Method and system for determining depth or obstruction of gripping assembly

Abstract

A method and system for determining depth or obstruction of a container gripping assembly is disclosed. The methods and systems use sensors to determine the depth or obstruction of the container gripping assembly.

Description

Technical Field

[0001] The present invention relates to a method and system for determining the depth of a clamping assembly (e.g., a clamping assembly used in a loading processing device). Background Technology

[0002] Some industrial and commercial activities require systems capable of accessing large quantities of different products. WO2015 / 185628A describes a storage and fulfillment system in which stacks of storage containers are arranged in a grid storage structure. The containers can be accessed from above via loading and handling equipment running on rails or tracks atop the grid storage structure. The loading and handling equipment is further described in WO2015 / 019055A1.

[0003] The loading and handling equipment includes a container lifting assembly that uses a raising and lowering assembly to raise and / or lower a container clamping assembly. The raising and lowering assembly controls the raising and lowering of the container clamping assembly based on its vertical position. For example, as the container clamping assembly is lowered and approaches the container, it decelerates. It is important to accurately determine the vertical position of the container clamping assembly to control this deceleration. The same applies when the container clamping assembly is raised and approaches the loading and handling equipment. It is equally important to determine whether the container clamping assembly is obstructed during raising and lowering. It is in this context that the present invention was designed. Summary of the Invention

[0004] In a first aspect, a lifting assembly is provided for raising and / or lowering a container from a stack of containers in a grid storage structure, the lifting assembly comprising: A clamping assembly configured to clamp a load; A raising and lowering assembly configured to raise and lower a clamping assembly, the raising and lowering assembly comprising: At least one tether is connected to the clamping assembly; A motor that winds and / or unwinds the tethers or each tether to raise and / or lower the clamping assembly, wherein the lifting assembly further includes: A sensor configured to detect movement of a clamping assembly, wherein the sensor includes an input triggered by the movement of the clamping assembly; and The controller is configured to determine the vertical position of the clamping assembly using the output of sensors. This means that the degree to which the clamping assembly is raised and / or lowered can be monitored.

[0005] The raising and lowering assembly may include a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered, and wherein a sensor is configured to detect the degree of cable winding and / or unwinding. This means that the vertical position can be accurately determined using the straight extension of the cable. In one embodiment, the raising assembly further includes a cable reel on which the cable is wound and / or unwinding, wherein the sensor includes a rotary encoder configured to engage with the cable reel to detect the degree of rotation of the cable reel as the cable winds and / or unwinds.

[0006] Cables can have a higher modulus of elasticity than tethers or each tether. This means that the effects of deep drawing can be reduced, thereby maximizing accuracy.

[0007] The lifting assembly may further include a tether reel for each tether, on which the tether or each tether is wound and / or unwound, wherein the cable reel and the tether reel or each tether reel are mounted on a shaft such that the cable reel is rotatable relative to the tether reel or each tether reel. In one embodiment, the lifting assembly according to claim 1 further includes a biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is taut between the lifting and lowering assembly and the clamping assembly. This means the cable remains taut, thereby maximizing accuracy.

[0008] The cable can transmit electrical signals to the clamping assembly. The cable may include a flat fixed flexible cable (FFC) or a ribbon cable.

[0009] The sensor may include a motor encoder of a motor, wherein the motor encoder is configured to detect the degree of winding and / or unwinding of the tether or each tether. This means that the vertical position can be accurately determined using the radial extension of the tether or each tether. In one embodiment, the lifting assembly may further include a tether reel for the tether or each tether, on which the tether or each tether is wound and / or unwound, wherein the motor encoder detects the degree of rotation of the tether reel or each tether reel as the tether or each tether is wound and / or unwound. The sensor may include: a rotary encoder configured to detect the degree of winding and / or unwinding of the tether or each tether; or a rotary encoder for the tether reel or each tether reel, wherein the rotary encoder or each rotary encoder is configured to engage with the reel or each reel to detect the degree of rotation of the reel or each reel as the respective tether or each respective tether is wound and / or unwound.

[0010] The sensor may include a rotary encoder for the tether or each tether, wherein the rotary encoder is configured to contact the respective tether such that the winding and / or unwinding of the respective tether or each of the respective tethers causes the input portion of the rotary encoder to rotate. This means that the vertical position can be accurately determined using the straight extension of the tether.

[0011] The raising and lowering assembly may include a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered, and the sensor may include a rotary encoder, wherein the rotary encoder is configured to engage with the cable such that the winding and / or unwinding of the tethers or each tether causes the shaft of the rotary encoder to rotate. This means that the vertical position can be accurately determined using the straight extension of the cable.

[0012] The lifting assembly may further include a biasing assembly configured to bias the rotary encoder, or each rotary encoder, into contact with its respective tether or cable. This ensures that the rotary encoder remains in contact with its respective tether or cable.

[0013] The raising and lowering assembly may include: a wire connected to the clamping device, wherein the wire is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; a wire spool on which the wire is wind and / or unwinded, wherein the wire is wound on the wire spool such that the wires on the wire spool are short-circuited, and wherein a sensor may be configured to measure the resistance of the wire during winding and / or unwinding. This means that the vertical position can be accurately determined using the straight extension of the wire.

[0014] The lifting assembly may further include a biasing component configured to resist unwinding or coiling of the wire reel, causing the wire to be taut between the lifting and lowering assemblies and the clamping assembly. This means the wire remains taut, thereby maximizing accuracy.

[0015] The sensor may include a time-of-flight (ToF) sensor. This means that the vertical position can be accurately determined using the linear movement of the clamping assembly.

[0016] The sensor may include a light source and a photodetector, wherein the light source is configured to emit light signals onto a surface that moves as the clamping assembly is raised and / or lowered, and the photodetector may be configured to detect reflections of the light signals from the surface to detect the movement of the surface. This means that the vertical position can be accurately determined using the radial movement of the clamping assembly. In one embodiment, the raising and lowering assembly may include a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered. The raising and lowering assembly may include a wheel that contacts a tether reel (on which the respective tether or each of the respective tethers is wound and / or unwound) or a cable reel (on which the cable is wound and / or unwound), wherein the wheel includes a surface. The tether reel or each of the tether reels or the cable reel or each of the cable reels may include a surface.

[0017] The controller can be configured to control / adjust the raising and / or lowering of the clamping assembly using a defined vertical position. This means that the clamping assembly can be accurately controlled using feedback.

[0018] On the other hand, a loading processing device is provided for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: A first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending substantially perpendicular to the first set in a substantially horizontal plane, to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of pillars to form a plurality of vertical storage positions below the grid for containers to be stacked vertically between the pillars and guided vertically through the plurality of grid spaces, the loading and processing equipment comprising: A body or frame, which is mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with a first set of parallel tracks, and the second set of wheels being arranged to engage with a second set of parallel tracks; and A container lifting assembly, the container lifting assembly including a lifting assembly according to any of the foregoing aspects, wherein the clamping assembly includes a container clamping assembly configured to clamp a container.

[0019] On another aspect, a method is provided for determining the vertical position of a clamping component for a lifting assembly according to any of the foregoing aspects, wherein the method includes: Use a motor to raise and / or lower the clamping assembly; A controller is used to determine the vertical position of the clamping assembly by utilizing the sensor output.

[0020] On the other hand, a computer program including instructions is provided that, when executed by a computer, causes the computer to perform the method according to the foregoing aspects.

[0021] In one aspect, a lifting assembly is provided for raising and / or lowering a container from a stack of containers in a grid storage structure, the lifting assembly comprising: A clamping assembly configured to clamp a load; A raising and lowering assembly configured to raise and lower a clamping assembly, the raising and lowering assembly comprising: At least one tether is connected to the clamping assembly; A motor configured to wind and / or unwind tethers or each tether around at least one axis to raise and / or lower the clamping assembly, wherein the lifting assembly further includes: A sensor configured to detect movement of the clamping assembly; and A controller is configured to determine if the clamping assembly is obstructed if the current output of the sensor does not correspond to the winding and / or unwinding of the tether or each tether around the axis or each axis for raising and / or lowering the clamping assembly. This means that malfunctions or improper operation during the raising and / or lowering of the clamping assembly can be detected.

[0022] The lifting assembly of claim 1 may further include a second sensor, wherein the second sensor directly detects rotation of at least one shaft. This means that the winding or unwinding of the tether or each tether can be detected.

[0023] In one implementation, the second sensor may include a motor encoder of the motor, wherein the controller may be configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the motor encoder. The controller may be configured to determine that the mesh assembly is obstructed if the discrepancy between the current output of the sensor and the current output of the motor encoder reaches a threshold. This implies tolerances to account for the tension of the tether or each tether.

[0024] In another embodiment, the lifting assembly may further include a tether reel for each tether, the tether or each tether being wound and / or unwound on the tether reel, wherein the second sensor may include a tether rotary encoder for each tether reel, wherein the tether rotary encoder or each tether rotary encoder may be configured to engage with the reel or each reel to detect the degree of rotation of the reel or each reel as the respective tether or each respective tether is wound and / or unwound, and wherein the controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tether rotary encoder or each tether rotary encoder. The controller may be configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tether rotary encoder by a threshold value. This implies tolerance to account for the tension of the tether or each tether.

[0025] In another embodiment, the raising and lowering assembly may include: a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; a cable reel on which the cable is wind and / or unwinded, wherein the cable reel is fixedly mounted on a shaft or each shaft; wherein the second sensor includes a cable rotary encoder for the cable reel; wherein the cable rotary encoder or each cable rotary encoder is configured to engage with the cable reel to detect the degree of rotation of the cable reel as the cable is wind and / or unwinded; and wherein the controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the cable rotary encoder.

[0026] In another embodiment, the lifting assembly may further include a tether reel for each tether, the tether or each tether being wound and / or unwound on the tether reel, wherein the second sensor includes a tether reel sensor comprising a light source and a photodetector, wherein the light source is configured to emit a light signal onto a surface that moves as the clamping assembly is raised and / or lowered, wherein the photodetector is configured to detect reflections of the light signal from the surface to detect movement of the surface, and wherein the controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tether reel sensor. The raising and lowering assembly may include a wheel that contacts the tether reel (on which the respective tether or each respective tether is wound and / or unwound), wherein the wheel includes a surface. The tether reel or each tether reel may include a surface.

[0027] In another embodiment, the raising and lowering assembly may include: a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; a cable reel on which the cable is wound and / or unwound; wherein a second sensor includes a cable reel sensor including a light source and a photodetector; wherein the light source is configured to emit a light signal onto a surface that moves as the clamping assembly is raised and / or lowered; the photodetector is configured to detect reflections of the light signal from the surface to detect movement of the surface; and wherein a controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the cable reel sensor. The raising and lowering assembly may include a wheel in contact with the cable reel (on which the cable is wound and / or unwound), wherein the wheel includes a surface; the cable reel may include a surface.

[0028] The sensor may include an input triggered by movement of the clamping assembly, and wherein the controller may be configured to receive a motion profile controlling the lifting and / or lowering of the clamping assembly, use the sensor output to determine the vertical position of the clamping assembly, and determine that the clamping assembly is obstructed if the vertical position of the clamping assembly at the current moment does not match a corresponding vertical position derived from the motion profile to a threshold. This means that a single sensor can be used to determine obstruction.

[0029] The raising and lowering assembly may include: a cable connected to the clamping assembly, wherein the cable may be configured to wind and / or unwind as the clamping assembly is raised and / or lowered, wherein a sensor may be configured to detect the degree of cable winding and / or unwinding; and a biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is taut between the raising and lowering assembly and the clamping assembly. The raising and lowering assembly may further include a cable reel on which the cable is wound and / or unwinded, wherein the sensor may include a rotary encoder configured to engage with the cable reel to detect the degree of rotation of the cable reel as the cable winds and / or unwinds, wherein the cable reel may be configured to rotate relative to an axis or each axis. This means that the cable will return to its biased state when movement of the clamping assembly is impeded, which will be detected by the rotary encoder. In one embodiment, the cable may have a higher modulus of elasticity than the tethers or each tether. In another embodiment, the cable may transmit electrical signals to the clamping assembly. In another embodiment, the cable may include a flat flexible cable (FFC) or a ribbon cable.

[0030] The sensor may include a rotary encoder for the tether or each tether, wherein the rotary encoder is configured to contact the respective tether such that winding and / or unwinding of the respective tether or each respective tether causes the input portion of the rotary encoder to rotate. The raising and lowering assembly may include a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered, wherein the cable optionally includes a flat flexible cable (FFC) or a ribbon cable, and wherein the sensor may include a rotary encoder, wherein the rotary encoder may be configured to engage with the cable such that winding and / or unwinding of the tether or each tether causes the shaft of the rotary encoder to rotate. This means that a situation where the rotary encoder loses contact with the tether or each tether or cable due to reasons such as slack will be detected by the rotary encoder. A biasing assembly may be configured to bias the rotary encoder or each rotary encoder into contact with the respective tether or cable or each respective tether or cable. This ensures that the rotary encoder maintains contact with the respective tether or cable or each respective tether or cable.

[0031] The raising and lowering assembly may include: a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; a cable reel on which the cable is wound and / or unwinded, wherein the cable reel is configured to rotate relative to an axis or each axis; a biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is taut between the raising and lowering assembly and the clamping assembly; wherein the sensor includes a cable reel sensor including a light source and a photodetector, wherein the light source is configured to emit a light signal onto a surface that moves as the clamping assembly is raised and / or lowered, and the photodetector is configured to detect reflections of the light signal from the surface to detect the movement of the surface; wherein the raising and lowering assembly may include a wheel in contact with the cable reel (each tether or each respective tether wound and / or unwinded on the cable reel), wherein the wheel includes a surface, or wherein the cable reel may include a surface. This means that the cable will return to its biased state when the movement of the clamping assembly is impeded, which will be detected by the cable reel sensor.

[0032] The raising and lowering assembly may include: a wire connected to the clamping device, wherein the wire is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; a wire reel on which the wire is wind and / or unwinded, wherein the wire is wound on the wire reel such that the wires on the wire reel are short-circuited, wherein the wire reel is configured to rotate relative to an axis or each axis; a biasing assembly configured to resist unwinding or winding of the wire reel, such that the wire is taut between the raising and lowering assembly and the clamping assembly, and wherein a sensor is configured to measure the resistance of the wire during winding and / or unwinding. This means that the wire will return to its biased state when movement of the clamping assembly is impeded, which will be detected by the sensor.

[0033] The sensor may include a time-of-flight (ToF) sensor. This will detect if the movement of the clamping component is obstructed.

[0034] The controller can be configured to stop the motor when it determines that the clamping assembly is obstructed. This means that slack tethers or any slack tethers can be prevented from unwinding from the reel.

[0035] On the other hand, a loading processing device is provided for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: A first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set extending substantially perpendicular to the first set in a substantially horizontal plane, to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of pillars to form a plurality of vertical storage positions below the grid for containers to be stacked vertically between the pillars and guided vertically through the plurality of grid spaces, the loading and processing equipment comprising: A body or frame, which is mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with a first set of parallel tracks, and the second set of wheels being arranged to engage with a second set of parallel tracks; and A container lifting assembly, comprising a lifting assembly according to any of the foregoing aspects, wherein the clamping assembly comprises a container clamping assembly configured to releasably clamp a container.

[0036] In another aspect, a method is provided for determining an obstruction of a clamping component of a lifting assembly according to any of the foregoing aspects, wherein the method includes: Use a motor to raise and / or lower the clamping assembly; and The controller is used to determine when the current output of the sensor does not match the winding and / or unwinding of the tether or each tether around the axis or each axis to raise and / or lower the clamping assembly.

[0037] On the other hand, a computer program including instructions is provided that, when executed by a computer, causes the computer to perform the method according to the foregoing aspects. Attached Figure Description

[0038] The present invention is described with reference to one or more exemplary embodiments depicted in the accompanying drawings, wherein: Figure 1 shows the storage structure and container; Figure 2 shows the track on top of the storage structure shown in Figure 1; Figure 3 shows the loading and processing device on top of the storage structure shown in Figure 1; Figure 4 shows the container lifting tool in a lowered configuration of a single loading and handling device; Figures 5A and 5B show cross-sectional views of a single loading and handling device with the container lifting tool in raised and lowered configurations; Figure 7 The method according to the present invention is shown; Figure 8 The system according to the present invention is shown; Figure 9 The system according to the present invention is shown; Figure 10 The system according to the present invention is shown; Figure 11A and Figure 11B A sensor according to the present invention is shown; Figure 12 Another sensor according to the present invention is shown; Figure 13 Another sensor according to the present invention is shown; Figure 14 Another sensor according to the present invention is shown; Figure 15 Another sensor according to the present invention is shown; Figure 16 A system according to the invention is shown; and Figure 17 The method according to the present invention is shown. Detailed Implementation

[0039] Online retailers such as grocers and supermarkets that sell multiple product lines need systems capable of storing tens or hundreds of thousands of different product lines. In this case, using single-product stacking may be impractical because it would require a very large floor space to accommodate all the necessary stacks. Furthermore, it may be necessary to store only a small number of items, such as perishable or infrequently ordered goods, making single-product stacking an inefficient solution.

[0040] International patent application WO 98 / 049075A (Autostore) describes a system in which stacks of containers of multiple products are arranged within a frame structure, the contents of which are incorporated herein by reference.

[0041] PCT Publication WO2015 / 185628A (Ocado) describes a further known storage and fulfillment system in which stacks of containers are arranged within a grid frame structure (or grid storage structure). Containers can be accessed via one or more loading and handling devices (also referred to as "robots") running on tracks atop the grid frame structure. This type of system is schematically illustrated in Figures 1 through 3 of the accompanying drawings.

[0042] As shown in Figures 1 and 2, stackable containers 10, also referred to as "boxes," are stacked on top of each other to form a stack 12. The stack 12 is arranged in a grid frame structure 14, such as in a warehousing or manufacturing environment. The grid frame structure 14 consists of a plurality of storage pillars or grid pillars. Each grid in the grid frame structure has at least one grid pillar for storing the stack of containers. Figure 1 is a schematic perspective view of the grid frame structure 14, and Figure 2 is a schematic top view showing the stack 12 of boxes 10 arranged in the frame structure 14. Each box 10 typically contains a plurality of product items (not shown). The product goods within the box 10 can be the same or different product types, depending on the application.

[0043] The grid frame structure 14 includes a plurality of upright members 16 supporting the horizontal members 18, 20. A first set of parallel horizontal grid members 18 is arranged perpendicular to a second set of parallel horizontal members 20 in a grid pattern to form a horizontal grid structure 15 supported by the upright members 16. Members 16, 18, 20 are typically made of metal. Boxes 10 are stacked between members 16, 18, 20 of the grid frame structure 14, such that the grid frame structure 14 prevents horizontal movement of the stack 12 of boxes 10 and guides vertical movement of boxes 10.

[0044] The top layer of the grid frame structure 14 includes a grid or grid structure 15, which includes tracks 22 arranged in a grid pattern across the top of the stack 12. Referring to Figure 3, the tracks 22 guide a plurality of loading and handling devices 30. A first set 22a of parallel tracks 22 guides the movement of the robotic loading and handling devices 30 across the top of the grid frame structure 14 in a first direction (e.g., the X direction). A second set 22b of parallel tracks 22, arranged perpendicular to the first set 22a, guides the movement of the loading and handling devices 30 in a second direction (e.g., the Y direction) perpendicular to the first direction. In this way, the tracks 22 allow the robotic loading and handling devices 30 to move laterally in two dimensions within a horizontal XY plane. The loading and handling devices 30 can be moved to any position above the stack 12.

[0045] PCT Patent Publication No. WO2015 / 019055 (Ocado) describes a known form of loading processing device 30 as shown in Figures 4, 5A, and 5B, wherein each loading processing device 30 covers a single grid space 17 of a grid frame structure 14, which is incorporated herein by reference. This arrangement allows for a higher density of loading processors, thereby allowing for higher throughput for a system of a given size.

[0046] The loading and handling equipment 30 includes a carrier 32 arranged to travel on tracks 22 of the frame structure 14. A first set of wheels 34, consisting of pairs of wheels 34 at the front and rear of the carrier 32, is arranged to engage with two adjacent tracks of a first set of tracks 22a. Similarly, a second set of wheels 36, consisting of pairs of wheels 36 on each side of the carrier 32, is arranged to engage with two adjacent tracks of a second set of tracks 22b. Each set of wheels 34, 36 can be raised and lowered via a reversing assembly, such that either the first set of wheels 34 or the second set of wheels 36 engages with the respective set of tracks 22a, 22b at any given time. For example, when the first set of wheels 34 engages with the first set of rails 22a and the second set of wheels 36 is lifted off the rails 22, the first set of wheels 34 can be driven by a drive assembly (not shown) housed in the carrier 32 to move the loading and processing device 30 in the X direction. To achieve movement in the Y direction, the first set of wheels 34 is lifted off the rails 22, while the second set of wheels 36 is lowered to engage with the second set of rails 22b. Subsequently, the drive assembly can be used to drive the second set of wheels 36 to move the loading and processing device 30 in the Y direction.

[0047] The loading and handling equipment 30 is equipped with a container lifting device or container lifting assembly, such as a crane mechanism, to lift the storage containers from above. The container lifting assembly includes raising and lowering components (…). Figure 9The embodiment shown in FIG. 4 includes a container clamping assembly 39, wherein the lifting and lowering assembly has a winch tether or cable 38 wound on a spool or bobbin. The lifting and lowering assembly also includes a motor to rotate the spool and thereby wind and / or unwind the tether. The lifting and lowering assembly shown in FIG. 4 includes a group of four lifting tethers 38 extending in a vertical direction. The tethers 38 are connected at or near the four corners of the container clamping assembly 39 (e.g., a lifting frame) for releasable connection to the storage container 10. For example, a corresponding tether 38 is arranged at or near each of the four corners of the container clamping assembly 39. The container clamping assembly 39 is configured to releasably clamp the top of the storage container 10 to lift it from a stack of containers in a storage system of the type shown in FIG. 1 and FIG. 2. For example, the container clamping assembly 39 may include a pin (not shown) that engages with a corresponding hole (not shown) in the edge forming the top surface of the container 10, and a sliding clamp (not shown) that engages with the edge to clamp the container 10. The clamp is driven to engage with the container 10 by a suitable drive mechanism, which is housed within the lifting frame 39 and powered and controlled by signals transmitted via the cable 38 itself or a separate control cable (not shown).

[0048] To remove the box 10 from the top of the stack 12, the loading and handling device 30 is first moved in the X and Y directions to position the container clamping assembly 39 above the stack 12. As shown in Figures 4 and 5B, the container clamping assembly is then raised and lowered vertically in the Z direction to engage the box 10 on top of the stack 12. The container clamping assembly 39 clamps the box 10 and is then pulled upwards along with the attached box 10 via cable 38. Upon reaching its vertical apex, the box 10 is held above the track 22 and housed within the carrier body 32. In this way, the loading and handling device 30 can be moved to different locations in the XY plane while carrying the box 10 and transporting it to another location. Once the target location is reached (such as another stack 12, an access point of a storage system, or a conveyor belt), the box or container 10 can be lowered from the container receiving section and released from the container clamping assembly 39. The cable 38 is long enough to allow the loading and handling equipment 30 to retrieve and place boxes from any level of the stack 12 (e.g., including the floor level).

[0049] As shown in Figure 3, a plurality of identical loading and handling devices 30 are configured so that each loading and handling device 30 can operate simultaneously to increase the system throughput. The system shown in Figure 3 may include specific locations (referred to as ports) where boxes 10 can be transported into or out of the system. Additional conveying systems (not shown) are associated with each port, allowing boxes 10 transported to a port by the loading and handling devices 30 to be conveyed to another location, such as a picking station (not shown). Similarly, boxes 10 can be moved from external locations to ports via conveying systems, such as to a box filling station (not shown), and then transported by the loading and handling devices 30 to stack 12 to replenish inventory in the system.

[0050] Each loading and handling device 30 can lift and move one container 10 at a time. The loading and handling device 30 has a container receiving cavity or recess 40 in its lower portion. The recess 40 is sized to accommodate the container 10 when it is lifted by the lifting mechanism, as shown in Figures 5A and 5B. When in the recess, the container 10 is lifted away from the track 22 below, allowing the carrier 32 to move laterally to different grid positions. If it is necessary to retrieve a container 10b not at the top of the stack 12 (“target container”), the upper container 10a (“non-target container”) must first be moved to allow access to the target container 10b. This is achieved through an operation referred to below as “digging”. Referring to Figure 3, during the digging operation, one of the loading and handling devices 30 sequentially lifts each non-target container 10a from the stack 12 containing the target container 10b and places it in an empty position within another stack 12. Subsequently, the target container 10b can be accessed by the loading and handling device 30 and moved to a port for further transport.

[0051] Each loading and handling unit in the provided loading and handling equipment 30 is operated remotely under the control of a central computer. Each individual container 10 in the system is also tracked so that suitable containers 10 can be retrieved, transported, and replaced as needed. For example, during excavation operations, the location of each non-target container is recorded so that non-target containers 10a can be tracked.

[0052] Wireless communication and networks can be used to provide a communication infrastructure from the main controller, such as via one or more base stations, to one or more loading processing devices operating on the grid structure. In response to receiving instructions from a central computer, controllers in the loading processing devices are configured to control various drive mechanisms to control the movement of the loading processing devices. For example, the loading processing devices may be instructed to retrieve containers from a target storage column at a specific location on the grid structure. Instructions may include various movements in the XY plane of the grid structure 15. As previously described, once at the target storage column, the container lifting assembly can be operated to clamp and lift the storage container 10 using the raising and lowering components and the container clamping assembly 39. Once the container 10 is accommodated in the container receiving space 40 of the loading processing device 30, the container 10 is then transported to another location on the grid structure 15, such as a "drop-off port." At the drop-off port, the container 10 is lowered to a suitable picking station to allow retrieval of any item from the storage container. Movement of the loading processing device 30 on the grid structure 15 may also include the loading processing device 30 being instructed to move to a charging station typically located on the periphery of the grid structure 15.

[0053] To operate the loading and handling devices 30 on the grid structure 15, each loading and handling device 30 is equipped with a motor for driving wheels 34, 36. Wheels 34, 36 can be driven by one or more belts connected to the wheels, or by individual motors integrated into the wheels. For a single-unit loading and handling device (where the coverage area of ​​the loading and handling device 30 occupies a single grid cell 17), due to the limited available space within the vehicle body, the motor for driving the wheels can be integrated into the wheels. For example, the wheels of a single-unit loading and handling device are driven by their respective hub motors. Each hub motor includes an outer rotor with a plurality of permanent magnets arranged to rotate around a hub, which includes coils forming an inner stator.

[0054] The system, as shown in Figures 1 through 5, offers numerous advantages and is suitable for a wide range of storage and retrieval operations. Specifically, it allows for very dense product storage and provides a highly economical way to store a large number of different items in bins 10, while also allowing for efficient and economical access to all bins 10 when picking is required.

[0055] During storage and retrieval operations, the container lifting assembly uses raising and lowering components (Figures 4, 5A, and 5B). Figure 8 and Figure 9An embodiment is shown to raise and / or lower the container clamping assembly in the Z direction. The degree to which the container clamping assembly is raised or lowered varies in the grid storage structure 14. Each stack of containers in the grid storage structure 14 has a current size / height in the Z direction, which is defined by the number of containers currently in the stack. The current size / height in the Z direction can be determined by, for example, tracking containers that have been raised from each stack of containers and / or lowered into each stack of containers by a central computer. For example, if a stack currently has 10 containers, where the containers have a fixed size / height in the Z direction, then the current size / height of the stack in the Z direction can be determined to be 10 times the fixed size / height of a single container in the Z direction. It should be understood that the current size / height of the stack in the Z direction can be expressed in an absolute sense, such as n meters from the ground, or in a relative position, such as n meters from the bottom of the grid storage structure 14, or n meters from the top of the grid storage structure.

[0056] The current size / height of the container stack, where the loading and handling equipment is located, in the Z direction can be transferred to the loading and handling equipment. The lifting and lowering components of the loading and handling equipment can utilize the current size / height of the container stack in the Z direction to control the lifting and lowering of the container gripping assembly throughout the entire operation of retrieving or returning containers from the grid storage structure. To control the lifting and / or lowering of the container gripping assembly in this way, the Z position of the container gripping assembly (or vertical position, or position in a direction perpendicular to a plane (i.e., a plane defined by the X and Y directions along which the robot moves traversing the grid storage structure) should be known. It should be understood that the Z position can be an absolute position, such as n meters from the ground, or a relative position, such as 40 n meters from the container receiving cavity or recess, or n meters from the top of the grid storage structure, or n meters from the top of the topmost container in the container stack where the loading and handling equipment is located. The Z position can be used to determine the distance between the container gripping assembly and the loading and handling equipment and / or the top of the topmost container in the container stack. In this way, the container gripping assembly can be appropriately controlled, for example, to accelerate after descending from the loading and handling equipment and to decelerate as it approaches the top of the uppermost container in the stack of containers. Similarly, the container gripping assembly can accelerate after being lifted from the top of the uppermost container in the stack of containers and to decelerate as it approaches the loading and handling equipment.

[0057] During the raising or lowering of the container clamping assembly, the container clamping assembly may encounter obstructions. For example, the container clamping assembly may encounter a defect in the grid storage structure 14, preventing it from being raised or lowered smoothly. One exemplary defect could be that the vertical member 16 has a protrusion that contacts the container clamping assembly. Another exemplary defect is that the container lifting assembly fails to recognize that it has contacted the topmost container in the stack and continues to unwind the tether. Excess tether may unwind onto an adjacent stack, causing obstruction there. Yet another defect is that the container clamping assembly is no longer parallel to the XY plane when it is raised or lowered, such that one side of the container clamping assembly contacts the vertical member 16, and the container clamping assembly subsequently pivots around the vertical member 16, potentially entering a vertical orientation. In any of these cases, the container clamping assembly will be obstructed and unable to operate properly.

[0058] Therefore, it is advantageous to accurately determine the Z-position of the container clamping assembly throughout the entire process of raising and / or lowering the container clamping assembly. It is also advantageous to determine whether the container clamping assembly is obstructed during its raising and lowering and, for example, whether the tether 37 is slack. Although the description of the Z-position and obstruction is made in the context of loading and handling equipment, it should be understood that determining the Z-position and obstruction of the clamping assembly in any lifting arrangement, such as a crane with a motor and tether (i.e., raising and lowering assembly) that clamps and raises and / or lowers the load, and a hook (i.e., clamping assembly) (i.e., lifting arrangement).

[0059] Figure 6 A schematic diagram 600 of a loading and handling device 30 according to the present invention is shown. Dashed lines show the carrier body 32 of the loading and handling device moving on a grid 22 via wheels 34 / 36. A lifting and lowering assembly 610 driven by a motor (not shown) (e.g., Figures 4, 5A, 5B) is also shown. Figure 8 and Figure 9 The raised and lowered assembly (shown) raises and lowers the container clamping assembly 39 by winding and unwinding the tether 38. One or more sensors 640 are configured to detect movement of the container clamping assembly. The loading processing device 600 may utilize a processor or controller 650 to receive data from the raised and lowered assembly 610 and each of the one or more sensors 640, and to transmit the data to the raised and lowered assembly 610 and each of the one or more sensors 640. This data may be stored in a memory 660. The data in the memory 660 may be periodically transmitted via one or more networks (e.g., base stations) for further processing.

[0060] Figure 7The steps of method 700 for use in a lifting assembly (e.g., a lifting assembly used in a loading handling device or crane) are shown. The lifting assembly includes a clamping assembly configured to clamp a load, and a lifting and lowering assembly configured to raise and lower the clamping assembly. The lifting and lowering assembly includes at least one tether connected to the clamping assembly and a motor for winding and / or unwinding the tether or each tether to raise and / or lower the clamping assembly. It should be understood that a controller (e.g., a...) can be used. Figure 6 The controller 650 of the loading and processing equipment performs the operation. Figure 7 The method. In step 710, the clamping assembly is raised and / or lowered using a motor that raises and lowers the assembly, for example, as... Figure 8 or Figure 9 As shown. In step 720, a sensor is used to detect movement of the clamping assembly. Embodiments of a sensor configured to detect movement of the clamping assembly will be described below. Figures 9 to 15 The sensor typically includes an input triggered by movement of the gripping assembly. In step 730, the controller uses the sensor output to determine the vertical position of the gripping assembly. It should be understood that detected movement of the gripping assembly can be correlated with the vertical position. For example, if the tether (or FFC) is detected to unwind 1 meter from the raising and lowering assembly, the vertical position of the gripping assembly has changed by 1 meter relatively. If the starting position of the gripping assembly before the 1-meter unwinding is known in an absolute sense (e.g., the starting position determined when the gripper device is fully retracted into the container receiving space 40 of the loading processing device 30 located on the grid storage frame 14), the current absolute vertical position of the gripper assembly can be determined. In an optional step 740, the controller controls / adjusts the motion profile of the gripping assembly based on the determined vertical position. Typically, a motor is controlled by the motion profile. In embodiments of the loading processing device, the motor controls the raising and / or lowering of the container gripping assembly according to the motion profile. One such embodiment is a trapezoidal velocity-time motion profile, which results in the container clamping assembly being in a specific vertical position at a given time. Therefore, monitoring this vertical position provides feedback that can be used to control / adjust the motion profile.

[0061] Figure 8 An exemplary container lifting assembly is shown (further described in PCT application No. PCT / EP2022 / 081364 (Ocado)). Figure 8In this container lifting assembly 800, there is a raising and lowering assembly 802, which includes four reels 810 for winding and unwinding respective tethers 38. A drive belt 820 is driven by a motor (not shown) to rotate the reels on drive shaft 805 in the opposite direction to drive shaft 806. By rotating drive shafts 805 and 806 in the opposite direction, the respective tethers 38 can be positioned at or near a corner of the raising and lowering assembly. Specifically, as... Figure 8 As shown, each tether is wound onto or unwound from the reel at a point located at or near a respective corner of the raising and lowering assembly. This allows the tethers to connect to the container clamping assembly 39 at a respective corner of the container clamping assembly, thereby increasing the stability of the container clamping assembly 39 when raising and lowering it.

[0062] The tether (one or more) can be in the form of a cable, rope, belt, or any other form of tether having the physical properties required to lift the container. In one embodiment, four tethers are used. In one embodiment, the tether may include a steel belt. In one embodiment, the tether may be made of or comprise a polyester material (e.g., braided polyester). Specifically, the tether may include a braided polyester belt or a strap, such as a seat belt (i.e., a seat belt can be used as a tether). In another embodiment, the tether may be made of ultra-high molecular weight polyethylene (UHMVPE or UHMW) (also known as high modulus polyethylene (HMPE), such as Dyneema). RTM In another embodiment, the tether may include a polyester material (e.g., woven polyester) in combination with a Dyneema belt. In another embodiment, the tether may include a cotton material. In another embodiment, the tether may include a woven material, such as woven polyester, nylon, and cotton. In another embodiment, the tether may include a conductive material; for example, the tether may include a woven material or woven polyester material, wherein conductive elements or conductive wires (e.g., copper) are woven into the tether's braided structure or construction. In another embodiment, the tether may include a braided belt (e.g., a seatbelt), wherein conductive elements or conductive wires are woven into the belt. In another embodiment, the tether may include conductive elements or conductive wires (e.g., copper) woven into the tether's braided structure or construction to provide electricity and / or communication (i.e., electrical communication) to the clamping device.

[0063] Optional fixed flexible cable (or ribbon cable) (FFC) 830 and FFC reel 840 are also shown, which are used to transmit electrical signals to the gripper assembly 39 to actuate and control the gripping of the container as described above with reference to FIG4. That is, the FFC is used to actuate and control the pins or clamps engaged with the container 10 by means of a suitable drive mechanism housed within the container gripping assembly 39. A suitable FFC is an Axon cable. RTM It is manufactured by [the manufacturer]. Although FFC is shown, it should be understood that at least one wire can be used instead to achieve the same purpose, or, as mentioned above, the conductive element can be integrated into the tether.

[0064] The following describes the use of Figure 7 The method is used to determine the vertical position of the container clamping component. Although Figure 8 (and below) Figure 9 The lifting assembly shown is illustrated as having four reels 810 and respective tethers for raising and lowering the container clamping assembly using the illustrated configuration. However, it should be understood that the system described below is not limited to a specific number of reels, tethers, and the illustrated configuration for raising and / or lowering the container clamping device.

[0065] Reference Figure 9 , Figure 10 , Figure 11A and Figure 11B This describes a container lifting assembly 900 with a sensor that can determine the vertical position of the container clamping assembly. (Compared to...) Figure 8 Similarly, the raising and lowering assembly includes four spools 910 for winding and unwinding their respective tethers 38. A drive belt 920, driven by a motor 901 (via drive belt 925 and spools 911), rotates the spools on drive shaft 905 in the opposite direction to drive shaft 906. The drive belt 920 drives pulleys connected to the spools 910. By rotating drive shafts 905 and 906 in opposite directions, the respective tethers 38 can be positioned at or near corners of the raising and lowering assembly. Specifically, as... Figure 9 As shown, each tether is wound onto or unwound from the reel at a point located at or near a respective corner of the lifting and lowering assembly. This allows the tethers to connect to the container clamping assembly 39 (not shown) at a respective corner of the container clamping assembly, thereby increasing stability when raising and lowering the container clamping assembly 39. The container lifting assembly also includes an FFC reel 940. An FFC (not shown) is wound on the reel and extends to the container clamping assembly 39 for transmitting electrical signals to the container clamping assembly 39. Thus, the FFC is wound and unwound as the motor rotates the drive shaft 906. The stator 960 is used to transmit signals to the FFC on the FFC reel 945 and to transmit signals from the FFC.

[0066] In one embodiment, the FFC reel 940 has a rotary encoder 950 (i.e., a sensor) to detect movement of the FFC reel 940. As an example, the rotary encoder 950 may be fixed between the stator and the horizontal bar 925 (however, other methods of connecting the rotary encoder 950 to the FFC reel are also apparent). The rotary encoder 950 includes a rotary electromechanical device that generates pulses as the FFC reel rotates. For example, a predetermined angular rotation of the FFC reel will generate pulses. Figure 11A and Figure 11B As shown, the encoder arrangement 1000 has an encoder disk 945 attached to the FFC reels 840 / 940. The encoder disk 945 has slots 946 on its periphery (or outer circumference). The slots allow the transmitter element and receiver element 951 of the encoder 950 to transmit and receive optical signals. The solid space between the slots prevents the reception of optical signals. Therefore, as the FFC reels rotate, the optical signals are received and interrupted, which can be associated with the angular rotation of the FFC reels 940. Although an optical rotary encoder has been described, a mechanical encoder may also be used alternatively, in which the FFC reels 940 directly engage with the input of the mechanical encoder to rotate the input. Alternatively, the motor 920 may have an encoder that can be used to determine the number of rotations of the FFC reels 940. Regardless of the type of rotary encoder implementation, the angular rotation and orientation of the FFC reels 940 can be determined as the container clamping assembly 39 is raised and lowered.

[0067] Using the dimensions of the FFC reel 940 and the FFC, the angular rotation and orientation of the FFC reel 940 can be correlated with the length of the FFC currently extending from the FFC reel. The length of the FFC currently extending from the FFC reel 940 can be correlated with the length of the FFC as described above. Figure 7 The vertical position of the container clamping assembly is associated.

[0068] Although the rotary encoder 950 is described as being used with the FFC reel 840 / 940, it should be understood that it can also be used with... Figure 11A and Figure 11B The depicted encoder arrangement 1100 monitors any tether reel 810 / 910. That is, the encoder disk is attached to the tether reel 810 / 910. Therefore, the rotation of the tether reel 910 can be monitored. Using the dimensions of the tether reel 910 and the tether 38, the angular rotation of the tether reel 910 can be correlated with the length of the tether currently extending from the tether reel 910, which can be related to the above-described... Figure 7The vertical position of the container clamping assembly is associated with this. Alternatively, the motor 901 may have a motor encoder that can be used to determine the number of rotations of the tether reel 910. Regardless of the type of rotary encoder implementation, the angular rotation and orientation of the tether reel 910 can be determined as the container clamping assembly 39 is raised and lowered.

[0069] It should also be understood that, such as Figure 11A and Figure 11B The encoder arrangement 1100 shown can be used to monitor the respective tether reels 810 / 910 and FFC reels 840 / 940. Using two encoder arrangements 1100 provides redundancy in case one encoder arrangement fails. Using two encoder arrangements 1100 on the respective tether reels 910, it can be determined whether the container clamping assembly 39 is horizontal during lifting or raising operations. If both encoder arrangements 1100 detect the same angular rotation of the respective tether reels 910, it can be inferred that the container clamping assembly 39 is horizontal. This can happen when one tether reel slips on the axis around which it is wound. If one encoder arrangement 1100 has an output that deviates from that of the other encoder arrangement 1100, it may indicate that the container clamping assembly 39 is not horizontal. Using four encoder arrangements 1100 allows the orientation of the container clamping assembly to be detected.

[0070] When the FFC has a relatively higher modulus of elasticity than the tether 39, such as when the tether 39 uses a braided polyester belt, it may be advantageous to use the FFC reel 940 to determine the vertical position of the container lifting assembly. The braided polyester belt tends to stretch according to the load carried by the container clamping assembly 39 during unwinding and rewinding. Similarly, the braided polyester belt tends to unwind and rewind onto the reel 910 in an unpredictable manner. In contrast, the FFC is less prone to stretching and can be unwinded and rewind onto the FFC reel in a predictable manner; thus, the vertical position of the container lifting assembly 39 can be accurately determined by detecting the movement of the FFC reel.

[0071] Alternatively or concurrently, the FFC reel 940 may be rotatably mounted on the shaft 906, for example, via bearings, so that the FFC reel 940 can rotate independently of or relative to the shaft 906. Therefore, as the tether unwinds to lower the container clamping assembly 39, the FFC reel 940 unwinds the FFC cable and allows the FFC cable to extend. Additionally, the FFC does not bear the load of the container clamping assembly 39. To ensure that the FFC winds back onto the FFC reel 940 as the container clamping assembly 39 is raised, a biasing component can be used. The biasing component resists the unwinding of the FFC, keeping the FFC taut, thereby ensuring a more accurate determination of the vertical position of the container clamping assembly 39. For example, if it is determined that the FFC has extended 1 meter from the FFC reel 940 and is taut, it can be determined that the position of the container clamping assembly has changed by 1 meter. Figure 10 As shown, the biasing assembly includes a bias plate 960 and a torsion spring 930 that acts on an FFC reel 940 rotatably mounted on a shaft 906. The bias plate 960 is fixedly mounted to the shaft 906. The torsion spring 930 is connected to the bias plate 960 and the FFC reel 945 to resist unwinding of the FFC reel 945. In other words, the FFC reel 945 is held in place by the spring, so that a rotational force (within the elastic limit of the torsion spring) applied to the FFC reel in the unwinding direction relative to the stationary shaft 925 is resisted. Therefore, when this rotational force (within the elastic limit of the torsion spring) is removed, the FFC reel will wind back. Generally, any biasing assembly can be used as long as it can act on the rotatably mounted FFC reel 940 to keep the FFC taut. For example, a tension spring can be used to connect the bias plate 960 and the FFC reel 945. Alternatively, the FFC reel 945 can be fixedly mounted to the shaft 906, and an offset arrangement can be located within the container clamping assembly 39. In this embodiment, the offset arrangement resists winding of the FFC reel 940. This ensures that the FFC remains taut during raising and lowering of the container clamping assembly 39.

[0072] Reference Figure 12 Another sensor 1200 is described, capable of determining the vertical position of the container clamping assembly. A reel (which can be any of reels 810 / 910 / 840 / 940) is used to wind and unwind the respective tether 38 or FFC 830. A rotary encoder wheel 1210 is biased to the tether 38 or FFC 830 via an arm 1220, which rotates about the arm 1220 via a pivot 1215. Figure 12As shown, the rotary encoder wheel 1210 rotates as the tether 38 or FFC 830 moves during winding and / or unwinding on the reels 810 / 910 / 840 / 940. That is, the shaft or input portion of the rotary encoder wheel rotates via the tether 38 or FFC 830. The rotation of the encoder wheel 1210 can be associated with the length of the tether 38 or FFC 830 that causes this rotation, which in turn can be associated with the vertical position of the container clamping assembly, consistent with the embodiments described above. The encoder wheel can be part of an optical encoder or a mechanical encoder.

[0073] Reference Figure 13 Another sensor 1300 is described, which can determine the vertical position of the container clamping assembly. A reel 1310 can be mounted on shafts 805 / 806 / 905 / 906. Therefore, the reel 1310 rotates as the lifting and lowering assembly raises and lowers the container clamping assembly. The reel 1310 can be conductive. Alternatively or additionally, the reel 1320 has channels or grooves that allow the conductive wires 1320 to be wound in a manner that brings the wires in adjacent channels / grooves into physical contact. This means that in a fully wound reel 1310, the conductive wires 1320 are short-circuited, and the voltage applied to the first end (connected to the reel) 1310 and the second end (connected to the container clamping assembly) of the conductive wires 1320 will return to a given current value. Figure 13 As shown, as the spool 1310 unwinds, a section of the conductive wire 1320 is no longer short-circuited. Consequently, due to the increased resistance of the conductive wire 1320 configuration, the voltage applied to the first and second ends of the conductive wire 1320 will return to a reduced current value. In one embodiment, the second end may be connected to an FFC connection on the container clamping assembly 39 to form a closed circuit capable of determining the current value. The change in resistance resulting from the winding and unwinding of the conductive wire 1320 can be associated with the length of the conductive wire (and therefore the tether 38 or FFC 830) causing the resistance change, which in turn can be associated with the vertical position of the container clamping assembly, consistent with the embodiments described above. A biasing component (as described above in conjunction with the FFC spool, which can be used with the spool 1310) provides a biasing component that holds the spool in a taut state. That is, the biasing component, as described above in conjunction with the FFC spool, resists the winding and unwinding of the spool 1310.

[0074] Reference Figure 14 Another sensor 1400 is described, which can determine the vertical position of the container clamping assembly. Figure 14 The above shows the comparison with the above. Figure 8 The same arrangement. Figure 8 The description applies to Figure 8The contents are shown. Additionally, a Time-of-Flight (ToF) sensor 1410 is mounted on the container lifting assembly 39. The ToF sensor 1410 is configured to transmit an optical signal 1420 to a respective surface (not shown) and receive the reflection 1430 of the transmitted optical signal 1420. The distance between the container lifting assembly 39 and the reflective surface can be calculated using the time between the transmission and reception of the optical signal (e.g., laser or LED). The reflective surface does not move as the container lifting assembly 39 is raised and / or lowered. For example, the reflective surface may be located in the raising and lowering mechanism 802, or in any other suitable component of the loading processing equipment or system. Therefore, the vertical position of the container clamping assembly 39 can be determined using the distance between the container lifting assembly 39 and the reflective surface. It should be understood that the ToF sensor 1410 may instead be located in a fixed position in the raising and lowering mechanism 802, or in a fixed position in any other suitable component of the loading processing equipment or system, and transmit an optical signal to and receive an optical signal from the reflective surface of the container lifting assembly 39. A suitable ToF sensor is the Texas Instruments® OPT3101 – ToF-based Analog Front End (AFE) Evaluation Module for Remote Proximity and Distance Sensors. Generally, any laser sensor capable of measuring distance can be used. In principle, any type of rangefinder sensor can be used to implement the ToF sensor in this embodiment, such as light detection and ranging, LiDAR, or ultrasound.

[0075] Reference Figure 15 Another sensor 1500 is described, capable of determining the vertical position of the container clamping assembly. A reel (which can be any of reels 810 / 910 / 840 / 940) is used to wind and unwind the respective tether 38 or FFC 830. A wheel 1510 is biased to the reels 810 / 910 / 840 / 940 via an arm 1520, and the wheel 1510 rotates about the arm 1520 via a pivot 1515. Figure 15As shown, wheel 1510 rotates as spools 810 / 910 / 840 / 940 rotate. Wheel 1510 has an outer textured surface that enables sensor 1530 to track its movement. A suitable surface for this is aluminum or nylon. Sensor 1530 projects an optical signal (e.g., laser or LED) onto the outer textured surface of spool 1510, so that reflected light 1550 can be detected (e.g., via a photodiode) to track the movement of the outer textured surface of spool 1510. Operation is similar to that of an optical computer mouse. The detected movement of the outer textured surface of spool 1510 can be associated with the rotation of spools 810 / 910 / 840 / 940, and thus with the extension of tether 39 or FFC 820, which in turn can be associated with the vertical position of the container clamping assembly, consistent with the above embodiment. It should be understood that if the reel 810 / 910 / 840 / 940 has a surface that enables the sensor 1530 to track its movement, then the wheel 1510 can be omitted.

[0076] Reference Figure 16 This describes a system for determining if the container gripping assembly 39 is obstructed using the aforementioned sensors. The motor 901 performs the winding and unwinding of the tether 38 / 830. Therefore, any of the sensors directly monitoring the motor will detect whether the motor is currently running, and thus whether the tether is winding and unwinding. In other words, if the motor has been started, any of the sensors directly monitoring the motor will detect its start. When the container gripping assembly 39 is obstructed, the motor will continue winding and / or unwinding the tether, and the configuration of the tether 38 / 830 and / or FFC 830 will change. For example, when the container gripping assembly encounters obstruction during descent, the tether 38 / 830 and / or FFC 830 will become slack. Therefore, by utilizing the sensors described above that detect changes in the state of the tether 38 / 830 and / or FFC 830, combined with sensors that detect the state of the motor 901, it is possible to determine if the container gripping assembly 39 is obstructed. Specifically, if the motor is detected as running by a specific sensor, and the tethers 38 / 830 and / or FFC 830 are detected as slack by a specific sensor, it can be inferred that the clamping assembly 39 is encountering an obstruction. That is, if an obstruction is encountered when lowering the container clamping assembly, the motor will no longer cause the container clamping assembly 39 to be lowered.

[0077] Processor / controller 1610 (which may be the same as processor / controller 650) can receive input from motor start sensor 1620. Sensor 1620 includes, for example, the sensors described above: Motor encoder of Motor 910 • Utilize Figure 11A and Figure 11BThe encoder arrangement shown 1100 monitors the FFC reel or tether reel 810 / 910 / 840 / 940. · Figure 15 The sensor shown All sensors 1620 either directly detect motor start-up or detect it via movement of a reel (FFC reel or tether reel 810 / 910 / 840 / 940) fixed to the shaft rotated by the motor. Typically, the motor start sensor 1620 indicates whether the motor has been started and whether it has caused the tether 38 / 830 to wind and / or unwind. If the motor is rotating the shaft (around which the tether / FFC winds and / or unwinds), the container lifting assembly 39 is considered to be being raised and / or lowered.

[0078] The processor / controller 1610 can receive various inputs to verify that the container lifting assembly 39 is indeed being raised and / or lowered. One input that can be used for this purpose is provided by a sensor 1630 that detects movement of the clamping assembly. The sensor 1630 includes, for example, sensors as described above: · Figure 10 The FFC reel 940, encoder 950, and offset arrangement are shown. · Figure 12 The sensor shown · Figure 13 The sensor and bias arrangement shown · Figure 14 The sensor shown · Figure 15 The sensor shown is used with FFC reel 940 / 940 and offset arrangement. The output of sensor 1630 depends on the movement of the container gripping assembly 39. That is, sensor 1630 can indicate the extent to which the container gripping assembly 39 is being raised and / or lowered (if it does occur). Therefore, processor / controller 1610 can determine whether the activation of the motor (indicated by sensor 1620) actually causes the container lifting assembly 39 to be raised and / or lowered (indicated by sensor 1630).

[0079] Alternatively, considering that sensor 1630 can indicate the degree to which the container gripping assembly 39 is being raised and / or lowered (if it does occur), processor / controller 1610 can correlate the output of sensor 1630 with the motor motion profile used to control the raising and / or lowering of the container gripping assembly 39. That is, processor / controller 1610 can determine whether the current raising and / or lowering of the container gripping assembly 39 (indicated by sensor 1630) is associated with a raising and / or lowering controlled by the motor. For example, the trapezoidal motion profile of the motor (which maps time to the speed of the container gripping assembly 39) can be converted by the controller into a corresponding time-distance profile. The deviation between the determined vertical position of the container gripping assembly 39 and the converted time-distance profile can be detected.

[0080] Overall, Figure 16 The system shown can be used to determine the mismatch between the drive of the motor and the resulting raising and / or lowering of the container clamping assembly. The existence of this mismatch can be detected by... Figure 17 The method is used for detection.

[0081] Figure 17 The steps of method 1700 for use in a lifting assembly (e.g., a lifting assembly used in a loading handling device or crane) are shown. The lifting assembly includes a clamping assembly configured to clamp a load, and a lifting and lowering assembly configured to raise and lower the clamping assembly. The lifting and lowering assembly includes at least one tether connected to the clamping assembly and a motor that winds and / or unwinds the tether or each tether around at least one axis to raise and / or lower the clamping assembly. It should be understood that a controller (e.g., a...) can be used. Figure 6 The controller 650 of the loading and processing equipment performs the operation. Figure 17 The method involves a motor (e.g., motor 901) that rotates at least one shaft (e.g., 805, 906) to wind and / or unwind the tether or each tether (e.g., tether 38) to raise and / or lower the clamping assembly (e.g., container clamping assembly 39). In step 1720, a sensor (e.g., sensor 1630) is used to detect movement of the clamping assembly. An embodiment of sensor 1630 configured to detect movement of the clamping assembly has been described above. Figures 9 to 15 The following describes a process where, in step 1730, the controller determines that the clamping assembly is obstructed when the current output of the sensor does not match the winding and / or unwinding of the tether or each tether around the axis or each axis for raising and / or lowering the clamping assembly. In other words, the controller determines a mismatch between the motor drive and the resulting raising and / or lowering of the container clamping assembly. An embodiment of how step 1730 is implemented using sensor 1620 and / or input 1640 is described below.

[0082] In optional step 1740, the controller stops the motor when it determines that the clamping assembly is obstructed. This means that the tether will not be further wound and / or unwound, thereby avoiding damage to the clamping device (e.g., container clamping assembly 39) and / or lifting device (e.g., container lifting assembly 39) and / or the surrounding environment (e.g., grid storage structure 14).

[0083] exist Figure 17 In one embodiment of the method, sensor 1620 is a motor encoder of a motor (e.g., motor 901), and the controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the motor encoder. By way of example only, both the motor encoder and sensor 1630 can be configured to generate a corresponding output for each increment of rotation of at least one axis. Therefore, the deviation between the output of the motor encoder (i.e., sensor 1620) and the output of sensor 1630 can be used to indicate that rotation of the shaft no longer causes the lifting assembly to rise and / or fall. The controller can be configured to determine that the clamping assembly is obstructed if the current output of sensor 1630 does not match the current output of the motor encoder by a threshold value. The threshold value can be set conventionally and allows for a small deviation before obstruction is determined. For example, the threshold value could require a difference between two consecutive outputs.

[0084] exist Figure 17 In another embodiment of the method, a tether reel (e.g., reel 810 / 910) is used for the tether or each tether, on which the tether or each tether is wound and / or unwound. The tether reel or each tether reel is fixedly mounted on a shaft rotated by a motor. Sensor 1620 is a tether rotary encoder for the tether reel or each tether reel. The tether rotary encoder or each tether rotary encoder is configured to engage with the reel or each reel to detect the degree of rotation of the reel or each reel as the respective tether or each respective tether is wound and / or unwound. Any of the above-described rotary encoders (e.g., Figure 11A and Figure 11BThe rotary encoder shown can be used as a tethered rotary encoder. The controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tethered rotary encoder or each of the tethered rotary encoders to a threshold value. By way of example only, both the tethered rotary encoder and sensor 1630 can be configured to generate a corresponding output for each increment of rotation of at least one shaft. Therefore, the deviation between the output of the tethered rotary encoder or each of the tethered rotary encoders (i.e., sensor 1620) and the output of sensor 1630 can be used to indicate that rotation of the shaft no longer causes the lifting assembly to rise and / or fall. The controller can be configured to determine that the clamping assembly is obstructed if the current output of sensor 1630 does not match the current output of the tethered rotary encoder to a threshold value. The threshold can be set conventionally and allows for a small deviation before obstruction is determined. For example, the threshold could require a difference between two consecutive outputs.

[0085] exist Figure 17 In another embodiment of the method, a cable reel (e.g., FFC reel 840 / 940) is used, on which the cable (e.g., FFC 830) is unwound and wound. The cable reel is fixedly mounted on a shaft rotated by a motor. The cable reel is connected to and electrically communicates with a clamping assembly. Sensor 1620 is a cable rotary encoder for the cable reel. The cable rotary encoder is configured to engage with the reel or each reel to detect the degree of rotation of the reel or each reel as its respective tether or each respective tether is wound and / or unwound. Any of the above-described rotary encoders (e.g. Figure 11A and Figure 11B The rotary encoder shown can be used as a cable rotary encoder. The controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tethered rotary encoder. By way of example only, both the cable rotary encoder and sensor 1630 can be configured to generate a corresponding output for each increment of rotation of at least one shaft. Thus, the deviation between the output of the cable rotary encoder (i.e., sensor 1620) and the output of sensor 1630 can be used to indicate that rotation of the shaft no longer causes the lifting assembly to rise and / or fall. The controller can be configured to determine that the mesh assembly is obstructed if the current output of sensor 1630 does not match the current output of the cable rotary encoder by a threshold. The threshold can be set conventionally and allows for a small deviation before obstruction is determined. For example, the threshold could require a difference between two consecutive outputs.

[0086] exist Figure 17In another embodiment of the method, a tether reel (e.g., reel 810 / 910) is used for the tether or each tether, on which the tether or each tether is wound and / or unwound. The tether reel or each tether reel is fixedly mounted on a shaft rotated by a motor. Sensor 1620 includes a tether reel sensor, which includes, for example, the components described above. Figure 15 The light source and photodetector are shown. As described above, the light source is configured to emit light signals onto a surface that moves as the clamping assembly is raised and / or lowered. The photodetector is configured to detect reflections of the light signals from the surface to detect the movement of the surface. The raising and lowering assembly includes wheels that contact tether reels (each tether or each of the respective tethers is wound and / or unwound on the tether reel), wherein the wheels include a surface, or alternatively, the tether reel or each of the tether reels includes a surface. The controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tether reel sensor. By way of example only, both the tether reel sensor and sensor 1630 can be configured to generate a corresponding output for each increment of rotation of at least one axis. Thus, the deviation between the output of the tether reel sensor or each of the tether reel sensors (i.e., sensor 1620) and the output of sensor 1630 can be used to indicate that rotation of the axis no longer causes the raising and / or lowering of the lifting assembly. The controller can be configured to determine that the clamping assembly is obstructed if the current output of sensor 1630 does not match the current output of the tether reel sensor by a threshold value. The threshold can be set conventionally and allows for a small deviation before obstruction is determined. For example, the threshold could require a difference between two consecutive outputs.

[0087] exist Figure 17 In another embodiment of the method, a cable reel (e.g., FFC reel 840 / 940) is used, on which a cable (e.g., FFC 830) is unwound and wound. The cable reel is fixedly mounted on a shaft rotated by a motor. The cable reel is connected to and electrically communicates with a clamping assembly. Sensor 1620 includes a cable reel sensor comprising, for example, the above-described... Figure 15The light source and photodetector are shown. As described above, the light source is configured to emit light signals onto a surface that moves as the clamping assembly is raised and / or lowered. The photodetector is configured to detect reflections of the light signals from the surface to detect the movement of the surface. The raising and lowering assembly may include wheels that contact a cable reel (on which the cable is wound and / or unwound), wherein the wheels include a surface, or alternatively, the cable reel may include a surface. The controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the cable reel sensor. By way of example only, both the cable reel sensor and sensor 1630 may be configured to generate a corresponding output for each increment of rotation of at least one axis. Thus, the deviation between the output of the cable reel encoder (i.e., sensor 1620) and the output of sensor 1630 may be used to indicate that rotation of the axis no longer causes the raising and / or lowering of the lifting assembly. The controller may be configured to determine that the clamping assembly is obstructed if the current output of sensor 1630 does not match the current output of the cable reel sensor by a threshold. The threshold can be set normally and allows for a small deviation before an obstacle is identified. For example, the threshold can require a difference between two consecutive outputs.

[0088] The sensor 1620 is used in the above five embodiments, and the sensor 1620 transmits signals to the embodiments. Figure 17 The processor / controller instructs the motor to start directly using the method.

[0089] Alternatively or concurrently, the controller may receive a motion profile so that the expected state of the clamping assembly can be deduced. That is, the controller is instructed how the clamping assembly should move. As described above, a motion profile of the motor, which maps time to the speed of the container clamping assembly 39, can be provided to the controller. A corresponding time-distance profile can also be provided, or the processor can derive the corresponding time-distance profile from the motion profile. Therefore, once the controller detects movement of the clamping assembly via sensor 1630, the controller can compare the movement of the clamping assembly with the expected movement derived from the motion profile. If input 1640 is used in addition to input 1620, this can be used for further verification of obstructions.

[0090] Figure 17 The method also uses sensor 1630, an embodiment of which is described below.

[0091] exist Figure 17 In one embodiment of the method, a cable reel (e.g., FFC reel 840 / 940) is used, on which the cable (e.g., FFC 830) is unwound and wound. The cable reel is rotatably mounted on a shaft rotated by a motor, as described above. Figure 9The FFC reel 940 and its bias arrangement are shown. The cable reel is connected to and electrically communicates with the clamping assembly. The sensor 1630 includes a rotary encoder, such as encoder 950. Once the clamping assembly is obstructed, Figure 9 The FFC reel 940 will then return to its biased state. That is, due to the movement of the container lifting assembly, the FFC reel and FFC will no longer be under tension and will quickly return to their biased state. Returning to the biased state means that the rotary encoder output of sensor 1630 in this embodiment will no longer match the output provided by sensor 1620, and an obstruction will be detected as described above. Alternatively or additionally, the vertical position of the gripper assembly can be deduced from sensor 1630 in this embodiment and compared with the input provided by 1640 to determine the obstruction.

[0092] exist Figure 17 In another embodiment of the method, sensor 1630 includes a rotary encoder, such as those described above and Figure 12 The encoder 1210 is shown. Once the clamping assembly is obstructed, Figure 12 The rotary encoder 1210 will stop rotating due to reduced traction with the tether 38 or FFC 830. Loss of traction means that the rotary encoder output of sensor 1630 in this embodiment will no longer match the output provided by sensor 1620, and an obstruction will be detected as described above.

[0093] exist Figure 17 In another embodiment of the method, a wire reel (e.g., wire reel 1310) is used, on which a wire (e.g., wire 1320) is unwound and wound. The wire reel is optionally rotatably mounted on a shaft rotated by a motor, as described above. Figure 13 The wire reel 1310 and its biased arrangement are shown. The wire reel is connected to a clamping assembly. Sensor 1630 includes sensor 1300. Once the clamping assembly is obstructed, Figure 13 The wire reel 1310 will then return to its biased state. That is, due to the movement of the container lifting assembly, the wire reel 1310 will no longer be under tension and will quickly return to its biased state. Returning to the biased state means that the output of sensor 1300 in this embodiment will no longer match the output provided by sensor 1620, and an obstruction will be detected as described above. Alternatively or alternatively, the vertical position of the gripper assembly can be deduced by sensor 1630 in this embodiment and compared with the input provided by 1640 to determine the obstruction.

[0094] exist Figure 17 In another embodiment of the method, sensor 1630 includes a ToF sensor, such as those described above and Figure 14The sensor shown (ToF sensor 1410), or generally any laser sensor for measuring distance, can be used. Once the clamping assembly is obstructed, the ToF sensor will no longer detect changes in distance. Alternatively, the clamping assembly can be tilted to the point that the ToF sensor will no longer detect the reflected light signal due to misalignment with the reflective surface. A unchanged distance measurement or the absence of a returned light signal means that the output of sensor 1630 in this embodiment will no longer match the output provided by sensor 1620, and an obstruction will be detected as described above. Additionally or alternatively, the vertical position of the clamping assembly can be derived from sensor 1630 in this embodiment and compared with the input provided by 1640 to determine the obstruction.

[0095] exist Figure 17 In one embodiment of the method, a cable reel (e.g., FFC reel 840 / 940) is used, on which the cable (e.g., FFC 830) is unwound and wound. The cable reel is optionally rotatably mounted on a shaft rotated by a motor, as described above. Figure 9 The FFC reel 940 and its bias arrangement are shown. The cable reel is connected to and electrically communicates with the clamping assembly. Sensor 1630 includes a cable reel sensor, which includes, for example, those described above. Figure 15 The light source and photodetector are shown. As described above, the light source is configured to emit an optical signal onto a surface that moves as the clamping assembly is raised and / or lowered. The photodetector is configured to detect the reflection of the optical signal from the surface to detect the movement of the surface. The raising and lowering assembly may include a wheel that contacts a cable reel (on which the cable is wound and / or unwound), wherein the wheel includes a surface, or alternatively, the cable reel may include a surface. Once the clamping assembly is obstructed, Figure 9 The FFC reel 940 will then return to its biased state. That is, due to the movement of the container lifting assembly, the FFC reel and FFC will no longer be under tension and will quickly return to their biased state. Returning to the biased state means that the rotary encoder output of sensor 1630 in this embodiment will no longer match the output provided by sensor 1620, and an obstruction will be detected as described above. Alternatively or additionally, the vertical position of the gripper assembly can be deduced by sensor 1630 in this embodiment and compared with the input provided by 1640 to determine the obstruction.

[0096] In this paper, the term "movement in the n-direction" (and related expressions) is intended to express movement in any direction substantially along or parallel to the n-axis (i.e., toward the positive end or the negative end of the n-axis), where n is one of x, y, and z.

[0097] In this text, the word "connect" and its derivatives are intended to include the possibility of direct and indirect connections. For example, "x is connected to y" is intended to include the possibility that x is directly connected to y without any intermediate components, and the possibility that x is indirectly connected to y with one or more intermediate components. When expressing a direct connection, the terms "directly connected," "directly connected," or similar expressions are used. Similarly, the word "support" and its derivatives are intended to include the possibility of direct and indirect contact. For example, "x supports y" is intended to include the possibility that x directly supports and directly contacts y without any intermediate components, and the possibility that x indirectly supports y with one or more intermediate components contacting x and / or y. The word "install" and its derivatives are intended to include the possibility of direct and indirect installation. For example, "x is installed on y" is intended to include the possibility that x is directly installed on y without any intermediate components, and the possibility that x is indirectly installed on y with one or more intermediate components.

[0098] In this article, the word "includes" and its derivatives are intended to have an open-ended meaning rather than a closed one. For example, "x includes y" is intended to include the possibility that x includes one and only one y, multiple y's, or one or more y's and one or more other elements. When intended to express a closed meaning, "x consists of y" will be used, indicating that x includes only y and excludes the others.

[0099] In this document, "controller" is intended to include any hardware suitable for controlling (e.g., providing instructions to) one or more other components. For example, a processor equipped with one or more memories and appropriate software to process data associated with the component or components and to send appropriate instructions to the component (one or more) to enable the component (one or more) to perform its intended function (one or more).

[0100] In this application, unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” are intended to include the plural forms. It should also be understood that while the term “comprising” as used in this specification indicates the presence of stated features, integers, steps, operations, elements, and / or components, it does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or combinations thereof.

[0101] This invention can take the following forms: a completely hardware implementation, a completely software implementation, or an implementation that includes both hardware and software elements. In a preferred embodiment, this invention is implemented in software.

[0102] Furthermore, the present invention can take the form of a computer program, implemented as a computer-readable medium having computer-executable code for use by a computer or in connection with a computer. For the purposes of this specification, a computer-readable medium can be any tangible means capable of containing, storing, transmitting, propagating, or transporting a program for use by a computer or in connection with a computer. Furthermore, a computer-readable medium can be an electronic system, magnetic system, optical system, electromagnetic system, infrared system, or semiconductor system (or apparatus or device), or a propagation medium. Embodiments of computer-readable media include semiconductor or solid-state memory, magnetic tape, removable computer floppy disks, random access memory (RAM), read-only memory (ROM), hard disks, and optical discs. Currently, embodiments of optical discs include optical disc read-only memory (CD-ROM), CD-R / W, and DVDs.

[0103] The flowcharts in the figures illustrate the architecture, functionality, and operation of possible implementations of the method according to various embodiments of the present invention. In this regard, each block in the flowchart may represent a module, segment, or portion of code, which includes one or more executable instructions for implementing a specified logical function (one or more). It should also be noted that in some alternative implementations, the functions mentioned in a block may not be performed in the order shown in the figures. For example, two blocks shown consecutively may actually be executed substantially simultaneously, or depending on the functions involved, the blocks may sometimes be executed in reverse order. It should also be noted that each block in the flowchart, and combinations of blocks in the flowchart, can be implemented by a dedicated hardware-based system (performing the specified function or behavior) or a combination of dedicated hardware and computer instructions.

[0104] It should be understood that the above description is made by way of examples only, and those skilled in the art can make various modifications. Although various embodiments have been described in detail above, or have been described with reference to one or more individual embodiments, those skilled in the art can make many changes to the disclosed embodiments without departing from the scope of the invention.

Claims

1. A lifting assembly for raising and / or lowering a container into a stack of containers in a grid storage structure, the lifting assembly comprising: A clamping assembly configured to clamp a load; A raising and lowering assembly, configured to raise and lower the clamping assembly, the raising and lowering assembly comprising: At least one tether is connected to the clamping assembly; A motor that winds and / or unwinds the tether or each tether to raise and / or lower the clamping assembly, wherein the lifting assembly further includes: A sensor configured to detect movement of the clamping assembly, wherein the sensor includes an input triggered by the movement of the clamping assembly; and A controller configured to determine the vertical position of the clamping assembly using the output of the sensor.

2. The lifting assembly as described in claim 1, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; and The sensor is configured to detect the degree of winding and / or unwinding of the cable.

3. The lifting assembly of claim 2, further comprising a cable reel, the cable being wound and / or unwound on the cable reel, wherein, The sensor includes a rotary encoder configured to engage with the cable reel to detect the extent to which the cable reel rotates as the cable is wound and / or unwound.

4. The lifting assembly as described in claim 2 or 3, wherein, The cable has a higher modulus of elasticity than the tether or each tether.

5. The lifting assembly as claimed in claims 2 to 4, further comprising a tether reel for the tether or each tether, wherein the tether or each tether is wound and / or unwound on the tether reel, wherein, The cable reel and the tether reel or each tether reel are mounted on a shaft so that the cable reel can rotate relative to the tether reel or each tether reel.

6. The lifting assembly of claims 2 to 5, further comprising a biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is tensioned between the lifting and lowering assembly and the clamping assembly.

7. The lifting assembly as described in claims 2 to 6, wherein, The cable transmits electrical signals to the clamping assembly.

8. The lifting assembly as described in claims 2 to 7, wherein, The cable includes a fixed flexible cable (FFC) or a ribbon cable.

9. The lifting assembly as described in claim 1, wherein, The sensor includes a motor encoder of the motor, wherein the motor encoder is configured to detect the degree of winding and / or unwinding of the tether or each tether.

10. The lifting assembly of claim 9, further comprising a tether reel for the tether or each tether, wherein the tether or each tether is wound and / or unwound on the tether reel, wherein, The motor encoder detects the degree to which the tether reel or each tether reel rotates as the tether or each tether is wound and / or unwound.

11. The lifting assembly as claimed in claim 1, wherein, The sensor includes a rotary encoder configured to detect the degree of winding and / or unwinding of the tether or each tether.

12. The lifting assembly of claim 11, further comprising a tether reel for the tether or each tether, the tether or each tether being wound and / or unwound on the tether reel, wherein, The sensor includes a rotary encoder for the tether reel or each tether reel, wherein the rotary encoder or each rotary encoder is configured to engage with the reel or each reel to detect the degree to which the reel or each reel rotates as the respective tether or each respective tether is wound and / or unwound.

13. The lifting assembly as claimed in claim 1, wherein, The sensor includes a rotary encoder for the tether or each tether, wherein the rotary encoder is configured to contact the respective tether so that the winding and / or unwinding of the respective tether or each respective tether causes the input portion of the rotary encoder to rotate.

14. The lifting assembly as claimed in claim 1, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered; and The sensor includes a rotary encoder, which is configured to engage with the cable such that the winding and / or unwinding of the tether or each tether causes the shaft of the rotary encoder to rotate.

15. The lifting assembly of claim 13 or 14, further comprising a biasing assembly configured to bias the rotary encoder or each rotary encoder into contact with the respective tether or cable or each respective tether or cable.

16. The lifting assembly as claimed in claim 1, wherein, The lifting and lowering assembly includes wires connected to the clamping device, wherein the wires are configured to wind and / or unwind as the clamping assembly is lifted and / or lowered; A wire reel, on which the wire is wound and / or unwound, wherein the wire is wound on the wire reel such that the wire on the wire reel is short-circuited; and The sensor is configured to measure the resistance of the wire during winding and / or unwinding.

17. The lifting assembly of claim 16, further comprising a biasing assembly configured to resist unwinding or winding of the wire reel, such that the wire is taut between the lifting and lowering assembly and the clamping assembly.

18. The lifting assembly as claimed in claim 1, wherein, The sensor includes a time-of-flight (ToF) sensor.

19. The lifting assembly as claimed in claim 1, wherein, The sensor includes a light source and a photodetector; wherein... The light source is configured to emit an optical signal onto a surface that moves as the clamping assembly is raised and / or lowered; and The photodetector is configured to detect the reflection of the light signal from the surface in order to detect movement of the surface.

20. The lifting assembly as claimed in claim 19, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered.

21. The lifting assembly as claimed in claim 19 or 20, wherein, The raising and lowering assembly includes a wheel that contacts a tether reel or cable reel, wherein the respective tether or each respective tether is wound and / or unwound on the tether reel, or the cable is wound and / or unwound on the cable reel, wherein the wheel includes the surface.

22. The lifting assembly as claimed in claim 19 or 20, wherein, The tether reel or each tether reel or the cable reel includes the surface.

23. The lifting assembly as claimed in any claim, wherein, The controller is configured to control / adjust the raising and / or lowering of the clamping assembly using the determined vertical position.

24. The lifting assembly as claimed in any claim, wherein, The number of tethers is four, and optionally, the tethers comprise steel strips or braided polyester strips.

25. A loading and handling apparatus for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: A first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set of parallel tracks or rails extending substantially perpendicular to the first set of tracks or rails in a substantially horizontal plane, to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of pillars to form a plurality of vertical storage positions below the grid for containers to be stacked vertically between the pillars and guided vertically through the plurality of grid spaces by the pillars, the loading and processing equipment comprising: A body or frame, said body or frame being mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with a first set of parallel tracks, and the second set of wheels being arranged to engage with a second set of parallel tracks; and A container lifting assembly, the container lifting assembly comprising a lifting assembly as described in any of the preceding claims, wherein the clamping assembly comprises a container clamping assembly configured to clamp a container.

26. A method for determining the vertical position of a clamping assembly for a lifting assembly according to any of the preceding claims, wherein, The method includes: Use a motor to raise and / or lower the clamping assembly; A controller is used to determine the vertical position of the clamping assembly using the output of the sensors.

27. A computer program including instructions that, when executed by a computer, cause the computer to perform the method of claim 26.

28. A lifting assembly for raising and / or lowering a container into a stack of containers in a grid storage structure, the lifting assembly comprising: A clamping assembly configured to clamp a load; A raising and lowering assembly, configured to raise and lower the clamping assembly, the raising and lowering assembly comprising: At least one tether is connected to the clamping assembly; A motor configured to wind and / or unwind the tether or each tether about at least one axis to raise and / or lower the clamping assembly, wherein the lifting assembly further includes: Sensors configured to detect movement of the clamping assembly; and A controller configured to determine that the clamping assembly is obstructed if the current output of the sensor does not correspond to the winding and / or unwinding of the tether or each tether around the axis or each axis for raising and / or lowering the clamping assembly.

29. The lifting assembly according to claim 28, further comprising: The second sensor directly detects the rotation of the at least one axis.

30. The lifting assembly as claimed in claim 29, wherein, The second sensor includes the motor encoder of the motor, wherein the controller is configured to: If the current output of the sensor does not match the current output of the motor encoder, it is determined that the clamping assembly is obstructed.

31. The lifting assembly as claimed in claim 30, wherein, The controller is configured to determine that the mesh assembly is obstructed if the current output of the sensor does not match the current output of the motor encoder to a threshold value.

32. The lifting assembly according to claim 29, further comprising: A tether reel for the tether or each tether, the tether or each tether being wound and / or unwound on the tether reel; The second sensor includes a tether rotary encoder for the tether reel or each tether reel, wherein the tether rotary encoder or each tether rotary encoder is configured to engage with the reel or each reel to detect the degree of rotation of the reel or each reel as the respective tether or each respective tether is wound and / or unwound; and The controller is configured as follows: If the current output of the sensor does not match the current output of the tethered rotary encoder or each tethered rotary encoder, then the clamping assembly is determined to be obstructed.

33. The lifting assembly as described in claim 32, wherein, The controller is configured to determine that the clamping assembly is obstructed if the current output of the sensor does not match the current output of the tethered rotary encoder to a threshold value.

34. The lifting assembly as claimed in claim 29, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; A cable reel on which the cable is wound and / or unwound; The second sensor includes a cable rotary encoder for the cable reel, wherein the cable rotary encoder, or each cable rotary encoder, is configured to engage with the cable reel to detect the degree to which the cable reel rotates as the cable is wound and / or unwound; and The controller is configured as follows: If the current output of the sensor does not match the current output of the cable rotation sensor, it is determined that the clamping assembly is obstructed.

35. The lifting assembly as claimed in claim 29, further comprising: A tether reel for the tether or each tether, the tether or each tether being wound and / or unwound on the tether reel; The second sensor includes a tether reel sensor, which comprises a light source and a photodetector; wherein... The light source is configured to emit light signals onto a surface that moves as the clamping assembly is raised and / or lowered; The photodetector is configured to detect the reflection of the light signal from the surface to detect movement of the surface; and The controller is configured as follows: If the current output of the sensor does not match the current output of the tether reel sensor, it is determined that the clamping assembly is obstructed.

36. The lifting assembly as described in claim 35, wherein, The raising and lowering assembly includes: a wheel in contact with a tether reel, wherein the respective tethers or each respective tether is wound and / or unwound on the tether reel, wherein the wheel includes the surface; or Wherein, the tether reel or each tether reel includes the surface.

37. The lifting assembly as claimed in claim 29, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; A cable reel, on which the cable is wound and / or unwound; wherein... The second sensor includes a cable reel sensor, which includes a light source and a photodetector; wherein the light source is configured to emit light signals onto a surface that moves as the clamping assembly is raised and / or lowered; The photodetector is configured to detect the reflection of the light signal from the surface to detect movement of the surface; and The controller is configured as follows: If the current output of the sensor does not match the current output of the cable reel sensor, it is determined that the clamping assembly is obstructed.

38. The lifting assembly as claimed in claim 37, wherein, The raising and lowering assembly includes: a wheel in contact with a cable reel, the cable being wound and / or unwound on the cable reel, wherein the wheel includes the surface; or The cable reel includes the surface.

39. The lifting assembly as described in claims 28 to 38, wherein, The sensor includes an input section triggered by movement of the clamping assembly, and wherein the controller is configured to: Receive the motion profile for raising and / or lowering the gripper assembly; The vertical position of the clamping assembly is determined using the output of the sensor; and If, at the current moment, the vertical position of the clamping component does not match the corresponding vertical position derived from the motion profile to a threshold value, then it is determined that the clamping component is obstructed.

40. The lifting assembly as described in claims 28 to 39, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping assembly is raised and / or lowered; The sensor is configured to detect the degree of winding and / or unwinding of the cable; and A biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is taut between the raising and lowering assembly and the clamping assembly.

41. The lifting assembly of claim 40, further comprising a cable reel, the cable being wound and / or unwound on the cable reel, wherein, The sensor includes a rotary encoder configured to engage with the cable reel to detect the extent to which the cable reel rotates as the cable is wound and / or unwound, wherein the cable reel is configured to rotate relative to the axis or each axis.

42. The lifting assembly as claimed in claim 40 or 41, wherein, The cable has a higher modulus of elasticity than the tether or each tether.

43. The lifting assembly as described in claims 40 to 42, wherein, The cable transmits electrical signals to the clamping assembly.

44. The lifting assembly as described in claims 39 to 43, wherein, The cable includes flat flexible cable (FFC) or ribbon cable.

45. The lifting assembly as described in claims 28 to 39, wherein, The sensor includes a rotary encoder for the tether or each tether, wherein the rotary encoder is configured to contact the respective tether such that the winding and / or unwinding of the respective tether or each respective tether causes the input portion of the rotary encoder to rotate.

46. ​​The lifting assembly as described in claims 28 to 39, wherein, The raising and lowering assembly includes a cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered, wherein the cable optionally comprises a flat flexible cable (FFC) or a ribbon cable; and The sensor includes a rotary encoder, which is configured to engage with the cable such that the winding and / or unwinding of the tether or each tether causes the shaft of the rotary encoder to rotate.

47. The lifting assembly of claim 45 or 46, further comprising a biasing assembly configured to bias the rotary encoder or each rotary encoder into contact with the respective tether or cable or each respective tether or cable.

48. The lifting assembly according to claims 28 to 39, wherein, The raising and lowering components include: A cable connected to the clamping assembly, wherein the cable is configured to wind and / or unwind as the clamping mechanism is raised and / or lowered; A cable reel on which the cable is wound and / or unwound, wherein the cable reel is configured to rotate relative to the shaft or each shaft; A biasing assembly configured to resist unwinding or winding of the cable reel, such that the cable is pulled taut between the raising and lowering assembly and the clamping assembly; The sensor includes a cable reel sensor, which includes a light source and a photodetector. The light source is configured to emit an optical signal onto a surface that moves as the clamping assembly is raised and / or lowered; and The photodetector is configured to detect the reflection of the light signal from the surface to detect movement of the surface, wherein the raising and lowering assembly optionally includes a wheel in contact with the cable reel, the respective tethers or each respective tether being wound and / or unwound on the cable reel, wherein the wheel includes the surface, or optionally wherein the cable reel includes the surface.

49. The lifting assembly as described in claims 28 to 39, wherein, The lifting and lowering assembly includes wires connected to the clamping device, wherein the wires are configured to wind and / or unwind as the clamping assembly is lifted and / or lowered; A wire reel on which the wire is wound and / or unwound, wherein the wire is wound on the wire reel such that the wire on the wire reel is short-circuited, wherein the wire reel is configured to rotate relative to the axis or each axis; A biasing assembly configured to resist unwinding or winding of the wire reel, such that the wire is taut between the raising and lowering assembly and the clamping assembly; and The sensor is configured to measure the resistance of the wire during winding and / or unwinding.

50. The lifting assembly as described in claims 28 to 49, wherein, The sensor includes a time-of-flight (ToF) sensor.

51. The lifting assembly as described in claims 28 to 50, wherein, The controller is configured to stop the motor when it is determined that the clamping assembly is obstructed.

52. The lifting assembly as described in claims 28 to 51, wherein, The number of tethers is four, and optionally, the tethers comprise steel strips or braided polyester strips.

53. A loading and handling apparatus for lifting and moving storage containers stacked in a grid frame structure, the grid frame structure comprising: A first set of parallel tracks or rails and a second set of parallel tracks or rails, the second set of parallel tracks or rails extending substantially perpendicular to the first set of tracks or rails in a substantially horizontal plane, to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a group of pillars to form a plurality of vertical storage positions below the grid for containers to be stacked vertically between the pillars and guided vertically through the plurality of grid spaces by the pillars, the loading and processing equipment comprising: A body or frame, said body or frame being mounted on a first set of wheels and a second set of wheels, the first set of wheels being arranged to engage with a first set of parallel tracks, and the second set of wheels being arranged to engage with a second set of parallel tracks; and A container lifting assembly, comprising the lifting assembly as described in claims 28 to 52, wherein the clamping assembly comprises a container clamping assembly configured to clamp a container.

54. A method for determining an obstruction of a clamping component of a loading assembly as described in claims 28 to 53, wherein, The method includes: Use a motor to raise and / or lower the clamping assembly; and The controller is used to determine when the current output of the sensor does not match the winding and / or unwinding of the tether or each tether around the axis or each axis to raise and / or lower the clamping assembly, indicating that the clamping assembly is obstructed.

55. A computer program including instructions that, when executed by a computer, cause the computer to perform the method of claim 54.

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