法 |
WO2021249865A3 (fr) * | 2020-06-12 | 2022-02-24 | Autostore Technology AS | Véhicule de distribution doté d'un support de conteneur rotatif, et procédés d'utilisation associés |
GB2604226A (en) * | 2020-12-24 | 2022-08-31 | Ocado Innovation Ltd | Motion control of a robotic load handling device |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2377638A1 (fr) * | 1977-01-13 | 1978-08-11 | Foerenade Fabriksverken | Detecteur de collision |
JPS60191855A (ja) * | 1984-03-12 | 1985-09-30 | Toshiba Corp | 無人搬送車の衝突検知装置 |
EP1103816A1 (fr) * | 1999-11-24 | 2001-05-30 | Denso Corporation | Dispositif de détection électro-mécanique d'impact pour des véhicules |
JP2001344020A (ja) * | 2000-05-31 | 2001-12-14 | Nippon Yusoki Co Ltd | 無人搬送車の制御装置及び制御方法 |
NO317366B1 (no) | 1999-07-01 | 2004-10-18 | Autostore As | Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper |
US20050232729A1 (en) * | 2004-03-31 | 2005-10-20 | Jervis B. Webb Company | Transport with rotatable load and safety bumper |
US20140086714A1 (en) * | 2012-09-27 | 2014-03-27 | Ohad MALIK | Automated warehousing systems and method |
WO2014090684A1 (fr) | 2012-12-10 | 2014-06-19 | Jakob Hatteland Logistics As | Robot pour le transport de bacs de stockage |
WO2015185628A2 (fr) * | 2014-06-03 | 2015-12-10 | Ocado Innovation Limited | Procédés, systèmes et appareil de commande de mouvement de transport de dispositifs |
WO2015193278A1 (fr) | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot pour transporter des bacs de stockage |
US9358975B1 (en) * | 2015-04-10 | 2016-06-07 | Google Inc. | Virtual moving safety limits for vehicles transporting objects |
-
2019
- 2019-06-11 WO PCT/EP2019/065210 patent/WO2019238676A1/fr unknown
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
FR2377638A1 (fr) * | 1977-01-13 | 1978-08-11 | Foerenade Fabriksverken | Detecteur de collision |
JPS60191855A (ja) * | 1984-03-12 | 1985-09-30 | Toshiba Corp | 無人搬送車の衝突検知装置 |
NO317366B1 (no) | 1999-07-01 | 2004-10-18 | Autostore As | Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper |
EP1103816A1 (fr) * | 1999-11-24 | 2001-05-30 | Denso Corporation | Dispositif de détection électro-mécanique d'impact pour des véhicules |
JP2001344020A (ja) * | 2000-05-31 | 2001-12-14 | Nippon Yusoki Co Ltd | 無人搬送車の制御装置及び制御方法 |
US20050232729A1 (en) * | 2004-03-31 | 2005-10-20 | Jervis B. Webb Company | Transport with rotatable load and safety bumper |
US20140086714A1 (en) * | 2012-09-27 | 2014-03-27 | Ohad MALIK | Automated warehousing systems and method |
WO2014090684A1 (fr) | 2012-12-10 | 2014-06-19 | Jakob Hatteland Logistics As | Robot pour le transport de bacs de stockage |
WO2015185628A2 (fr) * | 2014-06-03 | 2015-12-10 | Ocado Innovation Limited | Procédés, systèmes et appareil de commande de mouvement de transport de dispositifs |
WO2015193278A1 (fr) | 2014-06-19 | 2015-12-23 | Jakob Hatteland Logistics As | Robot pour transporter des bacs de stockage |
US9358975B1 (en) * | 2015-04-10 | 2016-06-07 | Google Inc. | Virtual moving safety limits for vehicles transporting objects |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021249865A3 (fr) * | 2020-06-12 | 2022-02-24 | Autostore Technology AS | Véhicule de distribution doté d'un support de conteneur rotatif, et procédés d'utilisation associés |
GB2604226A (en) * | 2020-12-24 | 2022-08-31 | Ocado Innovation Ltd | Motion control of a robotic load handling device |
GB2604226B (en) * | 2020-12-24 | 2023-05-31 | Ocado Innovation Ltd | Motion control of a robotic load handling device |
CN112744501A (zh) * | 2020-12-29 | 2021-05-04 | 昆船智能技术股份有限公司 | 一种航材的自动化存储配送系统及方法 |
CN112744501B (zh) * | 2020-12-29 | 2022-06-03 | 昆船智能技术股份有限公司 | 一种航材的自动化存储配送系统及方法 |
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