container

Abstract

The present disclosure relates to a container configured to be stacked in an automated storage and retrieval system, and an automated storage and retrieval system. The container comprises a shelf and a door. The shelf is configured to support an item inside the container. The door is located on a first side of the container and is configured to provide access to the interior of the container.

Description

Technical Field

[0001] This disclosure relates to a container. More specifically, the present invention relates to a container configured to be stacked in a column of containers in an automated storage and retrieval system, and to an automated storage and retrieval system. 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 an inventory list, and goods are retrieved from the shelves by pickers. As goods enter and leave the warehouse, the shelves are replenished as needed, and the inventory list is updated.

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

[0004] An alternative to traditional warehouse installations is an automated storage and retrieval system (AS / RS), in which robots retrieve items from recorded locations within the warehouse and deliver them to packing stations or ports. This system reduces or eliminates the space required to navigate between rows of shelves to access inventory, thus eliminating the need for wide aisles within the warehouse. One example of such a system involves arranging goods in boxes or containers configured to be stacked side-by-side within a three-dimensional grid. A track system is positioned on 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 and deliver them to ports or stations at the periphery of the grid, allowing the goods within the containers to be picked up and packed.

[0005] Automated storage and retrieval systems offer a highly modular and efficient system for storing and retrieving goods. Typically, all containers are of similar size and shape to enable this automation and efficiency. However, storing goods with significant differences in size and shape within such systems can be challenging. Placing large, bulky, or irregularly shaped goods in containers may require all containers to be exceptionally large, potentially leading to wasted space within other containers storing smaller goods. Furthermore, some items have unique storage requirements that are difficult to reconcile with typical container storage, as this may necessitate folding the items or making it difficult to retrieve individual items from among multiple items stored in these typical containers.

[0006] One known method is to house most goods in containers within a storage grid, while large, bulky, or other difficult-to-handle items are stored and handled outside the grid. In one example, the container might have a footprint of 400mm x 600mm and a height of 425mm. Items that cannot fit into such containers can be stored and handled manually or using automated guided vehicles (AGVs) or autonomous mobile robots (AMRs). This adds complexity because orders involving both goods stored in containers and goods stored outside the grid require at least two separate retrieval processes, as well as the combination / coordination of goods retrieved via these separate processes. It also requires additional, less modular storage space and extra retrieval time, thus reducing the throughput of the storage and retrieval system.

[0007] Therefore, the problem with known containers in automated storage and retrieval systems is their inability to accommodate a wide variety of items. Consequently, the versatility of such systems is lower than expected. Fulfilling orders using such systems may require more or more complex processes than anticipated, and may be more time-consuming than expected. Furthermore, attempting to accommodate a wider variety of items may result in lower-than-expected space efficiency for such systems. Summary of the Invention

[0008] One or more aspects of the invention described in this application are set forth in the claims. Attached Figure Description

[0009] The present disclosure will now be described in more detail with reference to several exemplary embodiments illustrated 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 that it is suitable for use in Figure 1 Side view of the first robotic container handling vehicle used in the system; Figure 3B It shows that it is suitable for use 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 An implementation of the grid described herein is shown; Figure 6 An implementation of the container described herein is shown; Figure 7 Another implementation of the grid described herein is shown; Figure 8 An implementation of a method for providing access to items stored in a container described herein is shown. Detailed Implementation

[0010] In summary, this disclosure relates to a container configured to be stacked in a column of containers within an automated storage and retrieval system. In other words, the container is configured to be stacked vertically with other containers. The containers can be configured to stack on top of each other in a self-supporting manner and can be configured to stack between mutually spaced vertical frame members of the storage grid / automated storage and retrieval system. The height of the container can differ from the height of the other containers in the column. The container includes a support configured to support items inside the container. For example, the support can be a hanging rail, shelf, or drawer. Objects can be suspended or supported on the support or a portion thereof. Objects can be held above and spaced from the bottom surface of the container by the support, rather than supported on the bottom surface.

[0011] In some instances, a first item may be supported on a bracket and a second item may be supported on the bottom surface of the container. In some instances where the bracket includes hanging rails, the rails can support items such as clothing, such as those suspended from hangers on the rails. In some instances where the bracket includes fasteners (e.g., clips, buckles, or straps), the fasteners can secure an item (e.g., a piece of sports equipment) at a specific location (e.g., a specific vertical position) within the container. In some instances where the bracket includes shelves or drawers, the shelves or drawers can support one or more items thereon. A bracket may include one or more different bracket elements, including one or more hanging rails, one or more fasteners, one or more shelves, and / or one or more drawers, for supporting multiple items at different corresponding heights inside the container.

[0012] Therefore, racks can provide vertically partitioned storage within containers. This allows for the storage of a wider variety of items, such as those requiring specific support to prevent folding or damage. This vertical partitioned storage also makes it possible to retrieve specific items more quickly and efficiently from among the multiple items held within the container.

[0013] In some instances, the height of the container can be greater than the height of other containers in the automated storage and retrieval system. For example, the height of the container can be equal to or greater than 1 m. The height of the container is at least 2 m and equal to or less than 3 m. This allows for the storage of items that are different in size from other items stored in the storage grid, and / or allows for the storage of long items that cannot be folded or that are not desired to be folded to avoid damage. It also allows long garments to be hung inside the container or bulky items (such as sports equipment) to be secured inside the container.

[0014] The container includes a door located on a first side of the container, configured to provide an entrance to the interior of the container. The door may be a sliding door or other movable door, allowing at least one side of the container to be at least partially opened, enabling an operator to remove items from the container. Providing an entrance closer to the side of the container allows items to be removed more easily, quickly, and / or with less risk of damage, compared to a typical arrangement where the entrance is provided at the top of the container.

[0015] The aforementioned features interact to enhance the versatility of automated storage and retrieval systems and the containers configured to be stacked therein. The combination of supports configured to hold items within the container and doors configured to provide side entrances to the interior enables vertically partitioned / vertically subdivided storage of a wide variety of objects, while also allowing for easier access and retrieval. Because the supports allow items to be stored at specific heights within the container, operators can retrieve items more easily, quickly, and with less risk of damage by reaching in from the side rather than the top. Therefore, both storage and retrieval are improved by this system, as it can accommodate a wider range of object sizes, shapes, and types, and the retrieval method is particularly suited to the size, shape, and type of these objects and their location within the container.

[0016] Overview of Automated Storage and Retrieval Systems

[0017] refer to Figure 1 In the embodiment shown, the grid 100 comprises a frame consisting of a plurality of generally linear, adjacent vertical columns 102 formed between vertical frame members 104 and extending 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 made of extruded aluminum. Storage containers or boxes 112 are preferably stacked on top of each other in a self-supporting manner along the Z direction 114 in the columns 102, forming storage volumes for storage units of the respective boxes 112, which extend in the X direction 108, Y direction 110, and Z direction 114.

[0018] 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 have a range of sizes, shapes, and functions) is set up 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 also configured to lift / lower containers 112 from column 102 into the column in the Z direction 114, with 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 and 120.

[0019] Some columns 102 can be used for purposes other than storing the bins. For example, port columns 126, 128 include port columns or access columns that allow bins 112 to be moved into and / or out of grid 100. Port columns 126, 128 provide vertical channels for lifting bins 112 from ports 130, 132 or lowering bins 112 into the ports. Ports 130, 132 in Figure 1 The port is shown at the lowest horizontal level of the grid; however, the port can be located at any vertical position along the column. The corresponding port columns 126, 128 can be designated for removing (“unloading”) box 112 from grid 100 and / or returning or delivering (“picking up”) the box to the grid. Therefore, ports 130, 132 are configured to allow the removal of box 112 and the (horizontal) reintroduction of the box 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 a 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 leave the column.

[0020] Box 112 can be transported by robot 122 along the top of grid 100 to port columns 126, 128 and / or back from port columns, and from ports 130, 132 to a location outside grid 100, which may be an access station (not shown) for handling box 112 or its contents, such as a pick-up station for adding or removing contents from box 112. In an alternative example (not shown), box 112 may be transported to a port of another grid at the same or another horizontal level, or to an external facility. Transport of box 112 to and from ports 130 and 132 can be carried out by any suitable means (not shown), including conveyors, transport vehicles, lifting mechanisms, or robots.

[0021] refer to Figure 2The 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, with vertical column access openings 124 defined between the tracks for accessing the bin 112. Tracks 206 can be any suitable type of track for allowing robots 202, 204 to travel along the X direction 108 and Y direction 110, including (not shown) recessed tracks for receiving wheels of a vehicle, or protruding tracks for engaging recesses of wheels. Each track 206 may include a single guide rail or multiple parallel guide rails in each of the X direction 108 and Y direction 110.

[0022] The first "cantilever" type robot 202 Figure 3A The image, shown in more detail, includes a body 300, a set of wheels 302, and a lifting device 304. The body 300 houses operating devices (not shown) for the robot 202, including a drive system, a power system, and a control system. 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 the robot to move in the other direction, in both cases, along corresponding tracks or rails 206. One or both sets of wheels can be raised or lowered to allow selective engagement of tracks, thereby enabling movement in the desired direction. The lifting device 304 includes a cantilever element 306 extending from the top of the body 300 in the XY plane; and a clamping device 308 capable of being raised and lowered relative to the cantilever element 306. The clamping device 308 is configured to clamp or engage the box 112, for example, via a portion of the clamping box 112, or by passively or actively engaging appropriately configured portions of the box 112.

[0023] The second "internal cavity" type robot 204 is in Figure 3B As shown in more detail below, and as an alternative to a cantilever lifting system, an internal cavity 310 is located within the body 300, and a lifting device 312 including a clamping device (not shown) is positioned within this internal cavity. In this case, the body 300 includes the robot's operating equipment and storage space for one or more boxes 112 for use, for example, during transport of the boxes 112.

[0024] Figure 3C It shows Figure 3B A stereoscopic side view of the robot, in which you can see Figure 3B The first set of wheels, 302. 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 along the X and Y directions using the first set of wheels 302 and the second set of wheels 303, respectively. Figure 3C The first set of wheels 302 and the second set of wheels 303 shown can be configured to independently lower and engage with the track (or raise and disengage from the track) to allow the robot 202 to traverse. Figure 2 The track device shown moves along the X and Y directions. Although Figure 3C The 3D diagram shown is Figure 3B Robot 204, however, should be understood that a similar arrangement of vertical wheels can also be applied. Figure 3A Robot 202 in the middle.

[0025] Control and monitoring systems

[0026] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the location of the boxes and controlling the delivery, retrieval, and transportation of the boxes, as well as robot route planning and collision avoidance) is handled by Figure 4 The control system shown communicates with the robot and / or other controllable system components to perform the control. This 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 constitute all or part of a computer-implemented method, or a system configured to perform the methods described herein.

[0027] refer to Figure 4 A 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 is shown, which takes the form of a computing device within which an instruction set can run to cause the computing device to perform any or more methods described herein. In some implementations, the computing device may be connected to (e.g., networked to) other machines in a local area network (LAN), intranet, extranet, or the Internet. The computing device may operate at the capacity of a server or client machine in a client-server network environment, or at the capacity of a peer-to-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, networked home appliance, server, network router, switch, or bridge, or any machine capable of executing a set of instructions (sequentially or otherwise) specifying the actions to be taken by the machine. Furthermore, although only a single computing device is shown, the term "computing device" should also be understood to include any collection of machines (e.g., computers) that individually or collectively execute one or more instruction sets to perform any or more methods described herein.

[0028] 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), etc.), a static memory 406 (e.g., flash memory, static random access memory (SRAM), etc.), and a secondary memory (e.g., a data storage device 418), which communicate with each other via a bus 430.

[0029] 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.

[0030] The processing system 400 may also include a network interface device 408. The processing system 400 may also include any one of 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).

[0031] 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). This may be the case, for example, with a particular server-side computer device that is only used for its processing capabilities and does not need to display 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.

[0032] 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 storing one or more instruction sets 422 embodying any or more of the methods or functions described herein. The instructions 422 may also reside wholly or at least partially within main memory 404 and / or processor 402 during execution by processing system 400, which also constitute computer-readable storage media 428.

[0033] The various methods described herein can be implemented by a computer program. A computer program may include computer code arranged to instruct a computer to perform 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 on 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 floppy disk, random access memory (RAM), read-only memory (ROM), rigid disk, or optical disk, such as CD-ROM, CD-R / W, or DVD.

[0034] A computer program can be run by processor 402 to perform the functions of the systems and methods described herein.

[0035] In 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.

[0036] A "hardware component" is a tangible (e.g., non-transitory) physical component (e.g., a group or more processors) capable of performing a specific operation and which can be configured or arranged in a specific physical manner. A hardware component may include dedicated circuitry or logic permanently configured to perform a specific operation. A hardware component may be a dedicated processor, or may include dedicated processors such as field-programmable gate arrays (FPGAs) or ASICs. A hardware component may also include programmable logic or circuitry temporarily configured by software to perform a specific operation.

[0037] Therefore, the phrase “hardware component” should be understood to encompass tangible entities that can be physically constructed, permanently configured (e.g., hardwired) or temporarily configured (e.g., programmed) to operate in a particular manner or perform the particular operations described herein.

[0038] Furthermore, modules and components can be implemented as firmware or functional circuitry within a hardware device. Additionally, modules and components can be implemented as any combination of hardware devices and software components, or solely as software (e.g., code stored in or otherwise embodied in a machine-readable medium or transmission medium).

[0039] Operation of the automatic storage and retrieval system

[0040] 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) to simplify identification of the box 112. The database of the processing system 400 stores the location of each box 112 associated with the unique identifier and optionally stores the contents of that box. 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.

[0041] When box 112 needs to be retrieved from grid 100, under the control of processing system 400, robots 202 and 204 are routed via track system 116 to vertical column 102 including storage units. Box 112 is positioned at this storage unit according to a database, and lifting devices 304 and 312 (depending on robot type) are positioned above the corresponding access opening 124, adjacent to or below robots 202 and 204. Robots 202 and 204 lower gripping device 308, which engages, grips, and lifts box 112 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, robots 202, 204, or multiple robots possibly dedicated to this task, are controlled during the "digging" operation to temporarily or permanently lift and reposition the boxes above the target box 112 in sequence to retrieve the target box. It should be understood that other operations related to box 112 can be performed in a similar manner. For example, box 112 can be delivered to ports 130, 132 of pick-up port columns 126, 128 for storage in grid 100, gripped and lifted by robots 202, 204, and delivered to the desired storage unit, whereby, if necessary, boxes located above the desired position can be repositioned as discussed above.

[0042] Specific improvements

[0043] refer to Figure 5 The embodiment shown depicts a grid 500. The grid 500 can correspond to... Figure 1 The grid 100 mentioned. For the purpose of describing the features of this disclosure, grid 500 is shown in a simplified or schematic form. It should be understood that the grid can have various sizes, and grid 500 can include a subset of a large grid.

[0044] The mesh includes container 502 and may also include additional container 504 (for ease of illustration). Figure 5 (Only its subset is marked in the text). Each of container 502 and additional container 504 can generally correspond to the information about... Figure 1 The storage container or box 112 is described. However, container 502 includes a support 506. Support 506 is configured to support items (generally designated 512) inside container 502. The support can take various forms, as will be described in more detail below, and Figure 5 Only one non-restricted instance is provided.

[0045] The support 506 is described as including one or more support elements 508, 510. For example... Figure 5 As depicted, bracket 506 may include mounting rail 508 (in... Figure 5 In the middle, facing the top of container 502) and shelf 510 (in Figure 5 (In the middle, facing the bottom of container 502). Support 506 can support one or more items 512. Each support element 508, 510 can support one or more corresponding items 512. (e.g., ...) Figure 5 As depicted, by way of a non-limiting example, the hanging rail 508 can support one or more garment items 512. For example... Figure 5 As depicted, by way of non-limiting example, shelf 510 can support one or more boxed items 512.

[0046] like Figure 5As depicted, containers 502 can be stacked within columns 502, 504 of the storage grid 500 (i.e., in an automated storage and retrieval system). A support 506 provides a means for vertically partitioned or subdivided storage within containers 502. This allows a wider variety of items 512 to be stored within containers 502. For example, rails 508 secure clothing items 512 to specific vertical positions within containers 502 and allow them to hang in those positions. This improves the storage of clothing items 512, as items suspended on rails 508 are less likely to be damaged compared to items stacked at the bottom of containers 502. Alternatively or additionally, support 506 may include one or more rails or fasteners for securing long or bulky items 512 (such as sports equipment) to specific vertical positions within containers 502. This prevents damage to such items 512, which could otherwise be caused if such items are merely supported in the bottom of container 502 or otherwise move freely within container 502.

[0047] The support 506 can support one or more items 512 above the bottom surface of the container 502, i.e., at a non-zero distance above the bottom surface. This provides more space-saving storage by allowing different items 512 to be stored in different vertical positions within the container 502. Alternatively or additionally, it can provide an improved storage method for items 512 that are not suitable for placement on the bottom surface of the container 502, i.e., a storage method that is less likely to damage such items 512.

[0048] The support elements 508 and 510 included in the support 506 can vary depending on the specific items 512 that need to be stored within the container 502, as well as their shape, size, and risk of damage. Therefore, the support 506 enables the storage of a wider variety of items 512 and allows for more space-efficient storage by optimizing the internal storage of the container 512. In other words, this disclosure further enhances the modularity and efficiency of the storage grid 500 by providing a modular and efficient storage method within a single container 502 itself. This is achieved while keeping the container 502 stacked with one or more other containers 502 and / or one or more additional containers 504 within the storage grid 500, without requiring items 512 to be stored outside the grid.

[0049] Container 502 is implemented using a non-restricted instance. Figure 5 The container is depicted as having a greater height (in the Z direction) than the additional container 504, but this is not required. A height greater than the additional container 504 is provided (which may have the same height as...). Figure 1Containers 502 (of the same or similar height as container 112) can further increase the variety of items 512 that can be stored in container 502, thereby further improving the versatility of storage grid 500. For example, this allows particularly long or large items 512 to be stored in container 502, for example, without any folding or bending of such items 512. In some instances, the height of container 502 may be greater than or equal to 1 m. In some instances, the height of container 502 may be greater than or equal to 1.1 m, 1.2 m, 1.3 m, 1.4 m, 1.5 m, 1.6 m, 1.7 m, 1.8 m, 1.9 m, 2.0 m, 2.1 m, 2.2 m, 2.3 m, 2.4 m, 2.5 m, 2.6 m, 2.7 m, 2.8 m, 2.9 m, or 3.0 m. In some instances, the height of container 502 may be at least 2 m and may be less than or equal to 3 m.

[0050] Although Figure 5 The container 502 is described as being located at the edge of the storage grid 500 by way of a non-limiting instance, but the container 502 can also be located inside the storage grid, that is, moved one or more rows further back in the Y direction. Although in Figure 5 The container 502 is described as being located at the bottom of the storage grid 500 by way of non-limiting example, but the container 502 can also be located at a higher position in the storage grid, that is, moved one or more rows further up in the Z direction. The container 502 can also be located in different positions in the X direction. The container 502 can be moved by a robot to a port to retrieve item 512, and then moved by the same or different robots to be re-stored in the same or different positions in the storage grid 500. In other words, the position of the container 502 within the storage grid 500 can change dynamically over time.

[0051] Such as about Figures 1 to 3B As mentioned, container 112 can be lifted, moved, and lowered to the port by robots 122, 202, and 204. Container 502 can be lifted, moved, and lowered to the port by robots in a corresponding manner to avoid repetitive operations. However, if container 502 is larger in size than container 112, such robots can also be larger in size than robots 102, 202, and 204.

[0052] Container 502 can be made of a similar Figure 3AThe depicted robot 202 is a cantilever robot that can raise, move, and lower. For the robot manipulating container 502, the size of the volume below the cantilever element 306 can correspond to (be equal to or slightly larger than) the size of container 502. In other words, if container 502 has a greater height relative to container 112, then robot 202 can also have a greater height (in the Z direction) so that container 502 can be accommodated below cantilever element 306 without the bottom of container 502 contacting tracks 118, 120. Alternatively or additionally, if container 502 has a greater width (in the X direction), as will be discussed in more detail below, then robot 202 will also have a correspondingly greater width so that container 502 can be accommodated below cantilever element 306 without the sides of container 502 protruding beyond the area occupied by robot 202.

[0053] Containers can be made of similar Figure 3B The depicted robot 204 is a cavity-type robot capable of lifting, moving, and lowering. For the robot manipulating container 502, the dimensions of the internal cavity 310 may correspond to (be equal to or slightly larger than) the dimensions of container 502. In other words, if container 502 has a greater height relative to container 112, then robot 204 and internal cavity 310 may also have a greater height (in the Z direction), such that container 502 can be accommodated within internal cavity 310 without the bottom of container 502 contacting tracks 118, 120. Alternatively or additionally, if container 502 has a greater width (in the X direction), as will be discussed in more detail below, robot 204 and internal cavity 310 will also have a correspondingly greater width, such that container 502 can be accommodated within internal cavity 310.

[0054] The lifting device 304 and / or gripping device 308 of robots 202 and 204 can be configured to hold container 502 in such a way that the lower surface of the container is held at a vertical height above the bottom of each set of wheels 302 and 303 of robots 202 and 204, that is, so that container 502 does not interfere with or hinder the movement of robots 202 and 204 that are holding container 502.

[0055] Such as about Figures 1 to 3BAs described, robots 202 and 204 can lower container 112 to ports 130 and 132 via port arrays 126 and 128 to allow an operator at ports 130 and 132 to retrieve items stored in container 112. Similarly, the aforementioned robots can lower container 502 to ports via port arrays 126 and 128 to allow an operator at the port to retrieve items 512 stored in container 502. However, if container 502 has a larger size relative to container 112, such ports can also have a larger size relative to ports 130 and 132. Ports for accessing container 502 may include openings having dimensions corresponding to container 502, i.e., dimensions of container 502 in the XZ plane, through which / through the opening can access the interior of container 502.

[0056] Container gate

[0057] refer to Figure 6 The illustrated embodiment depicts a container 600. The container 600 may correspond to... Figure 5 The mentioned container 502. Container 600 includes a support 602, which may include one or more support elements 604, 606. The support 602 may correspond to... Figure 5 The described bracket 506. Bracket elements 604 and 606 can correspond to... Figure 5 The described support elements 508 and 510 are shown by way of non-limiting example. Figure 6 Support elements 604 and 606 are depicted as shelves, but support 602 may include alternative or additional support elements described herein. Support 602 supports article 608 within the interior of container 600. By way of non-limiting example, and for ease of illustration, article 608 is shown as taking the form of a simple box and is depicted as being supported by support element 604. Alternatively, articles, particularly large, bulky, or irregularly shaped articles, or articles that need to be fixed or suspended on support 602, are expressly considered herein within the scope of this disclosure.

[0058] Container 600 includes a door 610. Door 610 is located on a first side of container 600. In other words, door 610 may not be located on the bottom or top of the container (in the XY plane), but may be located on the side of the container (in the XZ or YZ plane). Figure 6As depicted, door 610 (i.e., the first side of container 600) lies in the XZ plane. The position of door 610 can be described as being located at the “front” of container 600 relative to the edge of storage grid 500 or relative to a port therein. In other words, at least at the port, door 610 can be oriented such that it faces outward from storage grid 500 rather than into storage grid 500 (in the Y direction), such that opening door 610 provides an entrance for an operator on the outside of storage grid 500 to access item 608.

[0059] Door 610 is configured to provide an entrance to the interior of container 600. Door 610 can take any form suitable for providing such an entrance. For example, door 610 can be a hinged door with a hinge on one side of door 610 (e.g., Figure 6 Door 610 is connected to the rest of container 600 at a location (left or right side as depicted in the illustration). By pivoting door 610 about a hinge, it can be opened to provide access to the interior of container 600. Alternatively, door 610 can be a bellows-type, folding, or curtain door configured to fold to reduce its width (e.g., towards the left or right side as shown in the illustration). Figure 6 (The left or right side depicted), thereby providing an entrance to the interior of the container 600. The container 600 may have different and independently movable doors 610 for different sections of the container 600 (e.g., different vertical positions within the container 600).

[0060] like Figure 6 As depicted, by way of non-limiting example, door 610 can be a sliding door. In other words, door 610 can be configured to slide such that the door no longer overlaps with the side of container 600 configured to be covered by the door, or such that the door no longer completely overlaps with the side of container configured to be covered by the door. Figure 6 As depicted, by a non-limiting example, door 610 can slide in the vertical direction (aligned with the Z-axis). Door 610 can slide upward to provide an entrance to the interior of container 600. Door 610 can slide downward so that container 600 is subsequently closed, i.e., no longer providing an entrance to the interior of container 600.

[0061] A drive mechanism may be configured to move (e.g., slide) door 610. The drive mechanism may be disposed within container 600. The drive mechanism may be arranged in a port such that door 610 can be (only) lifted when container 600 is positioned at the port. As those skilled in the art will understand, the drive mechanism may take any suitable form for moving the door. For example, the drive mechanism may include one or more motors and one or more belts or pulleys coupled to the one or more motors and door 610. Operation of the one or more motors may move door 610, for example, by sliding the door up or down. The drive mechanism may include one or more actuators coupled to door 610. Operation of the one or more actuators may move door 610, for example, by sliding the door up or down. The drive mechanism may include a controller located within container 600 or the port and configured to control the operation of the drive mechanism. Alternatively or in combination, the door may be slid manually by an operator.

[0062] The side of the container 600 with the door 610 may include one or more guide slots or rails for aligning the door 610 with the rest of the container 600 in the X direction (these guide slots or rails may be located on the left and right sides of the container 600, such as...). Figure 6 (As depicted). This ensures that the sliding of the door is aligned with the Z-axis. The door 610 and the container 600 are provided with one or more interlocking or mating features on the side of the door 610 to ensure this alignment.

[0063] In some instances, container 600 may include multiple doors 610. For example, container 600 may include an additional door 610 located on the "rear" side of container 600, i.e., with... Figure 6 The door 610 depicted is an additional door opposite and also in the XZ plane. Container 600 may include one or two additional doors 610 located on the left and / or right sides of container 600 (i.e., in the YZ plane). Such additional doors 610 can provide additional flexibility regarding the orientation from which an entrance to the interior of container 600 is provided, thereby providing additional flexibility regarding the location and orientation of ports on different sides of storage grid 500. Container 600 may also include a door 610 or opening located on the top of container 600 (i.e., in the YX plane).

[0064] When container 600 is stored within storage grid 500, i.e., when the item 608 is not accessed, door 610 may be closed. Door 610 may be closed when container 600 is moved, for example, lifted, translated, or lowered by a robot. Door 610 may be opened / closed when container 600 is located at a port or edge of the grid or other access station to provide access to the interior of container 610. Keeping door 610 closed during storage and / or movement prevents item 608 from falling out of container 600 or being damaged, or from causing damage to other parts of the automated storage and retrieval system. Container may include a locking mechanism that can be unlocked when container 600 is positioned at a port or edge of the grid or other access station, for example, by using a sensor configured to identify the position of container 600 or by an unlocking mechanism included in the port or access station and configured to cooperate with the locking mechanism. The locking mechanism may be manually unlocked by an operator, for example, using a mechanical or electronic key.

[0065] Door 610 can be configured to slide to one of a plurality of predetermined vertical positions based on the vertical position of item 608 within container 600 and / or based on the vertical position of support elements 602, 604 supporting item 608. In other words, door 610 can be opened only to the extent necessary to access the item 608 that needs to be retrieved. Figure 6 As depicted, door 610 can slide upwards to a height sufficient for an operator to access item 608 on support element 604, but cannot slide further upwards to access any other items on any higher support element within container 600. This reduces the power required to slide door 610 open, thus improving energy efficiency. Furthermore, since door 610 only needs to move through a small range of positions, the time required to retrieve item 608 can be reduced.

[0066] The positions of different items within the container and their vertical heights within the container can be stored in a database, such as in the memory 404 of the processing system 400. When an order contains a specific item 608, requiring its retrieval from the storage grid, the database can be queried (e.g., searched) to determine the container 600 containing item 608 and the vertical height of item 608 within the container 600. This can be performed by the processing system 400, the port's controller, or the container 600's controller. The port or container 600 can be configured to drive a door 610 upwards to expose item 608 inside the container as needed, thereby enabling its retrieval. This could involve the door 610 partially sliding upwards without exposing the entire interior of the container 600.

[0067] Containerization and Platform Usage

[0068] refer to Figure 7 The illustrated embodiment depicts a grid 700. The grid 700 can generally correspond to... Figure 5 The mentioned grid 500. Grid 500 includes a container 702, which can correspond to respectively regarding... Figure 5 and Figure 6 Containers 502 and 600 are mentioned. Container 702 includes a support 704, which includes a support element 706 and supports the article 708 inside the container 702. The support 704 may correspond to, respectively, regarding... Figure 5 and Figure 6 The described supports 506 and 602. Support element 706 can correspond to respectively regarding... Figure 5 and Figure 6 The described support elements are 508 / 510 and 604 / 606. Item 708 can correspond to the respective... Figure 5 and Figure 6 Items 512 and 608 are described. Container 702 includes a door 710, which can correspond to... Figure 6 The door 610 is described.

[0069] The grid 700 includes a robot 712. As mentioned above, the robot 712 can be a cantilever robot or an internal cavity robot. Figure 7 A cantilever robot is depicted by way of non-limiting example. Robot 712 may have dimensions sufficient to hold, lower, translate, and lift container 702. As described above, robot 712 may include multiple wheels for moving along tracks on the top of grid 700 to move the container 702 held by robot 712 from its storage location within grid 700 to an edge of grid 700, such as to a port. Figure 7 As depicted, robot 712 has moved to port column 714 (which can correspond to...) Figure 1 The described port columns 126 and 128 are adjacent, wherein container 702 is vertically aligned with port column 714. Ports can be about... Figure 1 Examples of ports 130 and 132 described.

[0070] Robot 712 can be configured to deliver container 702 (such as...) Figure 7(The depicted) descends along port column 714. Ports may be located within port column 714, for example, at the bottom of port column 714 or near the bottom of port column 714. A port may include an opening in the outer wall of grid 700 providing access for an operator to retrieve container 702. Here, a port may be referred to as an access station, an opening in the side of the grid, a workstation, a container handling station, or a pickup station. A port may include a body or housing separating the interior of the port from the exterior of the port. A port may include one or more conveyors for moving the container described herein, for example, out of grid 700 along the Y direction. A port may include a port door. A port may include a controller and a drive mechanism coupled to the port door. The controller may instruct the drive mechanism to close the port door when container 702 is not present at the port, and to open the port door when container 702 is present at the port. The port door may take any suitable form, such as a door that slides vertically or laterally, a hinged door, a bellows door, or a folding door.

[0071] When container 702 is lowered along port row 714 or after container 702 has reached a port, door 710 of container 702 can be opened. The port can, for example, open both door 710 of container 702 and port door simultaneously using the same drive mechanism coupled to both door 710 of container 702. The port can be configured to provide a side entrance to container 702 (i.e., to the interior of container 702) through an opening in the port door. In other words, the port can be configured to provide an entrance to the interior of container 702 in / through the XY plane, corresponding to the entrance provided by door 710 of container 702.

[0072] A platform 716 can be set adjacent to the port, i.e., adjacent to the port column 714 of the grid 700. An operator can stand on the platform 714 to access the interior of the container 702. The robot 712 can (only) lower the container 702 a certain distance, such that the item 708 / support element 706 supported by the container is at a predetermined distance (e.g., approximately 1 m) above the platform, i.e., instead of lowering the container 702 all the way to the bottom of the port column 714 each time. This reduces the power required to lower the container 702, thereby improving energy efficiency. Furthermore, since the container 702 only needs to move through a small area, the time required to remove the item 708 can be reduced. This lowering of the container 702, depending on the vertical position of the item 708 / support element 706 supporting the item, can be implemented in combination with the sliding of a door 710, depending on the vertical position of the item 708 / support element 706.

[0073] As explained above, the positions of different items within the container and their vertical heights within the container can be stored in a database, such as in the memory 404 of the processing system 400. When an order contains a specific item 708, requiring its retrieval from the storage grid, the database can be queried (e.g., searched) to determine the container 702 containing item 708 and the vertical height of item 708 within container 702. This can be performed by the processing system 400 or by the controllers of robots 202 and 204. Robots 202 and 204 can be configured to lower container 702 to a suitable height (e.g., 1 m) above platform 716, but not further. This can be a partial lowering of container 702, ensuring it does not descend to the bottom (ground) of grid 700.

[0074] Further description of the support element

[0075] This article, for example, is about Figures 5 to 7 The described support may include at least one horizontal element (which may be one of the support elements described herein). This horizontal element may be coupled to a second and a third side of the container. The second side may be adjacent to a first edge of the first side where the door is located. The third side may be adjacent to a second edge of the first side where the door is located. The second side may be opposite to the third side. In other words, for example, refer to... Figure 7 With the door / first side located in the XZ plane, the second and third sides can each be located in the YZ plane and can be spaced apart from each other in the X direction.

[0076] At least one horizontal element can also enable vertical partitioning / subdivision storage, and can support one or more items at a non-zero height above the bottom surface of the container. This provides a more suitable and less prone-to-damage storage method, as well as a more space-efficient storage method. Therefore, it allows for the more efficient and reliable storage of a wider variety of items within the storage grid container.

[0077] In addition, the support may include one or more vertical elements, i.e., for example, in Figure 7 The depicted features one or more vertical elements extending in the Z direction. These vertical elements can subdivide the container into two or more horizontal compartments, thereby further improving modularity and space efficiency.

[0078] Containers of different widths

[0079] The containers 502, 600, and 702 described herein may have the same characteristics as those described above. Figure 1The described container 112 has the same width (by way of non-limiting example, this width may be approximately 400 mm or approximately 600 mm). These containers 502, 600, and 702 can be described as having a "single cell width" because they can have a width corresponding to the width of the storage cells of the grid (in the X direction). Alternatively, containers 502, 600, and 702 can have a "double cell width," wherein the width (in the X direction) is twice the width of the storage cells of the grid / twice the width of container 112. Alternatively, containers 502, 600, and 702 can have a "triple cell width," wherein the width (in the X direction) is three times the width of the storage cells of the grid / three times the width of container 112.

[0080] The wider containers 502, 600, and 702 can store a wider variety of items. In addition, the wider containers 502, 600, and 702 are more stable, especially when they are taller than container 112.

[0081] The spacing between the robot, ports, and vertical frame members 104 can be set to adjust according to the width of the containers 502, 600, and 702 used. For example, the robot can be configured to have a width corresponding to containers 502, 600, and 702. Similarly, the ports (and port column 714) can be configured to have a width corresponding to containers 502, 600, and 702. Similarly, the spacing between adjacent vertical frame members 104 can be set to correspond to the width of containers 502, 600, and 702. For example, relative to... Figure 1 In the embodiments shown, if it is necessary to accommodate containers 502, 600, and 702 with a "double-unit width", one of the vertical frame members 104 can be omitted. Relative to Figure 1 In the illustrated implementation, if it is necessary to accommodate containers 502, 600, 702 with a “three-unit width”, two adjacent vertical frame members 104 can be omitted. This can effectively combine two or more units so that containers 502, 600, 702 with a width of double or triple can be raised and lowered within the grid and within the port column 714. In some instances, such changes to the position of the vertical frame members 104 may exist only in a subset of the grid specifically designated for storing such double- or triple-width containers 502, 600, 702.

[0082] method

[0083] refer to Figure 8 The illustrated embodiment demonstrates a method for providing access to an item stored in a container. The container may correspond to... Figures 5 to 7 Any one of the described containers 502, 600, and 702.

[0084] In step S100, the method includes: a robot removing a container from a stack of containers in an automated storage and retrieval system, the container including a support for holding items inside the container. The robot can correspond to... Figure 7 The robot 712 is described. The automatic storage and retrieval system can correspond respectively to... Figure 5 and Figure 7 The described grids are 500 and / or 700. The supports can correspond to respectively regarding... Figures 5 to 7 The described brackets are 506 and / or 602 and / or 704. Items may correspond to, respectively, those concerning... Figures 5 to 7 The items described are 512 and / or 608 and / or 708.

[0085] Container retrieval may include lifting the container by a robot. Container retrieval may also include transporting the container along a track system 116 of the automated storage and retrieval system to a port column 714 including ports by a robot. Before lifting the container, the robot may sequentially lift and rearrange containers already above it in the container column. The height of the container may be at least 1 m. The height of the container may be at least 2 m and equal to or less than 3 m. The height of the container may be greater than the height of at least one of the (other) containers in the container column.

[0086] In step S105, the method includes a robot lowering the container to a port. This port may correspond to a location set regarding... Figure 7 The ports described in port column 714. The lowering may include lowering the container a predetermined distance based on the vertical position of the item within the container. The vertical position of the item may be stored in a database, either in the robot's memory or in the memory of a device communicatively coupled to the robot (e.g., processing system 400).

[0087] In step S110, the method includes opening a door on a first side of the container to provide an entrance to the interior of the container. The door may correspond to a specific location on each side. Figure 6 and Figure 7The described doors 610 and / or 710. Opening a door may include moving / opening the door by a drive mechanism included in the port or container. Opening a door may include sliding the door vertically upward. Opening a door may include sliding the door to one of a plurality of predetermined vertical positions based on the vertical position of an item within the container. The vertical position of the item may be stored in a database, which is stored in memory included in the port or container, or in memory of a device (e.g., processing system 400) communicatively coupled to the port / container. The door of the port may be opened to expose an opening through which an operator can access the interior of the container when the door of the container itself is also in the open position.

[0088] Final Comments

[0089] 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 alterations falling within the spirit and scope of the appended claims. Therefore, the specification and drawings are to be regarded in an illustrative sense and not a restrictive sense. Consequently, the scope of this disclosure should be determined by reference to the appended claims and the full scope of their equivalents.

[0090] This disclosure includes the following items: 1. A method for providing an access point to an item stored in a container, the method comprising: A robot removes containers from a stack of containers in an automated storage and retrieval system; the containers include supports that hold items inside. The container is lowered to the port by a robot; and Open the door on the first side of the container to provide access to the interior of the container.

[0091] 2. According to the method of Project 1, opening the door includes sliding the door vertically upward.

[0092] 3. The method according to Project 2 includes sliding the door to one of a plurality of predetermined vertical positions based on the vertical position of the item inside the container.

[0093] 4. The method according to any of the foregoing items, wherein lowering the container includes lowering the container by a predetermined distance based on the vertical position of the article inside the container.

[0094] 5. According to any of the methods described in the preceding items, wherein removing the container includes: Improve the container; and The containers are transported along the track system of the automated storage and retrieval system to the port column, which includes the ports.

[0095] 6. According to the method of Project 6, the following is included: before lifting the container, sequentially lift and rearrange the containers in the container column that are already above the container.

[0096] 7. The method according to any of the preceding items, wherein opening the door includes moving the door by a drive mechanism.

[0097] 8. The method according to any of the preceding items, wherein the height of the container is equal to or greater than 1 m, and optionally, wherein the height of the container is at least 2 m and equal to or less than 3 m.

[0098] 9. According to any of the methods described above, wherein the height of the container is greater than the height of at least one of the other containers in the container column.

[0099] 10. A robot comprising: ontology; A lifting device, configured to lift, hold, and lower a container having a height equal to or greater than 1 m; and A set of wheels, configured to allow the robot to move on a track system of an automated storage and retrieval system while holding the container.

[0100] 11. The robot according to item 10, wherein the lifting device includes a clamping device configured to hold the container by holding the container such that the lower surface of the container is held at a vertical height above the bottom of the set of wheels.

[0101] 12. The robot according to item 10 or item 11, wherein the robot includes a cantilever element configured to hold a container below a cantilever element.

[0102] 13. The robot according to item 10 or item 11 includes an internal cavity located within the body, the internal cavity being configured to hold a container within its interior.

[0103] 14. A robot based on any of items 10 to 13, wherein the height of the container is at least 2 m and equal to or less than 3 m.

[0104] 15. A port connected to an automated storage and retrieval system, the port comprising: The opening is located in the side of the automated storage and retrieval system; and Frame, surrounding the opening, The opening is configured to provide a side entrance for accessing a container located adjacent to the opening, the container having a vertical height equal to or greater than 1 m.

[0105] 16. According to the port of Project 15, the height of the container is at least 2 m and equal to or less than 3 m.

[0106] 17. According to the port of item 15 or item 16, wherein the height of the opening between the lower and upper portions of the frame is at least 1 m, and optionally, wherein the height of the opening between the lower and upper portions of the frame is at least 2 m and equal to or less than 3 m.

[0107] 18. A container configured to be stacked in a column of containers in an automated storage and retrieval system, the container comprising: At least 1 m of vertical height; and A door, located on the first side of the container, is configured to provide an entrance to the interior of the container.

[0108] 19. The container according to item 18, wherein the vertical height of the container is at least 2 m and equal to or less than 3 m.

[0109] 20. Containers according to item 18 or item 19, including supports configured to hold items inside the container.

Claims

1. A container configured to be stacked in a column of containers in an automated storage and retrieval system, the container comprising: A support, configured to hold items inside the container; as well as A door, located on the first side of the container, is configured to provide an entrance to the interior of the container.

2. The container according to claim 1, wherein, The support is configured to support the item at a non-zero height above the bottom surface of the container.

3. The container according to claim 1 or claim 2, wherein, The support includes a horizontal element connected to a second side of the container and to a third side of the container, the second side being opposite to the third side.

4. The container according to any of the preceding claims, wherein, The bracket includes at least one hanging rail configured for suspending the item.

5. The container according to any of the preceding claims, wherein, The support includes at least one shelf or at least one drawer for supporting the item.

6. The container according to any of the preceding claims, wherein, The bracket includes at least one fastener for holding the item in a fixed position.

7. The container according to any of the preceding claims, wherein, The support includes a plurality of support elements, each of which is configured to support a corresponding item at a different corresponding height within the container.

8. The container according to any of the preceding claims, wherein, The height of the container is equal to or greater than 1 m.

9. The container according to any of the preceding claims, wherein, The height of the container is at least 2 m and equal to or less than 3 m.

10. The container according to any of the preceding claims, wherein, The door can slide vertically.

11. The container according to claim 10, wherein, The door is configured to slide to a predetermined vertical position based on the vertical position of the item within the container.

12. An automatic storage and retrieval system, comprising: Container according to any of the preceding claims; The port is configured to provide a side entrance close to the container; as well as A robot configured to deliver the container to the port.

13. The automated storage and retrieval system of claim 12, comprising a plurality of additional containers, wherein, The container and the plurality of additional containers are stacked vertically on top of each other.

14. The automatic storage and retrieval system according to claim 13, wherein, The height of the container is greater than the height of at least one of the plurality of additional containers.

15. The automated storage and retrieval system according to any one of claims 12 to 14, comprising a platform adjacent to the port, wherein, The robot is configured to lower the container a predetermined distance based on the vertical position of the item within the container.

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