Automated storage and retrieval system

• US 10,683,170 B2
• Filed: 10/29/2019
• Issued: 06/16/2020
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Buzan, Forrest, Cyrulik, Michael, Reynolds, Aria, Sirois, Jason S., Sweet, Larry, MacDonald, Edward A., Apgar, Taylor A., Perrault, Timothy, Toebes, Stephen C.
• Primary Examiner(s): Cumbess, Yolanda R
• Application Number:
  US16/667,656
• Publication Number:
  US 20200062504A1
• Time in Patent Office: 231 Days
• Field of Search: None
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses

Abstract

An autonomous rover including a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface, a common active registration surface configured to engage the pickface, and a drive section connected to the common active registration surface, the drive section being configured to variably position the common active registration surface relative to at least one storage shelf of an automated storage and retrieval system to effect placement of the pickface on the storage shelf so that pickfaces are substantially continuously arranged along the at least one storage shelf with a predetermined storage spacing between the pickfaces.

Claims

1. An autonomous rover comprising:

a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;

at least a first common registration surface and a second common registration surface, each of the at least the first common registration surface and the second common registration surface being

configured to engage the pickface supported on payload supports in the payload bay, and

distinct and decoupled from the payload supports; and

a drive section being;

connected to the at least the first common registration surface and the second common registration surface, and

configured to variably position the at least the first common registration surface and the second common registration surface relative to each other and at least one storage shelf of an automated storage and retrieval system to justify the pickface so as to effect placement of one item from the pickface on the at least one storage shelf in a substantially continuous arrangement along the at least one storage shelf with other shelved items arranged on the at least one storage shelf.

2. The autonomous rover of claim 1, wherein variable positioning of the at least the first common registration surface, the second common registration surface, and a third common registration surface effects placement of the pickface on a storage shelf so that pickfaces are substantially continuously arranged along the shelf with a predetermined storage spacing between the pickfaces.

3. The autonomous rover of claim 1, wherein the autonomous rover is configured to pick one or more items from one or more storage locations of the at least one storage shelf to build the pickface.

4. The autonomous rover of claim 1, wherein each of the other shelved items define pickfaces picked by the autonomous rover.

5. The autonomous rover of claim 1, wherein spacing between at least one item placed on the shelf and adjacent shelved items is decoupled from arrangement of the autonomous rover frame.

6. The autonomous rover of claim 1, wherein spacing between at least one item placed on the shelf and adjacent shelved items is a minimum spacing determined by a seating surface of the at least one storage shelf, independent of autonomous rover frame structure.

7. The autonomous rover of claim 1, further comprising a controller connected to the drive section to effect movement of one of the at least the first common registration surface and the second common registration surface so that an average position of the one of the at least the first common registration surface and the second common registration surface relative to the payload bay is substantially coincident with a predetermined position of the pickface within the payload bay.

8. The autonomous rover of claim 1, further comprising a controller connected to the drive section to effect movement of one of the at least the first common registration surface and the second common registration surface for engagement with the pickface, the controller being configured to monitor at least a current value of the drive section to control an engagement force of the one of the at least the first common registration surface and the second common registration surface with the pickface wherein, the controller includes a Kalman filter configured to determine the engagement force.

9. The autonomous rover of claim 1, wherein:

one of the at least the first common registration surface and the second common registration surface includes

a first movable member disposed at least partly within the payload bay, and

a second movable member disposed at least partly within the payload bay, the second movable member being opposingly positioned relative to the first movable member; and

wherein the drive section is configured to move the first and second movable members towards and away from each other and together longitudinally as a unit.

10. The autonomous rover of claim 1, wherein the drive section is configured to variably position the at least the first common registration surface and the second common registration surface relative to a global automated storage and retrieval system reference frame.

11. The autonomous rover of claim 1, wherein variable positioning of the at least the first common registration surface and the second common registration surface decouples placement of the pickface from the frame.

12. An automated storage and retrieval system comprising:

an array of storage locations arranged on at least one storage shelf; and

at least one autonomous rover in communication with the array of storage locations, the at least one autonomous rover including;

a frame having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support a pickface;

at least a first common registration surface and a second common registration surface, each of the at least the first common registration surface and the second common registration surface being

configured to engage the pickface supported on payload supports in the payload bay, and

distinct and decoupled from the payload supports; and

a drive section being;

connected to the at least the first common registration surface and the second common registration surface and

configured to variably position the at least the first common registration surface and the second common registration surface relative to each other and the at least one storage shelf to justify the pickface so as to effect placement of one item from the pickface on the at least one storage shelf in a substantially continuous arrangement along the at least one storage shelf with other shelved items arranged on the at least one storage shelf.

13. The automated storage and retrieval system of claim 12, wherein variable positioning of the at least the first common registration surface, the second common registration surface, and a third common registration surface effects placement of the pickface on a storage shelf so that pickfaces, are substantially continuously arranged along the shelf with a predetermined storage spacing between the pickfaces.

14. The automated storage and retrieval system of claim 12, wherein the autonomous rover is configured to pick one or more items from one more storage locations of the at least one storage shelf to build the pickface.

15. The automated storage and retrieval system of claim 12, wherein each of the other shelved items define pickfaces picked by the autonomous rover.

16. The automated storage and retrieval system of claim 12, wherein spacing between at least one item placed on the shelf and adjacent shelved items is decoupled from arrangement of the autonomous rover frame.

17. The automated storage and retrieval system of claim 12, wherein spacing between at least one item placed on the shelf and adjacent shelved items is a minimum spacing determined by a seating surface of the at least one storage shelf, independent of the autonomous rover frame structure.

18. The automated storage and retrieval system of claim 12, further comprising a controller connected to the drive section to effect movement of one of the at least the first common registration surface and the second common registration surface so that an average position of the one of the at least the first common registration surface and the second common registration surface relative to the payload bay is substantially coincident with a predetermined position of the pickface within the payload bay.

19. The automated storage and retrieval system of claim 12, further comprising a controller connected to the drive section to effect movement of one of the at least the first common registration surface and the second common registration surface for engagement with the pickface, the controller being configured to monitor at least a current value of the drive section to control an engagement force of the one of the at least the first common registration surface and the second common registration surface with the pickface wherein, the controller includes a Kalman filter configured to determine the engagement force.

20. The automated storage and retrieval system of claim 12, wherein:

one of the at least the first common registration surface and the second common registration surface includes

a first movable member disposed at least partly within the payload bay, and

a second movable member disposed at least partly within the payload bay, the second movable member being opposingly positioned relative to the first movable member; and

wherein the drive section is configured to move the first and second movable members towards and away from each other and together longitudinally as a unit.

21. The automated storage and retrieval system of claim 12, wherein the drive section is configured to variably position the at least the first common registration surface and the second common registration surface relative to a global automated storage and retrieval system reference frame.

22. The automated storage and retrieval system of claim 12, wherein variable positioning of the at least the first common registration surface and the second common registration surface decouples placement of the pickface from the frame.

23. A method for building a pickface comprising:

providing a frame of an autonomous rover having a first end and a second end longitudinally spaced from the first end and forming a payload bay, the payload bay being sized to support the pickface;

providing at least a first common registration surface and a second common registration surface, each of the at least the first common registration surface and the second common registration surface being configured to engage the pickface supported on payload supports in the payload bay, and the distinct and decoupled from payload supports;

providing a drive section being connected to the at least the first common registration surface and the second common registration surface;

variably positioning, with the drive section, the at least the first common registration surface and the second common registration surface relative to each other and at least one storage shelf of an automated storage and retrieval system to justify the pickface; and

effecting placement of one item from the pickface on the at least one storage shelf in a substantially continuous arrangement along the at least one storage shelf with other shelved items arranged on the at least one storage shelf.

24. The method of claim 23, further comprising variably positioning the at least the first common registration surface, the second common registration surface, and a third common registration surface, effecting placement of the pickface on a storage shelf so that pickfaces are substantially continuously arranged along the shelf with a predetermined storage spacing between the pickfaces.

25. The method of claim 23, wherein the autonomous rover is configured to pick one or more items from one or more storage locations of the at least one storage shelf to build the pickface.

26. The method of claim 23, wherein each of the other shelved items define pickfaces picked by the autonomous rover.

27. The method of claim 23, wherein spacing between at least one item placed on the shelf and adjacent shelved items is decoupled from arrangement of the autonomous rover frame.

28. The method of claim 23, wherein spacing between the least one item placed on the shelf and adjacent shelved items is a minimum spacing determined by a seating surface of the at least one storage shelf, independent of the autonomous rover frame structure.