port

Abstract

The present disclosure relates to a port configured for coupling to a storage grid, an automated container storage and retrieval system, a method for operating a port coupled to a storage grid, and a computer readable medium. The port comprises an opening, a conveying device, and a cover. The opening is configured to enable taking of goods from a container through the opening. The conveying device is configured to move the container between the storage grid and the opening. The cover is configured to move between a first position covering the opening and a second position within the storage grid.

Description

Technical Field

[0001] This disclosure relates to ports. More specifically, this disclosure relates to configuring a port for connection to a storage grid, an automated container storage and retrieval system, a method for operating a port connected to a storage grid, and a computer-readable medium. 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] At the port, a moving mechanism allows containers to move between the grid and a location accessible to the containers. Containers can be sequentially transported to this location for the sequential access of their respective goods. Alternatively or additionally, goods can be placed into one or more containers at this location for storage within the grid. Thus, the port provides an interface between the interior of the grid where the containers are stored and the exterior of the grid where the containers are accessible.

[0006] Known ports can pose safety risks. Because ports provide automated access to locations within containers, robots (or parts thereof), and other equipment that move within them, operators at the port can come into contact with these components. For example, an operator's arm could get caught between the container and the port's structure as the container moves toward them. In another instance, an operator might approach an area where a robot is moving a container through the port, also posing a risk of injury. Therefore, the problem with known ports is that their safety may be less than intended.

[0007] Known ports may increase the distance between the accessible location of the container and the storage grid. However, the problem with this arrangement is that it results in additional space being occupied within the storage facility. This can be particularly important in the context of storage solutions, where maximizing the quantity or volume of goods that can be stored in a given space is generally desired. In other words, the space efficiency of such known ports is lower than expected. 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 shown in the accompanying drawings, in which: Figure 1 A perspective view of a storage system including a grid and multiple robotic container handling vehicles configured to retrieve and / or rearrange goods stored within the grid is shown. 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 port as described herein is shown; Figure 6A An implementation of a port connected to a port column of a storage grid as described herein is shown; Figure 6BIt shows Figure 6A Another view of the implementation, in which the port cover has been moved; Figure 6C It shows Figure 6A and Figure 6B Another view of the implementation, in which the cover of the port has been moved further; Figure 7 An embodiment of the cover as described herein is shown; Figure 8 An implementation of the port as described herein is shown; Figure 9 An implementation of the grid cell as described herein is shown; Figure 10 Implementations of the grid cells and caps as described herein are shown; Figure 11 An embodiment is shown configured for connection to a grid cell structure with multiple opening ports as described herein; Figure 12 An implementation of a method for operating a port connected to a storage grid, as described herein, is shown. Detailed Implementation

[0010] In general, this disclosure relates to a port configured for connection to a storage grid. The port includes an opening, a conveying mechanism, and a cover. The opening is configured to allow goods to be removed from a container. In other words, the opening is configured to provide access to, and storage of, goods in which goods are received, stored, or held, and to allow access to and removal of these goods from the container. A (human or robotic) operator can remove the goods from the container via the opening. The goods may include one or more objects, i.e., one or more products, articles, or supplies.

[0011] The conveying device is configured to move containers between a storage grid and an opening. In other words, the conveying device can be configured to move one or more containers from the storage grid to the opening and / or move one or more containers from the opening to the storage grid.

[0012] The cover is configured to move between a first position covering the opening and a second position within the storage grid. In other words, the cover can be configured to move from the first position to the second position and / or from the second position to the first position. When the cover is in the first position, it is impossible to access the opening, i.e., it is impossible to access the interior of the port or the interior of the container. When the cover is in the second position, it is possible to access the opening, i.e., goods can be removed from the container through the opening, but it is impossible to access the storage grid, i.e., it is impossible to contact any mechanism that moves the container within the storage grid or between the storage grid and the port / opening.

[0013] The features described above interact to increase the security of the port connected to the storage grid. Because the cover, in its first position, covers the opening, it prevents the operator from contacting the container moving toward / away from the opening, thus reducing the risk of body parts or equipment / machinery components becoming trapped or clamped between the container and the port structure. Because the cover can move into the storage grid, in its second position, it prevents the operator from approaching the interior of the storage grid and prevents any moving mechanism from operating therein, such as a mechanism that moves the container toward or away from the port / opening. In other words, the cover increases port security for the operator in both its first and second positions. The cover, in both its first and second positions, prevents the operator from contacting moving parts of the port / storage grid.

[0014] Furthermore, the interaction of the features described above enables the provision of more space-efficient ports. Since the cover in the second position prevents the operator from approaching the storage grid when the opening is accessible, the opening can be positioned close to the storage grid without increasing operator risk. The cover can provide useful safety functions with a small footprint in both positions. Moreover, because the cover is movable into the storage grid, there is no need to provide additional space around the opening for the cover to move into when approaching it. For example, since the cover does not move laterally to provide access to the opening, it is possible to install ports with multiple openings directly adjacent to each other, which allows for more efficient use of available space around the grid.

[0015] Overview of Automated Storage and Retrieval Systems

[0016] 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.

[0017] 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 run on tracks 118, 120 and transport boxes 112 in both the X direction 108 and Y direction 110. Robot 122 is also configured to lift / lower boxes 112 from column 102 into the column in the Z direction 114, the boxes 112 being optionally guided by vertical frame members 104. Robot 122 accesses the boxes 112 via access openings 124 located above column 102 and formed between tracks 118 and 120.

[0018] 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 may include a conveying device ( 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 exit the column.

[0019] 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.

[0020] 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.

[0021] 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.

[0022] 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 the transport of the boxes 112.

[0023] 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.

[0024] Control and monitoring systems

[0025] The control and monitoring of the automated storage and retrieval system (including monitoring and storing the location of the boxes, controlling the delivery, retrieval and transport of the boxes, and 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.

[0026] 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 one 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 set of machines (e.g., computers) that individually or collectively execute one or more instruction sets to perform any one or more methods described herein.

[0027] 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.

[0028] 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.

[0029] 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).

[0030] 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.

[0031] 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.

[0032] 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.

[0033] A computer program can be run by processor 402 to perform the functions of the systems and methods described herein.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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).

[0038] Operation of the automatic storage and retrieval system

[0039] 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.

[0040] When it is necessary to retrieve box 112 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 box 112, 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, 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.

[0041] Specific improvements

[0042] refer to Figure 5 The embodiment shown depicts a port 500 connected to a port column 508 of the storage grid. Port 500 may correspond to... Figure 1 One of the mentioned ports, 130 or 132. Port list 508 can correspond to... Figure 1 The port number mentioned is one of 126 or 128. Figure 5 A vertical frame member 510 is also depicted, which can correspond to the following regarding Figure 1 The mentioned vertical frame member 104. In other words, Figure 5 The port 500 described in the image can be connected to... Figure 1 The grid 100 mentioned herein (which may be referred to interchangeably as storage grid 100) is configured to be connected to storage grid 100.

[0043] As used herein, port 500 may be described as a workstation, access station, container processing station, or pick-up station. Port 500 includes a body, which may also be described as a frame or housing. The body may include a three-dimensional structure comprising one or more solid panels that separate the interior of port 500 from the exterior of port 500. The body may prevent access to the interior of port 500 (except through openings where appropriate) and thus also allow an operator to safely operate port 500.

[0044] Port 500 includes an opening 502. This opening is configured to allow goods to be removed from the container through the opening. In other words, the opening can be configured to allow goods to be removed from the container through opening 502. Standing in front of port 500 ( Figure 5 An operator (on the right side) can remove goods from the container through the opening. The opening 502 can be an opening or an unobstructed space (at least when uncovered, as described below) allowing goods to pass through. The opening 502 can include a rectangular opening. The opening 502 can be located on the upper surface of the port 500. The opening 502 can be defined in a horizontal plane at a constant height (e.g., at a constant height from the floor of the storage facility accommodating the port 500).

[0045] Port 500 includes cover 504. For example... Figure 5As depicted, the lid blocks, obstructs, or covers opening 502, and is therefore depicted as being located directly above opening 502. Lid 504 may comprise a horizontal plane and be made of a solid material. Lid 504 may comprise a transparent material (such as glass) or a transparent plastic (such as PMMA) allowing visibility of the container's interior through the lid. Lid 504 is configured to move between a first position covering opening 502 and a second position within storage grid 100. Figure 5 As depicted, the cover 504 is configured in the first position such that the operator cannot access the goods in the container located below the opening 502. Figure 5 A horizontal arrow is depicted near cover 504, indicating that cover 504 can move between a first position and a second position. This may include translating cover 504 horizontally (along the Y direction). As used herein, cover 504 may be referred to as a hatch, baffle, or safety glass.

[0046] When the cover 504 moves to its second position, the goods can be removed from the container through the opening 502 because the cover does not obstruct, block, or cover the opening 502. When the cover is in its second position, it covers the port row 508, or at least covers the portion of the port row 508 above the height of the cover 504 / port 500.

[0047] As used herein, the mention of a horizontal plane in cover 504 can be used to indicate that the plane is generally horizontal. As used herein, the mention of horizontal translation of cover 504 can be used to indicate that the cover is translated generally horizontally. In some instances, the cover may be a plane oriented at an acute angle to the horizontal direction and may be configured to translate along this acute angle. This acute angle may be approximately 5°, approximately 10°, approximately 15°, approximately 20°, approximately 25°, or approximately 30°. The acute angle may be oriented such that cover 504 is higher closer to grid 100, i.e., such that the portion of cover 504 closer to grid 100 is at a greater vertical height than the portion of cover 504 further away from grid 100, and such that cover 504 is at a greater (average) vertical height in the second position than in the first position. This arrangement of cover 504 can be adapted to provide greater safety for the operator as described herein, without hindering efficient removal of goods from the container.

[0048] Port 500 may include one or more belts coupled to one or more corresponding motors, which in turn connect the corresponding motors to cover 504. The one or more motors may be driven to move (rotate) the corresponding one or more belts, thereby moving cover 504 between a first position and a second position. Alternatively or additionally, movement of cover 504 between the first and second positions may be performed manually, for example via one or more handles on cover 504 adapted for use by an operator to push / pull cover 504.

[0049] Port 500 includes a conveying device 506. This conveying device is configured to move one or more containers between storage grid 100 and opening 502. In other words, conveying device 506 can be configured to move one or more containers between port row 508 and opening 502. Conveying device 506 can be described as a conveyor belt. Conveying device 506 may include a belt wound around two or more rollers. One or more of these rollers may be driven to rotate, for example, by a (electric) motor. The one or more rollers may be coupled to the belt by friction and optionally by one or more interlocking features to cause the belt to rotate around the rollers. Containers arranged on the belt of conveying device 506 can thus be moved in the Y direction (towards or away from opening 502), depending on whether the one or more rollers are driven to rotate clockwise or counterclockwise.

[0050] The conveyor 506 can be described as being included in port 500. When port 500 is coupled to storage grid 100, at least a portion of the conveyor 506 may also be disposed in, located in, or included in storage grid 100, for example, in port column 508 of storage grid 100. Containers can be lowered downwards (in the Z direction) along port column 508 by a robot. When a container reaches the conveyor 506, the conveyor 506 can be used to translate the container to opening 502 for retrieving goods from the container. Conversely, when goods are placed in a container at opening 502, the conveyor 506 can be used to translate the container to port column 508. The robot can then lift the container to store it in storage grid 100 (e.g., ...). Figure 5 (As shown by the vertical arrow in port column 508). The bottom of port column 508 (i.e., the portion of port column 508 below the vertical height of cover 504) can be referred to as the pick-and-place unit.

[0051] In some embodiments, the conveying device 506 may further extend into the storage grid 100 (extending to the left side of the port column 508, such as...). Figure 5(As depicted). This can provide additional space for manipulating multiple containers. For example, the conveyor 506 can move a first container from the opening 502 into this additional space. This can make room to lower a second container down along the port column 506 to support it on the conveyor 506. Then, the top of the conveyor moves in a rightward direction (as shown). Figure 5 (As depicted in the image) the first container can be positioned in port column 506 for lifting by a robot and storage in storage grid 100. The same movement can position the second container below opening 502 for retrieval of goods from it.

[0052] Port 500 may also include one or more additional conveying devices and / or longer or more complex conveying systems to provide greater flexibility in accommodating more containers within port 500 and / or increase the throughput of port 500.

[0053] The first container may need to be lifted from the pick-and-place unit by the robot before the cover 504 is moved to its second position, allowing the goods to be retrieved from the second container through the opening 502. This is because the cover 504, when in its second position, obstructs the path of the first container and thus prevents it from being lifted. Therefore, the time required to exchange containers may be slightly increased due to the implementation and movement of the cover 504. This approach has certain limitations in storage systems, meaning that the technology of this disclosure may not be readily considered if the storage system prioritizes the speed of transporting / exchanging / accessing containers. However, it has been determined that the technology of this disclosure provides an appropriate balance between container exchange speed and safety. For example, improved safety corresponds to increased operational reliability, prevention of operational interruptions, and increased automation of operator interaction with port 500, which in themselves can indirectly improve overall operational speed to offset any losses caused by slower container exchange speeds.

[0054] When the cover 504 is in its second position, from the operator's perspective, it may obstruct, block, or cover one or more mechanisms used to move the container within the storage grid 100, such as one or more mechanisms used to raise or lower the container within the port column 508. Therefore, while the second position of the cover 504 allows the opening 502 to be unobstructed so that the operator can access the container, it also prevents the operator from reaching through the port 500 to enter the interior of the storage grid 100.

[0055] The top of each container can be open and can have approximately the same dimensions as opening 502. For example... Figure 5As depicted, the Y-direction dimension of opening 502 can be approximately the same as the Y-direction dimension of cover 504, approximately the Y-direction dimension of the port extending beyond storage grid 100, and approximately the Y-direction dimension of port row 508. The X-direction dimension of opening 502 can be approximately the same as the X-direction dimension of cover 504, approximately the X-direction dimension of the port extending beyond storage grid 100, and approximately the X-direction dimension of port row 508. In other words, the dimensions of the external occupied areas of opening 502, cover 504, port row 508, and port 500 can correspond to or be approximately the same (in the horizontal XY plane). This allows cover 504 to be adapted to block opening 502 and to be moved into storage grid 100 to block port row 508, while being provided in the most space-efficient manner.

[0056] Port 500 may include controller 512. Controller 512 may be configured to control movement of conveyor 506 and / or to control movement of cover 504. The controller may include a computer-readable medium storing instructions for implementing movement of conveyor 506 and / or cover 504. For example, controller 512 may include instructions for generating and / or sending computer-executable instructions to one or more motors to implement these movements. In some instances, port 500 may include separate controllers for moving conveyor 506 and cover 504, respectively.

[0057] The mechanism for moving the cover 504 can be independent of the mechanism for moving the conveyor 506. In other words, port 500 can include a first moving mechanism for moving the cover 504 and a second moving mechanism for moving the conveyor 506, instead of a single drive mechanism moving both the cover 504 and the conveyor 506. Furthermore, when the conveyor 506 moves, it can prevent the cover 504 from moving, which further increases the security of port 500. Sequentially, the conveyor 506 can move to position the container under the opening 502, the conveyor 506 can stop, the cover 504 can move from a first position to a second position, the item can be removed, the cover 504 can move from the second position to the first position, and the conveyor 506 can move to position the container in port row 508.

[0058] Port 500 may include a locking mechanism for preventing the cover 504 from moving when the conveyor 506 moves. This locking mechanism may include a physical / hardware / mechanical locking mechanism. For example, when the conveyor 506 moves, one or more protruding features on the cover 504 may contact one or more opposing features on the conveyor 506 to prevent the cover 504 from moving simultaneously. In some instances, a controller may be configured to transmit a control signal to an actuator at port 500 communicatively coupled to the controller, causing the actuator to extend and contact one or more protruding features on the cover 504, thereby preventing the cover from moving when the conveyor 506 moves and retracting to allow movement of the cover when the conveyor 506 is not moving. Alternatively or additionally, the locking mechanism may include a software locking mechanism implemented in controller 512. For example, controller 512 may include logic that can be implemented, for example, using XOR logic gates, thereby preventing both the cover 504 and the conveyor 506 from being driven to move simultaneously.

[0059] Movement of the cover between the first and second positions

[0060] refer to Figures 6A to 6C The illustrated embodiment depicts a port 600 connected to a port column 608 of the storage grid. Port 600 may correspond to... Figure 5 The mentioned port 600. Port column 608 can correspond to the port listed below. Figure 5 The port number mentioned is 508. Figures 6A to 6C The opening 602, cover 604, and vertical frame member 610 depicted in the image can respectively correspond to the following regarding... Figure 5 The mentioned opening 502, cover 504 and vertical frame member 510. Figures 6A to 6C A container 606 is also depicted, which can be used to store goods for retrieval via opening 602, and can be transported to or away from opening 602 using the conveying device described herein.

[0061] exist Figure 6A In this configuration, the cover 604 is positioned in a first position covering the opening 602. The cover 604 overlaps with and is arranged slightly above the opening 602. Figure 6A In this configuration, the XY dimensions and positions of the opening 602 and the cover 604 can be the same or approximately the same. When the cover 604 is in the first position, the operator cannot access the interior of the port 600, that is, cannot remove goods from the container through the opening 602.

[0062] exist Figure 6B In the middle, cover 604 is already relative to its in Figure 6A The position within has shifted. Figure 6B In the middle, the cover is located between the first position and the second position and the opening 602 is partially uncovered.

[0063] exist Figure 6C In the middle, cover 604 is already relative to its in Figure 6A The position continues to move. Figure 6C In this configuration, cover 604 is positioned in a second location within the storage grid. Opening 602 is uncovered, allowing an operator to retrieve goods from the container through opening 602. Cover 604 overlaps with the nearest unit of the storage grid (i.e., the "retrieval" unit) at the bottom of port column 608. In this second location, cover 604 prevents an operator from reaching through port 600 or otherwise approaching the portion of the storage grid above this bottom unit, where the container can be moved and the moving mechanisms (such as belts / pulleys) enabling such movement may be located.

[0064] Further description of the cover

[0065] refer to Figure 7 The embodiment shown illustrates cover 700 (corresponding to covers 504 and 604 discussed above) in more detail. Cover 700 may be generally shaped and arranged to include a flat plane or surface that may extend in the horizontal XY directions and have a thinner profile in the Z direction. When implemented in a port, all locations on this flat plane or surface may be at a substantially constant height (i.e., in the Z direction).

[0066] The cover 700 may include a body 702, which is shaped and arranged to include a flat plane or surface extending in the horizontal XY directions and having a thinner profile in the Z direction, as described above. The body 702 may be formed of a solid material or may be meshed to prevent an operator on one side of the body 702 from accessing objects or parts on the other side. The body 702 may be formed of a transparent material such as glass or PMMA.

[0067] The cover 700 may include a frame 704. The frame 704 may hold / support the body 702 and may include one or more features for coupling with a port and / or with a storage grid and / or with a drive mechanism for moving the cover 700.

[0068] The cover 700 may include one or more rollers 706. The cover 700 may include one or more rollers on each of its opposite sides, which are spaced apart in the X direction. The cover 700 may include multiple rollers 706 on each of these sides. On each of these sides, the cover 700 may include at least two rollers spaced apart from each other in the Y direction. Each roller 706 may be fixed to the frame 704 at its center point and may include a wheel or roller that rotates freely about this center point. The bottom surface of the wheel or roller of each roller 706 may be configured to contact a portion of the port and / or a portion of the storage grid. When the cover 700 moves between a first position and a second position, the wheel or roller of each roller 706 may be configured to rotate relative to a portion of the port and / or relative to a portion of the storage grid. This can reduce friction associated with such movement, and thereby reduce the power required to achieve such movement and increase the stability and reliability of the movement.

[0069] Further description of the port

[0070] refer to Figure 8 The embodiment shown illustrates port 800 (corresponding to ports 130, 132, 500, and 600 discussed above) in more detail. Port 800 may include a frame 802 that can provide structural support for other components of port 800. Port 800 includes a cover 804 (corresponding to covers 504, 604, and 700 mentioned above).

[0071] Port 800 may include a drive mechanism configured to move cover 804 between a first position and a second position. The drive mechanism may include a motor 806, which may be an electric motor. The drive mechanism may include one or more belts 808 that connect the motor 806 to cover 804 to achieve movement of cover 804. The drive mechanism 808 may include one or more wheels or rollers 810 for supporting and guiding the one or more belts 808 relative to cover 804 and motor 806. As those skilled in the art will understand, this arrangement is described by way of non-limiting example, and various mechanical devices that can be used to move cover 804 exist within this disclosure.

[0072] Port 802 may include controller 812 (which may correspond to controller 512 described above). The controller may be communicatively coupled to motor 806 or to other drive mechanisms for moving cover 804. The controller may be configured to generate control signals and / or transmit these control signals to motor 806 / other drive mechanisms. The control signals may be configured to move cover 804. In some instances, controller 812 may include one or more input devices, such as buttons, a keypad, or a touchscreen, for an operator to control the movement of cover 804 and / or the conveyor. Alternatively or additionally, controller 812 may control the movement of cover 804 and / or the conveyor without direct operator input, for example, based on (using one or more sensors) sensing that the container is below the opening of port 800 and / or sensing that the conveyor at port 800 is not currently moving.

[0073] Positioning the drive mechanism and / or controller 812 within port 800, rather than within storage grid 100 or in another component, allows for faster and simpler installation of port 800 and integration of port 800 with the storage grid. Port 800 can be coupled to the storage grid 100 by sliding its conveying device into it (i.e., into its port column). Frame 802 can be secured to the storage grid, for example, to vertical frame members 104, 510, 610. This securing can be performed, for example, using screws and / or nuts and bolts. The height of port 800 can be adjusted as needed, such that the height of cover 804 is aligned with the height of port columns 126, 128, 508, 608 to receive cover 804 (i.e., the height of the opening for cover 804 and / or the height of the support). This adjustment can be performed using one or more extendable or telescopic features at the bottom of the frame 802 of port 800, or using one or more supports or wedges that can be coupled to the bottom of the frame 802 of port 800.

[0074] Further description of the grid cells of the storage grid

[0075] refer to Figure 9 The embodiment shown describes a grid cell 900 of the storage grid 100. This grid cell 900 can be described herein as a pick-and-place unit or the bottom unit of a port column 902 (corresponding to port columns 126, 128, 508, 608 as described above), or the unit of the storage grid closest to port 900. The grid cell 900 may include vertical frame members 904 (corresponding to vertical frame members 104, 510, 610 as described above). The grid cell 900 may include one or more support members 906 that can connect to the vertical frame members 904 and provide support / stability to the vertical frame members.

[0076] The grid unit 900 may include two cover receiving portions 908. Each cover receiving portion 908 may include a gap or cavity sized and positioned such that a cover can be received therein, i.e., such that a side of the cover (in the X direction) can be received therein. Each cover receiving portion 908 may be formed by a corresponding support member shaped to have a gap or cavity within it and a lower surface on which a support member (or a roller / wheel / roller 706 of the cover) can be supported. When the cover moves from a first position to a second position, the cover can move into and between the two cover receiving portions 908.

[0077] refer to Figure 10 In the embodiment shown, the grid cell 1000, port column 1002, support member 1006, and cover receiving portion 1008 can respectively correspond to the following regarding... Figure 9 The described grid cell 900, port column 902, support member 906, and cover receiving portion 908. Figure 10 The cover 1004 is also described as being positioned between the cover receiving portions 1008 (i.e., in the second position).

[0078] Combined port

[0079] According to this disclosure, the port described herein can be a single-opening port having one opening, one hatch, and one conveying device. Alternatively, the port described herein can be a multi-opening port having n openings, n covers, and n conveying devices, where n is an integer equal to or greater than 2. For example, a multi-opening port can be a double-opening port (n=2) or a triple-opening port (n=3). The n openings can be directly adjacent to each other, the n hatches can be directly adjacent to each other, and the n conveying devices can also be directly adjacent to each other. These components being adjacent to each other can mean that they are adjacent in the lateral direction (i.e., in the X direction). Each of these openings, covers, and / or conveying devices can be included in the same integral frame (which can be similar to the frame described above). Figure 8 The described frame 802, and can be wider in the X direction than about Figure 8 Within the described framework. This can increase the number of goods that can be retrieved from the storage grid relative to the number of structural components required to achieve this function, and thus retrieve a given number of goods with a smaller total footprint, thereby enabling more efficient use of available space. Multi-opening ports can be connected to n port columns, where each of the n port columns is used to transport containers to / from a corresponding one of the n conveyors and n openings.

[0080] According to this disclosure, in the second position, the cover is located within the storage grid, i.e., the cover is moved into the storage grid to expose the opening. This avoids lateral movement of the cover, as a cover that moves laterally to expose the first opening might cover the second adjacent opening, potentially preventing the implementation of a multi-opening port. Furthermore, further movement of the cover away from the storage grid could obstruct the operator and still prevent the operator from removing goods from the container.

[0081] refer to Figure 11 The illustrated embodiment depicts a grid cell structure 1100 configured for connection to a multi-opening port (where n=3). This grid cell structure includes a first grid cell 1102 connected to a second grid cell 1104 and a third grid cell 1106 connected to the second grid cell 1104. Each of the first, second, and third grid cells 1106 generally corresponds to... Figure 9 The described grid cell 900. These first grid cells 1102, second grid cells 1104 and third grid cells 1106 can be adjacent to each other in the lateral direction, that is, adjacent to each other in the X direction.

[0082] Methods for operating ports connected to the storage grid

[0083] refer to Figure 12 The embodiment shown provides a method for operating a port connected to a storage grid. This method can utilize the features and components described herein (e.g., regarding...). Figures 5 to 11 (Those features and components described) to perform.

[0084] In step S100, the method includes: moving a container between a storage grid and an opening of the port using a conveying device of the port. The container may be lowered by a robot down along the port column described herein to the conveying device. The conveying device may translate the container to the outside of the storage grid, which may be a location within the port. This may position the container directly below the port opening.

[0085] In step S105, the method includes moving the cover of the port between a first position covering the opening and a second position within the storage grid. This allows the opening to be uncovered / unobstructed, enabling goods in the container to pass through. In the first position, the cover prevents access to the container. In the second position, the cover prevents access to the interior of the storage grid.

[0086] In step S110, the method includes enabling the goods to be removed from the container through the opening. In other words, step S110 can be described as being enabled by steps S100 and S105. After step S105, the operator can remove the goods from the container through the opening.

[0087] The method may include: after removing goods from the container through the opening, moving the cover back from a second position to a first position. The method may also include: using a conveying device to move the container back from the opening of the port to the storage grid.

[0088] The movement of the conveyor and / or the cover can be controlled or implemented by a controller communicatively coupled thereto. In other words, the controller can generate / send a first control signal to a first drive mechanism coupled to the controller and the conveyor, thereby causing the conveyor to move. The controller can generate / send a second control signal to a second drive mechanism coupled to the controller and the cover, thereby causing the cover to move. As described herein, one or both of these drive mechanisms may include independent motors, belts, and pulleys / rollers. The controller can be configured to generate / send a control signal to move the cover in response to determining that the conveyor is not moving. The controller can determine whether the conveyor is not moving based on one or more sensors configured to monitor the movement of the conveyor and communicatively coupled to the controller, based on feedback from a local controller of the conveyor, and / or based on the time and content of the latest control signal sent from said controller to the conveyor.

[0089] The controller can be implemented as a single controller or as a conveying device controller communicatively coupled to a cover controller. The generation and transmission of control signals can be implemented based on computer-executable instructions stored in a computer-readable medium, which may be included in the controller.

[0090] Final Comments

[0091] 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.

[0092] This disclosure includes the following items: 1. A method for operating a port connected to a storage grid, the method comprising: The container is moved between the storage grid and the opening of the port using a conveying device at the port; The cover of the port is moved between a first position covering the opening and a second position within the storage grid; and This allows goods to be removed from the container through the opening.

[0093] 2. According to the method of Project 1, wherein the cover is arranged in a horizontal plane, and wherein moving the cover includes horizontally translating the cover between a first position and a second position.

[0094] 3. According to the method of Project 1 or Project 2, wherein, in the second position, the cover covers the cell of the storage grid closest to the opening.

[0095] 4. The method according to any of the preceding items, wherein the movement of the cover between the first position and the second position is achieved by a drive mechanism.

[0096] 5. According to the method of Project 4, the drive mechanism includes a motor and one or more belts that connect the motor to the cover.

[0097] 6. The method according to any of the preceding items, wherein the port includes one or more supports, and the cover includes one or more rollers disposed on the one or more supports.

[0098] 7. The method according to any of the foregoing items includes a locking mechanism that prevents the cover from moving when the conveying device moves.

[0099] 8. The method according to any of the foregoing items is implemented by a controller of the port, which controls the movement of the conveying device and the movement of the cover.

[0100] 9. The method according to any of the preceding items, wherein the cover prevents the operator from approaching the container when in the first position.

[0101] 10. The method according to any of the preceding items, wherein the cover prevents the operator from approaching the storage grid when it is in the second position.

[0102] 11. According to the method of any of the foregoing items, the port includes: One or more additional openings are adjacent to the opening and are respectively configured to allow goods to be removed from one or more additional containers through the one or more additional openings; One or more additional conveyor belts, adjacent to the conveyor belts, and respectively configured to move one or more additional containers between the storage grid and one or more additional openings; and One or more additional covers, adjacent to the cover, and each configured to move between one or more additional first positions covering one or more additional openings and one or more additional second positions within the storage grid.

[0103] 12. The method of any of the preceding items, wherein the storage grid includes a column of ports that provides vertical channels for lowering containers to the ports and / or for lifting containers from the ports.

[0104] 13. A computer-readable medium storing instructions for implementing any of the foregoing items.

Claims

1. A port configured for connection to a storage grid, the port comprising: An opening is provided, configured to allow goods to be removed from the container through the opening; A conveying device configured to move the container between the storage grid and the opening; as well as A cover is configured to move between a first position covering the opening and a second position within the storage grid.

2. The port according to claim 1, wherein, The cover is arranged in a horizontal plane and configured to translate horizontally between the first position and the second position.

3. The port according to claim 1 or claim 2, wherein, In the second position, the cover is configured to cover the cell of the storage grid closest to the opening.

4. The port according to any of the preceding claims, comprising a drive mechanism configured to move the cover between the first position and the second position.

5. The port according to claim 4, wherein, The drive mechanism includes a motor and one or more belts that connect the motor to the cover.

6. The port according to any of the preceding claims, wherein, The port includes one or more support members, and the cover includes one or more rollers disposed on the one or more support members.

7. The port according to any of the preceding claims, comprising a locking mechanism configured to prevent the cover from moving when the conveying device moves.

8. The port according to any of the preceding claims, including a controller configured to control the movement of the conveying device and / or the movement of the cover.

9. The port according to any of the preceding claims, wherein, When the cover is in the first position, it is configured to prevent an operator from approaching the container.

10. The port according to any of the preceding claims, wherein, When the cover is in the second position, it is configured to prevent an operator from approaching the storage grid.

11. The port according to any of the preceding claims, comprising: One or more additional openings are adjacent to the opening and are respectively configured to allow goods to be removed from one or more additional containers through the one or more additional openings; One or more additional conveyor belts are adjacent to the conveyor belt and are respectively configured to move the one or more additional containers between the storage grid and the one or more additional openings; as well as One or more additional covers, adjacent to the covers, and respectively configured to move between one or more additional first positions covering the one or more additional openings and one or more additional second positions within the storage grid.

12. An automated container storage and retrieval system, comprising: Storage grid; as well as The port according to any of the preceding claims is connected to the storage grid.

13. The automated container storage and retrieval system according to claim 12, wherein, The storage grid includes a column of ports that provides vertical channels for lowering the container to the port and / or for raising the container from the port.

14. A method for operating a port connected to a storage grid, the method comprising: A container is moved between a storage grid and the opening of the port using a conveying device at the port. The cover of the port is moved between a first position covering the opening and a second position within the storage grid; as well as This allows goods to be removed from the container through the opening.

15. A computer-readable medium storing instructions for implementing the method according to claim 14.

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