Robotic picking system and apparatus

Abstract

The invention discloses a robotic picking system and apparatus, and specifically discloses a picking system for a storage system and a method of picking inventory items from a storage system. Articles are stored in storage bins in a stack within a frame that includes a grillwork system disposed above the stack of bins. A robotic picking device is provided on the grillwork, the device for picking containers from the stack of bins. The storage system is provided with at least one picking device for picking the items from the box and storing the items directly in the delivery container DT.

Description

[0001] This application is a divisional application of the PCT application entering the Chinese national phase with an application date of November 11, 2016, application number CN201680065788.1 (international application number PCT / EP2016 / 077468), and invention name “Robotic Picking System and Equipment”. Technical Field

[0002] The present invention relates to robotic picking systems and apparatus. More particularly, but not exclusively, the present invention relates to a robotic picking system for picking objects from a storage system having storage boxes in stacks, the stacks being located within a grid structure.

[0003] This application claims priority to UK patent applications No. GB1519931.8, GB1519930.0 and GB1519929.2 filed on November 11, 2015, the entire contents of which are incorporated herein by reference. Background Art

[0004] Some commercial and industrial activities require systems that can store and retrieve a large number of different products. One known type of system for storing and retrieving items in multiple product lines involves arranging storage boxes or storage containers on top of each other in stacks that are arranged in rows. The storage boxes are removed from the stacks and accessed from above by load handling equipment, thereby eliminating the need for access between rows and allowing more containers to be stored in a given space.

[0005] The method of handling containers stacked in rows has been known for decades. In some such systems as described in US2,701,065 of Bertel, independent stacking of containers is included, which is arranged in rows to reduce the storage volume associated with storing such containers, but still provides access to specific containers if necessary. It is possible to access a given container by providing a relatively complex lifting mechanism that can be used for stacking a given container and removing a given container from the stacking. However, the cost of such a system is impractical in many cases, and the system is commercialized mainly for the storage and handling of large shipping containers.

[0006] The idea of ​​using a free-standing stack of containers and providing a mechanism for extracting and storing a particular container has been further developed, for example, as described in EP 0 767 113 B of Cimcorp. '113 discloses a mechanism for removing a plurality of stacked containers using a robotic load handler in the form of a rectangular tube, which descends around the stack of containers and is configured to grip the container at any level of the stack. In this way, a plurality of containers can be immediately raised from the stack. The movable tube can be used to move a plurality of containers from the top of a stack to the top of another stack, or to move a container from a stack to an external position, or vice versa. Such a system is particularly useful in the case where all containers in a single stack contain the same product (referred to as a single product stack).

[0007] In the system described in '113, the height of the tube must be at least as high as the height of the largest stack of containers so that the highest stack of containers can be extracted in a single operation. Therefore, when used in an enclosed space such as a silo, the maximum height of the stack is limited by the need to accommodate the tube loading the processor.

[0008] EP 1037828 B1 (Autostore), the contents of which are incorporated herein by reference, describes a system in which a stack of containers is arranged within a frame structure. A system of this type is schematically shown in Figures 1 to 4 of the accompanying drawings. A robotic load handling device can be controllably moved around the stack on a rail system on the uppermost surface of the stack.

[0009] Other forms of robotic load handling equipment are further described in, for example, Norwegian Patent No. 317366, the contents of which are incorporated herein by reference. Figures 3(a) and 3(b) are schematic perspective views of the load handling equipment from the rear and front, respectively, and Figure 3(c) is a schematic front perspective view of the load handling equipment for raising a box.

[0010] A further development of load handling equipment is described in UK patent application number GB1314313.6 to Ocado Innovation Limited, in which each robotic load handler covers only one rack space, allowing a higher density of load handlers and thereby a higher overall handling capacity for a given size system. However, any suitable form of load handling equipment may be used.

[0011] In the known robotic picking systems described above, robotic load handling equipment is controllably moved around on top of a plurality of stacks on a rail system forming a grid. A given load handling equipment lifts a box from the stack, which is a lift containing the stock items required to meet a customer order. The container is transported to a picking station where the required stock items can be manually removed from the box and placed in a delivery container, which forms part of the customer order and is manually filled at the appropriate time for dispatch. At the picking station, the items can also be picked by an industrial robot suitable for this type of work, for example, as described in UK patent application number GB1502123.1 to Ocado Innovation Limited.

[0012] It should be understood that picking inventory items from storage bins to delivery containers at a picking station can cause lingering, resulting in congestion at the picking station and delays in assembling customer orders. In addition, the picking station itself represents a significant investment, whether it is a manual picking design or a robotic picking design. Summary of the invention

[0013] According to the present invention, there is provided a picking device for picking at least one inventory item from at least one container in a storage system, the storage system comprising: a plurality of tracks or guides, the tracks or guides being arranged in a grid pattern above a plurality of containers, the grid pattern comprising a plurality of shelf spaces, the containers being located below the tracks or guides and within the occupied area of ​​a single grid space, the picking device being configured to move laterally on the tracks or guides above the containers, a portion of the containers comprising inventory items; it is characterized in that the picking device comprises a picking device suitable for picking at least one inventory item from at least one container, and a device for moving the item or each item from at least one container to a different predetermined container.

[0014] In this way, a portion of a customer order or some or all of a customer order can be picked directly from the grid by robotic means. This reduces the amount of human intervention required in the system, thereby increasing efficiency and reducing costs.

[0015] In this manner, the present invention overcomes the problems of the prior art and provides a system and method that increases the speed at which customer orders are assembled and reduces the overall cost and improves the efficiency of large case handling storage and picking systems. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present invention will now be described with reference to the accompanying drawings, in which:

[0017] FIG1 is a schematic perspective view of a frame structure for accommodating a stack of multiple boxes in a storage system;

[0018] FIG2 is a schematic plan view of a portion of the frame structure of FIG1 ;

[0019] Figs. 3(a) and 3(b) are schematic perspective views from the rear and front, respectively, of one form of robotic load handling equipment for use with the frame structure of Figs. 1 and 2, and Fig. 3(c) is a schematic perspective view of a known load handling equipment with a crate raised when in use;

[0020] Figure 4 is a schematic perspective view of a known storage system including multiple loading handling devices of the type shown in Figures 3(a), 3(b) and 3(c), which are mounted on the frame structure of Figures 1 and 2, and the storage system includes a form of robotic loading handling device according to the present invention.

[0021] Figure 5 is a schematic perspective view of one form of a robotic picking area located above a dispatch area (dock) according to one aspect of the present invention, the picking area comprising a series of grids forming a guide above a plurality of delivery containers;

[0022] Figure 6a is a schematic perspective cross-sectional view of a robot picking device according to a form of a first embodiment of the present invention, the robot picking device being viewed from a position Figure 5 Picking out inventory items 28 from boxes in a robot picking area;

[0023] Figure 6b is a schematic cross-sectional perspective view of a robot picking device according to a first embodiment of the present invention, the robot picking device will be from Figure 6a The items picked out are stored in Figure 5 a delivery container in a robot picking area, the delivery container being pre-loaded with a delivery bag;

[0024] Figure 7 is a schematic perspective view of a robotic picking device according to a first embodiment of the present invention, the robotic picking device picking inventory items from stacked boxes within a primary storage system;

[0025] Figure 8a is a schematic cut-away perspective view of a robotic picking apparatus according to another invention, the robotic picking apparatus being adapted to lift a box containing inventory items from the storage system, pick the inventory items from the box, and deposit the picked items into a delivery container located in a dispatch portion of a shelf, a robotic picking area, or within the storage system;

[0026] Figure 8b This is a schematic diagram of the dispatch part. Figure 8c to Figure 8fis a schematic cross-sectional view of the dispatch portion, which shows Figure 8a The robotic picking equipment will deposit the inventory items picked up by the robot from the storage system directly into the delivery box;

[0027] Figure 8g to Figure 8i yes Figure 5 A schematic cross-sectional view of a portion of a storage system showing Figure 8a a robotic picking device that picks inventory items from boxes in the rack and deposits the inventory items in a delivery container that is housed within a body of the robotic picking device;

[0028] Figures 9a to 9f is a schematic cut-away perspective view of a robotic picking apparatus according to another aspect of the present invention, the robotic picking apparatus being adapted to receive a box containing inventory items from a storage system, pick the inventory items from the box, and deposit the picked items into a delivery container located in a dispatch portion of a rack, in a robotic picking area of ​​a rack, or within a storage system;

[0029] Fig.10a is a schematic perspective view of another form of a robotic device according to the present invention, the robotic device including an opening in a top surface of a carrier body, thereby extending a cavity through the robotic device, the extended cavity enabling access to the contents of a case or delivery container through the top of the device;

[0030] Fig.10b yes Fig.10a a schematic perspective view of a robotic device showing a delivery container seated in an extended cavity;

[0031] Fig.10c yes Fig.10a and Fig.10b a schematic perspective view of a robotic device on a shelf of a storage system, the system further comprising a robotic picking device adapted to access the contents of a delivery container or box located within a cavity of the robotic device, the robotic picking device picking an inventory item from one of a plurality of robotic devices located on a shelf of the storage system;

[0032] Fig.10d yes Fig.10a and Fig.10b a schematic perspective view of a robotic device on a shelf of a storage system, the system further comprising a robotic picking device adapted to be carried on another form of robotic device, the robotic picking device picking an inventory item from one of a plurality of robotic devices located on a shelf of the storage system and placing the inventory item in a robotic device including a delivery container;

[0033] Fig.11aand Fig.11b is a schematic perspective view of a robot picking device according to another aspect of the present invention, the robot picking device being movably mounted on an edge of a storage system, the robot picking device being moved from Figure 5 picking an inventory item from a portion of a storage system and depositing the inventory item in a delivery container located in the storage system;

[0034] Fig.12a and Figure 12b is a schematic perspective view of a robotic picking device according to another aspect of the present invention, the robotic picking device being movably mounted above a storage system, the robotic picking device being movable to a position above any storage bin or delivery container within the storage system, the robotic picking device being adapted to pick inventory items directly from at least one storage bin and deposit the or each item in at least one delivery container;

[0035] Fig.13a , Fig.13b and Fig.13c is a perspective schematic cross-sectional view of a box according to another invention, the box including a plurality of dispensing mechanisms capable of automatically and under remote control depositing items from the box into delivery containers;

[0036] Fig.13d is a schematic perspective view of a robot handling device according to another invention, the robot handling device including a device for lifting and carrying Fig.13a , Fig.13b and Fig.13c a device for distributing inventory items contained therein into delivery containers located in a portion of a storage system;

[0037] Fig.14a , Fig.14b and Fig.14c is a schematic diagram of another aspect of the invention, showing a box including a mechanism for withdrawing a base portion of the box, the base portion being movable between a first position and a second position such that in the first position inventory items are contained within the box and in the second position inventory items are released from the box;

[0038] Fig.14d is a form of Fig.14a , Fig.14b and Fig.14c A schematic diagram of a mechanism for moving a base portion of a box from a first position to a second position;

[0039] Fig.14eis a schematic cross-sectional view of another form of robotic handling apparatus for carrying a case, the case including a base movable from a first closed position to a second open position, the view showing the base of the case moving to the second open position with inventory items having been dropped from the case into a delivery container;

[0040] Fig.15a is a schematic diagram of another form of a box having a base portion movable from a first position to a second position, the box having a base including a plurality of portions independently movable from a first position to a second position to enable inventory items located within the box to be controllably deposited in specific portions of a delivery container;

[0041] Fig.15b is a schematic cross-sectional view of another form of a robotic load handling apparatus according to one form of the present invention, the load handling apparatus carrying a Fig.15a , showing inventory items being deposited into given pockets of an underlying delivery container;

[0042] Fig.16a is a schematic diagram of another box according to another aspect of the present invention, the box including an alternative embodiment of a mechanism for moving a base portion of the box from a first position to a second position so that inventory items contained within the box may fall into a delivery container below;

[0043] Fig.16b is a schematic cross-sectional view of another form of a robotic load handling apparatus according to one form of the present invention, the load handling apparatus carrying Fig.16a , showing that inventory items are stored in delivery containers below;

[0044] Fig.17 is a schematic diagram of another box according to another aspect of the present invention, the box including an alternative embodiment of a mechanism for moving a base portion of the box from a first position to a second position so that inventory items contained within the box fall into a delivery container below;

[0045] Fig.18a is a schematic diagram of a box according to another aspect of the present invention, the box including an alternative mechanism for depositing inventory items to be deposited within a storage container into a delivery container below, the inventory items being of a flow-through type; and

[0046] Fig.18b is a schematic cross-sectional view of another form of a robotic load handling apparatus according to one form of the present invention, the load handling apparatus carrying Fig.18a , showing inventory items being stored in delivery containers below. DETAILED DESCRIPTION

[0047] As shown in Figures 1 and 2, stackable storage containers, referred to as boxes 10, are stacked on top of each other to form a stack 12. The stack 12 is arranged in a frame structure 14 in a storage warehouse or manufacturing environment. Figure 1 is a schematic perspective view of the frame structure 14, and Figure 2 is a top-down view of a single stack 12 of boxes 10 arranged within the frame structure 14. Each box 10 typically contains multiple products or inventory items 28, and the inventory items within the box 10 can be the same, or can have different product types depending on the application. In addition, the box 10 can be structurally subdivided to accommodate multiple different inventory items 28.

[0048] In the following description, box 10 will be used to refer to a container intended for storing inventory items 28, and delivery container DT will be used to refer to a container intended to be filled to satisfy a customer order ordered by a customer. It should be understood that this terminology is used in this document for ease of reference and description. However, it should be noted that box 10 and container DT can have the same shape and configuration. In addition, delivery container DT can be stored in box 10 within the storage system or in any part of the storage system.

[0049] The frame structure 14 includes a plurality of upright members 16 supporting horizontal members 18, 20. A first set of parallel horizontal members 18 are arranged perpendicular to a second set of parallel horizontal members 20 to form a plurality of horizontal lattice structures supported by the upright members 16. The members 16, 18, 20 are typically made of metal. The boxes 10 are stacked between the members 16, 18, 20 of the frame structure 14 such that the frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of the boxes 10.

[0050] The top level of the frame structure 14 includes rails 22 arranged in a grid pattern across the top of the stack 12. Referring also to FIGS. 3 and 4, the rails 22 support a plurality of robotic load handling devices 30. A first set 22a of parallel rails 22 guides the robotic load handling devices 30 in a first direction (X) across the top of the frame structure 14, and a second set 22b of parallel rails 22 are arranged perpendicular to the first set 22a, which guides the robotic load handling devices 30 in a second direction (Y) perpendicular to the first direction. In this way, the rails 22 allow the robotic load handling devices 30 to move in two dimensions in the XY plane, so that the robotic load handling devices 30 can be moved to a position above any one of the stacks 12.

[0051] Each robotic load handling device 30 includes a carrier 32 that is arranged to travel on tracks 22 of the frame structure 14 in the X and Y directions over the stack 12. A first set of wheels 34, consisting of a pair of wheels 34 at the front of the carrier 32 and a pair of wheels 34 at the rear of the carrier 32, is arranged to engage two adjacent tracks in the first set 22a of tracks 22. Similarly, a second set of wheels 36, consisting of a pair of wheels 36 on each side of the carrier 32, is arranged to engage two adjacent tracks in the second set 22b of tracks 22. Each set of wheels 34, 36 can be raised and lowered so that either the first set of wheels 34 or the second set of wheels 36 engages the corresponding set 22a, 22b of tracks at any one time.

[0052] When the first set of wheels 34 engages the first set 22a of tracks and the second set of wheels 36 is raised from the tracks 22, the wheels 34 can be driven by a drive mechanism (not shown) housed in the carrier 32 to move the robotic load handling device 30 in the X direction. To move the robotic load handling device 30 in the Y direction, the first set of wheels 34 is raised from the tracks 22 and the second set of wheels 36 is lowered into engagement with the second set 22a of tracks. The drive mechanism can then be used to drive the second set of wheels 36 to achieve movement in the Y direction.

[0053] 4, under the control of a central control tool (not shown), one or more robotic load handling devices 30 can be moved around on the frame structure 14, over the top surface of a plurality of stacks 12. Each robotic load handling device 30 is provided with a lifting device 38 for lifting one or more boxes 10 from the stack 12 to access the desired product.

[0054] The body of the carrier 32 includes a cavity 40 sized to receive the box 10. The lifting device 38 includes a winding device and a box gripper assembly 39. The lifting device lifts the box 10 from the stack 12 into the cavity 40 in the body of the carrier 32.

[0055] In this way, multiple products can be stored and accessed from multiple locations in the racks and stacks at any time.

[0056] The robotic load handling device 30 removes the box 10 containing the inventory items 28 (not shown) therein and transports the box 10 to a picking station (not shown) where the desired inventory items 28 are removed from the box 10 and placed into the box 10 including the delivery container DT. It is important to note that the delivery container DT can be contained within the box 10. The box 10 can include the inventory items 28 or can include the delivery container DT. In addition, the delivery container DT can include at least one bag 52 into which the inventory items 28 are picked directly at the picking station (not shown).

[0057] Empty boxes 10 or boxes including a delivery container DT or boxes including a delivery container DT and a bag 52 may all be stored within the stack 12. It should be understood that all of the boxes 10 have substantially the same outer shape and configuration.

[0058] FIG. 4 shows a typical storage system as described above, with a plurality of robotic load handling devices 30 operating on a shelf above the stacks 12 .

[0059] 1 and 4 illustrate boxes 10 in stacks 12 within a storage system. It should be understood that a large number of boxes 10 may be present in any given storage system, and that a number of different items 28 may be stored in the boxes 10 in the stacks 12, with each box 10 containing a different category of inventory items 28 within a single stack 12.

[0060] In one system described above and further in UK patent application number GB1410441.8 of Ocado Innovation Limited (which application is incorporated herein by reference), the storage system includes a series of boxes 10, which may further include delivery containers DT containing customer orders therein, or may further include boxes 10 containing inventory items 28 waiting to be picked. These different boxes 10 and combinations thereof may be contained in the storage system and accessed by the robotic load handling equipment 30 as described above.

[0061] In a first aspect of the present invention, referring to Figures 1 to 4, the robotic picking and storage system described above includes a robotic picking system, equipment and method to enable inventory items 28 to be picked on the storage system described above, thereby avoiding the box 10 being transferred to a picking station for manually or robotically picking the inventory items 28 to customer orders.

[0062] like Figure 5 As shown in , a portion of the storage system may be set aside for the express purpose of robotic picking in the rack. Any such area will include delivery containers DT located below a dedicated portion of the rack, which dedicated portion may be located away from the frame 14 and the main portion of the rack system, but connected to the frame 14 and the main portion of the rack system by an extension of the rack, and the robotic loading handler 30 operates on this extension. Portions of the rack can serve as dedicated robotic picking areas 100. However, it should be understood that the main storage system can be used in the manner described below as long as at least some of the delivery containers DT are located on top of at least some of the stacks 12 of boxes 10.

[0063] For example, multiple robotic loading handling devices 30 as described above and in Ocado Innovation Limited's UK patent application number GB1413155.1 (which is incorporated herein by reference) operate on a grid system and under the control of a separate central control tool as described in Ocado Innovation Limited's UK patent application number GB1509613.4 (which is incorporated herein by reference).

[0064] In addition to the robotic load handling devices 30, there are a plurality of additional similar looking robotic picking devices 130 that may be used to pick inventory items 28 from bins 10 and deposit the items directly into delivery containers DT in accordance with the present invention.

[0065] like Figure 6a As shown in , one form of a robotic picking device 130 according to one aspect of the present invention includes a robotic picking device 50 within a cavity 40 of the body of a robotic loading handling device 30. The external shape and construction of the robotic picking device 130 are generally consistent with the external shape and construction of the robotic loading handling device 30, so that the robotic picking device 130 can operate on the grid in the same manner. However, it should be understood that in this form of the robotic picking device 130, the picking device 50 occupies the space previously used for the location of the box 10 raised from the stack 12. As described below, the purpose of the robotic picking device 130 is different from that of the robotic loading handling device 30.

[0066] In one aspect of the present invention, the robotic load handling equipment 30 is remotely commanded by a central control tool (not shown) to collect boxes 10 containing inventory items 28 required for customer orders from stacks 12 in the main storage system. The robotic load handling equipment 30 deposits the boxes 10 containing inventory items 28 required for the customer order in an empty location in the robotic picking area 100 or any other suitable location below the shelves of the storage system. The robotic picking device 130 is positioned above the deposited boxes 10 containing inventory items 28 by the central tool. Under the remote control of the central tool, potentially assisted by onboard sensors, cameras and processing devices, the robotic picking device 50 located in the cavity 40 of the robotic picking device 130 is commanded to pick at least one inventory item 28 from the box 10. The picked item is transferred to the cavity 40 of the robotic picking device 130. The robotic picking device 130 is then moved to a position above the delivery container DT on the robotic picking portion of the system or on any other part of the storage system. The delivery container DT may include a plurality of bags 52 in which inventory items 28 may be placed. Alternatively, the delivery container DT may include an empty delivery container DT. The robotic picking device 130 places inventory items 28 in the delivery container DT or the box 10 in which the delivery container DT is contained.

[0067] It should be understood that the delivery container DT may already include inventory items 28 that were previously picked robotically or manually on a shelf or at a picking station or picked manually at a picking station. It should be understood that the delivery container DT associated with a given customer order may be filled by many separate picking steps over a period of time. In addition, a customer order may include multiple delivery containers DT, so a delivery container DT in the robotic picking area 100 of the system may include only a portion of a customer order. Multiple delivery containers DT may be consolidated at the dispatch location immediately before the order is loaded onto a vehicle for delivery.

[0068] It should also be understood that this form of robotic picking device 130 generally occupies a single shelf space on the horizontal shelf of the frame 14. However, other forms of robotic picking devices 130 may occupy more shelf spaces. For example, the robotic picking device 130 may occupy 2×1 shelf spaces or 2×2 shelf spaces or more shelf spaces as needed to perform the functions described.

[0069] In addition, the robot picking device 130 may include a Figure 7The picking device 50 may be in a form different from that shown in the figure. Any suitable form of remotely controllable or autonomous picking device 50 may be used. It should be understood that the picking device 50 may have different grippers or claws to pick up the inventory items 28 from the box 10. For example, the claws (not shown) may include suction cups activated by a vacuum device, or may include remotely controllable grippers activated by a central control tool.

[0070] The use of the robotic picking apparatus 130 including the picking device 50 eliminates the need to transport the boxes 10 from the stack 12 to a picking station (not shown), remove the desired inventory item 28 and place the item in a designated delivery container DT.

[0071] In another aspect of the present invention, referring to Figure 6a and Figure 6b , robotic load handling equipment may include Figure 6a . Such a robotic picking device 130 may be provided with a picking device 50 within a cavity 40 of the body of the robotic picking device 130. The picking device may include a robotic arm capable of remote or autonomous manipulation, so that inventory items 28 may be picked from a box 10 or a delivery container DT and stored in the box 10 or the delivery container DT.

[0072] In use, and as Figure 6a and Figure 6b As shown in , such a robotic picking device 130 will be positioned above a box 10 that is delivered to or located in the picking portion of the storage system. The robotic picking device 130 will be used to quickly pick up inventory items 28 from the box 10 and deposit the inventory items 28 in a delivery container DT located adjacent to the box 10. Figure 6a and Figure 6b As shown in , inventory items 28 can be picked from box 10 and deposited in a delivery container by relatively small movements of the robotic picking device 130.

[0073] Using this approach, customer orders may also be consolidated into delivery containers DT located in the picking portion of the grid. For example, a robotic picker device 130 may be positioned above a first delivery container DT1, and the picking device is remotely activated to remove inventory items from the delivery container DT1. The robotic picking device 130 may then be moved into position above a second delivery container DT2, and the picking device is activated to place the inventory items into the second delivery container DT2. This is particularly relevant to customer orders, where large items may no longer be able to be efficiently stored in a delivery container DT, and may be moved around to provide a more efficient packaging situation for a given order.

[0074] In this aspect of the invention it is envisaged that a robotic load handler may be used in the manner described, for example, in UK patent application number GB1410127.3 and such load handling apparatus is incorporated herein by reference.

[0075] This is advantageous when the delivery containers DT are loaded into a delivery van for onward delivery to a customer, so the more efficiently the containers DT are packed, the more efficiently the van can be packed.

[0076] By the above means, it will be appreciated that it is beneficial to pick popular items from one box 10 into multiple delivery containers DT. The use of robotic picking equipment 330 reduces congestion at manual picking stations, increases overall throughput and reduces costs.

[0077] In another aspect of the present invention, the robotic picking and storage system described above with reference to FIGS. 1 to 4 includes different forms of robotic picking devices 130 , 230 , 330 , 430 .

[0078] As shown in Figures 1 to Figure 7 As illustrated, the robotic load handling devices 30 described above operate cooperatively under the control of a suitable central control tool to remove boxes 10 from the stacks 12 of the storage system. The function of each robotic load handling device 30 is to collect and transport boxes 10 containing the required inventory items 28 or items to a picking station, from which the required inventory items 28 or items are loaded into a delivery container DT. It should be understood that the robotic load handling devices 30 may have additional functions, such as removing boxes 10 from the stacks 12 and moving the boxes 10 to alternative positions within the stacks 12 of boxes 10, and periodically rearranging the boxes 10 in the stacks 12 in the form of housekeeping work.

[0079] In another aspect of the invention, another derivative of the robotic load handling device may be provided with an alternative picking device 150 within the body of the robotic load handling device, which picking device can be used to pick and lift inventory items 28 directly from storage boxes 10 located within the stack 12 in the main part of the storage system and transfer the inventory items 28 directly to the delivery container DT.

[0080] Figure 8a An alternative form of robotic picking device 230 is shown in . The robotic picking device 230 in the following example comprises a 2×1 grid spacing device. However, it should be understood that alternative sizes of robotic picking devices 230 are contemplated.

[0081] As in Figure 8aAs can be seen in the drawings, the robotic picking apparatus 230 includes a chamber 40, a lifting device, a case gripper assembly 39, and a picking device 150. The lifting device acts in conjunction with the case gripper assembly 39 to releasably attach to the case 10 so that the case 10 can be lifted from the stack 12 by the robotic picking apparatus 230 in a manner similar to that described with reference to FIG. 3 . The lifting device may take the form of a torpedo that can engage with a cooperating portion of the case 10 to enable the lifting device to remove the case 10 from the stack 12. It should be understood that any suitable form of lifting device 44 may be used that enables the robotic picking apparatus 230 to engage a case and then lift the case from its position in the stack 12 or from its position in a picking area of ​​the system. The box 10 is held in the cavity 40 by a suitable holding device that can be moved from a first position to a second position, wherein the first position allows the lifting device and the box gripper assembly 39 to move the box 10 into the cavity 40, and the second position wherein the box 10 is received in place in the cavity 40 of the robotic picking device 230.

[0082] The picking device 150 is used to pick inventory items from the box 10 raised into the cavity 40 in the robotic picking device 230. The robotic picking device 230 further includes a moving device 48 for sliding the box 10 from a first position where the box is located after being raised to a second position where the box is located below the picking device 150. It should be understood that, in addition, the moving device 48 can be used to keep the box 10 in the cavity 40.

[0083] In use, the lifting device 44 of the robotic picking device 230 is placed above the boxes 10 in the stack 12 or in the picking area. Figure 8c and Figure 8d As shown in FIG, the lifting device 44 and the box gripper assembly 39 together lift the box 10 into the cavity 40 of the robotic picking device 230. Figure 8e As shown, once raised, the box 10 is transferred by the moving device 48 from a first raised position to an adjacent second position within the cavity 40. It should be noted that the first position generally corresponds to a first grid square in the horizontal portion of the frame 14, and the second position generally corresponds to a second grid square adjacent to the first grid square.

[0084] The picking device 150 is disposed above the second position in the cavity 40 of the robotic picking device 230. The picking device 150 includes a suitable gripping device, such as Figure 9dAs shown, the gripping device is used to locate and engage at least one inventory item 28 from the box 10. It should be understood that the picking device 150 includes devices for engaging inventory items 28 of various shapes and sizes. In practice, different engagement devices may be required for different inventory items 28 to be picked. In addition, the picking device 150 needs to be able to move in at least the xyz direction.

[0085] like Figure 8f As shown in , once the inventory item is engaged by the picking device 150, the box 10 is moved from the second position to the first position by the moving device 48. The inventory item 28 is held on the picking device 150. The robotic picking device 230 is then moved to a position such that the second position within the device is above the target delivery container DT. Then, as needed, depending on the size and shape of the inventory item, the picking device 150 extends toward the delivery container DT of the inventory item identified as needing to be picked up.

[0086] Once picked, the inventory items are placed in Figure 8f , the delivery container is positioned below the cavity 40 in the second of the two grid spaces occupied by the robotic picking device 230. However, it should be understood that the robotic picking device 230 can be moved so that the robotic picking device 230 is disposed above an alternative delivery container DT in the robotic picking area 100 or on the primary storage system.

[0087] Figure 8g , Figure 8h and Figure 8i An alternative method of robotic picking on a shelf is shown, wherein a delivery container DT is lifted into a cavity 40 by a robotic picking device 230 and inventory items 28 are disposed in a box 10 within the robotic picking area or in the host system.

[0088] In this alternative embodiment, it should be understood that the robotic picking device 230 can travel on the shelf while carrying the delivery container DT, and the picking device 150 is used to pick up inventory items from the box 10 in the storage system. In this way, multiple inventory items can be picked into a single delivery container DT carried by a single robotic picking device 230.

[0089] It should be understood that such a robotic picking device 230 can be used to extract a box 10 from a primary storage system in which the desired inventory items 28 are located. Alternatively, a robotic load handling device 30 can be used to lift a box 10 from a primary storage system and deliver the box to a dedicated robotic picking area 100 of the system having only a single layer of boxes 10 or delivery containers DT disposed within a frame 14.

[0090] Under remote control from a central control facility, potentially aided by onboard sensors, cameras and processing means, the robotic picking device 230 will be positioned over the box 10 deposited by the robotic loading handling device 30 and as described above with reference to Figure 8g , Figure 8h and Figure 8i The picked inventory items 28 are deposited in the target delivery container DT in the dedicated robotic picking area 100 of the storage system. It should be understood that if necessary, a device is provided on the robotic picking device 230 to identify the correct delivery container DT and, if appropriate, the correct position within the delivery container DT, which uses a remote controlled automatic positioning device. In this way, the inventory items 28 are robotically picked from the boxes 10 and deposited in the delivery containers DT without the need to transport any boxes 10 or delivery containers DT to the picking station.

[0091] It should be understood that the robotic picking device 230 may be of any size capable of carrying a case 10 while also accommodating the picking apparatus 150. This may be achieved with respect to the robotic picking device 230 if the robotic picking device 230 is adapted to have limited winding capabilities relative to other robotic load handling devices 30 operating on the storage system. In this particular example, the robotic picking device 230 may only require the provision of telescoping gripping devices on both sides of the cavity within the body of the robotic picking device 230.

[0092] Considering the limited space in the robot picking device 230, Figures 9a to 9f An alternative robotic picking device 430 is shown in FIG. In this robotic picking device 430, the box 10 is not lifted into the cavity 40 of the device 430 by the lifting device 44 and the box gripper assembly 39, but the box 10 is pushed upward into the cavity 40 by the lifting device 46 located in the base of the storage system. For example, the lifting device 46 occupies a position such as Fig.9c Shelf space shown.

[0093] The lifting device 46 comprises a generally flat plate with locating pins 47 for cooperating with suitable cooperating means on the floor of the or each box 10 to stabilise the box 10 when raised. The lifting device 46 may be raised by any suitable means, for example by a hydraulically activated piston extending telescopically upwardly towards the grid.

[0094] In use, such as Figure 9b to Figure 9f As shown in FIG. 1 , the robot load handling device 30 (in Figure 9bThe robot 430 (not shown) extracts the box 10 from the storage system and deposits the box 10 on the lifting device 46. The robotic picking device 430 is moved into a position above the box 10 on the lifting device 46. The lifting device 46 is activated, for example, by a central control tool, and the box 10 is lifted into the cavity 40 of the device 430. The device 430 includes a releasable latch device 49, which is used to keep the box 10 in the cavity 40 during the picking process. The latch device 49 may include a movable arm that is located under the box 10 once the box 10 is in place. Alternatively, the latch device 49 may include an electromagnetic latch device that can be operated by a solenoid or any other suitable device. It should be understood that any number of releasable latch mechanisms can be used to perform the desired function of keeping the box 10 in the cavity 40.

[0095] Once the box 10 is in place, the picking device 150 can be used in a manner similar to that described above with reference to the previous robotic picking apparatus 230. That is, under the control of a central control tool or any other suitable control device, the picking device 150, which is capable of moving in the xyz direction, is manipulated into a position above the inventory items 28 in the box 10. The picking device 150 is then lowered downward and engages with the inventory items 28. It should be understood that the picking device 150 is provided with a suitable gripping device to engage with the inventory items 28. Once engaged, the picking device 150 is raised upward and moved to a position above the delivery container DT located below the shelf space adjacent to the lifted box 10.

[0096] Once the picking device 150 is in the correct position over the desired delivery container DT, aided by sensors or camera devices as appropriate, the inventory item 28 is released into the delivery container DT or placed into the delivery container DT by moving the picking device 150 along the z-axis.

[0097] It should be understood that the lifting device 46 can be used to lift the delivery container DT into the cavity 40 within the picking device 430, and the picking device 150 is used to pick inventory items 28 from the box 10 located below the grid and place the inventory in the delivery container DT within the cavity 40 of the picking device 430.

[0098] Once all the required picking steps are completed, the robotic picking device 430 returns to the grid square above the lifting device 46, the lifting device 46 is raised, and the box 10 or delivery container DT is unlocked from the device 430 and lowered into the grid space below. The box 10 or delivery container DT is then positioned in the desired position by the robotic loading and handling device 30, where it awaits its next action.

[0099] Figures 10a to 10d Another embodiment of a robotic load handling device 30 is shown. Fig.10a As can be seen in the figure, the robotic picking device 330 includes a cavity 40 extending through the body of the robotic picking device 330. To achieve this, the lifting device 44, the box gripping mechanism 39 and all other mechanical devices and electronic devices required to operate the robotic picking device 330 have been moved to the side of the robotic picking device 330, thereby forming a robotic device with an overhang. It should be understood that Fig.10a and Fig.10b The overhang shown in is merely an exemplary embodiment, and there may be only one overhang provided on one side of the robotic device. However, it should be noted that the cross-sectional area defined by the wheels of the robotic picking device 330 occupies only a single space of the grid.

[0100] In use, the box 10 or delivery container DT can be lifted from the storage system into the extended cavity 40 of the robotic picking device 330. Fig.10b As shown in , in this example, when in place, the delivery container DT is exposed at the top surface of the robotic picking device 330. Therefore, inventory items can be picked directly into the delivery container DT.

[0101] It should be understood that there are many ways to pick inventory items directly into delivery containers DT, and Fig.10c and Fig.10d Shows that items can be picked directly to Fig.10a and Fig.10b The robot picking device 330 is in two ways.

[0102] exist Fig.10c In an embodiment of the present invention, the robotic picking device 250 is suspended above the storage system. A plurality of robotic picking devices 330 containing boxes 10 including inventory items 28 required to fulfill customer orders are positioned within reach of the robotic picking device 250. The robotic picking device 250 can efficiently pick directly from the boxes 10 located in the robotic picking device 330 and into the delivery container DT located in the robotic picking device 330.

[0103] It should be understood that if the robotic picking device 250 has sufficient reach, it can directly pick up inventory items 28 from boxes 10 located below the shelves of the storage system. Furthermore, in this example, it should be understood that the robotic picking device 250 can be suspended at a fixed point from the ceiling above the storage system. It should be understood that multiple robotic picking devices 250 can be suspended from the ceiling above the storage system.

[0104] Alternatively, a single robotic picking device 250 may be located on a movable beam movable in the XY directions above the storage system so that the single robotic picking device 250 may be moved to a desired point above the storage system under the control of a central control tool.

[0105] It should further be understood that the robotic picking devices 250 can be positioned around the edges of the storage system to allow picking at the ends of the system.

[0106] exist Fig.10d In an embodiment of the present invention, another robotic picking device 550 is shown that directly picks goods from a robotic picking device 330 including a box 10 to a robotic picking device 330 including a delivery container DT. The robotic picking device 550 is mounted on a form of robotic loading handling equipment 630. It should be understood that the equipment 630 does not have the ability to handle boxes 10 or delivery containers DT, and the equipment is more of a device for moving the robotic picking device 550 around the grid above the storage system to a position where picking can be performed. It should be further understood that the robotic picking device 550 mounted on the robotic loading handling equipment 630 can move around the grid and be used to pick inventory items from boxes 10 in all positions, as long as the inventory items 28 are accessible to the picking device. For example, in one example, a box 10 can be lifted from one of the stacks 12 in the system and releasably locked so that the box is set above the level of the grid. The mobile robotic picking device may then pick up a plurality of inventory items 28 as required and deposit the inventory items individually or in combination into a target delivery container DT. The box 10 may then be returned to the appropriate stack 12. The latching means that supports the box 10 on the grid may be of any suitable form that enables the box 10 to be supported on the grid and may be remotely operable.

[0107] It should be appreciated that an advantage of this aspect of the invention is that the boxes 10 and delivery containers DT are lifted once from the stack 12 and held in the robotic picking device 330. The boxes 10 and delivery containers DT do not need to be taken from one location and temporarily placed at an appropriate location in the system when picking occurs. In this embodiment, the central control tool can position the boxes 10 and delivery containers DT within the robotic picking device 330 in a relatively uncrowded portion of the system. In this way, the shelves can be used at their maximum capacity.

[0108] In the case of all of the robotic picking devices described above, it should be understood that the picking devices 50, 150, 250, 350, 450, 550, and 650 have been described as picking a single inventory item 28 from a box and placing the inventory item in a delivery container DT. However, in another aspect of the present invention, the picking devices 50, 150, 250, 350, 450, 550, and 650 may be adapted to pick a plurality of inventory items 28, i.e., pick a plurality of inventory items 28 from a single box 10 or pick a plurality of single items 28 from a plurality of boxes 10. The picked plurality of inventory items 28 may be for the same destination delivery container DT, or may be for a plurality of delivery containers DT.

[0109] In order to enable the picking device 15 to pick a variety of items from a single box 10, it will be appreciated that the robotic picking apparatus described above may be provided with a storage device within the cavity 40 of the apparatus.

[0110] In use, a robotic picking device as described above is moved into position above a box 10 containing inventory items 28 to be picked. In the event that a single customer has ordered multiple single inventory items 28, the picking device 150 picks out a first item 28 and places the item 28 in a storage device within a cavity 40. The picking device 150 is then manipulated to pick out another inventory item 28 and place the second inventory item 28 in a storage device within the cavity 40 of the device. This is repeated until all required inventory items 28 are in the storage device. The robotic picking device is then moved into position above a delivery container DT located below the shelf, and the picking device is used to move items 28 from the storage device to the delivery container DT with the assistance of suitable sensor devices or camera devices as required to place the items as required.

[0111] When multiple different categories of inventory items 28', 28", and 28'" are located in multiple boxes 10, the robotic picking device is moved to a position above the first box 10' and the first inventory item 28' is picked up by the picking device and placed in a storage device within the cavity 40 of the device. The robotic picking device is then moved to a second box 10" in which a second inventory item 28" is stored. The second item 28" is then picked up by the picking device and placed in a storage device in the cavity 40 of the device. Finally, the device is moved to a position above a third box 10'" and picks up a third item 28'". The robotic picking device is then moved to above the target delivery container, and the items 28', 28", and 28'" are transferred from the storage device to the delivery container DT by the picking device 150.

[0112] It should be understood that the multiple inventory items 28 need not be for the same customer order and that when an item 28 may be picked from multiple boxes, the item may be stored in multiple delivery containers DT.

[0113] This may be particularly useful if inventory items 28', 28", and 28'" are located closely together in the storage system.

[0114] Fig.11a Another aspect of the present invention is shown. Fig.11a As can be seen in the figure, the storage system or a portion of the storage system includes a robotic picking device 350 located at one edge of the system. The robotic picking device 350 is movably mounted on a rail device 360. The robotic picking device 350 can be moved along the rail under the control of a central tool. The robotic picking device 350 can be directly powered by a suitable fixed power source. Advantageously, in this aspect of the invention, the robotic picking device 350 does not need to be powered by a battery and can be more substantial than the picking device 150 housed in the cavity of the robotic picking device. It should be understood that the robotic picking device 350 can be fixedly mounted to a suitable mounting device. The mounting device may include, but is not limited to, structural members of a building or facility that houses the storage system, or include specially constructed mounting devices such as beams or RSJs.

[0115] In use, the robotic load handling device 30 locates a box 10 containing inventory items 28 to be picked and a delivery container DT that requires the inventory items 28 in the box 10 located by the robotic load handling device 30 adjacent to the robotic picking device. Under the control of the central control tool, the robotic picking device 350 picks the inventory items from the box 10 and places the inventory items in the target delivery container DT. The picking process continues in this manner until all delivery containers that require the inventory items 28 have been supplied. At this point, the robotic load handling device 30 can remove the delivery containers DT that do not require additional inventory items and move them for dispatch or into the storage portion of the main rack.

[0116] It should be appreciated that this method of picking on a shelf requires relatively small movements of the robotic device around the shelf to pick the inventory items.

[0117] FIG. 12 shows the above reference Fig.11a and Fig.11b An alternative arrangement of the robotic picking device 350 described above is shown in FIG. 12 . In FIG. 12 , the robotic picking device 450 is suspended from a gantry crane 480. The robotic picking device 450 is suspended from a suitable beam positioned across the perimeter of the grid. Fig.12aAs shown in FIG. 4 , a robotic picking device 450 can pick from any box 10 or delivery container on top of a stack 12 located below the grid.

[0118] Picking device 450 is used to compare with reference Fig.11b The method described operates in a similar manner, with the advantage that the entire grid can be reached.

[0119] If removing inventory items 28 from a delivery container causes the delivery container DT to be empty, the delivery container may become a delivery container DT for a different customer order, or be returned to storage or a cargo intake so that additional inventory items 28 are positioned therein.

[0120] In this way, crowding of manual picking stations is avoided. In addition, a picking station, whether manual or robotic picking, represents a significant investment. For items that can be picked efficiently using the present invention, the total investment can be significantly reduced for a given picking capacity. It should be understood that some orders may be completely pickable without having to go to a usual picking station.

[0121] It should be further understood that the use of only Figure 5 A one box 10 deep robotic picking area as shown in can allow the overall capacity of a given storage bin to be increased because otherwise unused space can become productive.

[0122] In addition, the robotic picking area 100 of the storage and picking system may include a refrigerated section or ambient section to allow the picked orders to remain for a period of time before being loaded onto a delivery vehicle and dispatched. It should be understood that the shelf size and average residence time in the DT dispatch area depends on the density of the robotic load handling equipment 30, robotic picking equipment 130 on the shelf, so shorter lead times can be accommodated, especially if low-occurrence items can be manually picked at the picking station.

[0123] Furthermore, as previously disclosed in UK patent application number GB1502123.1 of Ocado Innovation Limited, the above-mentioned aspects of the present invention may be combined with high-speed stationary robotic loading and handling equipment for certain inventory items 28 that are considered to be fast moving.

[0124] In addition, it should be understood that the robotic loading handling equipment 30, the robotic picking equipment 130, 230, 330 and 430 can further include sensor devices to ensure that the picked inventory items 28 are delivered to the correct delivery container DT and / or the correct part of the delivery container DT. The delivery container DT may include multiple bags and the sensor devices can be used to ensure the correct positioning of the inventory items 28 within the bags in the delivery container DT.

[0125] It should be understood that although the above embodiments are described with reference to boxes 10 having substantially the same shape and configuration, the system may be adapted to employ boxes and delivery containers having alternative shapes, sizes, and configurations. In such cases, it may be necessary to provide robotic loading handling equipment and robotic picking equipment within the system that can handle boxes and containers of different shapes and sizes. In addition, certain areas of the storage system may be adapted to handle containers and boxes of alternative sizes.

[0126] It should be further understood that the picking device disposed above the shelf need not be a robotic load handling device 30, but may include a manipulator capable of reaching the shelf to pick up inventory items 28 directly from a box 10 for transfer to a delivery container DT. The manipulator may travel on a robotic service device.

[0127] In another aspect of the invention, the robotic picking and storage system described above with reference to Figures 1 to 4 includes a box 10 that performs different functions. It should be understood that the box 10 described below may be used in conjunction with any of the robotic load handling devices 30 described above.

[0128] In another embodiment of the present invention, a derivative of the box 10 includes a mechanism for dispensing one or more of a plurality of inventory items 28 from the base of a distribution box 410. As shown in Figures 13 to 18, the distribution box 410 may include a variety of mechanisms for achieving this. Each mechanism is described in detail below. However, it should be understood that the goal to be achieved in all cases is roughly the same - the ability to store inventory items 28 or the like in a delivery container DT located below the distribution box 410, thereby avoiding the need to transport the box 10 containing inventory items 28 to a picking station below the frame 14 of the storage system.

[0129] 13, a dispensing box 410 is shown having eight dispensing devices 56 disposed within a single dispensing box 410. It should be appreciated that the number of dispensing devices may vary depending on the size and shape of the inventory items 28 to be stored in the dispensing box 410.

[0130] Set in Fig.13a , 13bThe dispensing devices 56 within the dispensing boxes 410 of 13c include conventional vending machine mechanisms, whereby a single inventory item 28 can be dispensed from a given dispensing device 56. It should be understood that the stored inventory items 28 in each dispensing box 410 can include a number of different items of many different categories. Alternatively, each dispensing device within a single dispensing box 410 can include the same inventory item 28.

[0131] In use, in response to an electrical, mechanical, or electromechanical input to the dispensing device, a single or multiple inventory items 28 may be dispensed from the base of the dispensing device through an opening in the base of the dispensing box 410. The base of the dispensing device must cooperate with the base of the dispensing box 410 to ensure that the inventory items to be dispensed are discharged from the base of the dispensing box 410. It should be understood that the number of dispensing devices provided in each box depends on the size of the inventory items 28 to be dispensed. In addition, it should be understood that any given customer order may require multiple identical inventory items 28, and therefore, the dispensing device must be able to dispense single or multiple inventory items 28 of a given type.

[0132] The opening in the base of the distribution box 410 can be a flap that can be remotely or autonomously manipulated, two cooperating flaps, a rolling shutter, or any other suitable opening or closing device. It should be understood that the robotic loading handling equipment 30 carrying such a distribution box 410 can receive commands from a central tool to transport a dispenser-type box to a given position above a delivery container DT in the robot picking area. Thus, the robotic loading handling equipment 30 can be provided with a device for activating the distribution device in the distribution box 410 so as to store the inventory items 28 in the delivery container DT stored below the distribution box 410. The commands received and sent via the robotic loading handling equipment can be controlled by mechanical means, electrical means, electromechanical means, or wireless means using appropriate sensors provided in the distribution box 410 or the robotic loading handling equipment 30 described above. The sensor can be located in the box gripper assembly 39 described above, but other suitable devices can also be used.

[0133] It should be further understood that the command can be given in many ways. For example, the command can be "go to location x and distribute when arriving", or the command can be issued in two parts, more specifically, first "go to location x" and then "distribute".

[0134] In addition, if Fig.13a , Fig.13b and Fig.13c As shown in FIG, the dispensing box 410 may include a permanent opening 58 in the base, and the dispensing device 56 is used to remove and discharge the target inventory item 28 from the permanent opening 58.

[0135] It should be understood that the inventory items 28 in the boxes packaged in the distribution box 410 can be the same or can be different. In addition, it should be understood that any of the robotic picking devices described above can pick boxes from the box 10 and collect them into a single box to form a customized box 10, which can then be transported by a suitable picking device to multiple delivery containers DT and the required number of items 28 is distributed. In this way, the robotic picking device makes a customized box 10 so that the box can be transported throughout the system in the manner described above to store the inventory items 28 in the delivery container.

[0136] In use, such a distribution box 410 can be used in a variety of situations in the storage, picking and dispatching system described above. First, the incoming inventory items 28 can be unpacked and loaded into the distribution box 410. Once loaded with the required inventory items 28, the distribution box can be transported to the robotic picking portion of the storage system using any type of robotic loading handling equipment described above. However, it should be understood that the robotic loading handling equipment 30 will require a device for activating the distribution device 56 to deposit the or each inventory item through the permanent opening 58 in the base of the distribution box 410.

[0137] As shown in Figure 14, once in a position above the delivery container DT required for inventory items from the distribution box 410, the distribution mechanism is activated by appropriate communication means between the robotic loading handling equipment 30 and the distribution box, and the required inventory items 28 are deposited into the delivery container DT below the shelf located in the robotic picking portion of the storage system.

[0138] Once the inventory items 28 have been stored in the desired delivery containers DT, the distribution boxes 410 can be returned to the cargo entry portion of the system via the robotic loading handling equipment 30 for refilling, or the distribution boxes can be returned to the main storage system for storage in the stack 12 until the inventory items 28 are needed again.

[0139] In this case, the order in the delivery container DT may be completed, in which case the container DT may be transported by the robotic load handling device 30 to a truck or dispatch station for delivery. However, if the order is not filled, the delivery container DT may be stored in the robotic picking portion of the storage system, awaiting the deposit of additional inventory items 28 therein. In addition, the delivery container DT may need to be transported to a conventional picking station so that additional inventory items 28 can be added to the delivery container manually or robotically. In addition, if the order is completed but there is a lingering before dispatch occurs, the delivery container DT may be transported to the primary storage system and stored therein until the delivery time is known.

[0140] In another embodiment of the third aspect of the present invention, Fig.15a As shown in FIG. 1 , the dispensing box 510 has one or more openings or outlets 60 in its base to allow items contained in the dispensing box 510 to fall from the dispensing box 510 into a delivery container DT located below the dispensing box 510. In this manner, the dispensing box 510 may be considered to be a dispensing dispensing box 510 as described above. However, with this form of box 10, the entire contents of the dispensing box 510 are stored in the desired delivery container DT when the dispensing box 510 is positioned above the delivery container DT.

[0141] Reference Fig.15a , Fig.15b Preferably, the entire base 75 is composed of one or more movable plates 65. When a movable plate or multiple movable plates are in their Fig.15a , Fig.15b and Fig.13c In the fully open second position shown in FIG. 1 , the outlet 60 extends across the entire extension of the base 75 of the box 10. Since the outlet is the same size as the base of the dispensing box 510, even very large items can be reliably dispensed into the delivery container DT below the dispensing box 510.

[0142] like Fig.15a , Fig.15b As shown in FIG. , one or more slidable plates are moved from Fig.15a The first closed position shown in FIG. Fig.15b In the first position, the plate 65 is as shown in the second open position. Fig.15a The sides of the box 10 are shown adjoining to form a continuous base.

[0143] This embodiment has the advantage that there is little risk of items becoming caught between the plate and the side 70 of the dispensing box 510. This embodiment has the further advantage that there is little or no risk of the slidable plate being obstructed by the contents of the dispensing box 510 or the contents of the delivery container DT below the dispensing box 510.

[0144] exist Fig.15b One form of mechanism for moving the plate 65 from the closed position to the open position is shown in FIG. Fig.15b As shown in , the mechanism includes a roller type mechanism for rolling the panel 65 from the open position to the closed position.

[0145] like Fig.15bAs shown in FIG. 1 , in use, the robotic loading handling device 30 carries a distribution box 510 according to a form of the present invention and moves to a position above a target delivery container DT. The distribution box 510 is activated by a central control tool and / or by the robotic loading handling device, and the items stored in the distribution box 510 are dropped through an opening in the base of the distribution box 510 into a delivery container located below.

[0146] In such Fig.16a and Fig.16b In another preferred embodiment shown in , one or more slidable plates are provided as shown. Figure 16a to Figure 16b As shown, in a first position, the plates abut or overlap each other or abut or overlap the sides 70 of the dispensing box 510 to form a continuous base and close the outlet 60. In a second position, the slidable plate or plates can be independently opened so that the contents of the dispensing box 510 immediately above the activated plate can be deposited in a delivery container DT below the robotic loading handling device 30 carrying the dispensing box 510.

[0147] The dispensing box 410 of Figure 16 may include inventory items 28 for each removable plate as shown. Alternatively, there may be multiple items per plate, with the plate only being opened enough to enable dispensing of a single item.

[0148] In another embodiment of the distribution box 510, for example, Fig.17 16, the dispensing box 510 includes an outlet 60 that is releasably opened and closed by one or more movable panels 65 or flaps. The panels may be flexible, elastic, deformable, continuous or discontinuous or any suitable form for moving from an open position to a closed position.

[0149] Under control of a control tool or robotic load handling apparatus 30, the plate may be moved between a first or closed position as shown and a second or open position in which the outlet 60 is fully or partially open.

[0150] In the preferred embodiment shown in FIG. 15, dispensing box 510 has sides 70a and 70b and a base 75 formed by a pair of pivotable panels or flaps 65a and 65b.

[0151] In the first closed position, the flaps abut or overlap each other to form a continuous base that holds the contents of the dispensing box 510, such as Fig.17 As shown in .

[0152] In the second open position, flaps 65 a and 65 b are pivoted and opened outwardly toward the delivery container DT below dispensing box 510 to allow the contents of dispensing box 510 to fall into the delivery container DT below dispensing box 510 .

[0153] The two or more pivotable plates 65a and 65b may be moved together or independently from a first position to a second open position by a control means that communicates directly with the dispensing box 510 or via a communication device using a robotic loading handling device 30 carrying the dispensing box 510 to dispense the contents of the dispensing box 510 into a delivery container DT below the dispensing box 510. The plates 65a and 65b may then be returned to the first closed position to prepare the dispensing box 510 for receiving other inventory items 28.

[0154] It will be appreciated that inwardly opening pivotable panels 65a and 65b may be provided.

[0155] It will further be appreciated that pivotable panels 65a and 65b may be provided that are openable both inwardly and outwardly.

[0156] In an alternative embodiment, the dispensing box 510 can be divided into two or more compartments A and B, each of which is provided with one or more pivotable plates 65 that can be independently moved from a first closed position to a second open position to dispense the contents of one of the compartments into the box below the box 510A.

[0157] In an alternative embodiment, in a first closed position, several abutting or overlapping panels form the base of the dispensing box 510. The panels may be rotated by a controller to a second position such that the panels overlap in the case of abutting panels or overlap more in the case of overlapping panels to provide an outlet 60 through which items may be dispensed from the dispensing box 510 to a delivery container DT below the dispensing box 510. The size of the outlet may be varied by changing the amount of overlap of the panels in the second open position.

[0158] In an alternative embodiment, the outlet 60 extends across only a portion of the base 75. One or more removable panels 65 are provided that, in a first or closed position, cover the outlet 60 and retain the contents of the dispensing bin 510. The one or more panels 65 can be independently moved away from the outlet to a second position in which the outlet is partially or fully opened, allowing the contents of bin 510A to fall through the outlet into a bin below bin 510A.

[0159] In a further embodiment, one or more plates move laterally from a first position to a second position.It will be appreciated that, alternatively, a single plate may be provided that moves bilaterally.

[0160] It will be appreciated that where two or more plates are provided, the plates may abut or overlap each other in the first position to close the outlet.

[0161] It will be appreciated that when two or more plates 65 are provided, each plate may be movable independently of the other plates.

[0162] It will be appreciated that a plurality of outlets may be provided in the base, each outlet being closed by one or more movable plates.

[0163] It should be understood that by changing the second position of one or more plates, the outlet can be partially or completely opened to dispense some or all of the contents of the dispensing box 510 into the delivery container DT below. This may be particularly preferred when it is necessary to dispense small items and retain larger items. Alternatively, this may be particularly preferred when dispensing fluid or free-flowing items (such as, by way of example only, granules, detergent, sugar or similar powders, packaging materials or beads, novelty items such as candy, glitter or small toys, or liquids).

[0164] It will be appreciated that the flexible or resilient layer may extend from the outlet to act as a funnel or channel to direct items towards the outlet.

[0165] It should be understood that in alternative embodiments, the base of the box includes a resilient layer with an opening or valve through which heavier items can be dispensed. The size of the opening or openings can be designed so that the weight of the item to be dispensed is sufficient to convey the item through the outlet 60. Alternatively, the size and shape of the opening or openings can be designed so that only the item or items to be dispensed are dispensed from the dispensing box 510 to the delivery container DT below the dispensing box 510 when other items in the dispensing box 510 press on the item or items to be dispensed.

[0166] It should be appreciated that in alternative embodiments, the base of the box includes a mesh, allowing small items to fall through dispensing box 510 into a delivery container below dispensing box 510 .

[0167] It should be understood that the distribution box described in this embodiment may only carry a single item. However, the distribution box 510 can carry multiple items, such as Fig.14a As shown in , each item is located on a separately openable and closable portion of the base of the box.

[0168] In use, a robotic load handling device 30 or picking device as described in any of the above embodiments delivers a distribution box 510 to a shelf position on a robotic picking shelf above a delivery container that requires inventory items 28 in the distribution box. A signal is applied to a releasable opening mechanism in the distribution box 510 or to the robotic load handling device carrying the distribution box 510, which is used to release the opening mechanism in the distribution box and the inventory items 28 are stored in the delivery container DT.

[0169] The dispensing box 510 may be provided with verification means to verify that the dispensed item or items are dispensed in the correct delivery container DT or in the correct part of the correct delivery container DT.

[0170] In such Fig.18a and 18b In another aspect of the invention shown in FIG. 1 , the box 10 includes a form of funnel for containing "free flow" inventory items such as candy, liquids, flour, nuts and bolts, or other such inventory items 28. The dispensing box 810 may include separate funnel-shaped portions that contain different categories of inventory items 28 or may include a dispensing box 910 having a single funnel-shaped unit that contains a single category of inventory items 28.

[0171] In use, the box 10 including the funnel-type distribution box is conveyed by a robotic loading handling device 30 or a picking device as described in any of the above embodiments. The device conveys the distribution box 810, 910 to a shelf position on a robotic picking shelf above a delivery container DT that requires the inventory items 28 in the distribution box 810, 910. A signal is applied to the releasable opening mechanism 61 in the distribution box 810, 910 or to the robotic loading handling device carrying the distribution box 810, 910, which is used to release the opening mechanism or each opening mechanism 61 in the distribution box, and the inventory items 28 are stored in the delivery container DT.

[0172] In the case of the dispensing box 810, it will be appreciated that each portion requires a releasable opening mechanism 61 so that the sensor and camera arrangement can be used to dispense the inventory items 28 into the correct portion of the delivery container DT when appropriate.

[0173] It should be noted that the delivery container DT can be an actual delivery container for onward delivery to a customer, or a box 10 with the intent of "mail pickup" for delivery elsewhere (e.g., delivery to an alternative logistics center). The term delivery container DT is used to distinguish the box 10 from the delivery container DT. However, it should be understood that the box and DT can have similar or substantially the same shape and construction, and the function of the box defines the definition, rather than any variation in the actual shape or size of the box.

[0174] It should also be appreciated that the delivery containers DT may be housed within the case 10 to ensure that the robotic load handling equipment can handle the movement of all cases, whether in the stacks 12 of the primary storage system or in the nominal robotic picking area.

[0175] It should further be understood that although many of the above embodiments are described with reference to remote or separate robotic picking areas, the main storage system can be used as a robotic picking area while functioning as a conventional picking and storage system.

Claims

1. A picking system for a storage system, the storage system comprising: a first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending generally perpendicular to the first set in a generally horizontal plane to form a grid pattern including a plurality of grid spaces; a set of uprights, the uprights supporting the rails, the uprights and rails together defining a frame; and A plurality of containers, the plurality of containers being located below the rails and within the frame, with a portion of the containers occupying the space below the shelf space; wherein the storage system further comprises: A picking device is arranged above the container; wherein at least one container including inventory items, The picking device is adapted to pick at least one stock item from the at least one container and deposit the or each item into at least one or more further containers.

2. The picking system according to claim 1, characterized in that: The picking system further includes at least one robotic picking device capable of operating on the track, the picking device including the picking apparatus.

3. The picking system according to claim 2, characterized in that: The picking device is arranged in the robot picking equipment.

4. The picking system according to claim 2, characterized in that: The picking device is arranged on the robot picking equipment.

5. Picking system according to any one of the preceding claims, characterized in that The storage system further comprises a lifting device comprising at least one robotic picking device, the lifting device being arranged above a grid of the storage system, the lifting device being movable so that the or each picking device can be positioned above a separate container in the storage system.

6. Picking system according to any one of the preceding claims, characterized in that The picking apparatus includes at least one robotic picking device fixedly attached to a structural member surrounding the storage system.

7. The picking system according to claim 6, characterized in that: The structural member can include a ceiling, a wall, or a supporting frame of a building housing the storage system.

8. A picking system according to any one of the preceding claims, wherein: The storage system further comprises at least one load handling device adapted to lift a container from beneath the shelf and transport the container to an alternate location within the storage system.

9. Picking system according to any one of the preceding claims, characterized in that A portion of the storage system includes a picking area, the picking area including a portion of a shelf, the portion of the shelf being adapted to be one container deep below the shelf.

10. The picking system according to claim 8, wherein: The portion of the storage system includes a plurality of containers for storing inventory items.

11. The picking system according to claim 8, wherein: The portion of the storage system includes a plurality of delivery containers into which inventory items are transferred for onward delivery to customers.

12. The picking system according to claim 10, wherein: The delivery container is disposed within the storage container.

13. The picking system according to claim 10 or 11, wherein: The delivery container further includes a plurality of bags arranged to receive inventory items to be delivered.

14. A method for picking inventory items from a storage system, the storage system comprising: a first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending generally perpendicular to the first set in a generally horizontal plane to form a grid pattern including a plurality of grid spaces; a set of uprights, the uprights supporting the rails, the uprights and rails together defining a frame; A plurality of containers, the plurality of containers being located below the rails and within the frame, each container occupying a space below the grid space; the method comprising the steps of: a. Positioning at least one first container comprising a target inventory item to be picked up; b. locating at least one second container into which the target inventory item will be stored; c. transferring at least one item from said at least one first container to said at least one second container; wherein d. Directly transferring the items from the at least one first container to the at least one second container by a picking device located on or above the shelf.

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