Vehicle for automated storage and retrieval system, automated storage and retrieval system and associated method

Abstract

The invention discloses a vehicle for an automated storage and retrieval system. The vehicle includes a vehicle chassis. The vehicle chassis includes: a first sub-chassis carrying a first portion of a vehicle device; and a second sub-chassis carrying a second portion of the vehicle equipment. The second sub-chassis is coupled to the first sub-chassis and is vertically movable relative to the first sub-chassis. The vehicle further comprises: a first plurality of wheels coupled to the first sub-chassis and arranged to move along a first set of tracks extending in a first direction; a second plurality of wheels coupled to the second sub-chassis and arranged to move along a second set of tracks extending in a second direction; and a rail switching actuator. The rail switching actuator is configured to selectively: lift the first sub-chassis relative to the second sub-chassis such that the first portion of the vehicle equipment is lifted and such that the first plurality of wheels is lifted above the second plurality of wheels; and lifting the second sub-chassis relative to the first sub-chassis such that the second portion of the vehicle equipment is lifted and such that the second plurality of wheels is lifted above the first plurality of wheels.

Description

Technical Field

[0001] This disclosure relates to a vehicle for an automated storage and retrieval system and an associated method. Background Technology

[0002] Traditional storage solutions typically involve arranging goods on rows of shelves within a warehouse. The shelf location of each item is recorded in inventory, and goods are retrieved from the shelves by pickers. As goods enter and leave the warehouse, the shelves are replenished and the inventory is updated as needed.

[0003] Warehouse staff can be assisted by robotic pickers and automated inventory management systems. Automated transport systems can also be implemented in traditional warehouse setups to move goods from their storage locations to picking and / or packing stations.

[0004] An alternative to traditional warehouse setups is an automated storage and retrieval system (AS / RS), in which robots retrieve items from their registered locations within the warehouse and transport them to packing stations or ports. Such systems can reduce or eliminate the space required to navigate between rows of shelves for accessing inventory, thus eliminating the need for wide aisles within the warehouse. One example of this system involves placing goods in boxes or containers suitable for stacking side-by-side within a three-dimensional grid. A track system is arranged at the top of the grid, along which robotic container handling vehicles configured to lift containers from the grid can travel. The container handling vehicles are configured to transport containers from the grid to ports or stations at the perimeter of the grid, allowing the goods inside the containers to be picked up and packed.

[0005] In many systems, the track system arranged above the grid includes: a first plurality of tracks extending in a first direction (e.g., the X direction); and a second plurality of tracks extending in a second direction (e.g., the Y direction). Therefore, a robotic container handling vehicle is capable of extending along the first plurality of tracks in the first direction and along the second plurality of tracks in the second direction. To enable movement in each of the first and second directions, a robotic container handling vehicle with dedicated wheels is used. That is, the robotic container handling vehicle may include: dedicated first plurality of wheels oriented to move along the first plurality of tracks; and dedicated second plurality of wheels for moving along the second plurality of tracks. Thus, by raising the first plurality of wheels above the second plurality of wheels, the vehicle can move along the second plurality of wheels in the second direction; by raising the second plurality of wheels above the first plurality of wheels, the vehicle can move along the first plurality of wheels in the first direction; and by allowing both sets of wheels to contact the tracks, the vehicle can be fixed in place to prevent movement in either direction.

[0006] When the first or second set of wheels is lifted, the entire weight of the vehicle is supported by the remaining wheels. To ensure the robustness of the robotic container handling vehicle, the wheel lifting mechanism is structurally reinforced and operated by lifting motors capable of supporting the full weight of the robotic container handling vehicle.

[0007] One or more aspects of the invention are set forth in the appended claims. Attached Figure Description

[0008] The present disclosure will now be described in more detail with reference to several exemplary embodiments shown in the accompanying drawings, in which: Figure 1 A perspective view of a storage system is shown, which includes a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid. Figure 2 It shows Figure 1 A top view of the system; Figure 3A It shows the applicability in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows the applicability in Figure 1 Side view of the second robotic container handling vehicle used in the system; Figure 3C yes Figure 3B A three-dimensional side view of the robot; Figure 4 A computing device for implementing the operations described herein is shown; Figure 5 A perspective view of the first sub-chassis according to this disclosure is shown; Figure 6 It shows Figure 5 First side view of the first sub-chassis; Figure 7 It shows Figure 5 Second side view of the first sub-chassis; Figure 8 It shows Figure 5 Plan view of the first sub-chassis; Figure 9 A perspective view of the second sub-chassis according to this disclosure is shown; Figure 10 It shows Figure 9 First side view of the second sub-chassis; Figure 11 It shows Figure 9 Second side view of the second sub-chassis; Figure 12 It shows Figure 9 Plan view of the second sub-chassis; Figure 13 It shows including according to Figure 5 The first sub-chassis and based on Figure 9 A three-dimensional view of the chassis of the second sub-chassis; Figure 14 It shows Figure 13 Side view of the chassis in the parking configuration; Figure 15 It shows Figure 13 Side view of the chassis in the first drive configuration; Figure 16 It shows Figure 13 The chassis in the second drive configuration is shown in the side view; and Figure 17 The method according to this disclosure is shown.

[0009] Throughout the description, the same reference numerals are used for the same parts. Detailed Implementation

[0010] In summary, this disclosure relates to a vehicle for an automated storage and retrieval system, comprising: a first plurality of wheels for movement along a first plurality of tracks extending in a first direction; and a second plurality of wheels for movement along a second plurality of tracks extending in a second direction, wherein the vehicle weight is distributed between the first plurality of wheels and the second plurality of wheels such that a first portion of the vehicle weight is supported by the first plurality of wheels, and a second portion of the vehicle weight (e.g., the remaining vehicle weight) is supported by the second plurality of wheels. Therefore, when the first plurality of wheels are lifted relative to the second plurality of wheels for movement of the vehicle along the second direction on the second plurality of wheels, only the first portion of the vehicle weight needs to be lifted. Similarly, when the second plurality of wheels are lifted above the first plurality of wheels for movement of the vehicle along the first direction on the first plurality of wheels, only the second (remaining) portion of the vehicle weight needs to be lifted. Therefore, it is not necessary to lift the entire vehicle weight. Thus, less structural reinforcement is required for the vehicle chassis compared to the vehicle described in the background section above. Furthermore, less structural reinforcement is required for the wheel lifting mechanism, and a smaller lifting motor can be used. As will be understood by the reader in the art, the chassis is the structure that forms the frame of the vehicle. This is the basic structure of the vehicle, through which the components and body of the vehicle are supported. In this disclosure, the wheels are directly attached to the chassis, which is desirable for structural rigidity and robustness.

[0011] In practice, the above arrangement can be achieved by providing a vehicle chassis divided into a first sub-chassis attached to a first plurality of wheels and a second sub-chassis attached to a second plurality of wheels, wherein the first sub-chassis is vertically movable relative to the second sub-chassis, and vice versa. The first and second sub-chassis together define the vehicle's frame, as they support the vehicle's components and body. Between the first and second sub-chassis, all components housed within the vehicle body, including the body itself, are supported. The wheels are also directly attached to their respective sub-chassis, rather than to auxiliary structures that do not form the vehicle's frame and are themselves movable relative to the chassis. This again helps ensure structural rigidity and robustness.

[0012] Preferably, the weight distribution between the two chassis is uniform. To ensure a weight distribution as close to 50:50 as possible, vehicle components can be distributed between each of the first and second sub-chassis, such that approximately 50% of the vehicle mass is supported by the first sub-chassis and the remaining vehicle mass by the second sub-chassis. In the case where the clamping device of the vehicle is supported by the first sub-chassis, more than 50% of the vehicle mass (e.g., at least 55% of the vehicle mass) can be supported by the second chassis. In such examples, no more than 70% of the vehicle mass (e.g., no more than 60% of the vehicle mass) can be supported by the second chassis. This can be achieved by mounting the heaviest individual components of the system (such as the battery and / or control system) on the second chassis for support by the second chassis. Therefore, the weight distribution can be selected based on the load-bearing capacity of the clamping device. Figures 5 to 16 The accompanying description provides an exemplary component allocation for achieving a suitable weight distribution between the two sub-chassis. However, other configurations are also possible. With a weight distribution of approximately 50:50 between each sub-chassis (e.g., between 30:70 and 70:30, or between 40:60 and 60:40), the maximum torque of the rail switching motor (described in more detail below) does not need to be as high as in known vehicles.

[0013] Overview of Automated Storage and Retrieval Systems

[0014] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame formed by a plurality of generally linear adjacent vertical columns 102, which are formed between vertical frame members 104 and extend in the X direction 108 and the Y direction 110. The grid elements can be made of any suitable material; for example, the frame members can be formed from extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner in the columns 102 in the Z direction 114, forming storage volumes for storage units of the respective boxes 112 extending in the X direction 108, Y direction 110, and Z direction 114.

[0015] A track system or network 116 is formed on top of grid 100 and includes pairs of vehicle tracks or rails 118a, 118b and 120a, 120b extending in the X direction 108 and Y direction 110, respectively. A robotic container handling vehicle or robot 122, which may vary in size, shape, and function, can be provided and configured to operate on tracks 118, 120 and transport containers 112 in both the X direction 108 and Y direction 110. Robot 122 is further configured to lift containers 112 from column 102 and lower them into the column in the Z direction 114, the containers 112 optionally guided by vertical frame members 104. Robot 122 accesses containers 112 via access openings 124 located above column 102 and formed between tracks 118, 120.

[0016] Some columns 102 can be used for purposes other than bin storage. For example, port columns 126, 128 include ports or access columns that allow bin 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bin 112 from or lowering bin 112 to one or more ports 130, 132. Ports 130, 132... Figure 1 The diagram shows the lowest horizontal height of the grid; however, the ports can be located at any vertical position along that column. The corresponding port columns 126, 128 can be assigned for removing (“unloading”) box 112 from grid 100 and / or returning or transporting (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal and (horizontally) reintroduction of box 112 into the associated port column. Thus, ports 130, 132 can include a conveyor (…). Figure 1 (Not shown in the image) Box 112 can be lowered onto the conveyor and transported horizontally out of the port column. Port columns 126, 128 include openings or access points through which box 112 can enter and exit the column.

[0017] Box 112 can be transported by robot 122 along the top of grid 100 to and / or from port columns 126, 128, and from ports 130, 132 to locations outside grid 100, which may be access stations (not shown) for handling box 112 or its contents, such as pick-up stations for adding or removing contents from box 112. In alternative examples (not shown), box 112 can be transported to a port of another grid at the same or another horizontal level, or to an external facility. Transporting box 112 to and from ports 130, 132 and from ports can be done by any suitable means (not shown), including conveyors, transport vehicles, lifting devices, or robots.

[0018] refer to Figure 2 The illustrated embodiment provides a more detailed view of the XY configuration 200 of the track system 116 and the different types of robots 202, 204. The track system includes tracks 206 that define vertical column access openings 124 for accessing the storage box 112. Tracks 206 can be of any suitable type for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving vehicle wheels, or protruding tracks for engaging wheel recesses. Each track 206 may include a single rail or multiple parallel rails in each of the X direction 108 and Y direction 110.

[0019] The first "cantilever" type robot 202 Figure 3A The diagram shows and includes a main body 300, a set of wheels 302, and a lifting device 304 in more detail. The main body 300 contains operating devices (not shown) for the robot 202, including drives, a power system, and a control system. The wheels 302 allow the robot 202 to move in one of the X and Y directions, while another set of wheels (not visible in this view) allows movement in the other direction, both along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement with tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending in the XY plane from the top of the main body 300, and a gripping device 308 capable of being raised and lowered from the cantilever element 306. The gripping device 308 is configured to grip or engage a box 112; for example, by gripping a portion of the box 112, or by passively or actively engaging a suitably configured portion of the box 112.

[0020] The second "internal cavity" type robot 204 is in Figure 3B The diagram shows and includes, in more detail, an inner cavity 310 located within the main body 300 as an alternative to a cantilever lifting system, and in which a lifting device 312, including a clamping device (not shown), is positioned. In this case, the main body 300 includes operating equipment for the robot and storage space for one or more boxes 112, for use, for example, when transporting the boxes 112.

[0021] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, from Figure 3B The first set of wheels, 302, is visible. (Mentioned above but not mentioned in...) Figure 3B Another set of wheels shown in Figure 3CThe first set of wheels 302 is shown as wheel 303. Another set of wheels 303 is arranged perpendicular to the first set of wheels 302 to allow the robot 204 to roll on the first set of wheels 302 and the second set of wheels 303 in the X and Y directions, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower to engage with the track (and conversely raise to disengage from the track), thereby allowing the robot 202 to traverse... Figure 2 The track arrangement shown moves in both the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B A 3D view of robot 204, but it will be understood that a similar vertical wheel arrangement can be applied. Figure 3A Robot 202.

[0022] Control and monitoring systems

[0023] The control and monitoring of the automated storage and retrieval system (including monitoring and storage box location, controlling box transport, retrieval and delivery, and robot path planning and collision avoidance) is handled by [the relevant authority / organization]. Figure 4 The control system shown communicates with the robot and / or other controllable system components. Control can be performed locally or remotely and can be implemented by a processing system, such as a computing device. Therefore, the methods described herein can form all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0024] refer to Figure 4 The processing system 400 suitable for performing the methods described herein will now be described. Figure 4 A block diagram of one implementation of a processing system 400 in the form of a computing device is shown, wherein a set of instructions can be executed to cause the computing device to perform any or more methods described herein. In some implementations, the computing device may be connected (e.g., networked) to other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate as a server or client machine in a client-server network environment, or as a peer machine in a peer-to-peer (or distributed) network environment. The computing device may be a personal computer (PC), tablet computer, set-top box (STB), personal digital assistant (PDA), cellular phone, network device, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the action to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be considered as including a collection of any machines (e.g., computers) that individually or collectively execute a set (or more) of instructions to perform any or more methods described herein.

[0025] An exemplary processing system 400 includes: a processor 402; a main memory 404 (e.g., read-only memory (ROM), flash memory, dynamic random access memory (DRAM), such as synchronous DRAM (SDRAM) or Rambus DRAM (RDRAM); a static memory 406 (e.g., flash memory, static random access memory (SRAM)); and auxiliary memory (e.g., data storage device 418), which communicate with each other via a bus 430.

[0026] Processor 402 represents one or more general-purpose processors, such as microprocessors, central processing units, etc. More specifically, processor 402 may be a Complex Instruction Set Computing (CISC) microprocessor, a Reduced Instruction Set Computing (RISC) microprocessor, a Very Long Instruction Word (VLIW) microprocessor, a processor implementing other instruction sets, or a processor implementing combinations of instruction sets. Processor 402 may also be one or more special-purpose processors, such as application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), network processors, etc. Processor 402 is configured to execute processing logic (instruction 422) to perform the operations and steps described herein.

[0027] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any of the following: a video display unit 410 (e.g., a liquid crystal display (LCD) or a cathode ray tube (CRT)), an alphanumeric input device 412 (e.g., a keyboard or a touch screen), a cursor control device 414 (e.g., a mouse or a touch screen), and an audio device 416 (e.g., a speaker).

[0028] Obviously, Figure 4 Some features of the processing system 400 shown may be absent. For example, the processing system 400 may not require a display device 410 (or any associated adapter). Specifically, this could be the case with certain server-side computer equipment that is used solely for its processing capabilities and does not require displaying information to a user. Similarly, a user input device 412 may not be necessary. In its simplest form, the processing system 400 includes a processor 402 and main memory 404.

[0029] Data storage device 418 may include one or more machine-readable storage media (or more specifically one or more non-transitory computer-readable storage media) 428 on which one or more sets of instructions 422 are stored, the sets of instructions embodying any one or more methods or functions described herein. The instructions 422 may also reside wholly or at least partially in main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0030] The various methods described herein can be implemented by a computer program. The computer program may include computer code arranged to instruct a computer to perform the functions of one or more of the various methods described herein. The computer program and / or code for performing such methods may be provided to a device, such as a computer, on one or more computer-readable media or more generally, a computer program product. The computer-readable media may be transient or non-transient. One or more computer-readable media may be, for example, an electronic system, a magnetic system, an optical system, an electromagnetic system, an infrared system, or a semiconductor system, or a propagation medium for data transmission, such as for downloading code via the Internet. Alternatively, one or more computer-readable media may take the form of one or more physical computer-readable media, such as semiconductor or solid-state memory, magnetic tape, removable computer disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0031] A computer program can be executed by processor 402 to perform the functions of the systems and methods described herein.

[0032] In one implementation, the modules, components and other features described herein may be implemented as discrete components or integrated into the functionality of hardware components such as ASICs, FPGAs, DSPs or similar devices.

[0033] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a collection of one or more processors) capable of performing certain operations and which can be physically configured or arranged. A hardware component may include dedicated circuitry or logic permanently configured to perform certain operations. A hardware component may be or include dedicated processors, such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry that is temporarily configured by software to perform certain operations.

[0034] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that may be physically constructed, permanently configured (e.g., hardwired), or temporarily configured (e.g., programmed) to operate or perform certain operations described herein in a certain manner.

[0035] Additionally, modules and components can be implemented as firmware or functional circuitry within a hardware device. Furthermore, modules and components can be implemented as any combination of hardware devices and software components, or as software only (e.g., code stored or otherwise embodied in a machine-readable medium or transmission medium).

[0036] Operation of the automatic storage and retrieval system

[0037] In operation, each box 112 is assigned a unique identifier, which can be marked on the box 112 using a computer-readable identifier (e.g., a barcode, quick-response code, or RFID tag) for easy identification. The database of the processing system 400 stores the location of each box 112 associated with its unique identifier, and optionally its contents. When a box 112 is moved (e.g., when it is removed from grid 100), the database is updated to record the change in its location.

[0038] When it is desired to retrieve box 112 from grid 100, under the control of processing system 400, robots 202 and 204 are guided via track system 116 to vertical column 102 including storage units where box 112 is located according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above, adjacent to, or below the corresponding access opening 124. Robots 202 and 204 lower gripping device 308, which engages with box 112, grips it, and lifts it to robots 202 and 204. Robots 202 and 204 then transport box 112 to, for example, unloading port columns 126 and 128 for delivery to ports 130 and 132 for further processing outside grid 100. If the target or designated box 112 is located below other boxes in the stack, then robots 202, 204, or possibly multiple robots dedicated to this task, are controlled in a "digging" operation to sequentially lift and temporarily or permanently reposition the boxes above the target box 112 to retrieve the target box. It will be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be transported to ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and transported to the desired storage unit, whereby, if necessary, boxes above the desired location will be repositioned as discussed above.

[0039] According to the split chassis of this disclosure

[0040] As described above, the solution proposed in this disclosure for distributing vehicle weight between a first plurality of wheels for movement in a first direction and a second plurality of wheels for movement in a second direction can be achieved by providing a vehicle assembled on a chassis comprising a first sub-chassis for bearing a first portion of the vehicle weight and a second sub-chassis for bearing a second portion of the vehicle weight. This split chassis will now be described.

[0041] Figure 5 A perspective view of the first sub-chassis 500 according to this disclosure is shown. Figure 6 A first side view of the first sub-chassis 500 is shown. Figure 7 A second side view of the first sub-chassis 500 is shown. Figure 8 A plan view of the first sub-chassis 500 is shown.

[0042] A plurality of wheels 502 are attached to a first sub-chassis 500. The plurality of wheels 502 are provided for use along a first direction (e.g., the X direction, in...). Figure 8 The first plurality of tracks R1 extending on the (indicated by the center) move. In the example shown, the first plurality of wheels 502 includes four wheels for stability. However, fewer than four wheels (e.g., three wheels) or more than four wheels (e.g., five wheels, six wheels, or more than six wheels) can be used. In some examples, each of the four wheels can be driven. Therefore, the vehicle can be equipped with four-wheel drive for the X direction. Indeed, as Figures 5 to 8 As shown, a first drive motor 504 is mounted on a first sub-chassis 500. The first drive motor 504 is connected to each of a plurality of wheels 502 by means of a drive shaft 506 and a drive belt 508. Since the first drive motor 504 is mounted on the first sub-chassis 500, its weight is supported by the first sub-chassis 500 and, consequently, by the first plurality of wheels 502.

[0043] As from Figure 7 As can be seen, the drive shaft 506 is located above the rotation axis of the wheel 502. Therefore, the drive shaft 506 is positioned so that it does not interfere with the lifting of the second sub-chassis 900 relative to it. Furthermore, by using a drive belt 508 extending in the driving direction of the wheel 502 (e.g., the opposite of extending perpendicular to the driving direction), the drive belt 508 also does not interfere with the lifting of the second sub-chassis 900 relative to the first sub-chassis 500. In other words, by providing a vertically offset drive shaft 506 and a front-to-back extending drive belt 508, the first wheel 502 can be lifted relative to the second wheel 902, and the second wheel 902 can be similarly lifted relative to the first wheel 502. This eliminates any obstacle to the selective lifting of the corresponding sub-chassis.

[0044] A lifting device 304 is also installed at the first sub-chassis 500. The lifting device includes a clamping device 308 and a lifting actuator. Figures 5 to 8 (Not shown in the diagram). The lifting actuator is typically mounted on the first sub-chassis 500, such that the weight of the first lifting actuator is supported by the first sub-chassis. In addition, since the clamping device 308 is mounted on the first sub-chassis, the clamping device 308 and any load suspended thereon are supported by the first sub-chassis.

[0045] Figures 5 to 8 The image also shows attachment points 510 to which the second chassis is attached, as will be described in more detail below.

[0046] exist Figures 5 to 8 In the figure, the lifting device 304 is shown as a cantilever type, for example, making the vehicle a first type robot 202 according to FIG. 3a. However, as the reader will understand, the same split chassis scheme can be applied in the same way to a second type robot 204 according to FIG. 3b.

[0047] Figure 9 A perspective view of the second sub-chassis 900 according to this disclosure is shown. Figure 10 A first side view of the second sub-chassis 900 is shown. Figure 11 A second side view of the second sub-chassis 900 is shown. Figure 12 A plan view of the second sub-chassis 900 is shown.

[0048] A second plurality of wheels 902 are attached to a second sub-chassis 900. The second plurality of wheels 902 are provided for movement along a second plurality of tracks R2 extending in a second direction (e.g., the Y direction). In the example shown, the second plurality of wheels 902 includes four wheels for stability. However, fewer than four wheels (e.g., three wheels) or more than four wheels (e.g., five wheels, six wheels, or more than six wheels) can be used. In some examples, each of the four wheels can be driven. Therefore, the vehicle can be equipped with four-wheel drive in the Y direction. Indeed... Figures 9 to 12 As shown, the second drive motor 904 is mounted on the second sub-chassis 900. The second drive motor 904 can be driven by a drive shaft ( Figures 9 to 12 (Not shown in the diagram) and / or connected to each of the plurality of wheels 902 by means of a drive belt 908. Since the second drive motor 904 is mounted on the second sub-chassis 900, its weight is supported by the second sub-chassis 900 and associatedly by the second plurality of wheels 902.

[0049] A battery 912 and a control system 914 are also installed at the second sub-chassis 900. Therefore, the weight of the battery 912 and the weight of the control system 914 are supported by the second sub-chassis 900 and, in connection, by the second plurality of wheels 902.

[0050] Figure 9 The diagram also shows attachment points 910 to which the first chassis is attached, as will be described in more detail below. More specifically, attachment points 910 of the second sub-chassis 900 are attached to attachment points 510 of the first sub-chassis 500. Figure 9 as well as Figures 14 to 16 As shown, the attachment point 910 is eccentrically positioned relative to the shaft 911, which itself extends concentrically through the wheel 902 of the second sub-chassis 900. As will be described later, it is this eccentricity of the attachment point 910 relative to the wheel 902 that allows the first sub-chassis 500 to be raised relative to the second sub-chassis 900, and vice versa.

[0051] As the reader will understand, the above is merely an exemplary implementation. Components mounted on the second chassis 900 can be moved to be mounted on the first chassis 500, or vice versa, to achieve a desired weight distribution between the two sub-chassis.

[0052] Figure 13 An assembled view of a vehicle chassis 1300 is shown, which includes a first sub-chassis 500 connected to a second sub-chassis 900. It can be seen that the first wheel 502 is oriented to move in the X direction on track R1; and the second wheel 902 is oriented to move in the Y direction on track R2. That is, the corresponding plurality of wheels are oriented to move in their respective vertical directions. The lifting of the first and second sub-chassis will now be described.

[0053] Guide rail switching actuation

[0054] As from Figure 13 It can be seen that when both the first plurality of wheels 502 and the second plurality of wheels 902 are in contact with their respective tracks R1 and R2, movement in both directions is impossible. Specifically, movement along track R1 in the X direction is blocked by the second plurality of wheels 902; and movement along track R2 in the Y direction is blocked by the first plurality of wheels 502. Therefore, this is defined in this disclosure as a parking configuration of the vehicle.

[0055] To enable movement along track R1 in the X direction, the second wheel 902 must be raised. To achieve this, the second sub-chassis 900 is raised such that the second wheel 902 is raised relative to the first wheel 502, and the second wheel 902 is removed from the second track R2. Similarly, to enable movement along track R2 in the Y direction, the first wheel 502 must be raised. To achieve this, the first sub-chassis 500 is raised such that the first wheel 502 is raised relative to the first wheel 902, and the first wheel 502 is removed from the first track R1. The processes of raising the first sub-chassis for vehicle movement in the second direction and raising the second sub-chassis for vehicle movement in the first direction are referred to herein as track switching.

[0056] Figure 14 , Figure 15 and Figure 16 It shows according to Figure 13 A cross-sectional side view of the vehicle chassis 1300 is shown, and a guide rail switching actuator 1400 according to the present disclosure is also shown. The guide rail switching actuator 1400 is configured to selectively lift either the first sub-chassis 500 or the second sub-chassis 900 to perform guide rail switching of the vehicle. More specifically, Figure 14 The image shows a vehicle in a parking configuration where two sets of multiple wheels are in contact with their respective tracks. Figure 15 The vehicle is shown in a first drive configuration for driving along track R1 in the X direction. (See diagram.) Figure 15 As shown, the second sub-chassis 900 and therefore the second wheel 902 are lifted above the track R2. Figure 16 The vehicle is shown in a second drive configuration for driving along track R2 in the Y direction. (As shown) Figure 16 As shown, the first sub-chassis 500 and therefore the first wheel 502 are lifted above the track R1.

[0057] like Figure 14 , Figure 15 and Figure 15As shown, the guide rail switching actuator 1400 includes a linear actuator 1402 that acts on a lifting link 1404. The lifting link 1404 is connected to a first actuator arm 1408a and a second actuator arm 1408b, which are in turn connected to a first shaft 911a and a second shaft 911b. The first shaft 911a and the second shaft 911b extend coaxially through the second wheel 902, such that rotation of the first shaft 911a and the second shaft 911b does not change the height of the wheel 902 relative to the second sub-chassis. However, shafts 911a and 911b include attachment points 910 that are eccentrically positioned along shafts 911a and 911b. Therefore, when shafts 911a and 911b rotate, the height of the attachment points 910 relative to the second wheel 902 changes. Furthermore, due to the use of link 1406, the movement of attachment point 910 relative to the second sub-chassis 900 is coordinated. Finally, since the first sub-chassis 500 is attached to the second sub-chassis 900 at attachment point 910 (via attachment point 910), the rotation of axles 911a, 911b changes the height of the first sub-chassis 500 relative to the second wheel 902. In short, therefore, by making axles 911a, 911b move in the first direction (e.g. from...) Figure 14 Configure to Figure 15 Rotating in a counter-clockwise direction (as configured), the second sub-chassis 900 can be raised above the first sub-chassis 500; and by rotating shafts 911a and 911b in a second direction (e.g., from...) Figure 14 Configure to Figure 16 Rotating clockwise, the first sub-chassis 500 can be raised above the second sub-chassis 900.

[0058] As the reader will understand, Figures 14 to 16 The mechanical linkage shown is just one possible example that can be used to operate the lifting of the corresponding sub-chassis. Specifically, in another example, a rotary actuator (e.g., a servo motor) can be used instead of the linear actuator 1402.

[0059] from Figures 14 to 16 As can be seen, the guide rail switching mechanism is mounted on the second sub-chassis 900. Therefore, its weight is supported by the second sub-chassis 900. This helps to further balance the weight, where the lifting mechanism is mounted on the first sub-chassis 500.

[0060] Guide rail switching operation

[0061] We will now describe an exemplary method for switching guide rails as described herein. As the reader will understand, this method can be performed by the control system 914.

[0062] Figure 17 Method 1700 according to this disclosure is shown.

[0063] At step 1702, a command for vehicle movement is received. This command can be received from the central control center. The command can be received wirelessly.

[0064] At step 1704, it is determined that the command is for moving in the X direction; At step 1706, a first guide rail switching command is issued to cause the guide rail switching actuator to lift the second sub-chassis above the first sub-chassis (e.g., from...). Figure 14 Configuration moved to Figure 15 Configuration); At step 1708, a drive command is issued to the first drive motor 504 to cause the first drive motor to move the vehicle a first distance along the first track R1; and At step 1710, once the vehicle has traveled a first distance along the first track R1, a second track switching command is issued to cause the track switching actuator to return the vehicle to its parking configuration (e.g., Figure 14 (As shown).

[0065] At step 1712, it is determined that the command is for moving in the Y direction; At step 1714, a third guide rail switching command is issued to cause the guide rail switching actuator to lift the first sub-chassis above the second sub-chassis (e.g., from...). Figure 14 Configuration moved to Figure 16 Configuration); At step 1716, a drive command is issued to the second drive motor 904 to cause the second drive motor to move the vehicle a second distance along the second track R2; and At step 1718, once the vehicle has traveled a second distance along the second track R2, a second guideway switching command is issued to cause the guideway switching actuator to return the vehicle to the parking configuration (e.g., Figure 14 (As shown).

[0066] At each of steps 7110 and 1718, the method may subsequently enter a listening state in which listening will cause the method to return to the new command at step 1702.

[0067] It should be understood that the above description is intended to be illustrative and not restrictive. Many other implementations will be apparent to those skilled in the art upon reading and understanding the above description. Although this disclosure has been described with reference to specific exemplary implementations, it should be recognized that this disclosure is not limited to the described implementations but can be practiced with modifications and variations within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded as illustrative and not restrictive. Thus, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

Claims

1. A vehicle for an automated storage and retrieval system, the vehicle comprising: Vehicle chassis, the vehicle chassis comprising: The first sub-chassis, the first part that carries the vehicle equipment; and The second sub-chassis carries the second part of the vehicle equipment; The second sub-chassis is connected to the first sub-chassis and can move vertically relative to the first sub-chassis; A plurality of wheels are coupled to the first sub-chassis and arranged for movement along a first set of tracks extending in a first direction; A second plurality of wheels, coupled to the second sub-chassis and arranged for movement along a second set of tracks extending in a second direction; and The guide rail switching actuator is configured to selectively: The first sub-chassis is raised relative to the second sub-chassis, such that the first portion of the vehicle equipment is raised and the first plurality of wheels are raised above the second plurality of wheels; and The second sub-chassis is raised relative to the first sub-chassis, thereby raising the second part of the vehicle equipment and raising the second plurality of wheels above the first plurality of wheels.

2. The vehicle according to claim 1, wherein, The first sub-chassis carries between 30% and 70% of the vehicle weight, and the second sub-chassis carries the remaining vehicle weight.

3. The vehicle according to claim 1, wherein, The first sub-chassis carries between 40% and 60% of the vehicle weight, and the second sub-chassis carries the remaining vehicle weight.

4. The vehicle according to any of the preceding claims, wherein, The second sub-chassis carries more than 50% of the vehicle weight, for example, more than 55% of the vehicle weight, and wherein the first sub-chassis carries clamping devices for raising and lowering the payload relative to the vehicle.

5. The vehicle according to any of the preceding claims, further comprising a first drive motor for driving the first plurality of wheels and a second drive motor for driving the second plurality of wheels, wherein, The first drive motor is carried by the first sub-chassis, and the second drive motor is carried by the second sub-chassis.

6. The vehicle according to any of the preceding claims, further comprising: A clamping device for raising and lowering the payload relative to the vehicle; and one or both of the following: Battery bracket, used to hold vehicle batteries; as well as Control electronics for operating the vehicle; The clamping device is supported by the first sub-chassis, and the battery tray and / or control electronics are supported by the second sub-chassis.

7. The vehicle according to any of the preceding claims, wherein, The first sub-chassis is connected to the second sub-chassis via an eccentric shaft, wherein rotation of the eccentric shaft causes vertical movement of the first sub-chassis relative to the second sub-chassis. Optionally, the guide rail switching actuator is configured to rotate the eccentric shaft to selectively raise and lower the first sub-chassis relative to the second sub-chassis.

8. The vehicle according to any of the preceding claims, wherein, The guide rail switching actuator includes either a linear actuator or a servo motor.

9. The vehicle according to any of the preceding claims, wherein, Each of the first plurality of wheels is driven.

10. The vehicle according to any of the preceding claims, wherein, Each of the second plurality of wheels is driven.

11. The vehicle according to any of the preceding claims, wherein, The guide rail switching actuator is operable between the following configurations: a first configuration in which the first sub-chassis is raised relative to the second sub-chassis, such that the first plurality of wheels are raised above the second plurality of wheels; a second configuration in which the second sub-chassis is raised above the first sub-chassis, such that the second plurality of wheels are raised above the first plurality of wheels; and a third configuration in which the first plurality of wheels and the second plurality of wheels are flush with each other; The vehicle may optionally further include a drive control unit, the drive control unit being configured to move the rail switching actuator to the first configuration for vehicle movement in the second direction; and configured to move the rail switching actuator to the second configuration for vehicle movement in the first direction; And configured to move the rail switching actuator to the third configuration for vehicle parking.

12. An automated storage and retrieval system comprising a storage grid and at least one vehicle, said at least one vehicle being a vehicle according to any preceding claim, the storage grid comprising a first set of tracks extending in a first direction and a second set of tracks extending in a second direction, wherein, The at least one vehicle is configured to move along either the first set of tracks or the second set of tracks.

13. A method of operating a vehicle according to any preceding claim, the method comprising: Receive an instruction to drive the vehicle in one of the first and second directions; In response to receiving the instruction, the guide rail switching actuator is activated: The instruction is to lift the first sub-chassis when driving the vehicle in the second direction; or The instruction is to lift the second sub-chassis when driving the vehicle in the first direction.

14. The method of claim 13, further comprising: In response to determining that the vehicle has reached the target location, the guide rail switching actuator returns the chassis to a parking configuration in which the first plurality of wheels are flush with the second plurality of wheels.

15. A computer-readable medium comprising instructions that, when executed by a processor of a device, cause the device to perform the method according to claim 13 or claim 14.

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