Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown

• US 10,088,840 B2
• Filed: 03/17/2014
• Issued: 10/02/2018
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Dorval, Rick K., Comins, Todd
• Primary Examiner(s): Logan, Kyle O
• Application Number:
  US14/215,355
• Publication Number:
  US 20140343717A1
• Time in Patent Office: 1,660 Days
• Field of Search: 700217
• CPC Class Codes: B65G 2207/40 Safety features of loads, equipment or persons
• CPC Class Codes: G05D 1/00 Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots drive control systems specially adapted for autonomous road vehicles B60W60/00
• CPC Class Codes: G05D 1/0297 by controlling means in a control room

Abstract

A transportation system having a transportation space including destinations distributed in the transportation space, multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the vehicles are dynamically distributed through the transportation space, a control system communicably connected via a remote communication link to each of the vehicles and having a system controller that addresses each vehicle to different destinations, and the control system having a vehicle accountant controller separate and distinct from the system controller and configured to independently register a dynamic location of at least one of the vehicles, selected from the multiple vehicles in the transportation space, and command shutdown, via the remote communication link, to only the selected at least one vehicle at the registered location if the registered location corresponds to a predetermined location.

Claims

1. A transportation system comprising:

a transportation space including destinations distributed in the transportation space;

multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the vehicles are dynamically distributed through the transportation space; and

a control system communicably connected via a remote communication link to each of the vehicles and having a system controller that addresses each vehicle to different destinations;

where the control system includes a vehicle accountant controller separate and distinct from the system controller, the vehicle accountant controller being connected via the remote communication link to each of the multiple independent automated vehicles and the vehicle accountant controller is configured to

independently and automatically register a dynamic location of each of the at least one of the multiple independent automated vehicles, selected from the multiple independent automated vehicles in the transportation space,

command shutdown, via the remote communication link, to only the selected at least one of the multiple independent automated vehicles at the registered location if the registered location corresponds to a predetermined location, and

effect a human access lockout to at least a portion of the transportation space depending on the commanded shutdown of the selected at least one of the multiple independent automated vehicles.

2. The transportation system of claim 1, wherein each of the multiple independent automated vehicles is configured so that each of the multiple independent automated vehicles effects independent navigation through the transportation space.

3. The transportation system of claim 1, wherein the predetermined location defines a zone in the transportation space segregated from another zone in the transportation space.

4. The transportation system of claim 1, wherein the transportation space is three dimensional space with stacked levels, each level having at least one open deck and aisles for the multiple independent automated vehicles to traverse, the aisles communicating with the deck so that the multiple independent automated vehicles enter the aisles from the deck.

5. The transportation system of claim 1, wherein the remote communication link is common to both the system controller and the vehicle accountant controller.

6. The transportation system of claim 1, wherein the remote communication link is a wireless link.

7. The transportation system of claim 1, wherein the vehicle accountant controller is configured to use a black channel communication protocol over the remote communication link to command shutdown of the at least one of the multiple independent automated vehicles.

8. The transportation system of claim 1, wherein the vehicle accountant controller opens communication between the accountant controller and the selected at least one of the multiple independent automated vehicles over the remote communication link for transmission of the shutdown command to the selected at least one of the multiple independent automated vehicles.

9. The transportation system of claim 1, wherein the communication protocol of the commanded shutdown effects a secure and verified command on receipt by the selected at least one vehicle.

10. The transportation system of claim 1, wherein the selected at least one of the multiple independent automated vehicles is configured to effect secure and verified shutdown upon receipt of and in response to the commanded shutdown, and confirm shutdown to the vehicle accountant controller.

11. The transportation system of claim 1, wherein a communication state between the vehicle accountant controller and each of the multiple independent automated vehicles is normally closed and communication is opened by the vehicle accountant controller to the selected at least one of the multiple independent automated vehicles in connection and substantially coincident with the vehicle accountant controller commanding shutdown to the selected at least one of the multiple independent automated vehicles.

12. The transportation system of claim 11, wherein the communication state is closed upon confirmation of shutdown of the selected at least one of the multiple independent automated vehicles by the vehicle accountant controller.

13. The transportation system of claim 1, wherein a communication state between the vehicle accountant controller and each of the multiple independent automated vehicles is normally closed and communication is opened by the vehicle accountant controller to the selected at least one of the multiple independent automated vehicles in connection and substantially coincident with the vehicle accountant controller commanding activation of the selected at least one of the multiple independent automated vehicles previously shutdown.

14. A transportation system comprising:

a transportation space including destinations distributed in the transportation space;

multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the multiple independent automated vehicles are dynamically distributed through the transportation space; and

a control system communicably connected via a remote communication link to each of the multiple independent automated vehicles and having a system controller that addresses each of the multiple independent automated vehicles to different destination;

where the control system includes a vehicle accountant controller separate and distinct from the system controller, the vehicle accountant controller being connected via the remote communication link to each of the multiple independent automated vehicles and the vehicle accountant controller is configured to independently and automatically register a dynamic location of each of the at least one of the multiple independent automated vehicles, selected from the multiple independent automated vehicles in the transportation space, and command shutdown, via the remote communication link, to only the selected at least one of the multiple independent automated vehicles at the registered location if the registered location corresponds to a predetermined location, and

wherein the commanded shutdown as generated for communication by the vehicle accountant controller and received by the selected at least one of the multiple independent automated vehicles, and the system of the selected at least one of the multiple independent automated vehicles responsive to the commanded shutdown define a secure and verified remote shutdown system in compliance with IEC61508, SIL 3 category criteria.

15. A transportation system comprises:

a transportation space including destinations distributed in the transportation space;

multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the vehicles are dynamically distributed through the transportation space; and

a control system communicably connected via a remote communication link to each of the multiple independent automated vehicles and having a system controller that addresses each of the multiple independent automated vehicles to different destinations;

where the control system includes a vehicle accountant controller separate and distinct from the system controller, the vehicle accountant controller being connected via the remote communication link to each of the multiple independent automated vehicles and the vehicle accountant controller is configured

so that in response to being provided a predetermined location in the transport space the vehicle accountant controller independently and automatically registers a dynamic location of each of at least one of the multiple independent automated vehicles corresponding to the predetermined location in the transportation space, end

selectably commands shutdown, via the remote communication link, of only the at least one of the multiple independent automated vehicles at the registered location, and not other of the vehicles, and

effects a human access lockout to at least a portion of the transportation space depending on the commanded shutdown of only the at least one of the multiple independent automated vehicles at the registered location.

16. The transportation system of claim 15, wherein each of the multiple independent automated vehicles is configured so that the multiple independent automated vehicle effects independent navigation through the transportation space.

17. The transportation system of claim 15, wherein the predetermined location defines a zone in the transportation space segregated from another zone in the transportation space.

18. The transportation system of claim 15, wherein the transportation space is three dimensional space with stacked levels, each level having at least one open deck and aisles for the vehicles to traverse, the aisles communicating with the deck so that the multiple independent automated vehicles enter the aisles from the deck.

19. The transportation system of claim 15, wherein the remote communication link is common to both the system controller and the vehicle accountant controller.

20. The transportation system of claim 15, wherein the remote communication link is a wireless link.

21. The transportation system of claim 15, wherein the vehicle accountant controller uses a black channel communication protocol over the remote communication link to command shutdown of the at least one of the multiple independent automated vehicles.

22. The transportation system of claim 15, wherein the vehicle accountant controller opens communication between the accountant controller and the selected at least one of the multiple independent automated vehicles over the remote communication link for transmission of the commanded shutdown to the selected at least one of the multiple independent automated vehicles.

23. The transportation system of claim 15, wherein the communication protocol of the commanded shutdown effects a secure and verified command on receipt by the selected at least one of the multiple independent automated vehicles.

24. The transportation system of claim 15, wherein the selected at least one of the multiple independent automated vehicles is configured to effect secure and verified shutdown upon receipt of and in response to the commanded shutdown, and confirm shutdown to the vehicle accountant controller.

25. The transportation system of claim 15, wherein a communication state between the vehicle accountant controller and each of the multiple independent automated vehicles is normally closed and communication is opened by the vehicle accountant controller to the selected at least one of the multiple independent automated vehicles in connection and substantially coincident with the vehicle accountant controller commanding shutdown to the selected at least one of the multiple independent automated vehicles.

26. The transportation system of claim 25, wherein the communication state is closed upon confirmation of shutdown of the selected at least one of the multiple independent automated vehicles by the vehicle accountant controller.

27. The transportation system of claim 25, wherein a communication state between the vehicle accountant controller and each of the multiple independent automated vehicles is normally closed and communication is opened by the vehicle accountant controller to the selected at least one of the multiple independent automated vehicles in connection and substantially coincident with the vehicle accountant controller commanding activation of the selected at least one of the multiple independent automated vehicles previously shutdown.

28. A transportation system comprising:

a transportation space including destinations distributed in the transportation space;

multiple independent automated vehicles configured for free roving through the transportation space to and between the destinations so that the multiple independent automated vehicles are dynamically distributed through the transportation space; and

a control system communicably connected via a remote communication link to each of the multiple independent automated vehicles and having a system controller that addresses each of the multiple independent automated vehicles to different destinations;

where the control system includes a vehicle accountant controller separate and distinct from the system controller, the vehicle accountant controller being connected via the remote communication link to each of the multiple independent automated vehicles and the vehicle accountant controller is configured so that in response to being provided a predetermined location in the transport space the vehicle accountant controller independently and automatically registers a dynamic location of each of at least one of the multiple independent automated vehicles corresponding to the predetermined location in the transportation space, and selectably commands shutdown, via the remote communication link, of only the at least one of the multiple independent automated vehicles at the registered location, and not other of the multiple independent automated vehicles, and

wherein the commanded shutdown as generated for communication by the vehicle accountant controller and received by the selected at least one of the multiple independent automated vehicles, and the system of the selected at least one of the multiple independent automated vehicles responsive to the commanded shutdown define a secure and verified remote shutdown system in compliance with IEC61508, SIL 3 category criteria.

29. An automated storage and retrieval system comprising:

a multilevel structure defining a storage array with multiple storage locations and defining a transport space distributed through the array for transporting store units;

multiple independent automated vehicles configured for free roving the transport space for transportation of store units to and from storage locations in the storage array;

personnel access zones formed in the transport space, each zone having transport space closure for closing the portion of the transport space coincident with each zone to entry of vehicles from outside the zone; and

a control system including vehicle accountant controller configured to communicate with the multiple independent automated vehicles over a remote communication system, the vehicle accountant controller is configured to

independently and automatically register a dynamic location of the multiple independent automated vehicles and,

upon identification of a predetermined zone to be opened for personnel access, command evacuation of the multiple independent automated vehicles from within the predetermined zone and shutdown of each un-evacuated vehicle in the zone over the remote communication system with common remote communication links received at the multiple independent automated vehicles for evacuation and shutdown commands, and effect a human access lockout to at least a portion of the transportation space depending on the commanded shutdown of the selected at least one of the multiple independent automated vehicles.

30. The transportation system of claim 29, wherein the control system and remote communication system are configured so that shutdown commands are communicated via a black channel of the remote communication system to each un-evacuated vehicle.

31. The transportation system of claim 29, wherein the control system is configured so that presence of each un-evacuated vehicle in the predetermined zone is accounted for automatically independent of vehicle position identification by the control system for task allocation.

32. A transportation system comprising:

a multilevel structure defining a storage array with multiple storage locations and defining a transport space distributed through the array for transporting store units;

multiple independent automated vehicles configured for free roving the transport space for transportation of store units to and from storage locations in the storage array;

personnel access zones formed in the transport space, each zone having transport space closure for closing the portion of the transport space coincident with each zone to entry of vehicles from outside the zone; and

a control system including vehicle accountant controller configured to communicate with the multiple independent automated vehicles over a remote communication system, the vehicle accountant controller is con figured to independently and automatically register a dynamic location of the multiple independent automated vehicles and, upon identification of a predetermined zone to be opened for personnel access, command evacuation of the multiple independent automated vehicles from within the predetermined zone and shutdown of each un-evacuated vehicle in the zone over the remote communication system with common remote communication links received at the multiple independent automated vehicles for evacuation and shutdown commands;

wherein the control system, remote communication system and each vehicle of the multiple vehicles is configured so that shutdown, of each un-evacuated vehicle, in response to the commanded shutdown is secured and verified to satisfy IEC61508, SIL 3 category criteria.