Picking systems and methods

Patent metadata

Field	Value
Publication number	US-11738946-B2
Application number	US-202218045209-A
Country	US
Kind code	B2
Filing date	Oct 10, 2022
Priority date	Nov 11, 2015
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

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 comprising 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 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 plurality of robotic devices including an opening in a top surface of each robotic device, thereby extending a cavity through the robotic device enabling access to contents of a storage container or first delivery container within the cavity of the robotic device, wherein the robotic device is located on the grid of the storage system; and
a robotic picker adapted to access the content of the storage container or first delivery container located within the cavity of one of the plurality of robotic devices located on the grid of the storage system
wherein the robotic picker is adapted to pick an inventory item from the one of the plurality of robotic devices and to place the inventory item in a second robotic device including a second delivery container.

2. The combination according to claim 1 , wherein the storage container or the first delivery container is configured to be lifted from the storage system in to the extended cavity of the robotic device.

3. The combination according to claim 2 , wherein when the storage container or the first delivery container is in situ in the robotic device, the storage container or the first delivery container is exposed at the top surface of the robotic device, enabling inventory items to be picked directly in to the second delivery container.

4. The combination according to claim 2 , wherein lifting means, and container gripping mechanism are located to the sides of each of the plurality of robotic devices.

5. The combination according to claim 1 , wherein the plurality of robotic devices each have one or more overhanging sections.

6. The combination according to claim 5 , wherein the plurality of robotic devices each have an overhanging section on only one side of the robotic device.

7. The combination according to claim 1 , wherein the plurality of robotic devices are each arranged to occupy only a single space of the grid.

8. The combination according to claim 1 , wherein the robotic picking area of the storage system is only one container deep.

9. The combination according to claim 1 , wherein the plurality of robotic devices further comprise sensors configured to ensure that inventory items are delivered to the correct second delivery container and/or the correct part of the second delivery container.

10. The combination according to claim 1 , wherein the robotic picker is movably mounted on an edge of the storage system, the robotic picker configured to pick an inventory item from within a portion of the storage system and deposit the inventory item within a third delivery container located in the storage system.

11. The combination according to claim 1 , wherein the robotic picker is suspended above the storage system.

12. The combination according to claim 11 , wherein a plurality of robotic pickers are suspended from the ceiling above the storage system.

13. The combination according to claim 11 , wherein the robotic picker is suspended at a fixed point from the ceiling above the storage system.

14. The combination according to claim 11 , wherein the robotic picker is movably mounted above the storage system, the robotic picker being movable to positions above any storage container or delivery container within the storage system, the robotic picker being adapted so as to pick inventory items directly from at least one storage container and deposit the or each item in at least one third delivery container.

15. The combination according to claim 11 , wherein the robotic picker is located on a beam, moveable in the x-y direction above the storage system to locate the robotic picker at required points above the storage system.

16. The combination according to claim 11 , wherein the robotic picker is movable under the control of a centralized control utility.

17. The combination according to claim 1 , wherein a number of robotic devices of the plurality of robotic devices containing the storage containers or the first delivery containers including inventory items required to fulfill customer orders are positioned within reach of the robotic picker.

18. The combination according to claim 1 , wherein the robotic picker picks from a number of storage containers of the plurality of storage containers located within reach, to the first delivery container located in a robotic device.

19. The combination according to claim 1 , wherein a robotic device of the plurality of robotic devices having the first delivery container in situ, is positioned centrally surrounded by robotic devices of the plurality of robotic devices each having a storage container in situ.

20. The combination according to claim 1 , wherein the robotic picker is arranged to have sufficient reach to pick from the storage containers located in situ of the plurality of robotic devices or from storage containers of the plurality of storage containers located in the storage system beneath 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

  for matrix-arrangements · CPC title

• B65G2201/0235

  Containers · CPC title