Autonomous mobile picking

• US 9,550,624 B2
• Filed: 09/08/2014
• Issued: 01/24/2017
• Est. Priority Date: 09/09/2013
• Status: Active Grant

• Current Assignee: Dematic Corporation
• Original Assignee: Dematic Corporation
• Inventors: Khodl, Michael S., Berghorn, David M., Hunter, Todd S.
• Primary Examiner(s): GOKHALE, PRASAD V
• Application Number:
  US14/479,908
• Publication Number:
  US 20150073589A1
• Time in Patent Office: 869 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: B25J 5/007 mounted on wheels
• CPC Class Codes: B65G 1/1375 the orders being assembled on a commissioning stacker-crane or truck
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: B65G 2209/06 Use of order trucks
• CPC Class Codes: G05B 2219/32037 Order picking
• CPC Class Codes: G05B 2219/40006 Placing, palletize, un palletize, paper roll placing, box stacking
• CPC Class Codes: G05B 2219/40014 Gripping workpiece to place it in another place
• CPC Class Codes: G05B 2219/40078 Sort objects, workpieces
• CPC Class Codes: G05B 2219/40154 Moving of objects
• CPC Class Codes: G05B 2219/40298 Manipulator on vehicle, wheels, mobile
• CPC Class Codes: G05B 2219/45045 Maintenance, automatic storage and retrieval system
• CPC Class Codes: G05B 2219/45063 Pick and place manipulator
• CPC Class Codes: G06Q 10/08 Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
• CPC Class Codes: G06Q 50/40 Business processes related to the transportation industry shipping G06Q10/083

Abstract

An order-picking method includes autonomously routing a plurality of mobile robotic units in an order fulfillment facility and picking articles to or putting articles from the robotic units in the order fulfillment facility. A material-handling robotic unit that is adapted for use in an order fulfillment facility includes an autonomous mobile vehicle base and a plurality of article receptacles positioned on the base. A visual indicator associated with the receptacle facilitates picking articles to or putting articles from the robotic unit.

Claims

1. An order-picking method, comprising:

autonomously routing a plurality of mobile robotic units in an order fulfillment facility wherein said order fulfillment facility includes at least one pick station;

wherein at least one of said robotic units includes a robotic arm; and

picking articles from said at least one pick station or putting articles to said at least one pick station with said robotic arm of said at least one of said robotic units in said order fulfillment facility wherein said putting articles to said at least one pick station including picking articles with said robotic arm from another of said robotic units and said picking items from said at least one pick station including putting articles with said robotic arm to another of said robotic units.

2. The method as claimed in claim 1 wherein said at least one of said robotic units is coupled to travel with said another of said robotic units as a pair of robotic units.

3. The method as claimed in claim 1 wherein said putting articles includes putting articles to said at least one pick station in order to replenish said at least one pick station.

4. The method as claimed in claim 1 wherein said putting articles includes putting articles to said at least one pick station that are returned by a consumer.

5. The method as claimed in claim 1 wherein said material-handling facility has a stationary automated order-picking station and including docking another of said robotic units to said order-picking station wherein said order-picking station pick receives articles from said another of said robotic units.

6. The method as claimed in claim 5 wherein said automated order-picking station picks articles directly from said another of said robotic units.

7. The method as claimed in claim 1 wherein another of said robotic units is configured to carry pallets and including transporting pallets in said facility with said another of said robotic units.

9. The method as claimed in claim 1 wherein said facility includes an article storage station and including picking articles to another of said robotic units from said article storage station and putting articles from said another of said robotic units to said article storage station.

10. The method as claimed in claim 9 wherein said article storage station includes at least one chosen from a manual station and automated storage and retrieval system, a shuttle-based automated three-dimensional warehouse and a mini-load station.

11. The method as claimed in claim 1 including picking documents to and putting documents from another of said robotic units.

12. The method as claimed in claim 1 wherein said robotic arm comprises a 6-axis articulated robot.

13. The method as claimed in claim 1 including replenishing said at least one pick station with another of said robotic units.

14. The method as claimed in claim 1 wherein said at least one of said robotic units picks items from said at least one pick station to a receptacle and wherein said receptacle is supplied to a put wall or a goods-to-person station.

8. An order-picking method, comprising:

autonomously routing a plurality of mobile robotic units in an order fulfillment facility wherein said material-handling facility includes at least one pick station;

wherein at least one of said robotic units includes a robotic arm; and

picking articles from said at least one pick station or putting articles to said at least one pick station with said robotic arm of said at least one of said robotic units in said order fulfillment facility, wherein said facility includes at least one decanting station including picking items to another of said robotic units at said decanting station and putting items from said another of said robotic units to said at least one pick station for replenishment of said at least one pick station.

15. An order-fulfillment facility, comprising:

at least one pick station;

a plurality of mobile robotic units autonomously routed in said order fulfillment facility;

wherein at least one of said robotic units includes a robotic arm; and

wherein said at least one of said robotic units is adapted to putting articles to said at least one pick station or picking articles from said at least one pick station with said robotic arm wherein said at least one of said robotic units is adapted to putting articles to said at least one pick station that are picked with said robotic arm from another of said robotic units and wherein said least one of said robotic units is adapted to picking items from said at least one pick station and putting the articles with said robotic arm to another of said robotic units.

16. The order-fulfillment facility as claimed in claim 15 wherein said robotic arm comprises a 6-axis articulated robot.

17. The order-fulfillment facility as claimed in claim 15 wherein said at least one of said robotic units is coupled to travel with said another of said robotic units as a pair of robotic units.

18. The order-fulfillment facility as claimed in claim 15 wherein said material-handling facility has a stationary automated order-picking station and including docking another of said robotic units to said order-picking station wherein said order-picking station pick receives articles from said another of said robotic units.

19. The order-fulfillment facility as claimed in claim 18 wherein said automated order-picking station picks articles directly from said another of said robotic units.

20. The order-fulfillment facility as claimed in claim 18 wherein another of said robotic units is configured to carry at least one pallet.

22. The order-fulfillment facility as claimed in claim 18 wherein said facility includes an article storage station that is adapted to picking articles to another of said robotic units from said storage station and putting articles from said another of said robotic units to said storage station.

23. The order-fulfillment facility as claimed in claim 22 wherein said article storage station includes at least one chosen from a manual station and automated storage and retrieval system, a shuttle-based automated three-dimensional warehouse and a mini-load station.

21. An order-fulfillment facility, comprising:

at least one pick station;

a plurality of mobile robotic units autonomously routed in said order fulfillment facility;

wherein at least one of said robotic units includes a robotic arm; and

wherein said at least one of said robotic units is adapted to putting articles to said at least one pick station or picking articles from said at least one pick station with said robotic arm, wherein said facility includes at least one decanting station and another of said robotic units is adapted to receiving articles from said decanting station and putting items from said another of said robotic units to said at least one picking station for replenishment of said picking stations.