Storage and retrieval system rover interface

Patent metadata

Field	Value
Publication number	US-11001444-B2
Application number	US-201916293309-A
Country	US
Kind code	B2
Filing date	Mar 5, 2019
Priority date	Mar 13, 2013
Publication date	May 11, 2021
Grant date	May 11, 2021

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 having multiple storage levels and at least one autonomous rover, the system comprising:
at least one rover entry or exit station, the at least one rover entry or exit station being in communication with each storage level; and
a controller configured to insert or remove the at least one autonomous rover via the at least one rover entry or exit station to at least one of introduce and remove the at least one autonomous rover at a predetermined storage level, and the controller is configured to effect at least one of rover load balancing and work load balancing between storage levels so as to balance a work load in the automated storage and retrieval system.

2. The automated storage and retrieval system of claim 1 , wherein the at least one autonomous rover is introduced into the predetermined storage level from one or more of
another one of the multiple storage levels, and
outside of the automated storage and retrieval system.

3. The automated storage and retrieval system of claim 1 , wherein the at least one autonomous rover is removed from the predetermined storage level and transferred with the at least one rover entry or exit station to another one of the multiple storage levels or transferred with the at least one rover entry or exit station outside of the automated storage and retrieval system, where transfer of the at least one autonomous rover with the at least one rover entry or exit station is decoupled from case unit input and output from the storage and retrieval system.

4. An automated storage and retrieval system having multiple storage levels and at least one autonomous rover, the system comprising
at least one rover entry or exit station, the at least one rover entry or exit station being in communication with each storage level; and
a controller configured to:
insert or remove the at least one autonomous rover via the at least one rover entry or exit station to at least one of introduce and remove the at least one autonomous rover at a predetermined storage level, and the controller is configured to effect at least one of rover load balancing and work load balancing between storage levels so as to balance a work load in the automated storage and retrieval system; and
at least one of register and deregister the at least one autonomous rover upon a respective introduction and removal of each autonomous rover at the predetermined storage level.

5. The automated storage and retrieval system of claim 4 , wherein the at least one autonomous rover is introduced into the predetermined storage level from one or more of
another one of the multiple storage levels, and
outside of the automated storage and retrieval system.

6. The automated storage and retrieval system of claim 4 , wherein the at least one autonomous rover is removed from the predetermined storage level and transferred with the at least one rover entry or exit station to another one of the multiple storage levels or transferred with the at least one rover entry or exit station outside of the automated storage and retrieval system, where transfer of the at least one autonomous rover with the at least one rover entry or exit station is decoupled from case unit input and output from the storage and retrieval system.

7. An automatic registration system for autonomous rovers, the automatic registration system comprising:
a rover space having a global reference frame;
at least one registration station disposed at predetermined locations within the rover space, the at least one registration station being configured to communicate with each of the autonomous rovers to at least receive rover identification information; and
a controller in communication with the at least one registration station, the controller being configured to receive the at least rover identification information from the at least one registration station and wherein the at least one registration station is configured to effect autonomous rover location determination for allowing an autonomous rover lacking rover prepositioning information to commence operations from a cold start substantially anywhere within the rover space, where the controller effects induction of the autonomous rover into the rover space.

8. The automatic registration system of claim 7 , wherein the controller, based on the rover identification information, registers a corresponding autonomous rover as being at a predetermined location within the rover space corresponding from the at least one registration station.

9. The automatic registration system of claim 7 , wherein the rover space is a multilevel storage structure and the global reference frame is a three dimensional reference frame of the multilevel storage structure.

10. The automatic registration system of claim 7 , further comprising:
at least one rover transfer station configured to physically insert or remove the at least one autonomous rover to and from the rover space where the physical insertion or removal of the at least one autonomous rover to and from the rover space is decoupled from case unit input and output.

11. The automatic registration system of claim 10 , wherein each of the at least one rover transfer station includes a respective registration station, the registration station being further configured to send location information corresponding to a location of the at least one rover with respect to the global reference frame.

12. The automatic registration system of claim 7 , wherein a location of each of the at least one registration station within the rover space is mapped within the global reference frame.

13. The automatic registration system of claim 7 , wherein the at least one registration station is configured to one or more of
effect updating a location of a registered autonomous rover within the rover space, and
communicate with each of the autonomous rovers through one or more of a radio wave receiver and an optical code reader.

14. A method for automatically registering autonomous rovers, the method comprising:
providing a rover space having a global reference frame;
providing at least one registration station disposed at predetermined locations within the rover space, the at least one registration station being configured to communicate with each of the autonomous rovers to at least receive rover identification information;
receiving, with a controller in communication with the at least one registration station, the at least rover identification information from the at least one registration station; and
effecting, with the at least one registration station, autonomous rover location determination for allowing an autonomous rover lacking rover prepositioning information to commence operations from a cold start substantially anywhere within the rover space, where the controller effects induction of the autonomous rover into the rover space.

15. The method of claim 14 , further comprising registering, with the controller based on the rover identification information, a corresponding autonomous rover as being at a predetermined location within the rover space corresponding from the at least one registration station.

16. The method of claim 14 , wherein the rover space is a multilevel storage structure and the global reference frame is a three dimensional reference frame of the multilevel storage structure.

17. The method of claim 14 , further comprising:
physically inserting or removing, with at least one rover transfer station, the at least one autonomous rover to and from the rover space where the physic

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