Object handling system and method
First Claim
1. An object handling system comprising:
- two substantially perpendicular sets of rails defining a grid, the grid including a plurality of grid spaces, a series of uprights, the uprights and the rails together defining a framework, a plurality of containers arranged in stacks located beneath the grid and within the framework, each stack being located underneath a grid space, the position of each stack being based on the grid space, wherein the plurality of containers arranged in stacks define a workspace;
a plurality of robotic load handling devices positioned above the framework and operating on the rails above the stacks, the load handling devices including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, the second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails, the load handling devices having means for removing or replacing at least one container from the stacks; and
moving means adapted to move a plurality of the stacks of containers independently of the remaining stacks of containers in the workspace.
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Accused Products
Abstract
An object handling system is described, the system having two substantially perpendicular sets of rails forming a grid above a workspace, the workspace having a plurality of stacked containers. The system includes a series of robotic load handling devices operating on the grid above the workspace, the load handling devices having a body mounted on wheels. The robotic devices can move around the grid under instruction from a computing device, the robotic devices being moved to a point on the grid above a stack of containers and then, using a lifting device, engage and lift a container from the stack. The container is then moved to a point where the objects in the container can be accessed. Modifications to the workspace and grid are described that allow vehicles and roll cages to be used to move stacks from the workspace to a point outside the workspace or from outside the workspace into the workspace.
60 Citations
24 Claims
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1. An object handling system comprising:
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two substantially perpendicular sets of rails defining a grid, the grid including a plurality of grid spaces, a series of uprights, the uprights and the rails together defining a framework, a plurality of containers arranged in stacks located beneath the grid and within the framework, each stack being located underneath a grid space, the position of each stack being based on the grid space, wherein the plurality of containers arranged in stacks define a workspace; a plurality of robotic load handling devices positioned above the framework and operating on the rails above the stacks, the load handling devices including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, the second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails, the load handling devices having means for removing or replacing at least one container from the stacks; and moving means adapted to move a plurality of the stacks of containers independently of the remaining stacks of containers in the workspace. - View Dependent Claims (2, 3, 4)
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5. An object handling system comprising:
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two substantially perpendicular sets of rails defining a grid, the grid including a plurality of grid spaces, a series of uprights, the uprights and the rails together defining a framework, a plurality of containers arranged in stacks located beneath the grid and within the framework, each stack being located underneath a grid space, the position of each stack being based on the grid space, wherein the plurality of containers define a workspace; a plurality of robotic load handling devices positioned above the framework and operating on the rails above the stacks, the load handling devices having a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of a first set of the rails, the second set of wheels being arranged to engage with at least two rails of a second set of the rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails, the load handling devices including means for removing or replacing at least one container from the stacks wherein a portion of the grid extends beyond the workspace such that at least one stack of containers may be positioned under the extended grid; and means for moving load handling devices to the extended grid to enable individual containers to be removed from or replaced into the workspace to or from stacks of containers located outside the workspace. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. A vehicle configured for an object handling system, the handling system having two substantially perpendicular sets of rails defining a grid, the grid including a plurality of grid spaces, a series of uprights, the uprights and the rails together defining a framework, a plurality of containers arranged in stacks located beneath the grid and within the framework, each stack being located underneath a grid space, the position of each stack being based on the grid space, wherein the plurality of containers define a workspace, the handling system including a plurality of robotic load handling devices positioned above the framework and operating on the rails above the stacks, the load handling devices having a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of a first set of the rails, the second set of wheels being arranged to engage with at least two rails of a second set of the rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails, the load handling devices having means for removing or replacing at least one container from the stacks, wherein the vehicle comprises:
a portion of a grid which is sized and shaped so as to interface with the grid of the object handling system. - View Dependent Claims (21, 22)
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23. An object handling system comprising:
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two substantially perpendicular sets of rails defining a grid, the grid including a plurality of grid spaces, a series of uprights, the uprights and the rails together defining a framework, a plurality of containers arranged in stacks located beneath the grid and within the framework, each stack being located underneath a grid space, the position of each stack being based on the grid space, wherein the plurality of containers define a workspace; a plurality of robotic load handling devices positioned above the framework and operating on the rails above the stacks, the load handling devices having a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of the first set of rails, a second set of wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails, the load handling devices including means for removing or replacing at least one container from the stacks; and alignment means located such that vehicles for removing and transporting a plurality of containers from the stacks within the system to alternative locations may be accurately positioned to allow transfer of said containers via load handling devices to said vehicles, the alignment means including locating and securing means. - View Dependent Claims (24)
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Specification