Robotic service device and handling method

Patent metadata

Field	Value
Publication number	US-12116206-B2
Application number	US-202017112197-A
Country	US
Kind code	B2
Filing date	Dec 4, 2020
Priority date	Feb 29, 2016
Publication date	Oct 15, 2024
Grant date	Oct 15, 2024

Abstract

A robotic service device for a robotic picking system grid. The robotic service device can be configured for driving to any location on the grid in order to restart malfunctioning robotic load handling devices or to perform maintenance operations or cleaning in situ. Additionally, the service device may be used to rescue robotic load handling devices operational in the picking system. The robotic service device can include a releasable docking mechanism to enable it to dock and latch on to malfunctioning load handling devices. A deployable, releasable electrical connecting device is shaped to conform to a charging, powering, or battery component of one or more of the load handling devices.

First claim

What is claimed is:

1. A service device operating on a storage and robotic picking system having two substantially perpendicular sets of rails forming a grid, the system comprising:
a plurality of robotic load handling devices operative on the rails, wherein each of the plurality of robotic load handling devices and the service device includes:
a body mounted on two sets of wheels, a first set of the two sets of wheels being arranged to engage with at least two rails of a first set of rails of the perpendicular sets of rails, a second set of the two sets of wheels being arranged to engage with at least two rails of a second set of rails of the perpendicular sets of rails, the first set of wheels being independently moveable and drivable with respect to the second set of wheels such that only one set of wheels will engage with the rails at any one time thereby enabling movement of the plurality of robotic load handling devices and the service device along the rails to any point on the grid by driving only the first or second set of wheels engaged with the rails, wherein the service device further includes:
a deployable, releasable electrical connecting means shaped to conform to charging means, powering means or battery means of at least one of the plurality of load handling devices; and
a power source configured to supply power to at least one of the plurality of load handling devices via the electrical connecting means.

2. A service device according to claim 1 , wherein the electrical connecting means comprises a magnetic connection means, an interference connection means, or a wireless connection means.

3. A service device according to claim 1 , comprising:
communication means for receiving commands from the storage and robotic picking system, wherein a releasable connection of the electrical connecting means is configured to be made and broken under a command of a utility within control software of the storage and robotic picking system received by the communication means.

4. A service device according to claim 1 , wherein a cavity region of the service device comprises additional cell or battery means connected to said deployable, releasable electrical connecting means.

5. A service device according to claim 1 , comprising:
a releasable latching mechanism configured to enable the service device to be releasably attached to the robotic load handling device, wherein the releasable latching mechanism includes the electrical charging means.

6. A service device according to claim 1 , comprising:
a releasable latching mechanism that is connectable to a faulty robotic load handler device of the plurality of robotic load handling devices, the releasable latching mechanism is configured to enable the service device to raise and lower the sets of wheels on the faulty robotic load handler device.

7. A service device according to claim 1 , comprising:
a releasable latching mechanism which includes a device configured to enable the service device to retract a gripper mechanism of the at least one robotic load handling device to be retracted from within a framework of the storage and robotic picking system.

8. A service device according to claim 1 , comprising:
sensor means to allow a system operator to remotely diagnose a fault with the at least one robotic load handing device.

9. A service device according to claim 8 , wherein the sensor means comprises ultrasonic detectors, x-ray cameras, or sensors for assessing the telecommunications functions within the at least one robotic load handling device.

10. A service device according to claim 1 , wherein the electrical connecting means is a first electrical connecting means, the service device comprising:
a second electrical connecting means to connect to a port of the at least one robotic load handling device to check for or diagnose faults via an installed diagnostic system.

11. A service device according to claim 10 , wherein the second electrical connecting means is integrated with the first electrical connecting means.

12. A service device according to claim 1 , further comprising:
reset means to enable the service device to reset the at least one robotic load handling device.

13. A service device according to claim 12 , wherein the reset means comprises a mechanical remotely operated manipulator device.

14. A service device according to claim 13 , wherein the mechanical manipulator is remotely operable to push the at least one robotic load handling device.

15. A service device according to claim 14 , wherein the mechanical manipulator acts in conjunction with the service device to push the at least one robotic load handling device.

16. A service device according to claim 13 , wherein the mechanical manipulator acts in conjunction with the service device to push the at least one robotic load handling device.

17. A service device according to claim 13 , wherein the reset means comprises a remotely operable electrical reset means.

18. A service device according to claim 1 , wherein the service device is adapted to carry barriers.

19. A service device according to claim 1 , wherein the service device comprises a cavity for transporting a container.

Assignees

• Ocado Innovation Ltd

Inventors

• Stadie Robert
• Ingram-Tedd Andrew John
• Whelan Matthew

Classifications

• B66F9/06

  movable, with their loads, on wheels or the like, e.g. fork-lift trucks (vehicle aspects B60 - B62; vehicles predominantly for transporting loads and modified to facilitate loading or unloading B60P1/00; low-lift hand trucks for transporting goods B62B3/06) · CPC title

• B65G45/24

  comprising plural diverse cleaning devices · CPC title

• B65G45/22

  comprising fluid applying means · CPC title

• B65G45/18

  comprising brushes · CPC title

• B61L23/04

  for monitoring the mechanical state of the route · CPC title