Robotic container handling device and method

• US 10,752,440 B2
• Filed: 04/15/2016
• Issued: 08/25/2020
• Est. Priority Date: 04/15/2015
• Status: Active Grant

• Current Assignee: Ocado Innovation Limited (Ocado Group PLC)
• Original Assignee: Ocado Innovation Limited (Ocado Group PLC)
• Inventors: Lindbo, Lars Sverker Ture, Ingram-Tedd, Andrew John, Karolinczak, Pawel, Whelan, Matthew
• Primary Examiner(s): Myers, Glenn F
• Application Number:
  US15/555,907
• Publication Number:
  US 20180050869A1
• Time in Patent Office: 1,593 Days
• CPC Class Codes: A01G 31/06 Hydroponic culture on racks or in stacked containers
• CPC Class Codes: A01G 9/022 Pots for vertical horticulture
• CPC Class Codes: A01G 9/16 Dismountable or portable greenhouses ; Greenhouses with sliding roofs
• CPC Class Codes: A01G 9/18 Greenhouses for treating plants with carbon dioxide or the like
• CPC Class Codes: A47L 7/0047 Furniture or stationary devices with suction openings built-in suction cleaners A47L5/38
• CPC Class Codes: A62C 2/247 electric
• CPC Class Codes: A62C 3/002 for warehouses, storage areas or other installations for storing goods
• CPC Class Codes: A62C 35/68 Details, e.g. of pipes or valve systems valves in general F16K
• CPC Class Codes: A62C 99/0018 using gases or vapours that do not support combustion, e.g. steam, carbon dioxide
• CPC Class Codes: B62D 33/02 Platforms; Open load compartments flat wagons including posts or standards B61D3/08
• CPC Class Codes: B62D 33/0207 Connections of movable or detachable racks or stanchions to platforms
• CPC Class Codes: B65D 21/0212 Containers presenting local stacking elements protruding from the upper or lower edge of a side wall, e.g. handles, lugs, ribs, grooves B65D21/0211, B65D21/0215, B65D21/023 take precedence
• CPC Class Codes: B65G 1/0407 using stacker cranes constructional features of stacker cranes B66F9/06
• 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: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: B65G 2207/22 Heat or fire protection
• CPC Class Codes: B65G 2207/40 Safety features of loads, equipment or persons
• CPC Class Codes: B65G 57/03 from above
• CPC Class Codes: B65G 63/004 : for containers
• CPC Class Codes: B65G 67/02 : Loading or unloading land vehicles
• CPC Class Codes: E04B 1/34807 : Elements integrated in a skeleton
• CPC Class Codes: E04B 1/94 : against fire fire protection of partitions E04B2/7403, E04B2/7409; supporting constructions for ceilings having the capability of expansion in case of fire E04B9/08; fire-fighting A62C, e.g. fire prevention or containment A62C2/00; impregnation of wood or similar materials B27K; fireproof paints C09D5/18; fireproofing materials C09K21/00; flame-resistant papers D21H5/0002; coverings or linings, e.g. for walls or ceilings, in general E04F13/00; fireproof doors E06B5/16; firebreak devices for pipes or the like passing through walls F16L5/04; protection of pipes by means of non-inflammable material F16L57/04
• CPC Class Codes: E04B 2/7403 : with special measures for sound or thermal insulation including fire protection
• CPC Class Codes: E04B 2/7409 : special measures for sound or thermal insulation, including fire protection
• CPC Class Codes: E04H 6/18 : with means for transport in vertical direction only or independently in vertical and horizontal directions E04H6/14 takes precedence
• CPC Class Codes: E06B 2009/6818 : using sensors
• CPC Class Codes: E06B 9/68 : Operating devices or mechanisms, e.g. with electric drive
• CPC Class Codes: Y02A 40/25 : Greenhouse technology, e.g. cooling systems therefor
• CPC Class Codes: Y02P 60/14 : Measures for saving energy, e.g. in green houses
• CPC Class Codes: Y02P 60/21 : Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
• CPC Class Codes: Y10S 901/01 : Mobile robot

Abstract

A system and method for handling shipping containers is described. The container handling system includes a crane, the crane having crane load handling devices. The container handling system includes a conveyance device, the conveyance device including transversal load handling devices. The system provides storage and sortation for storing the containers in a series of stacks disposed beneath a grid, the grid having a series of load handling devices operable thereon. The crane load handling device removes a container from a ship, transports it to transversal load handling device operable on a conveyor. The container is moved on the conveyor to a transfer point where it is collected by a robotic load handling device for transport to the storage and sortation area.

Claims

1. A container handling system for handling shipping containers in a container port, the system comprising:

a container load handling device and a storage and sortation structure, the structure including two substantially perpendicular sets of rails forming a grid and a workspace beneath the grid, the workspace including a plurality of stacked containers;

a plurality of robotic load handling devices operating on and above the rails, the robotic load handling devices each including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of a first set of rails, a second set of wheels being arranged to engage with at least two rails of a second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of each robotic load handling device along the rails to any point on the grid by driving only a set of wheels engaged with the rails; and

transfer means for transferring the containers in to and out of the storage and sortation structure, the transfer means including a conveyance means operable between the container load handling device and a transfer point, the conveyance means including a number of transversal load handling devices configured to transport containers to and or from the transfer point on the conveyance means at which point the containers are collected or delivered by robotic load handling devices, the transversal load handling devices acting to align each container with a respective robotic load handling device of the plurality of robotic load handling devices of the storage and sortation structure.

2. A container handling system according to claim 1, comprising:

a plurality of transfer means for a given storage and sortation structure and transfer points for enabling the robotic load handling devices to move multiple containers to and from a plurality of transfer points at a same time.

3. A container handling system according to claim 1, comprising:

control means, the control means configured to monitor and track the location of each container in the system.

4. A container handling system according to claim 1, in which each container comprises:

identity tracking means for enabling location of each container in the system.

5. A container handling system according to claim 1, in which at least one container is configured to control and/or monitor physical properties of the container.

6. A container handling system according to claim 1, in which the workspace comprises:

a framework supporting the grid above the stacks of containers.

7. A container handling system according to claim 1, in which the grid is configured to control and/or monitor the physical properties of the grid, framework or containers.

8. A container handling system according to claim 1, wherein the container load handling device comprises:

a crane carrying crane load handling devices thereon, the crane load handling devices adapted to connect with a container and transport said container to a crane transfer point and transfer the container to a transversal load handling device operative on the conveyance means.

9. A container handling system according to claim 1, in which the conveyance means comprises:

a conveyor system for transferring containers.

10. A container handling system according to claim 1, in which each container comprises:

shipping containers.

11. A container handling system according to claim 1, in which the workspace comprises:

a storage and sortation area for a shipping container port.

12. A container handling system according to claim 11, in which a portion of the grid is configured to extend above a vehicle transfer area, the robotic load handling devices being configured to move containers from the workspace to vehicles located in the vehicle transfer area.

13. A container handling system according to claim 1, in which the containers are configured for transfer to or from vessels, including container ships.

15. The robotic container handling system according to claim 1, wherein

the transversal handling devices each comprise alignment means to enable each container to be moved in to position for collection by a load handling device.

16. The robotic container handling system according to claim 1, wherein each transversal handling device includes container accumulation means to enable accumulation of containers on the conveyance means.

17. The robotic container handling system according to claim 1, wherein the container accumulation means comprises interface plates and/or interface blocks mounted on each transversal handling device.

14. A method of transferring containers with a container load handling device and a storage and sortation structure, the structure including two substantially perpendicular sets of rails forming a grid and a workspace beneath the grid, the workspace including a plurality of stacked containers the method comprising:

operating a plurality of robotic load handling devices on and above the rails, the robotic load handling devices each including a body mounted on wheels, a first set of wheels being arranged to engage with at least two rails of a first set of rails, a second set of wheels being arranged to engage with at least two rails of a second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of each robotic load handling device along the rails to any point on the grid by driving only a set of wheels engaged with the rails; and

transferring the containers in to and out of the storage and sortation structure via a transfer means, the transfer means including a conveyance means operable between the container load handling device and a transfer point, a number of transversal load handling devices arranged on the conveyance means and configured to transport containers to and or from the transfer point on the conveyance means at which point the containers are collected or delivered by robotic load handling devices, the transversal load handling devices acting to align each container with a respective robotic load handling device of the plurality of robotic load handling devices of the storage system and sortation structure.