Materials-handling system using autonomous transfer and transport vehicles

• US 7,991,505 B2
• Filed: 12/14/2007
• Issued: 08/02/2011
• Est. Priority Date: 08/29/2003
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Casepick Systems, LLC
• Inventors: Hinshaw, Foster D., Lert, John G. Jr.
• Primary Examiner(s): Crawford; Gene
• Assistant Examiner(s): CUMBESS, YOLANDA RENEE
• Application Number:
  US12/002,309
• Publication Number:
  US 20090074545A1
• Time in Patent Office: 1,327 Days
• Field of Search: None
• US Class Current: 700/214
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: B65G 2201/0261 Puck as article support

Abstract

Methods and apparatus for selecting and combining packages in an outbound container by employing autonomous transfer and transport vehicles which move on a network of roadways to carry a plurality of individual cases each containing the same kind of product from a loading station and to a destination station where individual packages are combined in the outbound container. The travel of each vehicle through the roadway network is computer controlled, and each vehicle includes means for automatically loading and unloading packages from predetermined locations on the network.

Claims

1. An automated product selection system for combining packages containing different products in an outbound container comprising, in combination,

a warehouse of temporary storage locations having a plurality of vertically stacked storage levels, each of said storage locations being located immediately adjacent to a vehicle support roadway in a network of roadways,

a source transfer station adjacent to one of said roadways in said network of roadways,

a destination transfer station adjacent to one of said roadways in said network of roadways,

a plurality of wheeled transport vehicles each of which is movable from its current location in said network of roadways to a specified target location in said network of roadways in response to a movement command, each wheeled transport vehicle being configured to traverse the network of roadways and access all storage locations of at least one vertically stacked storage level,

a plurality of incoming cases each containing the same kind of product item units delivered to said source transfer station from a remote manufacturing source,

means located at said source transfer station for transferring individual ones of said cases onto individual ones of said wheeled transport vehicles,

a programmed processor configured to issue a command to move each given wheeled transport vehicle receiving a case at said source transfer station to a designated one of said storage locations,

a case transport mechanism on said given wheeled transport vehicles for transferring the case mounted thereon to said designated storage location when said given transport vehicle arrives at said designated storage location,

said programmed processor being further configured to issue one or more movement commands to move a specified wheeled transport vehicle to a specified storage location where a given one of said different products is stored,

a case transport mechanism on said specified wheeled transport vehicle for transferring the case stored at said specified storage location to said specified wheeled transport vehicle,

said programmed processor being further configured to issue one or movement commands to move said specified wheeled transport vehicle to said destination transfer station, and

means at said destination transfer station for transferring all or part of the contents of the case on said specified wheeled transport vehicle to said outbound container.

2. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 1 wherein the plurality of vertically stacked storage levels each comprises multiple storage locations positioned on the same horizontal level adjacent to a substantially level subnetwork of roadways.

3. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 2 wherein each subnetwork of roadways is joined to a subnetwork on a different one of said vertically stacked storage levels by an inclined ramp roadway for transporting said wheeled transport vehicles between different storage levels.

4. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 2 wherein a source transfer station and a destination transfer station are located on each of said stacked storage levels and further comprising a vertical input conveyer for transporting selected ones of said incoming cases to the source transfer station on a selected one of said vertical storage levels.

5. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 3 further comprising a vertical output conveyer for transporting cases from the destination transfer stations on selected ones of said of said vertical storage levels to said outbound container.

6. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 1 wherein each of said wheeled transport vehicles includes a steering mechanism responsive to steering commands issued by said programmed processor for controlling the vehicle'"'"'s direction of movement on said network of roadways.

7. An automated product selection system for combining packages containing different products in an outbound container as set forth in claim 1 further including position sensing means for determining and storing data accessible to said programmed processor indicating the current position of each of said wheeled transport vehicles on said on said network of roadways.

8. An automated materials handling system comprising, in combination,

a programmed processor for issuing command signals,

a plurality of autonomous wheeled transport vehicles coupled to said processor and responsive to command signals from said programmed processor for transporting a case from a specified origin location to a specified destination location, each of said cases being filled at a remote manufacturing location with item units of the same kind,

a warehouse of temporary storage locations positioned on each of a plurality of different vertical levels, each of said levels comprising:

at least one input transfer station,

at least one output transfer station,

a plurality of aisle guideways each of which supports and guides one or more of said wheeled transport vehicles for movement between of a pair of opposing rows of horizontally distributed temporary storage locations,

an input interconnecting guideway that supports and guides one or more of said wheeled transport vehicles for movement between said input transfer station and each of said aisle guideways, and

an output interconnecting guideway that supports and guides one or more of said wheeled transport vehicles for movement between said output transfer station and each of said aisle guideways,

at least one input receiving station for receiving cases transported from remote manufacturing locations to said receiving station on pallets,

an input conveyor including a vertical transport mechanism responsive to command signals from said processor for selectively transporting each case received at said at least one input receiving station to an input transfer station positioned on a specified one of said vertical levels,

at least one output order assembly station for combining item units ordered by customer into outbound shipments,

an output conveyor including a vertical transport mechanism for transporting cases delivered to the output transfer stations on each of said vertical levels to said at least one output order assembly station,

said programmed processor being configured to issue one or more command signals to said input conveyer for transporting each given case received at said at least one input receiving station to a specified one of said vertical levels and for issuing one or more command signals to a designated one of said wheeled vehicles to transport said given case via said input interconnecting guideway on said specified one of said levels and a specified one of said aisle guideways on said specified one of said levels to a specified one of said temporary storage locations, and for transferring said given case from said wheeled vehicle to said specified one of storage locations,

said programmed processor being further configured to issue command signals to a particular one of said wheeled vehicles to retrieve and transport a particular case from a particular one of said temporary storage locations on a particular one of said levels to an output transfer station on said particular one of said levels from which said particular case is transported via said output conveyor to said output order assembly station and included in said outbound shipment.

9. An automated materials handling system as set forth in claim 8 wherein said input interconnecting guideway on each of said vertical levels includes branching roadways at branching locations and wherein each of said wheeled transport vehicles includes a steering mechanism responsive to a command signal from said programmed processor for following a selected one of said branching roadways when one of said branching locations is encountered in said input interconnecting guideway.

10. An automated materials handling system as set forth in claim 8 wherein said programmed processor includes a memory for storing data accessible to said programmed processor indicating the current position of each of said wheeled transport vehicles on said network of roadways.

11. An automated materials handling system as set forth in claim 8 further including at least one inclined ramp roadway for transporting one or more wheeled transport vehicles between two different ones of said vertical levels.

12. An automated materials handling system as set forth in claim 8 wherein each of said transport vehicles includes a powered transport mechanism for transferring cases onto and off of said transport vehicle.

13. An automated materials handling system as set forth in claim 8 wherein said transport vehicles includes a powered transport mechanism for transferring between said transport vehicle and temporary storage locations on either side of the aisle guideway supporting said transport vehicle.

14. An automated materials handling system as set forth in claim 8 further including apparatus for removing at least a portion of some of said cases to expose and permit access to the packaged items contained in said some of said cases at said order assembly station.

15. An automated materials handling system as set forth in claim 8 wherein automated materials handling system forms part of a retail store and wherein said programmed processor is coupled to a sales terminal for accepting a purchase order from a consumer identifying a plurality of different packaged items contained in cases in said specified ones of said temporary storage locations which are thereafter retrieved and transferred to one or more outgoing containers for delivery to said consumer.