System and method for overhead warehousing

• US 9,758,301 B2
• Filed: 03/17/2017
• Issued: 09/12/2017
• Est. Priority Date: 03/24/2015
• Status: Active Grant

• Current Assignee: Joseph Porat
• Original Assignee: Joseph Porat
• Inventors: Porat, Joseph
• Primary Examiner(s): Randazzo, Thomas
• Application Number:
  US15/461,756
• Publication Number:
  US 20170190510A1
• Time in Patent Office: 179 Days
• CPC Class Codes: B25J 5/02 travelling along a guideway
• CPC Class Codes: B25J 9/0087 Dual arms double SCARA arms B25J9/043
• CPC Class Codes: B25J 9/041 Cylindrical coordinate type
• CPC Class Codes: B25J 9/1679 characterised by the tasks executed
• CPC Class Codes: B60L 2200/10 Air crafts
• CPC Class Codes: B60L 58/12 responding to state of charge [SoC]
• CPC Class Codes: B64C 39/024 of the remote controlled vehicle type, i.e. RPV
• CPC Class Codes: B64D 1/22 Taking-up articles from earth's surface
• CPC Class Codes: B64F 1/32 for handling freight
• CPC Class Codes: B64U 2101/60 for transporting passengers; for transporting goods other than weapons
• CPC Class Codes: B64U 2101/66 for retrieving parcels
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: B64U 50/34 In-flight charging photovoltaics B64U50/31
• CPC Class Codes: B65G 1/0457 with suspended load carriers
• CPC Class Codes: B65G 1/0464 with access from above
• CPC Class Codes: B65G 1/06 with means for presenting articles for removal at predetermined position or level B65G1/12 takes precedence
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/104 involving a plurality of aircrafts, e.g. formation flying traffic control systems for aircraft G08G5/00
• CPC Class Codes: G08G 5/0069 : specially adapted for an unmanned aircraft
• CPC Class Codes: Y02T 10/70 : Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 90/16 : Information or communication technologies improving the operation of electric vehicles

Abstract

An overhead warehousing system for use in a warehouse having a ceiling and storage racks supported by the floor of a warehouse includes drawers configured to contain parcels at designated locations of individual cells in the storage racks and adapted to be opened and closed, flight corridors defined along the storage racks adjacent to the individual cells, drones having gripper heads translatable relative to opened drawers to retrieve parcels therefrom, and a communication subsystem communicating with the drones to control their flying on the flight trajectories along the flight corridors and between a designated docking station, selected ones of designated parcel retrieval locations and selected ones of designated parcel drop locations and also communicating with the drones to control their gripper heads relative to opened drawers and communicating with individual cells for opening and closing drawers as drones approach and depart the selected individual cells.

Claims

1. An overhead warehousing system for use in a warehouse having a ceiling and a plurality of storage racks supported by a floor of said warehouse, said overhead warehousing system comprising:

a plurality of drawers each configured to contain a parcel, said each drawer being positioned at a designated parcel retrieval location of one of a plurality of individual cells in each of said plurality of storage racks and adapted to be opened and closed relative to said one individual cell;

a plurality of flight corridors defined along said storage racks adjacent to said plurality of individual cells;

at least one drone having a gripper head translatable relative to an opened one of said drawers at said designated parcel retrieval location of said respective one individual cell for retrieving a parcel from said opened one of said drawers; and

a communication subsystem in communication with said at least one drone for plotting a flight trajectory for said at least one drone and controlling flying of said drone on said flight trajectory along at least one of said flight corridors and between a designated docking station, a selected one of designated parcel retrieval locations and a selected one of designated parcel drop locations, said communication subsystem also in communication with said at least one drone for controlling translation of said gripper head relative to said opened one of said drawers and with said individual cells for opening and closing said drawer of a selected one of said individual cells as said at least one drone approaches and departs said selected one individual cell.

2. The system as recited in claim 1 wherein said gripper head of said drone has a plurality of gripper fingers operable to undergo vertical translation and angular rotation for retrieving the parcel from said opened one of said drawers by respectively grasping and removing the parcel from said opened drawer.

3. The system as recited in claim 2 wherein said communication subsystem is also in communication with said at least one drone for controlling operation of said gripper fingers of said gripper head to respectively drop the parcel at a selected one of said designated parcel drop locations.

4. The system as recited in claim 1 wherein said communication subsystem is also in communication with said at least one drone for monitoring a battery of said drone and instructing said drone to fly to a recharging station when said battery reaches a predetermined percentage of remaining life of said battery.

5. The system as recited in claim 1 further comprising a plurality of tramways affixed to said ceiling of said warehouse and extending adjacent to said plurality of flight corridors and along said plurality of individual cells of each of said plurality of storage racks.

6. The system as recited in claim 5 further comprising at least one robotic module engaged upon and movable along each of said tramways between said designated parcel retrieval locations of respective ones of said individual cells of each of said storage racks.

7. The system as recited in claim 6 wherein said at least one robotic module has a gripper head translatable relative to an opened one of said drawers at said designated parcel retrieval location of said respective one individual cell for depositing a parcel into said opened drawer to restock said one individual cell with a parcel.

8. The system as recited in claim 7 wherein said communication subsystem is also in communication with said at least one robotic module for controlling movement thereof along a selected one of said tramways between a selected one of designated parcel retrieval locations and translation and angular rotation of said gripper head.

9. An overhead warehousing system for use in a warehouse having a ceiling and a plurality of storage racks supported by a floor of a warehouse, said overhead warehousing system comprising:

a plurality of drawers each configured to contain a parcel, said each drawer being positioned at a designated parcel retrieval location of one of a plurality of individual cells in each of said plurality of storage racks and adapted to be opened and closed relative to said one individual cell;

a plurality of flight corridors defined along the storage racks adjacent to said plurality of individual cells;

a plurality of drones each having a gripper head translatable relative to an opened one of said drawers at said designated parcel retrieval location of said respective one individual cell for retrieving a parcel from said opened one of said drawers; and

a communication subsystem in communication with said drones for plotting flight trajectories for said drones and controlling flying of said drones on said flight trajectories along said flight corridors so as to monitor locations of each of said drones to prevent collisions between said drones as they fly from and to a designated docking station and selected ones of designated parcel retrieval locations and selected ones of designated parcel drop locations, said communication subsystem also in communication with said drones for controlling translation of said gripper heads relative to said opened ones of said drawers and further in communication with said individual cells for opening and closing said drawers of selected ones of said individual cells as said drones approach and depart said selected ones of individual cells.

10. The system as recited in claim 9 wherein each of said gripper heads of said drones has a plurality of gripper fingers operable to undergo vertical translation and angular rotation for retrieving the parcel from said opened one of said drawers by respectively grasping and removing the parcel from said opened drawer.

11. The system as recited in claim 10 wherein said communication subsystem is also in communication with said drones for controlling operation of said gripper fingers of said gripper heads of said drones to respectively drop parcels at selected ones of said designated parcel drop locations.

12. The system as recited in claim 9 wherein said communication subsystem is also in communication with said drones for monitoring a battery of each of said drones and instructing said each drone to fly to a recharging station when said battery reaches a predetermined percentage of the remaining life of said battery.

13. The system as recited in claim 9 further comprising a plurality of tramways affixed to the ceiling of the warehouse and extending adjacent to said plurality of flight corridors and along said plurality of individual cells of each of said plurality of storage racks.

14. The system as recited in claim 13 further comprising at least one robotic module engaged upon and movable along each of said tramways between known parcel deposit and retrieval locations of respective ones of said individual cells of each of said storage racks.

15. The system as recited in claim 14 wherein said at least one robotic module has a gripper head translatable relative to an opened one of said drawers at said known parcel deposit and retrieval location of said respective one individual cell for depositing a parcel into said opened drawer to re-stock said ones of said individual cells with parcels.

16. The system as recited in claim 15 wherein said communication subsystem is also in communication with said at least one robotic module for controlling movement thereof along selected ones of said tramways between selected ones of designated parcel retrieval locations and translation and angular rotation of said gripper head.

17. An overhead warehousing method for use in a warehouse having a ceiling and a plurality of storage racks supported by a floor of the warehouse, said overhead warehousing method comprising the steps of:

providing a plurality of drawers each configured to contain a parcel, with each drawer being positioned at a designated parcel retrieval location of one of a plurality of individual cells in each of the plurality of storage racks and adapted to be opened and closed relative to the one individual cell;

providing a plurality of flight corridors defined along the storage racks adjacent to the plurality of individual cells;

providing a plurality of drones each having a gripper head translatable relative to an opened one of the drawers at the designated parcel retrieval location of the respective one of the individual cells for retrieving a parcel from the opened one of the drawers;

communicating with the drones to plot flight trajectories for the drones;

communicating with the drones to control flying of the drones on the flight trajectories along the flight corridors and from and to a designated docking station and selected ones of designated parcel retrieval locations and selected ones of designated parcel drop locations;

communicating with the drones to control translation of gripper heads relative to opened ones of the drawers; and

communicating with the individual cells to open and close drawers of selected ones of the individual cells as the drones approach and depart the selected ones of the individual cells.

18. The method as recited in claim 17 further comprising the step of communicating with the drones to monitor locations of each of the drones during flight to prevent collisions between the drones as they fly from and to a designated docking station and selected ones of designated parcel retrieval locations and selected ones of designated parcel drop locations.

19. The method as recited in claim 17 further comprising the step of communicating with the drones to control operation of a plurality of gripper fingers of said gripper head of each of said drones to undergo vertical translation and angular rotation for retrieving the parcel from an opened one of said drawers by respectively grasping and removing the parcel from said opened one of said drawers.

20. The method as recited in claim 17 further comprising the step of communicating with the drones for monitoring a battery of each of the drones and instructing each drone to fly to a recharging station when the battery reaches a predetermined percentage of the remaining life of the battery.