Materials-handling system using autonomous transfer and transport vehicles

• US 8,784,034 B2
• Filed: 09/21/2009
• Issued: 07/22/2014
• Est. Priority Date: 08/29/2003
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic Systems LLC
• Inventors: Lert, John G. Jr.
• Primary Examiner(s): Rodriguez, Saul
• Assistant Examiner(s): MYERS, GLENN F
• Application Number:
  US12/563,940
• Publication Number:
  US 20100076591A1
• Time in Patent Office: 1,765 Days
• Field of Search: 414/807, 414/273, 414/280, 414/278, 414/282, 414/661, 414/752.1, 414/265, 414/266, 414/240, 414/252, 414/281, 414/276, 414/268, 414/279, 414/231, 414/274, 414/234, 414/232, 414/239, 414/267, 414/749.1, 414/749.3, 414/277, 414/284, 414/806, 901/47, 198/347.4, 198/347.1, 700/242, 700/243, 700/214, 700/213, 700/216, 700/228, 700/229, 700/253, 701/23
• US Class Current: 414/807
• 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

Abstract

Methods and apparatus for selecting and combining items in an outbound container through the use of autonomous vehicles, each of which includes means for automatically loading and unloading a payload, to perform both transfer and transport functions in moving containers of items within a workspace via a network of roadways. Under computer control, said autonomous vehicles transfer and transport case containers of item units between incoming receiving stations, intermediate storage locations, and outgoing order-assembly stations where entire containers or individual item units are combined in the outbound container.

Claims

1. A method for combining a selection of different products in an outbound container, said method comprising:

providing a warehouse having stacked levels of storage locations, each of said storage locations being located immediately adjacent to a vehicle support roadway in a network of roadways with more than one roadway level so that each roadway level is at a different one of the stacked levels of storage locations, at least one roadway of said network including a branching location at which the at least one roadway divides into different branching roadways which lead to different ones of said storage locations,

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

providing a destination order assembly station adjacent to one of said roadways in said network of roadways,

providing a plurality of wheeled transport vehicles, each given one of said vehicles being 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 by following a selected one of said branching roadways at each branching location that said given one said vehicles encounters as it moves through said network from said current location to said target location,

unpalletizing shipping cases where each of said vehicles further including a transfer mechanism for transferring at least one unpalletized shipping case, forming a not palletized case payload, to and from said vehicle,

providing a programmed processor for issuing movement commands to said vehicles,

storing a multiplicity of different products in said warehouse by repeatedly;

issuing a movement command from said processor to a selected one of the vehicles to move said vehicle to said source transfer station,

employing said transfer mechanism on said selected vehicle to individually transfer the not palletized case payload of the at least one unpalletized shipping case holding a plurality of individual packages where each of the packages, of each of the at least one shipping case, contains the same kind of product, the not palletized case payload being individually transferred to said selected vehicle at said source transfer station,

issuing a movement command from said processor to said selected vehicle to move said selected vehicle along said network carrying said not palletized case payload from said source transfer station to a designated one of said storage locations, and

employing said transfer mechanism on said selected vehicle to transfer said not palletized case payload of the at least one unpalletized shipping case from said selected vehicle to said designated storage location, and

retrieving and combining a selection of different products stored in said warehouse by repeatedly;

issuing a movement command from said processor to a specified one of the vehicles to move said specified vehicle to a specified one of the storage locations, where a given one of said different products is stored,

employing said transfer mechanism on said specified vehicle to transfer an unpalletized shipping case stored at said specified storage location to said specified vehicle to form a not palletized case payload of at least one stored shipping case,

issuing a movement command from said processor to said specified vehicle to move said specified vehicle along said network carrying said at least one stored shipping case from said specified storage location to said destination order assembly station, and

at said destination order assembly station, transferring the at least one stored shipping case from said specified vehicle to said outbound container.

2. A method as set forth in claim 1 wherein said warehouse of storage locations comprises a plurality of vertically stacked storage levels and wherein each of said storage levels comprises multiple storage locations positioned on a given one of said vertically stacked storage levels immediately adjacent to a substantially level subnetwork of roadways positioned on said given one of said vertically stacked storage levels.

3. A method as set forth in claim 2 further including at least one inclined ramp roadway for transporting said wheeled transport vehicles from a subnetwork of roadways on one of said storage levels to a subnetwork of roadways on a different one of said storage levels.

4. A method as set forth in claim 1 wherein each of said wheeled transport vehicles is self propelled by a drive motor mounted on said vehicle and coupled to least one of its wheels.

5. A method as set forth in claim 4 wherein said motor is responsive to commands from said programmed processor for controlling the vehicle'"'"'s velocity.

6. A method as set forth in claim 1 wherein each of said wheeled transport vehicles includes a steering mechanism for following a selected one of said branching roadways when one of said branching locations is encountered in said network of roadways.

7. A method as set forth in claim 1 further including the step of determining and storing data accessible to said programmed processor indicating the current position of each of said wheeled transport vehicles on said network of roadways.

8. A method as set forth in claim 1 wherein each given one of said wheeled transport vehicles further includes a propulsion and guidance mechanism for moving said given one of said vehicles from its current location in said network of roadways to a specified target location in said network of roadways.

9. An automated product selection system for combining cases containing different products in an outbound shipping container comprising, in combination,

a warehouse having stacked levels of temporary storage locations, each of said storage locations being located immediately adjacent to a vehicle support roadway in a network of roadways, at least one roadway of said network on each of the stacked levels including a branching location at which the at least one roadway divides into different branching roadways which lead to different ones of said storage locations on a respective one of the stacked levels, the branching location forming a junction connecting the at least one roadway and the different branching 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 a current location, of a respective one of the wheeled transport vehicles, 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 travel on a substantially flat non-deterministic road surface of the network of roadways and through junctions connecting the branching roadways and follow a selected one of said branching roadways at the junction formed by each branching location that each vehicle encounters as it moves through said network from said current location to said target location, the substantially flat non-deterministic road surface being configured to allow rotation of the wheeled transport vehicle on the substantially flat non-deterministic road surface for selecting one of said branching roadways at a respective junction,

a plurality of product containers,

means at said source transfer station for placing a case including a plurality of individual packages each containing the same kind of product in a given one of said product containers and mounting said given one of said product containers onto one of the plurality of wheeled transport vehicles,

a programmed processor configured to transmit a movement command to said one of the plurality of wheeled transport vehicles to move said one of the plurality of wheeled transport vehicles to a designated one of said storage locations, and

a container transport mechanism on said one of the plurality of wheeled transport vehicles for transferring the product container mounted on said one of the plurality of wheeled transport vehicles to said designated storage location when said one of the plurality of the plurality of wheeled transport vehicle arrives at said designated storage location,

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

a container transport mechanism on said another of the plurality of wheeled transport vehicles for transferring the product container stored at said specified storage location to said another of the plurality of wheeled transport vehicles, and

said programmed processor also being configured to issue one or more movement commands to said another of the plurality of wheeled transport vehicles to move said another of the plurality of wheeled transport vehicles to said destination transfer station, and

means at said destination transfer station for transferring the product container on said another of the plurality of transport vehicles to said outbound shipping container.

10. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 9 wherein said warehouse of temporary storage locations comprises a plurality of vertically stacked storage levels each consisting of multiple storage locations positioned on the same horizontal level adjacent to a substantially level subnetwork of roadways.

11. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 10 wherein each subnetwork of roadways is joined to a subnetwork on a vertically adjacent one of said levels by an inclined ramp roadway for transporting said wheeled transport vehicles between said storage levels.

12. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 9 wherein each of said wheeled transport vehicles is self propelled by a drive motor coupled to least one of its wheels.

13. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 12 wherein said motor is responsive to commands from said programmed processor for controlling the vehicle'"'"'s velocity.

14. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 9 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.

15. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 9 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.

16. An automated product selection system for combining cases in an outbound shipping container as set forth in claim 9 wherein the network of roadways has more than one roadway level so that each roadway level is at a different one of the stacked levels of the temporary storage.

17. A method performed at a product distribution facility for selectively distributing packaged items to retailers or consumers, said packaged items being received at said distribution facility in cases each containing the same kind of packaged items, said cases being transported from a supplier on incoming pallets and packaged items being delivered to said retailers or consumers on outgoing pallets or in other containers, said method comprising:

providing a warehouse of stacked levels of storage locations each of which stores one or more not palletized shipping cases containing packaged items of the same kind, each of said storage locations being positioned alongside a roadway in a network of roadways with more than one roadway level so that each roadway level is at a different one of the stacked levels of storage locations, the network of roadways support and guide the movement of each of a plurality of individual transport vehicles, at least one roadway of said network including one or more forks at which the at least one roadway divides into branching roadways leading to different locations, each of said vehicles being movable from its current position in said network to a designated destination position in said network by following a selected one of said branching roadways when one of said forks is encountered,

transporting individual shipping cases on each of said incoming pallets to storage locations by repeatedly;

moving a selected one of said vehicles to a receiving station located adjacent a roadway in said network of roadways,

individually transferring at least one selected not palletized shipping case from said shipping cases of each said incoming pallets to said selected vehicle at said receiving station,

moving said selected vehicle along said network from said receiving station to a designated one of said storage locations carrying said at least one not palletized shipping case, and

transferring said at least one not palletized selected shipping case from said selected vehicle to said designated storage location,

retrieving and transporting selected not palletized shipping cases individually stored in said storage locations to an outgoing pallet or other container for delivery to one of said retailers or consumers by repeatedly;

moving a particular one of said vehicles to an identified one of the storage locations where one of said not palletized shipping cases is individually stored,

transferring said stored not palletized shipping case from said identified storage location to said particular vehicle,

moving said particular vehicle along said network from said identified storage location to an order assembly station located adjacent a roadway in said network carrying said stored not palletized shipping case, and

transferring said stored not palletized shipping case carried by said particular vehicle from said particular vehicle to said outgoing pallet or other container.

18. A method as set forth in claim 17 wherein said warehouse of temporary storage locations comprises a plurality of vertically stacked storage levels and wherein each of said storage levels which comprises multiple temporary storage locations positioned at a given one of said vertically stacked storage levels adjacent to a substantially level subnetwork of roadways positioned at said given one of said vertically stacked storage levels.

19. A method as set forth in claim 17 wherein each of said vehicles is movable from its current position in said network to a designated destination position in said network on a different one of said vertically stacked storage levels.

20. A method as set forth in claim 17 wherein each of said transport vehicles includes a powered transport mechanism for transferring cases onto and off of said transport vehicle.

21. A method as set forth in claim 17 wherein at least some of said temporary storage locations are positioned on opposing sides of one or more roadways in said network of roadways and wherein each of said transport vehicles includes a powered transport mechanism for transferring between said transport vehicle and temporary storage locations on either side of said roadway.