Picking systems and methods

Patent metadata

Field	Value
Publication number	US-10899539-B2
Application number	US-201615775623-A
Country	US
Kind code	B2
Filing date	Nov 11, 2016
Priority date	Nov 11, 2015
Publication date	Jan 26, 2021
Grant date	Jan 26, 2021

Abstract

A system for picking items from a containerised storage system is described. The items are stored in storage bins in stacks within a framework having a grid system disposed above the stacks of bins. Robotic devices are disposed on the grid, the devices acting so as to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.

First claim

The invention claimed is:

1. A combination of a picking system within a storage system, the combination comprising:
a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces;
a set of uprights, the uprights supporting the first and second sets of rails or tracks, the uprights and rails or tracks together defining a framework;
a robotic load handling device containing at least one delivery container and configured to travel on the first and second sets of rails or tracks;
a plurality of storage containers located beneath the first and second sets of rails or tracks and within the framework, a portion of the storage containers occupying a space below a grid space; and
a robotic picking device arranged to operate above the plurality of grid spaces and including picking means disposed above the containers, the picking means being configured to pick at least one inventory item from at least one container of the plurality of storage containers and deposit the inventory item into the at least one delivery container while disposed above the plurality of grid spaces wherein the robotic load handling device is configured to move independently of the robotic picking device.

2. A combination according to claim 1 , wherein the robotic picking device is configured to be operable on the first and second sets of rails or tracks.

3. A combination according to claim 2 , wherein the picking means is disposed within the robotic picking device.

4. A combination according to claim 2 , wherein the picking means is disposed on the robotic picking device.

5. A combination according to claim 1 , comprising:
a crane including the robotic picking device, the crane being disposed above the grid of the storage system and being configured to position the robotic picking device above individual containers in the storage system during operation.

6. A combination according to claim 1 , wherein the robotic picking device is fixedly attached to structural members surrounding the storage system.

7. A combination according to claim 6 , wherein the structural members include at least one of a ceiling, a wall and a supporting framework of a building containing the storage system.

8. A combination according to claim 1 wherein the robotic load handling device is configured to lift containers from beneath the grid and transport the containers to alternative positions within the storage system.

9. A combination according to claim 1 wherein a portion of the storage system comprises:
a picking area, the picking area having a section of grid configured with a depth of one container deep beneath the grid.

10. A combination according to claim 9 in which said portion of the storage system comprises:
a plurality of containers configured for storing inventory items within the storage system.

11. A combination according to claim 10 in which delivery containers are disposed within storage containers.

12. A combination according to claim 10 in which said portion of the storage system comprises:
a plurality of additional delivery containers configured for transfer of inventory items onward from the storage system to a customer.

13. A combination according to claim 12 in which delivery containers are disposed within storage containers.

14. A combination according to claim 13 in which said delivery containers comprise:
a number of bags arranged to receive inventory items to be delivered.

15. A combination according to claim 9 in which said portion of the storage system comprises:
a plurality of additional delivery containers configured for transfer of inventory items onward from the storage system to a customer.

16. A combination according to claim 15 in which said delivery containers comprise:
a number of bags arranged to receive inventory items to be delivered.

17. A method of picking inventory items from a storage system, the storage system having:
a first set of parallel rails or tracks, and a second set of parallel rails or tracks extending substantially perpendicularly to the first set in a substantially horizontal plane to form a grid pattern with a plurality of grid spaces; a set of uprights, the uprights supporting the first and second sets of rails or tracks, the uprights and rails or tracks together defining a framework;
a robotic load handling device containing at least one delivery container and configured to travel on the first and second sets of rails or tracks;
a plurality of first containers located beneath the tracks and within the framework, each first container occupying a space below a grid space; a robotic picking device arranged to operate above the plurality of grid spaces and including picking means disposed above the containers wherein the robotic load handling device is configured to move independently of the robotic picking device, the method comprising:
locating at least one first container containing a target inventory item to be picked;
locating at least one second container in which the target inventory item is to be deposited;
transferring at least one item from the at least one first container below the grid space to the at least one second container in the load handling device directly from the at least one first container to the at least one second container while the robotic picking device is located on or above the grid.

Assignees

• Ocado Innovation Ltd

Inventors

• Lindbo Lars Sverker Ture
• Ingram-Tedd Andrew John

Classifications

• B25J15/08

  having finger members (B25J15/02, B25J15/04 take precedence) · CPC title

• B25J5/007

  mounted on wheels · CPC title

• B65G1/065

  with self propelled cars · CPC title

• B65G1/0478 Primary

  for matrix-arrangements · CPC title

• B65G2201/0235

  Containers · CPC title