Systems, methods, and storage units for article transport and storage

• US 10,676,279 B1
• Filed: 12/05/2019
• Issued: 06/09/2020
• Est. Priority Date: 11/20/2018
• Status: Active Grant

• Current Assignee: Advanced Intelligent Systems Inc.
• Original Assignee: Advanced Intelligent Systems Inc.
• Inventors: Bidram, Farhang, Pourazadi, Shahram, Zarrinderakht, Milad
• Primary Examiner(s): Snelting, Jonathan
• Application Number:
  US16/704,019
• Publication Number:
  US 20200156868A1
• Time in Patent Office: 187 Days
• CPC Class Codes: A01G 9/088 Handling or transferring pots
• CPC Class Codes: A01G 9/143 Equipment for handling produce in greenhouses
• CPC Class Codes: A47B 57/04 with means for adjusting the inclination of the shelves
• CPC Class Codes: A47B 57/06 with means for adjusting the height of the shelves A47B57/04, A47B57/30 take precedence
• CPC Class Codes: B65G 1/023 Arrangements of article supporting rollers on racks
• CPC Class Codes: B65G 1/026 Racks equipped with a displaceable load carrying surface to facilitate loading or unloading
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/10 with relatively movable racks to facilitate insertion or removal of articles cabinets with means for moving compartments up and down A47B51/00; cabinet system, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets A47B53/02
• CPC Class Codes: B65G 1/1371 with data records
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses
• CPC Class Codes: B65G 2203/046 RFID
• CPC Class Codes: Y02A 40/25 Greenhouse technology, e.g. cooling systems therefor

Abstract

Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

Claims

1. A system for automatic loading and unloading of articles on a collapsible storage unit, the system comprising:

a collapsible storage unit for storing articles, the collapsible storage unit comprising;

a frame;

a plurality of vertically collapsible shelves disposed on the frame, wherein each vertically collapsible shelf is moveable in first and second vertical directions relative to the frame, wherein the first vertical direction corresponds to an increase in height of the respective vertically collapsible shelf, and wherein the second vertical direction corresponds to a decrease in height of the respective vertically collapsible shelf;

a lift mechanism coupled to the plurality of collapsible shelves, the lift mechanism configured to automatically drive, in response to receiving a drive input, the plurality of vertically collapsible shelves in the first or second vertical direction; and

a robotic unit independently mounted from the collapsible storage unit and configured to automatically load or unload articles to or from the plurality of vertically collapsible of the collapsible storage unit and drive vertical movement of the plurality of vertically collapsible shelves of the collapsible storage unit, the robotic unit comprising;

a base;

a robotic manipulator disposed on the base;

an end effector operably disposed on the robotic manipulator, the end effector configured to engage an article and transport the engaged article to or from a respective one of the plurality of vertically collapsible shelves of the collapsible storage unit; and

a lift mechanism actuator disposed on the base;

wherein the lift mechanism actuator is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism when connected; and

wherein actuation of the lift mechanism causes a change in height of the plurality of vertically collapsible shelves by moving the plurality of vertically collapsible shelves in the first or second vertical direction.

2. The system of claim 1, wherein the lift mechanism comprises a first belt disposed on a first side of the frame and a second belt disposed on a second side of the frame, the second side of the frame opposing the first side, and wherein movement of the first and second belts are simultaneous and synchronized.

3. The system of claim 1, wherein the lift mechanism actuator comprises a second end effector disposed on the robotic manipulator.

4. The system of claim 1, wherein each of the plurality of shelves includes an identifier tag, and wherein the robotic unit is configured to read the identifier tag, and wherein after reading the identifier tag the robotic unit sends data to a warehouse management system to update the warehouse management system.

5. The system of claim 1, wherein the robotic unit includes a rotatable base platform disposed on the base and configured to rotate relative to the base, and wherein the robotic manipulator is disposed on the rotatable base platform.

6. The system of claim 1, wherein the multi-shelf storage unit further comprises a wireless communication module communicatively connected to a warehouse management system, and wherein the wireless communication module is configured to transmit data to and receive data from the warehouse management system and wherein the warehouse management system is implemented at a cloud-based server.

7. The system of claim 1, wherein the lift mechanism actuator generates the drive input in response to receiving a command signal from a cloud-based server, the cloud-based server implementing a warehouse management system.

8. A collapsible storage unit for storing articles, the collapsible storage unit comprising:

a frame;

a plurality of vertically collapsible shelves disposed on the frame, wherein each vertically collapsible shelf is moveable in first and second vertical directions relative to the frame, wherein the first vertical direction corresponds to an increase in height of the respective vertically collapsible shelf, and wherein the second vertical direction corresponds to a decrease in height of the respective vertically collapsible shelf;

a lift mechanism disposed on the frame and coupled to the plurality of vertically collapsible shelves, the lift mechanism configured to automatically, in response to receiving a drive input, drive the plurality of vertically collapsible shelves in the first or second vertical direction; and

wherein the lift mechanism is connectable to a lift mechanism actuator disposed on an external robotic unit, the external robotic unit independently mounted from the collapsible storage unit and configured to automatically load or unload articles to or from the plurality of vertically collapsible shelves of the collapsible storage unit and drive vertical movement of the plurality of vertically collapsible shelves of the collapsible storage unit; and

wherein the lift mechanism actuator is configured to provide the drive input to actuate the lift mechanism; and

wherein, upon receiving the drive input, the lift mechanism is actuated, causing a change in height of a respective one of the plurality of vertically collapsible shelves by moving the respective one of the plurality of vertically collapsible shelves in the first or second vertical direction.

9. The multi-shelf storage unit of claim 8, wherein the lift mechanism comprises a first belt disposed on a first side of the frame and a second belt disposed on a second side of the frame, the second side of the frame opposing the first side, and wherein movement of the first and second belts are simultaneous and synchronized.

10. The multi-shelf storage unit of claim 8, further comprising a Wi-Fi module communicatively connected to a warehouse management system, and wherein the Wi-Fi module is configured to transmit data to and receive data from the warehouse management system regarding tracking articles stored on the multi-shelf storage unit;

and wherein the warehouse management system is implemented at a cloud-based server.

11. The multi-shelf storage unit of claim 8, wherein each shelf includes an identifier tag for facilitating tracking articles loaded to or unloaded from each shelf.

12. The multi-shelf storage unit of claim 8, wherein the lift mechanism actuator comprises at least one pneumatic actuator for driving the at least one vertically moveable shelf, wherein the at least one pneumatic actuator is connected to the at least one vertically moveable shelf via a transmission system, and wherein the transmission system comprises a pulley/cable transmission or a rigid linkage.

13. The multi-shelf storage unit of claim 8, wherein the lift mechanism actuator provides the drive input in response to receiving a command signal, and wherein the command signal is received via a Wi-Fi module disposed on the robotic unit.

14. The multi-shelf storage unit of claim 8, wherein each of the plurality of shelves comprises a plurality of roller conveyors, and wherein the multi-shelf storage unit further comprises a roller conveyor drive mechanism disposed on the frame and configured to engage with the plurality of roller conveyors of a shelf to cause the plurality of roller conveyors to rotate in an inward or outward direction, and wherein the plurality of roller conveyors of a given shelf are coupled to each other in such a way that rotation of a first roller results in the other rollers of the given shelf rotating synchronously with the first roller and in the same direction as the first roller.

15. A mobile storage unit comprising the multi-shelf storage unit of claim 8 disposed on a mobile base, the mobile base including a processing unit configured to autonomously navigate the mobile storage unit to a location via the mobile base, wherein the frame of the multi-shelf storage unit is moveably attached to the mobile base, and wherein the moveable attachment provides multiple degrees of freedom for the frame with respect to the mobile base.

16. A mobile storage unit comprising the multi-shelf storage unit of claim 8 disposed on a mobile base, the mobile base comprising a processing unit configured to:

autonomously navigate the mobile storage unit to a location via the mobile base; and

determine any one or more of whether there is another article to load onto the mobile storage unit, whether there is an available storage space for an article on a current shelf of the mobile storage unit, and whether there is an empty shelf on the mobile storage unit.

17. A mobile robot having a storage module comprising the multi-shelf storage unit of claim 8.

18. The multi-shelf storage unit of claim 8, further comprising a processing unit configured to send directions to the robotic unit to drive the lift mechanism actuator.

19. A method of using the multi-shelf storage unit of claim 8 as a buffer storage unit to access a target article, the method comprising:

unloading a first article from a first shelf of an article storage unit, the article storage unit having a second shelf positioned above the first shelf, the second shelf storing the target article;

loading the unloaded first article onto a first vertically moveable shelf of the multi-shelf storage unit, the first vertically moveable shelf being the most elevated shelf of the multi-shelf storage unit having sufficient storage space for the first article;

lowering the second shelf of the article storage unit to provide access to the second shelf of the article storage unit; and

raising the first vertically moveable shelf of the multi-shelf storage unit, having the first article loaded thereon, to provide access to a second vertically moveable shelf of the multi-shelf storage unit.