Autonomous transport vehicle charging system

• US 10,207,595 B2
• Filed: 09/12/2017
• Issued: 02/19/2019
• Est. Priority Date: 12/15/2010
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Sullivan, Robert, Vasilyev, Dmitry
• Primary Examiner(s): Fantu, Yalkew
• Application Number:
  US15/702,474
• Publication Number:
  US 20180001778A1
• Time in Patent Office: 525 Days
• Field of Search: 320109
• CPC Class Codes: B60G 5/00 Resilient suspensions for a set of tandem wheels or axles having interrelated movements
• CPC Class Codes: B60L 53/63 in response to network capacity
• CPC Class Codes: B60L 53/66 Data transfer between charging stations and vehicles
• CPC Class Codes: B60S 5/00 Servicing, maintaining, repairing, or refitting of vehicles vehicles adapted to carry a workshop for servicing or maintenance B60P3/14; servicing rail locomotives B61K
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses
• CPC Class Codes: B65G 47/04 for feeding articles
• CPC Class Codes: B65G 67/02 Loading or unloading land vehicles
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: G06Q 20/105 involving programming of a portable memory device, e.g. IC cards, "electronic purses"
• CPC Class Codes: G06Q 30/0215 Including financial accounts
• CPC Class Codes: G06Q 40/00 Finance; Insurance; Tax strategies; Processing of corporate or income taxes
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles

Abstract

A charging system for autonomous transport vehicles including at least one charging contact disposed on each pick floor level of a storage and retrieval system, each of the at least one charging contact being located at a transfer station, at least one power supply configured to supply power to the at least one charging contact, and a controller in communication with the transfer station and being configured to communicate information relating to a transfer of items between the transfer station and a predetermined one of the autonomous transport vehicles and to apply power from the power supply to the at least one charging contact for charging the predetermined autonomous transport vehicle corresponding to the transfer and located at the transfer station, wherein the controller is configured to supply power to the charging contacts simultaneously with the predetermined autonomous transport vehicle exchanging items related to the transfer at the transfer station.

Claims

1. A method comprising:

providing at least one autonomous transport vehicle;

providing at least one transfer station having an allocated and unallocated state where in the allocated state the at least one transfer station allows transfer of items from and to the at least one autonomous transport vehicle;

providing at least one charging station on each of at least one pick floor level of a storage and retrieval system, each of the at least one charging station being located at each respective one of the at least one transfer station and each of the at least one pick floor level including a transfer deck and a picking aisle in communication with the at least one charging station;

providing at least one power supply configured to supply power to the at least one charging station;

communicating, with a controller in communication with at least one of the at least one charging station and the at least one autonomous transport vehicle, information related to a transfer of items between a predetermined at least one transfer station, of the at least one transfer station, and a predetermined one of the at least one autonomous transport vehicle; and

applying power, with the controller, from the at least one power supply to the at least one charging station for charging the at least one autonomous transport vehicle located at the at least one transfer station, wherein the controller supplies power to the at least one charging station for charging the predetermined one of the at least one autonomous transport vehicle corresponding to the transfer of items with the predetermined one of the at least one autonomous transport vehicle transferring the items at the predetermined at least one transfer station with the predetermined at least one transfer station in the allocated state and communicating with an idle autonomous transport vehicle of the at least one autonomous transport vehicle on one of the transfer deck and the picking aisle and identifying a nearest available transfer station, of the predetermined at least one transfer station, in the unallocated state for charging the idle autonomous transport vehicle at the at least one charging station of the nearest available transfer station, of the predetermined at least one transfer station, in the unallocated state.

2. The method of claim 1, further comprising:

effecting, with the controller, at least one of a quick charge and a full charge to both

the predetermined one of the at least one autonomous transport vehicle corresponding to the transfer of items with the predetermined one of the at least one autonomous transport vehicle transferring the items at the predetermined at least one transfer station when the predetermined transfer station is in the allocated state, and

the idle autonomous transport vehicle at the at least one charging station when the predetermined at least one transfer station is in the unallocated state.

3. The method of claim 1, wherein the at least one power supply is commonly connected to the at least one charging station of vertically adjacent ones of the at least one pick floor level.

4. The method of claim 3, wherein the at least one charging station is commonly connected to the at least one power supply comprising a two by two array of charging stations where a first two of the charging stations in the array are located on a first pick floor level of the at least one pick floor level and a second two of the charging stations in the array are located on a second pick floor level of the at least one pick floor level, the first two of the charging stations and the second two of the charging stations being vertically stacked one above the other.

5. The method of claim 1, further comprising:

reserving, with the controller, access to one or more of the at least one charging station by one of the at least one autonomous transport vehicles.

6. The method of claim 1, further comprising:

re-routing, with the controller, one of the at least one autonomous transport vehicles destined for a first charging station, of the at least one charging station, to a second charging station, of the at least one charging station, when the first charging station is inoperable.

7. The charging system of claim 1, wherein the at least one transfer station includes a multilevel vertical conveyor and the operation of the at least one charging station and an associated multilevel vertical conveyor are linked such that when the at least one charging station is inoperable the controller deems the associated multilevel vertical conveyor inoperable at least for the pick floor level on which the at least one charging station is located.

8. A method comprising:

providing at least one autonomous transport vehicle;

providing at least one transfer station having an allocated and unallocated state where in the allocated state the at least one transfer station allows transfer of items from and to the at least one autonomous transport vehicle;

providing at least one charging station on each of at least one pick floor level of a storage and retrieval system, each of the at least one charging station being located at a respective one of the at least one transfer station;

providing at least one power supply configured to supply power to the at least one charging station;

communicating, with a controller in communication with at least one of the at least one charging station and the at least one autonomous transport vehicle, information related to a transfer of items between the at least one transfer station and a predetermined one of the at least one autonomous transport vehicle; and

applying power, with the controller, from the power supply to the at least one charging station for charging the at least one autonomous transport vehicle located at the at least one transfer station, wherein the controller is configured to supply power to the at least one charging station to effect at least one of a quick charge and a full charge to both of

the predetermined one of the at least one autonomous transport vehicle corresponding to the transfer of items with the predetermined one of the at least one autonomous transport vehicle transferring the items at a predetermined at least one transfer station of the at least one transfer station when the predetermined transfer station is in the allocated state, and

an idle automated transport vehicle of the at least one automated transport vehicle at the at least one charging station when the predetermined transfer station is in the unallocated state,

depending on a corresponding duration of the allocated state and the unallocated state of the at least one transfer station.

9. The method of claim 8, wherein each of the at least one pick floor level includes a transfer deck and a picking aisle in communication with the at least one charging station.

10. The method of claim 9, further comprising:

communicating with the idle autonomous transport vehicle on one of the transfer deck and the picking aisle, with the controller, and identifying a nearest available transfer station, of the predetermined at least one transfer station, in the unallocated state for charging the idle autonomous transport vehicle at the at least one charging station of the nearest available transfer station, of the predetermined at least one charging station, in the unallocated state.

11. The method of claim 8, wherein the at least one power supply is commonly connected to the at least one charging station of vertically adjacent ones of the at least one pick floor level.

12. The method of claim 11, wherein the at least one charging station is commonly connected to the at least one power supply comprising a two by two array of charging stations where a first two of the charging stations in the array are located on a first pick floor level of the at least one pick floor level and a second two of the charging stations in the array are located on a second pick floor level of the at least one pick floor level, the first two of the charging stations and the second two of the charging stations being vertically stacked one above the other.

13. The method of claim 8, further comprising:

reserving, with the controller, access to at least one of the at least one charging station by one of the at least one autonomous transport vehicles.

14. The method of claim 8, further comprising:

re-routing, with the controller, one of the at least one autonomous transport vehicles destined for a first charging station, of the at least one charging station, to a second charging station, of the at least one charging station, when the first charging station is inoperable.

15. A warehouse storage and retrieval system comprising:

at least one autonomous transport vehicle;

at least one transfer station having an allocated and unallocated state where in the allocated state the at least one transfer station allows transfer of items from and to the at least one autonomous transport vehicle;

at least one charging station disposed on each of at least one pick floor level of the warehouse storage and retrieval system, each of the at least one charging station being located at each respective one of the at least one transfer station and each of the at least one pick floor level including a transfer deck and a picking aisle in communication with the at least one charging station;

at least one power supply configured to supply power to the at least one charging station; and

a controller in communication with at least one of the at least one charging station and the at least one autonomous transport vehicle, where the controller is configured to

communicate information related to a transfer of items between a predetermined at least one transfer station, of the at least one transfer station, and a predetermined one of the at least one autonomous transport vehicle,

apply power from the at least one power supply to the at least one charging station for charging the at least one autonomous transport vehicle located at the at least one transfer station, wherein the controller supplies power to the at least one charging station for charging the predetermined one of the at least one autonomous transport vehicle corresponding to the transfer of items with the predetermined one of the at least one autonomous transport vehicle transferring the items at the predetermined at least one transfer station with the predetermined at least one transfer station in the allocated state, and

communicate with an idle autonomous transport vehicle of the at least one autonomous transport vehicle on one of the transfer deck and the picking aisle and identify a nearest available transfer station, of the predetermined at least one transfer station, in the unallocated state for charging the idle autonomous transport vehicle at the at least one charging station of the nearest available transfer station, of the predetermined at least one transfer station, in the unallocated state.

16. The warehouse storage and retrieval system of claim 15, wherein the controller is configured to effect at least one of a quick charge and a full charge to both

the predetermined one of the at least one autonomous transport vehicle corresponding to the transfer of items with the predetermined one of the at least one autonomous transport vehicle transferring the items at the predetermined at least one transfer station when the predetermined at least one transfer station is in the allocated state, and

the idle automated transport vehicle at the at least one charging station when the predetermined at least one transfer station is in the unallocated state.

17. The warehouse storage and retrieval system of claim 15, wherein the at least one power supply is commonly connected to the at least one charging station of vertically adjacent ones of the at least one pick floor level.

18. The warehouse storage and retrieval system of claim 17, wherein the at least one charging station is commonly connected to the at least one power supply comprising a two by two array of charging stations where a first two of the charging stations in the array are located on a first pick floor level of the at least one pick floor level and a second two of the charging stations in the array are located on a second pick floor level of the at least one pick floor level, the first two of the charging stations and the second two of the charging stations being vertically stacked one above the other.

19. The warehouse storage and retrieval system of claim 15, wherein the controller is configured to access one or more of the at least one charging station by one of the at least one autonomous transport vehicles.

20. The warehouse storage and retrieval system of claim 15, wherein the controller is configured to re-route one of the at least one autonomous transport vehicle destined for a first charging station, of the at least one charging station, to a second charging station, of the at least one charging station, when the first charging station is inoperable.