Control system for storage and retrieval systems

• US 9,771,217 B2
• Filed: 06/08/2015
• Issued: 09/26/2017
• Est. Priority Date: 04/10/2009
• Status: Active Grant

• Current Assignee: Symbotic, Llc
• Original Assignee: Symbotic, Llc
• Inventors: Lert, John, Toebes, Stephen, Sullivan, Robert, Hinshaw, Foster D., Ulrich, Nathan, Peters, Eric
• Primary Examiner(s): CUMBESS, YOLANDA RENEE
• Application Number:
  US14/733,341
• Publication Number:
  US 20150266672A1
• Time in Patent Office: 841 Days
• Field of Search: None
• CPC Class Codes: B65G 1/045 in a circular arrangement, e.g. towers
• CPC Class Codes: B65G 1/0485 Check-in, check-out devices
• CPC Class Codes: B65G 1/0492 with cars adapted to travel in storage aisles
• CPC Class Codes: B65G 1/065 with self propelled cars
• CPC Class Codes: B65G 1/10 with relatively movable racks to facilitate insertion or removal of articles cabinets with means for moving compartments up and down A47B51/00; cabinet system, e.g. consisting of cabinets arranged in a row with means to open or close passages between adjacent cabinets A47B53/02
• CPC Class Codes: B65G 1/127 the circuit being confined in a vertical plane
• CPC Class Codes: B65G 1/137 with arrangements or automatic control means for selecting which articles are to be removed
• CPC Class Codes: B65G 1/1371 with data records
• CPC Class Codes: B65G 1/1373 for fulfilling orders in warehouses
• CPC Class Codes: B65G 1/1378 the orders being assembled on fixed commissioning areas remote from the storage areas
• CPC Class Codes: B65G 47/57 for articles
• CPC Class Codes: G06Q 10/087 Inventory or stock management, e.g. order filling, procurement or balancing against orders
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A warehouse storage and retrieval system including an array of multilevel storage racks having at least one transfer deck, picking isles and storage areas disposed along picking isles, the storage areas being configured to hold differing loads, and a controller including a management module configured to variably size the storage areas of the array of multilevel storage rack modules and assign each of the variably sized storage areas to a corresponding one of the differing loads, wherein the storage and retrieval system is arranged to transport the differing loads for placement in the variably sized storage areas assigned by the controller.

Claims

1. A method for storing loads in a storage and retrieval system having at least one storage rack with storage areas for holding differing loads, the method comprising:

variably sizing the storage areas with a controller of the storage and retrieval system; and

assigning, with the controller, each of the variably sized storage areas to a corresponding differing load.

2. The method of claim 1, further comprising transporting the differing loads for placement in the variably sized storage areas assigned by the controller.

3. The method of claim 1, further comprising varying, with the controller, a dimension of each of the variably sized storage areas.

4. The method of claim 1, further comprising varying, with the controller, a position of the variably sized storage areas within the at least one storage rack.

5. The method of claim 1, further comprising combining, with the controller, adjacent variably sized storage areas.

6. The method of claim 1, further comprising sizing or resizing, with the controller, at least one of the variably sized storage areas depending on a size of a predetermined load.

7. The method of claim 1, further comprising determining, with the controller, inventory levels at the end of at least one predetermined order fulfillment time period and scheduling inventory replenishment orders based on the determined inventory levels.

8. The method of claim 1, further comprising generating, with the controller, at least one pick transaction for removing at least one differing load from the variably sized storage areas.

9. The method of claim 8, further comprising determining, with the controller, the variably sized storage areas from which the at least one differing load is to be picked and reserving resources of the storage and retrieval system for effecting transfer of the at least one differing load from the variably sized storage areas.

10. A method for storing loads in a storage and retrieval system having at least one storage rack having storage spaces disposed in storage areas, the method comprising:

analyzing, with a controller of the storage and retrieval system, unoccupied storage areas;

dynamically re-allocating the unoccupied storage areas, with the controller, into one or more re-allocated storage spaces according to a changed size of a respective unoccupied storage area; and

effecting, with the controller, transport of a predetermined load to a predetermined re-allocated storage space.

11. The method of claim 10, wherein the predetermined load has a size substantially equal to or less than the predetermined re-allocated storage space.

12. The method of claim 10, further comprising analyzing, with the controller, the unoccupied storage areas after each load placement in the predetermined re-allocated storage space.

13. The method of claim 10, further comprising varying, with the controller, a position of the one or more re-allocated storage spaces.

14. The method of claim 10, further comprising combining, with the controller, adjacent unoccupied storage areas into one or more re-allocated storage spaces.

15. A method for storing loads in a storage and retrieval system, the method comprising:

providing an array of multilevel storage rack modules having at least one transfer deck, picking aisles and variable storage areas disposed along the picking aisles, where the variable storage areas are capable of holding at least one load;

providing a transport system configured to transport independent loads to the variable storage areas, each of the loads having differing dimensions; and

creating, with a controller of the storage and retrieval system, each of the variable storage areas depending on the dimensions of a corresponding load and causing the transport system to place each independent load in a respectively established storage area.

16. The method of claim 15, further comprising varying, with the controller, a position of the variable storage areas within the array of multilevel storage rack modules.

17. The method of claim 15, wherein a dimension of the variable storage areas is variable depending on dimensions of the corresponding load.

18. A storage and retrieval system comprising:

an array of multilevel storage racks having at least one transfer deck, picking aisles and at least one storage rack disposed along the picking aisles, each storage rack having storage spaces disposed in storage areas, each storage space being configured to hold a load; and

a controller configured to substantially continuously resize empty storage areas as the differing loads are placed on the at least one storage rack so that the storage spaces are free from having a predetermined location.

19. The storage and retrieval system of claim 18, wherein the controller is further configured to substantially continuously resize empty storage areas as the differing loads are placed on the at least one storage rack so that the storage spaces are free from having a predetermined size.

20. The storage and retrieval system of claim 18, wherein the controller is configured to analyze the empty storage areas and re-allocate the empty storage areas into one or more re-allocated storage space according to a changed size of a respective empty storage area.

21. The storage and retrieval system of claim 20, wherein the controller is configured to effect transport of a predetermined load to a predetermined re-allocated storage space.

22. The storage and retrieval system of claim 18, wherein the controller is configured to analyze the empty storage areas after each load placement in a predetermined storage space.

23. The storage and retrieval system of claim 18, wherein the controller is configured to combine adjacent empty storage areas into one or more re-allocated storage space.

24. A storage and retrieval system comprising:

an array of multilevel storage racks, each level of the multilevel level storage racks having storage spaces configured to hold a respective load;

at least one vertical lift at a fixed planform location within the array of multilevel storage racks, the at least one vertical lift being configured to at least transport loads from each level of the multilevel storage racks, each level having a vertical lift transfer location corresponding to each fixed planform location of the at least one vertical lift; and

a controller configured to select a vertical lift transfer location for transport of loads from a respective level of the multilevel storage racks based on a predetermined characteristic of load fill sequencing of a first load in a load fill sequence with respect to another load in the load fill sequence.

25. The storage and retrieval system of claim 24, wherein the predetermined characteristic is a scarcity of levels on which a predetermined load in the load fill sequence is located.

26. The storage and retrieval system of claim 25, wherein the controller is configured to

look ahead a predetermined number of order lines in the load fill sequence;

determine if the other load in one of the predetermined number of order lines exists on fewer than a predetermined number of levels; and

select a vertical lift transfer location, for transferring the first load to a corresponding vertical lift, from a level that is different from a level on which the other load is located.

27. The storage and retrieval system of claim 24, wherein the predetermined characteristic is a ratio of a number of levels on which a stock keeping unit corresponding to the first load is located and a number of levels on which a stock keeping unit corresponding to the other load is located where the other load is downstream from the first load in the load fill sequence.

28. The storage and retrieval system of claim 24, further comprising at least one autonomous vehicle disposed on each level where the at least one autonomous vehicle is configured to transfer loads between the storage spaces on a respective level and the vertical lift.