Automated in-rack picking

Patent metadata

Field	Value
Publication number	US-2020407165-A1
Application number	US-202016887211-A
Country	US
Kind code	A1
Filing date	May 29, 2020
Priority date	Jun 28, 2019
Publication date	Dec 31, 2020
Grant date	—

Abstract

An automated in-rack picking solution enables improved efficiency by permitting automatic reconfiguration of automated picking system (APS) deployments within an automated storage and retrieval system (ASRS). The storage volume of an ASRS can be more thoroughly utilized, even with a smaller number of APSs, when at least one APS is operable to autonomously relocate within the ASRS based at least on a stored item's location and/or property (e.g., suitability for handling by a particular end effector). An exemplary solution includes an APS positioned to reach stored items within a first subset of storage locations when affixed to a first attachment point; a transport component operable to relocate the APS to a second attachment point, wherein the APS is positioned to reach stored items within a second subset of the storage locations when affixed to the second attachment point; and a controller operable to instruct relocation of the APS.

First claim

What is claimed is:

1 . An automated in-rack picking system, the system comprising:
a plurality of storage locations for stored items within an automated storage and retrieval system (ASRS); a first relocatable automated picking system (APS) having a first end effector and a first fastening component operable to affix the first relocatable APS to a first one of a plurality of APS attachment points within the ASRS, wherein the first relocatable APS is positioned to reach stored items within a first subset of the plurality of storage locations within the ASRS when the first relocatable APS is affixed to the first APS attachment point; a transport component operable to relocate the first relocatable APS within the ASRS to a second one of the plurality of APS attachment points within the ASRS, wherein the first relocatable APS is positioned to reach stored items within a second subset of the plurality of storage locations within the ASRS when the first relocatable APS is affixed to the second APS attachment point; and a controller operable to instruct relocation of the first relocatable APS from the first APS attachment point to the second APS attachment point.

2 . The system of claim 1 wherein the first APS comprises a robotic arm.

3 . The system of claim 1 wherein the first fastening component comprises a clamp.

4 . The system of claim 1 further comprising:
at each of the plurality of APS attachment points, a power coupling operable to provide power to the first relocatable APS; and
wherein the first relocatable APS further comprises:
a power receptacle configured to couple with the power coupling at an APS attachment point of the plurality of APS attachment point.

5 . The system of claim 4 wherein the power coupling comprises a coupling type selected from the list consisting of:
an electrical connector, a wireless power coupling, and a pneumatic coupling.

6 . The system of claim 1 further comprising:
a communication component operable to provide a communication channel between the first relocatable APS and the controller.

7 . The system of claim 6 wherein the first relocatable APS is configured to, based at least upon relocating within the ASRS, report its position to the controller.

8 . The system of claim 1 further comprising:
a navigation component operable to position the first relocatable APS relative to each of the plurality of APS attachment points within the ASRS to permit engagement of the first fastening component.

9 . The system of claim 1 further comprising:
a second relocatable APS having a second end effector of a different type than the first end effector, the second relocatable APS having a second fastening component operable to affix the second relocatable APS to one of the plurality of APS attachment points within the ASRS.

10 . The system of claim 1 wherein the transport component is further operable to, based at least upon relocating the first relocatable APS within the ASRS, disengage from the first relocatable APS.

11 . The system of claim 1 further comprising:
an end effector store having a third end effector of a different type than the first end effector, wherein the first relocatable APS is operable to:
relocate, with the transport component, to the end effector store;
disengage the first end effector;
engage the third end effector; and
relocate, with the transport component, within the ASRS with the third end effector.

12 . A method of automated in-rack picking, the method comprising:
retrieving, by a first relocatable automated picking system (APS) having a first end effector and a first fastening component, stored items within a first subset of a plurality of storage locations within an automated storage and retrieval system (ASRS); determining a need for the first relocatable APS to relocate from a first one of a plurality of APS attachment points within the ASRS to a second one of the plurality of APS attachment points within the ASRS; instructing, by a controller, relocation of the first relocatable APS from the first APS attachment point to the second APS attachment point; detaching, by the first relocatable APS, from the first APS attachment point; relocating, with a transport component, the first relocatable APS from the first APS attachment point to the second APS attachment point; affixing, with the first fastening component, the first relocatable APS to the second APS attachment point; and retrieving, by the first relocatable APS, stored items within a second subset of the plurality of storage locations within the ASRS.

13 . The method of claim 12 wherein instructing relocation of the first relocatable APS comprises the controller instructing the first relocatable APS; and
wherein the method further comprises:
the first relocatable APS instructing the transport component to relocate the first relocatable APS.

14 . The method of claim 12 wherein the first APS comprises a robotic arm and wherein affixing the first relocatable APS to the second APS attachment point comprises actuating a clamp.

15 . The method of claim 12 further comprising:
providing, at the first APS attachment point and the second APS attachment point, power to the first relocatable APS.

16 . The method of claim 12 further comprising:
based at least upon relocating within the ASRS, reporting, by the first relocatable APS, its position to the controller.

17 . The method of claim 12 further comprising:
instructing, by the controller, relocation of a second relocatable APS within the ASRS, the second relocatable APS having a second end effector and a second fastening component.

18 . The method of claim 12 further comprising:
based at least upon relocating the first relocatable APS within the ASRS, disengaging the transport component from the first relocatable APS.

19 . The method of claim 12 further comprising:
relocating, with the transport component, the first relocatable APS to an end effector store;
disengaging the first end effector from the first relocatable APS;
engaging a third end effector with the first relocatable APS, the third end effector of a different type than the first end effector; and
relocating, with the transport component, the first relocatable APS within the ASRS with the third end effector.

20 . One or more computer storage devices having computer-executable instructions stored thereon for resource need forecasting, which, on execution by a computer, cause the computer to perform operations comprising:
instructing a first relocatable automated picking system (APS) to retrieve stored items within a first subset of a plurality of storage locations within an automated storage and retrieval system (ASRS); determining a need for the first relocatable APS to relocate from a first one of a plurality of APS attachment points within the ASRS to a second one of the plurality of APS attachment points within the ASRS; instructing relocation of the first relocatable APS from the first APS attachment point to the second APS attachment point; receiving a reported position of the first relocatable APS at the second APS attachment point; instructing the first relocatable APS to retrieve stored items within a second subset of the plurality of storage locations within the ASRS; instructing relocation of the first relocatable APS to an end effector store; instructing replacing an end effector on the first relocatable APS; instructing relocation of the first relocatable APS within the ASRS

Assignees

• Walmart Apollo Llc

Inventors

• Roth Brian C
• Durkee Paul
• Edwards Ben

Classifications

• B65G1/1376

  the orders being assembled on a commissioning conveyor · CPC title

• B25J15/04

  with provision for the remote detachment or exchange of the head or parts thereof · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title

• B65G1/1378 Primary

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

• G06Q10/087

  Inventory or stock management, e.g. order filling, procurement or balancing against orders · CPC title