Robot for transporting storage bins

• US 9,821,959 B2
• Filed: 01/06/2015
• Issued: 11/21/2017
• Est. Priority Date: 01/08/2014
• Status: Active Grant

• Current Assignee: Autostore Technology AS
• Original Assignee: Autostore Technology AS
• Inventors: Hognaland, Ingvar
• Primary Examiner(s): LOGAN, KYLE O
• Application Number:
  US15/110,245
• Publication Number:
  US 20160325932A1
• Time in Patent Office: 1,050 Days
• Field of Search: 700218
• CPC Class Codes: B60L 15/40 Adaptation of control equipment on vehicle for remote actuation from a stationary place devices along the route for controlling devices on rail vehicles B61L3/00; central rail-traffic control systems B61L27/00
• CPC Class Codes: B60L 50/64 Constructional details of batteries specially adapted for electric vehicles
• CPC Class Codes: B60L 53/14 Conductive energy transfer
• CPC Class Codes: B65G 1/0464 with access from above
• CPC Class Codes: B65G 1/0478 for matrix-arrangements
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: H02J 13/00002 characterised by monitoring
• CPC Class Codes: H02J 13/00022 using wireless data transmission
• CPC Class Codes: H02J 2310/48 for electric vehicles [EV] or hybrid vehicles [HEV]
• CPC Class Codes: Y02B 90/20 Smart grids as enabling technology in buildings sector smart grids supporting the management or operation of end-user stationary applications in general, or like technologies with no associated climate change mitigation effect Y04S20/00
• CPC Class Codes: Y02E 60/00 Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
• CPC Class Codes: Y02T 10/70 Energy storage systems for electromobility, e.g. batteries
• CPC Class Codes: Y02T 10/7072 Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
• CPC Class Codes: Y02T 90/12 Electric charging stations
• CPC Class Codes: Y02T 90/14 Plug-in electric vehicles
• CPC Class Codes: Y02T 90/16 Information or communication technologies improving the operation of electric vehicles
• CPC Class Codes: Y04S 40/126 using wireless data transmission

Abstract

A remotely operated vehicle assembly for picking up storage bins from a storage system includes a vehicle body that displays a cavity for receiving a storage bin situated somewhere within the storage system, a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage bin into the cavity, driving mechanisms or components connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, a wireless communication link that provides wireless communication between the vehicle assembly and a remote control unit such as a computer, one or more main power sources supplying electrical power to the driving mechanisms or components and vehicle coupling means for operational and releasable coupling of the main power source to the vehicle body.

Claims

1. A remotely operated vehicle assembly for picking up storage bins from an underlying storage system, comprising:

a vehicle body displaying a cavity for receiving a storage bin within the storage system,

wherein the size of the cavity is adapted to contain components for a vehicle lifting device and to contain a largest storage bin intended to be picked up by the vehicle assembly,

the vehicle lifting device at least indirectly connected to the vehicle body for vertically lifting the storage bin from the underlying storage system into the cavity,

driving means connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system,

wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit;

a main power source supplying electrical power to the driving means; and

vehicle coupling means for releasably coupling the main power source to the vehicle body,

wherein said coupling means is configured to allow interchange of the main power source to a stationary charging station after receiving at least one communication signal from the control unit,

wherein the vehicle assembly further comprises a management system that manages at least one of the power sources,

said management system comprising;

means for monitoring at least one selected from the group consisting of;

voltage, temperature, state of charge (SOC), depth of discharge (DOD), state of health (SOH), coolant flow, and current; and

recharging controlling means for controlling at least one parameter related to recharging of at least one of the power sources.

2. The vehicle assembly in accordance with claim 1, wherein at least one of the power sources is a capacitor.

3. The vehicle assembly in accordance with claim 1,

wherein the vehicle coupling means further comprises

at least one battery hook pivotably connected to the vehicle body that enables releasable connection between the main power source and the vehicle body.

4. The vehicle assembly in accordance with claim 1, wherein the main power source is arranged within a dedicated main battery cavity.

5. The vehicle assembly in accordance with claim 1,

wherein the vehicle assembly further comprises an auxiliary power source that supplies electrical power to the driving means.

6. The vehicle assembly in accordance with claim 5,

wherein, during the operation of the vehicle, a minimum amount of power stored in the auxiliary power source equals the power required to move the vehicle assembly from one charging station to an adjacent charging station.

7. The vehicle assembly in accordance with claim 5, wherein the auxiliary power source and the main power source are interconnected such that the main power source may charge the auxiliary power source when the main power source is operationally connected to the vehicle assembly.

8. The vehicle assembly in accordance with claim 1,

wherein at least one of the power sources is a rechargeable battery.

9. The vehicle assembly in accordance with claim 8, wherein the vehicle assembly further comprises a battery management system (BMS) managing at least one of the power sources.

10. The vehicle assembly in accordance with claim 1,

wherein the main power source comprises:

a receiving means for enabling releasable connection to a corresponding charge station connection means situated on a charge station.

11. The vehicle assembly in accordance with claim 10, wherein at least one of the receiving means is a hook receiving means.

12. A storage system for storage of bins comprising:

a remotely operated vehicle assembly in accordance with claim 1;

a charging station;

a vehicle support; and

a bin storing structure supporting the vehicle support, the structure comprising a plurality of storage columns, wherein

each storage column is arranged to accommodate a vertical stack of storage bins.

16. The method in accordance with claim 14, wherein the vehicle is in accordance with claim 1.

13. A method for charging a power source arranged in a remotely operated vehicle assembly, the method comprising:

a) moving the remotely operated vehicle assembly to a charging position adjacent to a first charging station;

b) transferring a first main power source connected to a vehicle body of the vehicle assembly to the first charging station;

c) moving the vehicle assembly to a second charging station using an auxiliary power source that supplies auxiliary electrical power to driving means; and

d) transferring a second main power source connected to the second charging station to the vehicle body, the second main power source having been charged for a time period (T) by the second charging station.

14. The method in accordance with claim 13, further comprising:

lowering the vehicle body towards an underlying vehicle support during step b) and during step d), thereby disconnecting the main power source from the vehicle body; and

raising the vehicle body away from the underlying vehicle support after step b) and after step d), thereby allowing connection of the main power source to the charging station,

wherein said lowering and raising of the vehicle body is achieved by elongation means connected to, or being an integral part of, the driving means.

15. The method in accordance with claim 14, wherein the method steps are controlled by transmitting communication signals between a control unit and a wireless communication means within the vehicle assembly.