Storage and retrieval system rover interface

Patent metadata

Field	Value
Publication number	US-10221013-B2
Application number	US-201715598969-A
Country	US
Kind code	B2
Filing date	May 18, 2017
Priority date	Mar 13, 2013
Publication date	Mar 5, 2019
Grant date	Mar 5, 2019

Abstract

An automated storage and retrieval system including at least one autonomous rover for transferring payload within the system and including a communicator, a multilevel storage structure, each level allowing traversal of the at least one autonomous rover, at least one registration station disposed at predetermined locations on each level and being configured to communicate with the communicator to at least receive rover identification information, and a controller in communication with the at least one registration station and configured to receive the at least rover identification information and at least one of register the at least one autonomous rover as being on a level corresponding to a respective one of the at least one registration station or deregister the at least one autonomous rover from the system, where the controller effects induction of the at least one autonomous rover into a predetermined rover space on the level.

First claim

What is claimed is:

1. An automated storage and retrieval system comprising:
at least one autonomous rover configured for transporting case units;
at least one modular rover space, inside the automated storage and retrieval system, in which the at least one autonomous rover travels so that inside the automated storage and retrieval system is wholly defined by each of the at least one modular rover space, each of the at least one modular rover space including at least one vertical lift in communication with the at least one autonomous rover and configured to at least one of input and remove the case units from the modular rover space, storage spaces in communication with the at least one autonomous rover and configured to hold the case units, and at least one transfer deck configured to allow rover transit between the at least one vertical lift and respective storage spaces; and
at least one rover module connected to the at least one transfer deck, the at least one rover module being configured to at least one of introduce inside, from outside the automated storage and retrieval system, and remove, from inside to outside the automated storage and retrieval system, the at least one autonomous rover onto a rolling surface of at least one respective modular rover space substantially independent of the input and removal of case units to and from the automated storage and retrieval system.

2. The automated storage and retrieval system of claim 1 , wherein the at least one rover module is configured to at least one of introduce and remove the at least one autonomous rover into at least one respective modular rover space substantially independent of case unit transfer by the at least one autonomous rover.

3. The automated storage and retrieval system of claim 1 , wherein the at least one transfer deck comprises at least two vertically stacked transfer decks and the at least one rover module is configured to one or more of
transfer the at least one autonomous rover to each of the at least two vertically stacked transfer decks, and
transfer the at least one autonomous rover between each of the at least two vertically stacked transfer decks while the at least one autonomous rover remains within the automated storage and retrieval system.

4. The automated storage and retrieval system of claim 1 , wherein the at least one modular rover space includes at least two modular rover spaces connected to each other to form a storage array of the automated storage and retrieval system.

5. The automated storage and retrieval system of claim 4 , wherein the at least two modular rover spaces are configured so that the at least one autonomous rover transits between the at least two modular rover spaces.

6. The automated storage and retrieval system of claim 5 , wherein the at least one rover module effects transit of the at least one autonomous rover between the at least two modular rover spaces.

7. The automated storage and retrieval system of claim 1 , wherein the at least one rover module includes an identification system configured to effect registration and deregistration of the at least one autonomous rover upon a respective loading and unloading of each autonomous rover into the automated storage and retrieval system.

8. The automated storage and retrieval system of claim 1 , wherein each transfer deck includes at least one rover platform positioned to interface with a respective rover module.

9. The automated storage and retrieval system of claim 8 , wherein the at least one rover platform comprises a movable barrier at an interface between the at least one rover platform and the respective rover module.

10. The automated storage and retrieval system of claim 1 , wherein the at least one rover module effects rover load balancing between storage levels of the automated storage and retrieval system.

11. The automated storage and retrieval system of claim 1 , wherein the at least one modular rover space is configured to isolate the at least one automated rover within the automated storage and retrieval system.

12. A method comprising:
providing an automated storage and retrieval system with at least one autonomous rover configured for transporting case units;
providing the automated storage and retrieval system with at least one modular rover space, inside the automated storage and retrieval system, in which the at least one autonomous rover travels so that inside the automated storage and retrieval system is wholly defined by each of the at least one modular rover space, each of the at least one modular rover space including at least one vertical lift in communication with the at least one autonomous rover and configured to at least one of input and remove the case units from the modular rover space, storage spaces in communication with the at least one autonomous rover and configured to hold the case units, and at least one transfer deck configured to allow rover transit between the at least one vertical lift and respective storage spaces; and
at least one of introducing inside, from outside the automated storage and retrieval system, and removing, from inside to outside the automated storage and retrieval system, the at least one autonomous rover, with at least one rover module connected to the at least one transfer deck, into at least one respective modular rover space substantially independent of the input and removal of case units to and from the automated storage and retrieval system.

13. The method of claim 12 , further comprising at least one of introducing and removing the at least one autonomous rover, with the at least one rover module, into the at least one respective modular rover space substantially independent of case unit transfer by the at least one autonomous rover.

14. The method of claim 12 , wherein the at least one transfer deck comprises at least two vertically stacked transfer decks, the method further comprising one or more of:
transferring, with the at least one rover module, the at least one autonomous rover to each of the at least two vertically stacked transfer decks, and
transferring, with the at least one rover module, the at least one autonomous rover between each of the at least two vertically stacked transfer decks while the at least one autonomous rover remains within the automated storage and retrieval system.

15. The method of claim 12 , further comprising forming a storage array of the automated storage and retrieval system with at least two modular rover spaces connected to each other.

16. The method of claim 12 , wherein the at least one rover module includes an identification system, the method further comprising registering and deregistering the at least one autonomous rover, with the identification system, upon a respective loading and unloading of each autonomous rover into the automated storage and retrieval system.

17. The method of claim 12 , further comprising positioning at least one rover platform of each transfer deck to interface with a respective rover module.

18. The method of claim 17 , further comprising providing a movable barrier at an interface between the at least one rover platform and the respective rover module.

19. The method of claim 12 , wherein the at least one rover module effects rover load balancing between storage levels of the automated storage and retrieval system.

20. The method of claim 12 , further comprising isolating, with the at least one modular rover space, the at least one automated rover within the automated storage and retrieval system.

2

Assignees

• Symbotic Llc

Inventors

• Buzan Forrest
• Macdonald Edward A
• Apgar Taylor A
• Schaefer Thomas A
• Ziegler Melanie
• Barbour Russell G

Classifications

• B60L58/12

  responding to state of charge [SoC] · CPC title

• B60L2200/44

  Industrial trucks or floor conveyors · CPC title

• B60L2240/549

  Current · CPC title

• B60L2240/547

  Voltage · CPC title

• B60L3/12

  Recording operating variables {; Monitoring of operating variables} · CPC title