Object storage, handling, and retrieving system and method

Patent metadata

Field	Value
Publication number	US-10822166-B2
Application number	US-201615580469-A
Country	US
Kind code	B2
Filing date	Jun 8, 2016
Priority date	Jun 8, 2015
Publication date	Nov 3, 2020
Grant date	Nov 3, 2020

Abstract

An object handling and retrieving system and method are described. A storage system is described suitable for storing multiple product lines in an automated warehouse environment. The storage system includes a plurality of load handling devices disposed above a frame and independently moveable to access different stacks. The load handling device can retrieve and transport a target container to a sequencing and temporary storage portion having a sorting frame for taking delivery of the target container and moving it to an output port of the sorting frame.

First claim

The invention claimed is:

1. An object handling and retrieval system, comprising:
a storage system with a drop off point and a workstation, the storage system having two substantially perpendicular sets of rails forming a grid above a workspace, the workspace having a plurality of stacked containers; and
robotic load handling devices operating on the grid above the workspace, each load handling device having a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, a second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid above any stack of containers by driving only a set of wheels engaged with the rails;
wherein at least one drop off point is positioned to engage with a sequencing portion, the sequencing portion being configured to receive containers delivered to the at least one drop off point by a load handling device and move said delivered containers to the workstation in a predetermined order, the sequencing portion including a frame located adjacent the storage system, the frame being provided with a plurality of container storage positions, the sequencing portion being further provided with moving means for moving containers from the container storage positions to the workstation in a predetermined order, said predetermined order being irrespective of an order in which the containers reached the drop off point such that objects located within containers may be accessed at the workstation.

2. An object handling system according to claim 1 , in which the or each drop off point is positioned to engage with a sequencing portion.

3. An object handling system according to claim 1 , wherein the moving means comprises:
a plurality of vehicles moveably located within the frame, the vehicles carrying containers around the frame.

4. An object handling system according to claim 1 , wherein the moving means comprises:
a series of shuttles located on a subsidiary track within the frame, each shuttle being configured to carry a containers around the frame.

5. An object handling system according to claim 1 , wherein the frame comprises:
an access port adjacent a workstation, said containers being configured for movement around the frame on the moving means, each container being accessible whilst on the moving means on which it is located when said container is adjacent an access port at the workstation.

6. An object handling system according to claim 1 , in which the storage and sequencing portion comprises:
diverting means, said diverting means being configured to divert containers from the moving means to the storage positions and from the storage positions to the moving means.

7. An object handling system according to claim 6 , in which the diverting means comprises:
pushing and pulling means.

8. An object handling system according to claim 1 , wherein the moving means comprises:
at least one picking means located adjacent the frame, the picking means being configured to select a predetermined container from the frame and transport the container to the workstation.

9. An object handling system according to claim 8 , wherein the picking means comprises:
removing means for removing a predetermined container from within a stack of containers located within the frame.

10. An object handling system according to claim 8 wherein the picking means comprises:
replacing means for replacing said predetermined container in a stack of containers located within the frame.

11. An object handling system according to claim 1 , comprising:
a utility for controlling selection of a predetermined container, the utility acting so as to correctly sequence arrival of containers at a workstation.

12. An object handling system according to claim 1 , comprising:
selecting means configured to select containers, such that any container is selectable for movement to a workstation, said selecting means having a control utility for controlling and monitoring positions of all containers within the system.

13. A method of retrieving containers from a container storage system and transporting the containers to a workstation, the method comprising:
(a) identifying target containers;
(b) retrieving a target container from the storage system using load handling devices;
(c) transporting the target container to a drop off point using the load handling devices, the drop off point being associated with a sequencing portion, the sequencing portion having moving means and a plurality of container storage positions;
(d) selecting the target container from one of the plurality of container storage positions; and
(e) sequencing the target container for movement to a position adjacent the workstation using the moving means, the container arriving with other containers at a container access point, associated with a workstation, in a predetermined order, said predetermined order being irrespective of an order in which the containers arrived at the sequencing portion.

14. A method of retrieving containers according to claim 13 , comprising:
(e) locating target containers in storage locations associated with the sequencing portion of the storage system, the storage locations being accessible to the moving means.

15. A method according to claim 13 , comprising;
controlling the sequencing of the containers using controlling means, the controlling means monitoring the position of each target container in the storage system.

Assignees

• Ocado Innovation Ltd

Inventors

• Ingram-Tedd Andrew John
• Lindbo Lars Sverker Ture
• Karolinczak Pawel

Classifications

• B65G2201/0235

  Containers · CPC title

• B65G1/1378

  the orders being assembled on fixed commissioning areas remote from the storage areas · CPC title

• B65G1/0485

  Check-in, check-out devices · CPC title

• B65G1/0464 Primary

  with access from above · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title