Hybrid modular storage fetching system

Patent metadata

Field	Value
Publication number	US-12509299-B2
Application number	US-202418773376-A
Country	US
Kind code	B2
Filing date	Jul 15, 2024
Priority date	Sep 30, 2016
Publication date	Dec 30, 2025
Grant date	Dec 30, 2025

Abstract

A hybrid modular storage fetching system is described. In an example implementation, an automated guided vehicle of the hybrid modular storage fetching system includes a drive unit that provides motive force to propel the automated guided vehicle within an operating environment. The automated guided vehicle may also include a container handling mechanism including an extender and a carrying surface, the container handling mechanism having three or more degrees of freedom to move the carrying surface along three or more axes. The container handling mechanism may retrieve an item from a first target shelving unit using the carrying surface and the three or more degrees of freedom and place the item on a second target shelving unit. The automated guided vehicle may also include a power source coupled to provide power to the drive unit and the container handling mechanism.

First claim

What is claimed is:

1 . A system, comprising:
a plurality of shelves mounted to a vertical support of an automated guided vehicle (AGV), the vertical support extending vertically from a body of the AGV, the plurality of shelves being vertically disposed along the vertical support on a first side of the vertical support, each shelf of the plurality of shelves being capable of storing one or more items, the plurality of shelves being rotationally fixed to the body of the AGV; and an item handling mechanism (IHM) coupled with the AGV on a second side of the vertical support, the IHM being adapted to remove an item from an external shelf and place the item on a first shelf of the plurality of shelves.

2 . The system of claim 1 , wherein:
the vertical support is connected to the body at a support connection point; the body of the AGV extends horizontally beyond the support connection point toward the first side of the vertical support; and the body of the AGV extends horizontally beyond the support connection point toward the second side of the vertical support.

3 . The system of claim 2 , wherein:
at least one shelf of the plurality of shelves is cantilevered beyond the vertical support at the first side.

4 . The system of claim 2 , wherein:
the vertical support includes two or more vertically oriented posts and a plurality of cross members coupling the two or more vertically oriented posts; and the support connection point is located substantially at a middle of the body of the AGV between the first side and the second side.

5 . The system of claim 2 , wherein:
the body of the AGV includes one or more wheels located substantially at a middle of the body of the AGV between the first side and the second side.

6 . The system of claim 1 , wherein:
each shelf of the plurality of shelves includes a substantially rectangular horizontal surface adapted to support the one or more items, two corners of the substantially rectangular horizontal surface being coupled with the vertical support; the plurality of shelves extend away from the first side of the vertical support, the vertical support supporting the plurality of shelves at the two corners; and the IHM extends from the second side of the vertical support, the second side of the vertical support opposing the first side of the vertical support, the vertical support supporting the IHM.

7 . The system of claim 1 , wherein:
the plurality of shelves are vertically arranged along the vertical support, the plurality of shelves including at least three horizontal shelves coupled with the vertical support of the AGV, at least one shelf of the plurality of shelves having an adjustable height along the vertical support.

8 . The system of claim 7 , further comprising:
one or more controllers that determine a current height of the at least one shelf of the plurality of shelves, and instruct the IHM to place the one or more items on the first shelf of the plurality of shelves at the current height.

9 . The system of claim 1 , further comprising:
an optical scanner coupled to the IHM that scans a shelf marker on an external shelving unit, the shelf marker indicating a position of the external shelving unit.

10 . The system of claim 1 , wherein:
the IHM is located above the body of the AGV at the second side of the AGV; and the plurality of shelves are located above the body of the AGV at the second side of the AGV.

11 . The system of claim 10 , wherein:
the IHM includes a support surface, the IHM being configured to rotate the support surface about a vertical axis of rotation.

12 . The system of claim 11 , wherein:
the IHM is supported by the vertical support, the IHM traveling vertically along the vertical support to adjust a height of the support surface.

13 . The system of claim 12 , wherein:
the IHM includes one or more extendable components configured to move the item between the support surface and the first shelf of the plurality of shelves.

14 . An automated guided vehicle (AGV), comprising:
a body having a first side and a second side, the body housing at least a portion of a drive unit that provides motive force to propel the body toward the first side or the second side within an operating environment; a plurality of shelves mounted to a vertical support of the AGV, the vertical support extending vertically from the body of the AGV, the plurality of shelves being vertically disposed along the vertical support on the first side of the vertical support, each shelf of the plurality of shelves being capable of storing one or more items, the plurality of shelves being rotationally fixed to the body of the AGV; an item handling mechanism (IHM) coupled with the AGV on the second side of the vertical support, the IHM being adapted to remove an item from an external shelf and place the item on a first shelf of the plurality of shelves; one or more controllers that receive instructions and control movement of the IHM and the drive unit; and a power source coupled to provide power to the drive unit, the IHM, and the one or more controllers.

15 . The AGV of claim 14 , wherein:
the vertical support is connected to the body at a support connection point; the body of the AGV extends beyond the support connection point toward the first side of the vertical support; the body of the AGV extends beyond the support connection point toward the second side of the vertical support; and at least one shelf of the plurality of shelves is cantilevered beyond the vertical support at the first side of the vertical support.

16 . The AGV of claim 14 , wherein:
the plurality of shelves are vertically arranged along the vertical support, the plurality of shelves including at least three horizontal shelves coupled with the vertical support of the AGV, at least one shelf of the plurality of shelves having an adjustable height along the vertical support.

17 . The AGV of claim 14 , wherein:
the IHM is located above the body of the AGV at the second side of the AGV; and the plurality of shelves are located above the body of the AGV at the second side of the AGV.

18 . The AGV of claim 17 , wherein:
the IHM includes a support surface, the IHM being configured to rotate the support surface about a vertical axis of rotation.

19 . The AGV of claim 18 , wherein:
the IHM is supported by the vertical support, the IHM traveling vertically along the vertical support to adjust a height of the support surface.

20 . The AGV of claim 19 , wherein:
the IHM includes one or more extendable components configured to move the item between the support surface and the first shelf of the plurality of shelves.

Assignees

• Staples Inc

Inventors

• Jarvis Daniel
• Amador Paolo Gerli
• Bhaskaran Michael
• Kalra Amit
• Gallaway Rodney
• Gopalakrishnan Vikranth

Classifications

• G05D1/246

  using environment maps, e.g. simultaneous localisation and mapping [SLAM] · CPC title

• G05D1/247

  using signals provided by artificial sources external to the vehicle, e.g. navigation beacons · CPC title

• G05D1/661

  Docking at a base station (delivering or retrieving payloads G05D1/667) · CPC title

• B65G1/0435

  with pulling or pushing means on either stacking crane or stacking area · CPC title

• B65G1/1378

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