Improved storage / retrieval system

Abstract

To provide an automated storage / retrieval system useful in an order execution environment.SOLUTION: A storage / retrieval system uses a workstation provided by the same robotic vehicle group as provides a storage structure, and a grid-like three-dimensional storage structure characterized by: internal sortation using coordinated navigation of the robotic vehicle to an intake point of a patrol workstation using the same robotic vehicle 14 in order to transport storage units through the workstation without handover to other conveyors or handlers; sensors on the robotic vehicle for confirming proper loading and alignment of the storage unit on the sensor; a lift mechanism for raising the robotic vehicle from its lower track into the shaft of the grid; use of markers and scanners for aligning the robotic vehicle with the shafts of the grid; and work station light curtains 53 for hand safety, pick counting, and container content spill detection.SELECTED DRAWING: Figure 23

Description

[Technical field]

[0001] (CROSS REFERENCE TO RELATED APPLICATIONS) This application is incorporated herein by reference in its entirety. This is a continuation-in-part of application 050404, which is a continuation-in-part of application 201 No. 62 / 682,691, filed June 8, 2018, and U.S. Provisional Patent Application No. 62 / 682,691, filed January 1, 2018. Priority is claimed to U.S. Provisional Patent Application No. 62 / 770,788, filed January 22nd. All three of the above-mentioned applications are incorporated herein by reference in their entirety.

[0002] (Technical field) The present invention relates generally to an automated storage and retrieval system useful in an order fulfillment environment. [Background technology]

[0003] No. 2016 / 172793 (WO2 The applicant's previous PCT application, published under PCT Application No. 016 / 172793, is available at: A group of pick-up vehicles travels to the storage locations where each container or other storage unit is stored. A Goods-to-Man (GTM) system uses a three-dimensional storage grid structure to navigate a three-dimensional array of A goods-to-man storage and retrieval system is disclosed. The vehicles are arranged in a grid-like upper track layout on top of a three-dimensional array of storage locations, and In both the grid-like under-track layout, which is placed at ground level below the array of locations, The same storage / retrieval vehicle also has an upper and lower track layout. The structure is traversed in the third vertical dimension via a vertical upright shaft that connects the storage areas. Each column is adjacent to one of these upright shafts, so that each storage location in the grid and all storage locations are directly accessible from storage / retrieval vehicles.

[0004] Continuing development has led to many improvements in system design and therefore new applications. The details will become clearer from the following disclosure. Summary of the Invention

[0005] According to a first aspect of the present invention, one or more storage / retrieval vehicles; Occupying a two-dimensional area, one or more storage / retrieval vehicles move in two directions over the two-dimensional area a grid-like under-track layout that is transportable to the The grid-like lower track layout is located above the lower track layout. A plurality of storage columns distributed in a 3-dimensional area, the plurality of storage columns being arranged so as to overlap each other. Each column has storage locations for arranging and storing storage units within it. and the storage unit is of a size that allows it to be placed in the storage area of ​​the storage column or in the storage area of ​​the storage column. by one or more storage / retrieval vehicles for placement or removal from the pipeline location, respectively. Multiple storage columns that are accessible A three-dimensional structure comprising: the lower track layout along which the three-dimensional structure and the storage columns are distributed; At least one work station located outside the two-dimensional area of ​​the The work station linked to the grid-like lower track layout by a long track. The application is carried out by the one or more storage / retrieval vehicles between the work station and the bottom rail. can be transported between the storage area and the work station. The transportation of the storage unit to and from the facility is entirely by the one or more storage / retrieval vehicles. At least one work station, A storage system is provided, comprising:

[0006] According to a second aspect of the present invention, one or more storage / retrieval vehicles; Occupying a two-dimensional area, the one or more storage / retrieval vehicles are arranged in two directions on the two-dimensional area. Grid-like track layout and Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of storage columns distributed throughout the area, arranged one on top of the other Each column has a plurality of storage locations, each of which is configured to have a storage unit arrangement and The storage unit is sized to accommodate the storage and can be moved to the storage location of the storage column. or by one or more storage / retrieval vehicles for placement or removal from said storage location. a plurality of storage columns, each of which is accessible by A three-dimensional structure comprising: A small number of storage columns located outside the two-dimensional area of ​​the track layout within which they are distributed At least one work station and Equipped with Here, a storage unit between at least one work station and a storage location in the three-dimensional structure is provided. the transportation of the knits is carried out solely by said storage / retrieval vehicles; A storage system is provided.

[0007] According to a third aspect of the present invention, one or more storage / retrieval vehicles; Three storage areas sized to accommodate the placement and storage of storage units therein. a three-dimensional structure having a three-dimensional array; The storage units selected from the storage location are transported by one or more storage / retrieval vehicles. At least one portable work station; Here, each work station is a station through which one or more storage / retrieval vehicles operate. a portable enclosure and when the vehicle reaches the access opening of the work station The enclosure is accessible to a storage unit mounted on one of the storage / retrieval vehicles. and an access opening for A storage system is provided.

[0008] According to a fourth aspect of the present invention, a goods-to-person A work station for the fulfillment system of the present invention is provided, the work station comprising: a defined path along which retrieved storage units are conveyed when the work station is in use; an enclosure extending at least partially around the defined path; and When a given storage unit, traveling along a prescribed route, arrives at the access opening an access opening through the enclosure providing access to a sensing mechanism operable to detect insertion of an operator's hand at the access opening; Equipped with.

[0009] According to a fifth aspect of the present invention, one or more storage / retrieval vehicles; Occupying a two-dimensional area, one or more storage / retrieval vehicles move in two directions over the two-dimensional area A grid-like track layout that is transportable to Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of storage columns distributed within the area, the plurality of storage columns being arranged so as to overlap each other. Each column with storage locations can accommodate the placement and storage of storage units within it. Multiple storage columns, Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of upright shafts distributed within the area, each of which passes through the storage locations of the storage column. Each storage column adjacent to a respective one of the shafts is One or more storage units may be used to place or remove storage units at or from the storage location. a plurality of upright shafts accessible by the tube / removal vehicle; and A set of detectable markers and a sensor operable to detect the detectable markers wherein either the detectable marker or the sensor is a grid. A grid-like track above or below an upright shaft within a grid-like three-dimensional structure. The detectable marker or a second one of the sensors is mounted on the storage and retrieval vehicle; Set of ka and set of sensors, a grid-like three-dimensional structure comprising: Here, one of the storage / retrieval vehicles is During the arrival at each of the designated locations above or below the target shaft, The detection of each marker by the sensor is used to detect the storage / retrieval vehicle as required. Before transferring the storage / retrieval car from the grid track layout to the target shaft, Check alignment of both target shafts and adjust if necessary. A storage system is provided.

[0010] According to a sixth aspect of the present invention, one or more storage / retrieval devices in a grid-like three-dimensional structure are provided. A method for controlling the positioning of a vehicle, comprising: The exit vehicle is positioned in two dimensions on the grid track layout and with its upright axis aligned with the grid. Transportable in the third dimension through an upright shaft that intersects with the lid-like track layout The method further comprises the steps of: (a) At or near a grid-like track layout Either a set of detectable markers or a set of sensors supported on a three-dimensional structure. a first one of the detectable markers positioned above or below the upright shaft; a second one of said sets of sensors mounted on said storage / retrieval vehicle; wherein the sensor is operable to detect the detectable marker; , (b) One of the storage / retrieval vehicles is located above or below the designated target shaft. During arrival at each of the locations, one of the storage / retrieval vehicles will have a detectable marker. using one of the sensors to detect one of the mosquitoes; (c) using detection of the marker by one of said sensors to identify the appropriate storage / retrieval vehicle. Before attempting to transition from the grid track layout to the target shaft, and checking the alignment of the vehicle with the target shaft and adjusting it if necessary. Includes.

[0011] According to a seventh aspect of the present invention, one or more storage / retrieval vehicles; A lower track layout capable of carrying one or more storage / retrieval vehicles; and A plurality of storage columns above the lower track layout, each of which is spaced apart from the other. It has multiple storage locations arranged on top of each other, each of which has a storage unit The storage units are sized to accommodate placement and storage in the appropriate storage column. For placement or removal at or from said storage location, each of one or more A plurality of storage columns, accessible by storage / retrieval vehicles above; A three-dimensional structure comprising: Storage / retrieval vehicles move upward from the lower track layout. At the departure spot, one of the storage / retrieval vehicles is moved upward from the lower track layout. and a respective lift mechanism operable to lift the A storage system is provided comprising:

[0012] According to an eighth aspect of the present invention, there is provided a method for transporting storage units in an automated storage system. A storage / retrieval vehicle is provided, which is one of the storage units. an upper platform having landing areas of similar size and shape to the two undersides; a set of load condition sensors located proximate to an outer periphery of the ground region, thereby The detection of the underside of one storage unit by all of the load status sensors indicates that the platform Ensure that one storage unit on the form is fully loaded and properly aligned. While the inspection of the underside of one of the storage containers by only a subset of the load status sensors The shipment is a partially loaded or unloaded shipment of one storage unit on the platform. Shows proper alignment.

[0013] According to a ninth aspect of the present invention, a removed storage unit is transferred from the storage system to a working stage. A method is provided for delivering the data to an application entry or ingestion point in an ordered manner. The method comprises: (a) occupying a two-dimensional area in which one or more storage / retrieval vehicles are located within that two-dimensional area; a grid-like track layout that allows transport in two directions; and Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of storage columns distributed within the area, each column having an arrangement of storage units therein. and a plurality of storage locations arranged one on top of the other and sized to accommodate the storage. , each of which distributes storage units to or from a given storage location in a given storage column. Accessible by one or more storage / retrieval vehicles for placement or removal of equipment Multiple storage columns, and having a three-dimensional structure comprising: (b) Storage / retrieval vehicles are provided with a storage / retrieval vehicle for delivery from each storage location to the work station. causing each designated storage unit to be retrieved; (c) Within that three-dimensional structure, the entrance or coordinating ordered delivery to an ingestion point; Includes.

[0014] According to a tenth aspect of the present invention, Occupying a two-dimensional area over which one or more storage / retrieval vehicles are located A grid-like track layout that allows transport in two directions; and Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of storage columns distributed within the area, the plurality of columns being arranged so as to overlap each other. Each column of storage locations corresponds to the placement and storage of storage units within it. The storage unit is sized to fit into or out of the storage area of ​​the storage column. Each vehicle is accessed by one or more storage / retrieval vehicles to place or remove the equipment from the storage facility. multiple storage columns, A three-dimensional structure comprising: Outside the two-dimensional bounds of the track, at the entrance or intake point of a work station At least one work station having an access point for receiving the delivered storage unit. tion, Ordering of storage unit groups from a three-dimensional grid structure to work stations Configured to coordinate deliveries, (a) Multiple storage / retrieval vehicles are deployed to retrieve storage units from their respective storage locations. generating and transmitting a signal instructing the (b) Multiple storage / retrieval vehicles are required to enter or leave the work station in a specific sequence. A grid-like three-dimensional method for coordinating the arrival of storage / retrieval vehicles at storage or retrieval points generating and transmitting signals directing navigation through the structure; At least one processor including: A storage system is provided, comprising:

[0015] According to an eleventh aspect of the present invention, there is provided a method of preparing and buffering order shipments, comprising: The method comprises: (a) a plurality of storage / retrieval vehicles; It occupies a two-dimensional area, on which storage / retrieval vehicles move in two directions. Portable grid track layout and Located above or below a grid-like track layout, and in two dimensions of the track layout A plurality of storage columns distributed within the area, the plurality of columns being arranged so as to overlap each other. Each column with storage location corresponds to the placement and storage of one or more items therein. size, each of which can store an item in a given storage location in a given storage column or Accessible by one or more storage / retrieval vehicles for placement or removal from the site Multiple storage columns, A three-dimensional structure comprising: Items removed from storage and transported to the grid track layout are The storage / retrieval vehicle is moved along the bed-like track layout to the entrance of the relevant work station. at least one work station that is distributable by moving the work station; having a grid-like three-dimensional storage system comprising: (b) A group of storage / retrieval vehicles containing the specific items required to fulfill an order. The collected items are then transported to a grid-like track layout, and a step of conveying the work station to an entrance; (c) The complete or partial fulfillment of a particular collection of items together at a work station. forming a fulfilled order and placing the fully or partially fulfilled order in a container; pu, and (d) At the work station, the container is loaded onto one of the storage / retrieval vehicles. In this state, one of the storage / removal vehicles is moved to one of the storage locations and the container is Deposit the complete item into one of our storage locations, thereby preserving it for further completion or shipping at a later time. storing the fully or partially fulfilled orders; Includes.

[0016] According to a twelfth aspect of the present invention, there is provided a sorting / buffering system for shipping containers. The system includes: a loading area in which said storage / retrieval vehicles are positioned to selectively transport shipping containers; one or more storage / retrieval vehicles, each having Occupying a two-dimensional footprint on which one or more storage / retrieval vehicles reside within that secondary A grid-like track layout that allows transportation in two directions at the top of the original area, A two-dimensional footprint of the track layout above or below the grid-like track layout. A plurality of storage columns present in spaced apart distribution within the print, each column overlapping one another. Multiple storage units are arranged side by side and sized to accommodate the placement and storage of shipping containers. a plurality of storage columns each having a storage location; A two-dimensional footprint of a grid-like track layout is displayed above or below the track layout. The third storage vehicle is located in a spaced apart distribution within the lint and passes through one or more storage / retrieval vehicles. A grid-like track layout with multiple upright shafts that can enter and exit the grid-like track layout in any direction. adjacent to each one of the upright shafts through the storage locations of the storage column, Each storage column in the storage column is responsible for shipping containers to and from that storage location. Accessible by one or more storage / retrieval vehicles to place or remove the tenna Multiple upright shafts, A grid-like three-dimensional structure comprising: Equipped with.

[0017] According to a thirteenth aspect of the present invention, the position accuracy of a vehicle moving along a route is checked. A method is provided for detecting a location of each potential destination along the route, the method comprising: and an image capture device mounted on the vehicle along with a series of detectable markers positioned on the vehicle. and using the sensor to detect when the vehicle arrives at one of the potential destinations. capturing a digital image from a field of view including the target; Check the coincidence of marker positions with predefined sub-regions of the field of view where each marker is expected and determining whether the match is an appropriate vehicle for the destination of interest. Indicates alignment.

[0018] According to a fourteenth aspect of the present invention, there is provided a track-based vehicle having position accuracy monitoring. The device is Each of them is statically positioned on it or each of the objects along the trajectory The present invention relates to a method for detecting a target object, the method comprising: and a vehicle configured to deliver along the track; and The marker is mounted on the vehicle and, upon arrival at one of the potential destinations, an image capture device configured to capture a digital image from a field of view including a position of each marker in the field of view and a position of the field of view where each marker is expected; Checks for a match with a given sub-area, whereby the match is stored for the target destination an image capture device indicating proper alignment of the pick-up vehicle; Equipped with.

[0019] According to a fifteenth aspect of the present invention, a robotic storage device is provided in an automated storage and retrieval system. A method is provided for verifying proper loading of a storage unit onto a tube / removal vehicle, the method comprising: , as part of a loading routine that pulls the storage unit into the robotic storage / retrieval vehicle. , using a local processor of the robotic storage / retrieval vehicle, A landing area of ​​the robotic storage / retrieval vehicle of similar size and shape to the underside of the The status of each of the multiple load status sensors arranged in close proximity to the periphery of the area is checked. and from the state check, all or a partial subset of the load state sensors. It is determined whether only one of the load state sensors has a positive detection signal, thereby detecting all of the load state sensors. A full set of positive detection signals from the storage unit indicates that the storage unit is fully loaded and properly aligned. The load condition is confirmed by the positive detection from only that partial subsection of the load condition signal. A partial subset of signals indicates that the storage unit is partially loaded or improperly aligned. This includes clarifying that

[0020] According to a sixteenth aspect of the present invention, a storage system for a removed storage unit is provided. A method for coordinating in an ordered manner the delivery of station entries or intake points The method further comprises: The processor performs the following automated steps: (a) a task assignment for each line item of one or more sales orders to be fulfilled at a work station; Each task assignment generates at least a system assignment for delivery to a work station. The system retrieves the specifications and and the identity of each storage / retrieval vehicle for retrieving each such storage unit. Another step, (b) sending a command signal to each storage / retrieval vehicle in that task assignment; Retrieval and removal of each storage unit from its current location to a work station. and initiating delivery. (c) determining whether there is an available occupancy at that work station; and, (d) Upon confirmation of such available occupancy, a space located outside the work station for such work shall be provided. From the storage / retrieval vehicles assigned to deliver to the work station, identifying a next highest priority storage / retrieval vehicle for calling into the station; , (e) commanding the next highest priority vehicle to move to the work station; P and Includes. [Brief description of the drawings]

[0021] Preferred embodiments of the present invention will now be described in conjunction with the accompanying drawings. [Figure 1] FIG. 2 is a perspective view of a three-dimensional grid structure from Applicant's published PCT application WO2016 / 172793, containing a three-dimensional array of storage units therein, through which a fleet of robotic storage / retrieval vehicles can move in three dimensions to access each such storage unit. [Diagram 2] 1 is a perspective view of an improved three-dimensional grid structure in accordance with the present invention; [Diagram 3] FIG. 3 is a simplified partial perspective view of the three-dimensional grid structure of FIG. 2 showing a pair of exterior walls of the grid structure intersecting at a corner of the grid structure with two work stations removed therefrom to reveal details of the exterior walls. [Figure 4] FIG. 3 is an isolated perspective view of one of the work stations from the three-dimensional grid of FIG. 2, viewed from its exterior facing outward relative to the grid. [Diagram 5] FIG. 5 is an isolated perspective view of the work station of FIG. 4 from its inside, facing inwardly towards the grid. [Figure 6] FIG. 6 is another isolated perspective view of the inside of the work station of FIG. [Figure 6A] FIG. 7 is a partial enlarged view of the portion marked with detail circle A in FIG. 6. [Figure 6B]1 shows a control logic routine executed by a computer control system for combined safety and quantity counting at a work station. [Figure 6C] A simplified control logic routine is shown, omitting the quantity counting function from that shown in FIG. 6B. [Figure 7] FIG. 7 is a schematic overhead view of the work station of FIGS. 4-6 and the adjacent area of ​​the lower track layout of the three-dimensional grid structure in which the work station is located. [Figure 7A] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7B] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7C] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7D] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7E] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7F]Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7G] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7H] Coordination of the ordered arrival of storage / retrieval vehicles at the work station of FIG. 7 is illustrated by the selective loading and advancement of vehicles onto the tracks on the lower track layout according to the priority assigned to the storage units loaded onto said vehicles. [Figure 7I] FIG. 7I illustrates a control logic routine executed by the computer control system to implement the ordered arrival of storage / retrieval vehicles at the work stations. [Figure 8] 3 shows a segment of the lower track of the three-dimensional grid of FIG. 2 along which one of the robotic storage / retrieval vehicles moves. [Figure 8A] FIG. 9 is a partial enlarged view of a portion of FIG. 8 marked by detail circle A. [Figure 9A] Schematically shown is the scanning of uniquely coded markers on the track rails, either at a grid structure or at work stations, by a storage / retrieval vehicle traveling therearound, to assess alignment mismatches between a vehicle and its intended destination. [Figure 9B] We show how the same uniquely encoded marker can be used to verify successful alignment of the storage / retrieval vehicle with the destination spot of interest after correcting the alignment mismatch detected in FIG. 9A. [Figure 9C] 9B. A control logic routine executed by a local processor of the storage / retrieval vehicle to detect misalignment of FIG. 9A and perform appropriate corrections to achieve proper alignment of FIG. 9B. [Figure 10] An elevation view showing one of the robotic storage / retrieval vehicles on the lower track of the three-dimensional grid at a starting spot down a vertical shaft of the three-dimensional grid, through which the robotic storage / retrieval vehicle is intended to move to information. [Figure 11] FIG. 11 is a perspective view of the robot of FIG. 10 at the starting spot of the lower track. [Figure 12] FIG. 11 is a partial enlarged view of a portion of FIG. 10 marked by detail circle A thereof. [Figure 13] FIG. 12 is a partial enlarged view of a portion of FIG. 11 marked by the detail circle B thereof. [Figure 14] FIG. 13 is another close-up view of the same robotic storage / retrieval vehicle and lower track intersection as FIG. 12 , but with the robotic storage / retrieval vehicle elevated by a lift mechanism mounted below the lower track into engagement with rack teeth on the upright frame member of the shaft. [Figure 15] 14 is another close-up view of the same robotic storage / retrieval vehicle and lower track crossing as FIG. 13, but with the robotic storage / retrieval vehicle in the raised position of FIG. [Figure 16] FIG. 14 is a top and bottom perspective view of the robotic storage / retrieval vehicle and lift mechanism of FIGS. 10-13, but shown separated from the lower track and upright shaft members. [Figure 17] FIG. 14 is a top and bottom perspective view of the robotic storage / retrieval vehicle and lift mechanism of FIGS. 10-13, but shown separated from the lower track and upright shaft members. [Figure 18] 16 is a top and bottom perspective view of the robotic storage / retrieval vehicle and lift mechanism of FIGS. 14 and 15, but shown separated from the lower track and upright shaft members. [Figure 19] 16 is a top and bottom perspective view of the robotic storage / retrieval vehicle and lift mechanism of FIGS. 14 and 15, but shown separated from the lower track and upright shaft members. [Figure 19A]FIG. 19A shows the control logic routines executed cooperatively between the storage / retrieval vehicles, the lift mechanism, and the computer control system which initiates and completes the storage / retrieval departure and upward movement through the shaft. [Figure 20] Illustrated is one of the robotic storage / retrieval vehicles and a compatible storage unit that can be delivered thereon. [Figure 21] Illustrated is one of the robotic storage / retrieval vehicles and a compatible storage unit that can be delivered thereon. [Figure 22] A sorting / buffer grid is shown employing the same three-dimensional grid structure and robotic storage / retrieval vehicles as the storage systems of Figures 1 and 2, but with a different layout of stations servicing the grid used to manage prepackaged shipping containers. [Figure 23] FIG. 1 is a schematic block diagram showing the architecture of a computer control system responsible for commanding the operation of storage / retrieval vehicles and lift mechanisms for the assignment of tasks to storage / retrieval vehicles and work stations and for managing vehicle navigation throughout the system. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] FIG. 1 is a three-dimensional grid of the Applicant's published PCT application WO2016 / 172793. The grid-like upper track layout 10 is on the lower horizontal surface close to ground level. The track lies on an elevated horizontal plane well above the aligned grid-like lower track layout. Between these upper and lower track layouts, each and storing various items in the storage unit, for example, an open-top or closed-top type. Storage area, which can be kept in the form of a storage tray, container with lid or tote. There is a three-dimensional arrangement. The storage locations are arranged in vertical columns, so that storage locations of the same footprint Each such storage column has a vertical shaft that provides access to the storage location. It is adjacent to the

[0023] Each track layout consists of a set of X-direction rails in the X direction of the horizontal plane, and a set of Y-direction rails in the Y direction of the horizontal plane. The rails are characterized by a set of X-direction rails and a set of Y-direction rails that intersect perpendicularly. defines a horizontal reference grid for the storage system, with each horizontal grid row corresponding to an adjacent X-direction level. Each horizontal grid column is separated between a pair of adjacent Y-rails. Each intersection between one of the horizontal grid columns and one of the horizontal grid rows is In other words, each storage column and Each shaft is bounded by two X-direction rails and two Y-direction rails. Each of the regions lies at a respective Cartesian coordinate point of the reference grid of the other region. Each such area delimited between the four rails in the track layout is Each storage location in the system is also called a "spot." The three-dimensional addressing of the storage units and associated storage locations determines whether a given storage location exists within each row. That is, the three-dimensional address of each storage location is By horizontal grid row, horizontal grid column, and vertical column levels of storage locations within a dimensional grid. It is stipulated that:

[0024] Each upright frame member 12 includes an X-direction rail between the upper and lower track layouts. and the Y-direction rail at each intersection, thereby cooperating with the track rail to A three-dimensional grid for containing and organizing a three-dimensional array of storage units within a framework of As a result, each upright shaft of the three-dimensional storage array is At its four corners it has four vertical frame members that span the full height of the shaft. Each frame member is , of rack teeth arranged in series in the vertical Z direction of a three-dimensional grid on both sides of the frame member. Thus, each shaft has a total of eight sets of rack teeth, Robot storage / between the upper and lower track layouts through the 3D grid structure shaft It works in conjunction with the eight pinion wheels of the extraction vehicle to enable traversal of the same. Each robotic storage / retrieval vehicle 14 has two sets of rails, one at each corner of the shaft. Robot storage / retrieval across upper and lower track layouts in road entry mode Round transport wheels for transporting the vehicle out and racks in shaft traverse mode With teeth for traversing the robot storage / retrieval vehicle through a shaft with a The vehicle has a wheeled frame or chassis that features both a pinion wheel and a The frame or chassis footprint allows for vehicle movement through each shaft The horizontal area of ​​each pinion wheel and each shaft is smaller than the horizontal area of ​​each shaft. Each transport wheel is part of a single combined wheel unit. At least the transport wheels will be operated in track entry mode on any track layout. In order to use the carrying wheel, it is possible to extend the wheel outward from the vehicle and to mount the pinion wheel. A pinion is attached to the shaft in a shaft traverse mode to engage the rack teeth of the upright frame member of the shaft. The wheels can be folded inwardly towards the inside of the vehicle to allow the vehicle to move along the track. When the vehicle transitions from the drive-in mode to the shaft traverse mode, the vehicle moves from the shaft area to the The entire vehicle is now fitted with a smaller overall exterior footprint, resulting in a smaller overall size. You will be able to move through it.

[0025] A grid structure framework is installed in each storage area to support each storage unit. Each storage unit 16 includes a shelf at a location that is similar to the storage unit 16. Robotic picking vehicles can pick items without disturbing the storage units above and below them in the storage system. This allows the item to be removed from its storage location by one of the following: It is possible to return a unit to a given location at any level in the array. 3D Grid The lower grid-like track layout at the bottom of the 18, in which the robotic picking vehicle 14 picks the storage unit 11 from the storage column. Except for differences explicitly described herein, the three-dimensional grid structure The structural framework, robotic storage / retrieval vehicles, upper and lower track layouts, and movement through the shaft, and between the orbit entry mode and the shaft traverse mode. These transitions are described in the applicant's published PCT application WO2016 / 172793. The above information may be the same as that used in the previous section.

[0026] Figure 2 shows a modification of the three-dimensional grid structure described above. This structure has a top and bottom The upper and lower track layouts and the upright frame members between them allow the shelves to be transported to the storage area. and supporting the storage units therein, and the pinion of the robotic storage / retrieval vehicle. The wheels carry engageable rack teeth to drive each robot storage / retrieval through any shaft. The shelf is adapted to allow vertical movement of the entire delivery vehicle. To an adjacent access shaft where tube / removal vehicles access the storage units of that column Flanged panels on three sides of the storage column, except for the fourth shaft-adjacent side, which is open. The fourth open side may be in the form of a panel or rail, whereby the fourth open side may accommodate the extendable length of each car. Retractable / retractable turret arms insert and withdraw into the storage column and underside of the storage unit The storage unit can be moved in and out of the storage column through engagement with the

[0027] As outlined in Applicant's published PCT application WO2016 / 172793: A subset of the vertical shafts located on the periphery transport the storage units to the workstations 18. After delivery to one of them, the robot storage vehicle will move from the lower track layout to the upper track layout. There may be an "up shaft" dedicated to moving upwards to the The storage unit is moved to the work station 18 for picking, replenishment, or other operations. After pre-delivery to one, the storage units are removed from the three-dimensional storage array or While returning the tube units to the three-dimensional array, the robotic storage vehicle moves downward from the upper track layout. The "down shaft" is used to move the

[0028] The three-dimensional grid structure of FIG. 2 has exterior panels 20 that are attached to the perimeter of the grid structure by upright frame members. the outer wall is added to the grid structure to substantially close off all four sides of the grid structure, and the fact that the upright frame members 12 are spaced apart at their intersections, thus visually concealing the interior. The upright frame rails of the track members are raised, and the upper track is fitted to a specific width of the grid structure shown in Figure 2. It differs from that of FIG. 1 in that it includes a top segment 22, which is hidden from view. These top segments can recharge the robotic storage / retrieval vehicles as needed. Can be used to mount charging station hardware. However, the upper track rail The structure and purpose of the outboard and the shafts and and the configuration of the storage column is fully described in the applicant's published application WO2016 / 172793. It is well documented and therefore does not require detailed illustration or explanation here. There may be multiple work stations on each of one or more peripheral sides of the grid, and three There can be work stations on one, two, three, or all four sides of the dimensional grid. FIG. 2 shows the distribution of work stations on at least two non-opposing sides of a three-dimensional grid. Also, there are one or more operations on each of the other two sides that are not visible from the perspective of the diagram. There may be cases where a station is present.

[0029] Turning now to Figures 3 to 6, the new structure of the work station 18 and the robot Attention is drawn to the new interaction with them by the storage / retrieval vehicles. For simplicity, much of the grid structure has been omitted from FIG. 3. However, the lower track Form the two outer sides of the layout, intersecting at each outer corner of the grid structure 2, one X-direction rail 24 and one Y-direction rail 26 of the lower track layout 28 are shown. These two particular rails are located on the ground out of the rest of the lower track layout. Only the support legs 30 are shown which lift the grid structure upright frame members 12. Of these, the two illustrated rails 24, 26 on the outside of the grid structure are directly connected to each other. Only the upright frame members 12 are shown, with the top segments 22 of these upright frame members 12 omitted. Around the entire perimeter of the grid structure, the exterior panels 20 extend to the lower track 28. does not extend completely downward, but instead terminates at a slightly higher relative position above it, resulting in a The lower segment of an upright frame member that is attached to and stands upright on the rails of a track layout. The upright frame members 12 are then fitted with a pair of support members 32. The upright frame members 12 are then fitted with a pair of support members 32. Leave an open space 34 between every pair of lower segments 32. The platform 34 is configured so that the robotic storage / retrieval vehicles 14 are arranged in a three-dimensional grid on their lower tracks 28. This allows access to the three-dimensional grid structure and the work stations 18. This allows you to transition between

[0030] As outlined in more detail below, this allows us to process your Goods to Man order fulfillment requests. This will enable new solutions for robotic storage / picking that can move in three dimensions. The picking vehicle delivers the storage unit to a human or robotic picker at a work station. From the initial acquisition of storage units from anywhere in the grid's three-dimensional space, including Storage units are delivered to work stations throughout the entire order picking operation. Provides the sole means of transporting tube units, and the storage units are transported by robotic storage / retrieval vehicles. without being removed from and moved onto another conveyor, turntable, or other transfer mechanism. The storage unit can then be moved to any three-dimensional location within the grid without being transported by the structure. Provide a return to the original location.

[0031] 4 through 6 show one of the work stations 18 separated from the three-dimensional storage grid. Each work station 18 includes a pair of actuators extending along the length of the work station 18. It features a grid-like lower track 36 featuring longitudinal rails 38a, 38b. The track also interconnects longitudinal rails 38 perpendicularly to one another at regular intervals along the track. The rails feature a set of cross rails 40a-40f that are aligned in a three-dimensional grid. It is the same type used in grid-like upper and lower track layouts of the grid structure. The spacing between the longitudinal rails matches the spacing between the cross rails, and the The inner rail spacing used between the rails of the upper and lower track layouts of the grid structure The spacing is the same as the spacing between the upper and lower work stations. and traversed by the robotic storage / retrieval vehicle in the same manner as the lower track layout. The lower track of the work station is connected to the intersection of the longitudinal rail and the cross rail. The vehicle is supported at a position slightly higher than the ground by support legs 30 that hang downward from the road. These support legs 30 are the same as those that support the three-dimensional grid lower track layout. type and height, so that the lower track 36 of the work station extends therefrom. A three-dimensional grid structured lower track layout for forming a coplanar extension track It is at the same height as

[0032] The work station is mounted on the lower track and is connected to a clamp at the first end of the longitudinal rail. A cross rail at the second opposite end of the longitudinal rail from the first of the cross rails 40a. The roller 40f is characterized by a chute 42 that runs the length of the roller 40f to the last one. The chute has a first end wall 44 upstanding from the first cross rail and a a second end wall 46 upstanding from the last cross rail in opposite and parallel relation to the first end wall 46; A longer outer wall 4 extends longitudinally between the end walls in perpendicular relationship to the outer side wall 38b of the rail. 8, and a top cover panel 50 extending longitudinally along the upper edge of the outer side wall between the end walls. The underside of the cover panel 50 defines the interior ceiling of the chute 42, and the cover panel The opposite top surface is used for picking, replenishment, or other tasks that may be performed at the work station 18. An outer worktop 50a is defined for utilization by a human or robotic operator during work functions.

[0033] Two longitudinal rails 38a, 38b and adjacent pairs of cross rails 40a-40f Each square area between the work station and the station is a separate "strip" along the lower track of the work station. The pot is located immediately adjacent to the first end wall 44 of the chute 42 and is the first A spot bounded between the first and second cross rails 40a, 40b at the end of is called the entrance spot SEN of the work station. Rails with pick-up vehicles aligned with them in the grid structure bottom track layout From each pair of the first and second cross rails 40a, 40b, At the opposite second end of the chute, the penultimate and located immediately adjacent to the second end wall 46 between the last cross rails 40e, 40f. The spot is called the exit spot SX, and in fact, it is here that the robotic storage / retrieval vehicle Exiting the chute, these last and penultimate cross rails are Lowering from each separate pair of rails aligned in the lower track layout We re-enter the three-dimensional grid by

[0034] Referring to Figure 3, the work station on the right side of the figure is the Y-axis. Its longitudinal rails 38a, 38b in the X-direction and its cross rails 40a, 40b in the X-direction The longitudinal direction of the lower track layout of the grid structure extending in the Y direction is set to have a length of 40f. The first and second cross rails 40a, 40b of the lower track of the work station are ,Parallel in-line extension of the first pair of X-direction rails of the lower track layout of the grid structure The last and penultimate 40e and 40f cross rails are also formed in the grid. Form a parallel in-line extension of the second pair of X-direction rails of the structure's lower track layout This allows the robotic storage / retrieval vehicle to be placed in the grid structure where the work stations are located. The uncovered area between the two upright frame members at the ends of these rails on the outside of the structure Through the open space 34, along a pair of X-direction rails of the lower track layout, On the first and second cross rails 40a, 40b at the entrance spot SEN of the work station The robot storage / retrieval vehicle can enter the entrance spot by moving in the X direction. The work station is then moved from the Y-direction movement mode to the Y-direction movement mode, and then the longitudinal The robot moves along the directional rails 38a, 38b to the exit spot SX of the work station. The robotic storage / retrieval vehicle then returns to its X-direction movement mode and continues working. Enter the last and penultimate crossrails of the station and use these rails Through the uncovered open space 34 between the upright frame members at the ends of the Return to the second pair of X-direction rails in the lower track layout of the lid structure.

[0035] The left-hand work station in Figure 3 has a grid-structured lower track layout in its longitudinal direction. The work station runs in the X direction, so that its longitudinal direction is in the X direction. The rails 38a, 38b are in the Y direction, and the cross rails 40a-40f are in the Y direction. The first and second cross rails 40a, 40b of the lower track of the work station are Forms a parallel in-line extension of the first pair of Y-direction rails of the lower track layout of the bed structure The last and penultimate cross rails, 40e and 40f, are also in the grid structure. Form a parallel in-line extension of the second pair of Y-direction rails of the lower track layout. This allows the robotic storage / retrieval vehicle to move outside the grid structure where the work stations are located. The covered space between the two upright frame members 12 standing on either side of the rails Through the open space 34, along a pair of Y-direction rails of the lower track layout, and the first and second cross rails 40 at the entrance spot SEN of the work station. You can enter 40a and 40b. This entrance spot is for robot storage / retrieval. The vehicle transitions from Y-direction movement mode to X-direction movement mode, then moves along the longitudinal axis of the work station. The robot moves in the X direction along the directional rails 38a, 38b to the exit spot SX of the work station. The robotic storage / retrieval vehicle can now be moved back to its Y-direction travel mode. Then, the last and penultimate cross rails of the work station are driven over and Through the uncovered open space 34 between the upright frame members at the ends of these rails. Now let us return to the lower track layout of the grid structure of the second pair of X-direction rails.

[0036] The second cross rail 40b and the penultimate cross rail 40 at each work station e, there are multiple intermediate spots between the entrance spot and the exit spot. The example features three intermediate spots, but this number may vary. One of them, specifically the penultimate spot directly adjacent to the exit spot SX in the illustrated example, The chute is inserted into the interior space of the chute by a robotic storage / retrieval vehicle through the top surface 50a of the chute. A human or robot can enter the chute through an access opening 52 that penetrates the top panel 50 of the chute. These are designated as "access spots" SACs that are accessible to the crew. Then, the storage / retrieval vehicle moving longitudinally along the chute arrives at the access spot SAC. and upon stopping, the worker may, for example, pull such items out of the grid structure. Picking one or more individual items from a storage unit as part of the order fulfillment process Instead, as part of such order fulfillment process, from storage / retrieval vehicles. To remove the entire storage unit or, alternatively, to replenish the grid structure To place one or more individual items into a storage unit as part of the refill process, be able to interface with a storage unit mounted on said storage / retrieval vehicle; or The replenishment process begins with the operator picking a storage unit through the access opening 52. , an empty robotic storage / retrieval vehicle (i.e., one currently occupied by a storage unit) The method may include directing a vehicle (not yet deployed) to an access spot of a work station.

[0037] The work station 18 is configured for a human worker to store / retrieve items through an access opening 52. Hand sensing mechanism to protect human workers from potential injury when interacting with the vehicle5 6A, the first and second sensor bars 54, 56 are the cover panels 5 of the work station at locations along the opposing periphery of the recess opening. The sensor bar is attached to the underside of the access opening 52, for example. The beam may be interrupted by the insertion of a hand or the presence of another object within the access opening 52. Unless interrupted, the beam emitted by the emitter is received by the receiver on the other side. The light beam emitters and receivers are arranged in an opposite relationship on the two bars 54, 56 so that the As opposed to the emitter and receiver on opposite sides of the access opening. The sensor configuration uses an emitter and receiver on the same side of the aperture and a reflector on the opposite side. The sensor bar can be used to connect to the robot via a wired or wireless connection. A computer control system that communicates wirelessly with the fleet of tube / removal vehicles and a grid structure Controls the overall transport and performs various tasks (picking, replenishment, etc.). A series of sensing beams, collectively called a light curtain, produces a "safety" signal but is Interruption of the sensing beam generates a "stop" signal. Optionally, the storage / retrieval vehicle may be commanded to enter or exit an access spot in the station. The transfer instruction is sent to the storage / retrieval vehicle by the hand sensing mechanism of the work station. The chute is then closed, subject to the detection of a "safe" signal. In this way, while the operator's hands are in the chute, The robotic storage / retrieval vehicle does not drive along the bottom track of the work station. Implement safe procedures.

[0038] In addition to serving safety purposes, the hand / object sensing mechanism 53 may also be used for quality assurance purposes. may also be operational to help ensure human accuracy in those picking operations. A particular item is required in a given quantity from a given storage unit. For a given order, the computer control system determines whether the storage unit is an access spot. The number of times the light beam is broken while in the storage unit can be counted, thus To access each access point, the worker's hands are inserted through the access openings. The system will count the number of hand insertions into the storage unit. A given quantity of an item that is known to be required from the customer (aka the amount of the order placed) The storage unit is compared to the storage / retrieval A vehicle is automatically inserted into a storage unit when the manual insertion count reaches a predetermined item quantity associated with that storage unit. Only those vehicles that are within the designated time frame will be permitted to depart the work station access spot.

[0039] Similar count checks may be performed at access openings to work stations. Some other task may be performed during, for example, a refill or kitting operation, where the access opening Instead of picking items from a storage unit parked under the desk, items are accessed The items are placed or dropped into the parked storage unit through an opening. This allows Each time the storage curtain is torn, the user reaches in and places the item in the storage unit. or by dropping items over the light curtain into the storage unit, as well. It can be used to count the amount of items deposited in a storage unit. Therefore, the sensing mechanism is operable to detect any object, not just a hand, so that the computer The computer control system determines whether each detection detects the insertion of the user's hand or not. or under the access opening to the storage unit Opening during placement or removal of objects into or from the storage unit A positive "detection" at the access opening, whether or not another object has been detected passing through the access opening. In any case, the number of positive detections by the hand / object sensing mechanism 53 can be counted. The account helps you monitor the progress and completion of assigned tasks at your work station. It is.

[0040] The hand / object sensing mechanism 53 also detects when such protruding items are formed by the light beam. The items in the storage unit may rise significantly above the top of the storage unit to breach the attached light curtain. This also serves as a height check for the storage unit to ensure that it does not protrude into the Thus, detection of such an extrusion will result in the suspension of the storage / retrieval vehicle and Can be used to prevent storage units above it from leaving their access spots This means that the storage unit is structured like a grid with one or more items protruding from it. It interferes with the available movement space between the framework components, thus making the protruding one May cause damage to the above items and / or storage units, vehicles, or grid structures. We guarantee that there is no.

[0041] In addition to the hand / object sensing mechanism 53, two movement sensors 58, 59 seen in FIG. For the purpose of detecting the movement of storage and retrieval vehicles at or adjacent to the access spot SA, Each of the access spots is installed in a work station. It is located immediately outside and adjacent to the side closest to the entrance spot SEN, and thus, the storage / An adjacent pull vehicle entering the access spot SA while moving through the work station Therefore, this first moving sensor 58 is located at the access spot SL. a retraction movement sensor operable to detect movement of a storage / retrieval vehicle into the pot SA; The other moving sensor 59 functions as the access sensor closest to the exit spot SX. The sensor is located opposite or adjacent to the spot SA. From Spot SA, there is an exit point from which the work station exits and re-enters the 3D storage grid. a departure movement sensor operable to detect the departure of a storage / retrieval vehicle from the entrance spot SX; Each motion sensor can detect reflected light from a passing storage / retrieval vehicle. The work station has an emitter / receiver combination on one side of the lower track so that It can be a reflective optical sensor that calculates the time of flight (i.e., the time between the emission and reflection of a light pulse). The time difference between the detection of the received light pulse and the time when the sensor detects the sensor on the lower track of the work station is used Reflections from a storage / retrieval vehicle passing the sensor and from other objects further away are also captured. Therefore, reflections detected by the receiver within the time limit can be distinguished from the sensor. Generates a positive "movement detected" output signal and indicates detection if no reflection is detected within the time threshold. Generate a negative output signal indicating no motion has been exerted. Alternatively, use a light beam sensor. using a single emitter and a cooperating receiver on the other across the lower track of the work station. or between an emitter / receiver on one side and a cooperating reflector on the other In such a case, the perfect beam condition is represented by a negative output signal (no movement). , and a blocked beam indicates a positive output signal (movement detected).

[0042] The sensor statically occupies an access spot, an entrance spot, or an exit spot. The vehicles are positioned so that they do not reflect the light pulses or block the light beam. ,The ,vehicle ,starts ,to ,transition ,from ,the ,entrance ,spot ,to ,the ,access ,spot ,only ,when ,the ,vehicle ,starts ,to ,transition ,from ,the ,entrance ,spot ,to ,the ,access ,spot. A pulse reflection or beam interruption occurs at the sensor 58 and the vehicle leaves the access spot. Only when the exit sensor 59 starts to transition to the exit spot, a pulse reflection or beam This is shown in Figure 6, where each motion sensor detects the wheel The top of the vehicle's upper plate that overhangs the top of the vehicle's frame or chassis underneath the vehicle. The platform is supported on the lower track at a height between the platform and the underside of the overhanging periphery of the platform. When a vehicle is statically parked in a pull-in or access spot, The entry sensor 58 or the departure sensor 59 is located on the side of the vehicle chassis and is connected to the wheel of the vehicle. Directed into the open vertical space between the overhanging periphery of each vehicle platform ,Therefore, neither motion sensor is triggered by a statically parked vehicle position. As outlined below, these movement sensors 58, 59 are located beneath the access openings of the vehicle. There are two situations: a situation where a positive detection signal from the hand / object sensing mechanism 53 is not an issue because there is no movement, and a situation where a positive detection signal from the hand / object sensing mechanism 53 is not an issue because there is no movement. Potential injury to workers and damage to items and equipment caused by moving vehicles This is useful for distinguishing between potentially dangerous situations and those that are not.

[0043] FIG. 23 illustrates the computer control system 500 and FIG. 1 shows a block diagram of computer components that cooperate with one another. one or more computers having one or more processors and associated non-transient A computer network including a master control system 502 having a computer readable memory. and a program for logically controlling the various related tasks described herein. ,generation of command signals for,and feed from, a fleet of robotic storage / retrieval,vehicles. receiving and analyzing the back communication, The computer network further includes statements and instructions that each The system includes a plurality of work station control systems 504 installed at respective ones of the work stations. For ease of depiction, the block diagram illustrates a single work station control system 504. And only a single robotic storage / retrieval vehicle 14 is shown.

[0044] Each work station control system 504 may be implemented, for example, by a programmable logic controller. A local computer can be used in the PLC to control the hand / object sensing at the work station. Mechanism 53, work station retraction and departure movement sensors 58, 59, An I / O interface capable of communicating with each lift mechanism 72, which will be described further below. The workstation features a local computer 506 having a Cal computer 506 also includes a human machine interface 505 coupled thereto. 08, preferably including at least a display monitor 510, which may be used to Depending on the device, it may be a touch screen monitor, thus acting as both the display device and the input device of the HMI. It functions as both a chair and a computer keyboard, mouse, and ball. Other input devices, such as dedicated control buttons, may be used in addition or alternatively. It displays instructions according to the given tasks assigned to the human workers at the work stations. A display model that displays a Graphical User Interface (GUI) for the purpose of In addition to or instead of monitoring, for example, different items may be Picking items from different compartments of a compartmented storage unit having a variety of items therein Pick-to-light systems to guide the workforce, perform inventory replenishment or kitting tasks, Puts that guide the placement of items into different compartments of a compartmented storage unit during a row Simplified non-G to display to-light systems, line item quantities, etc. Use of other operator guidance devices such as UI displays (e.g. numeric LCD displays) The local computer 506 of the work station may include one or more computer processors. a processor coupled thereto and executable thereon by said one or more processors; Contains statements and instructions for performing various HMI508 related tasks described in The non-transitory computer readable memory, the hand sensing mechanism 53, the movement sensors 58, 59, and and a respective one of the lift mechanisms 72 adjacent to the work station. The work station's local computer 506 also communicates with the mass It can communicate with the computer control system and provide detailed information on the tasks that are guided and performed at the work station. Receives details about the status of such tasks and the actions taken by the master control system The system reports to the master control system along with a safety warning to ensure proper operation.

[0045] Each robotic storage / retrieval vehicle 14 is equipped with a master control system 516 and can wirelessly communicate with the transceiver 516 to receive command signals therefrom and A local on-board transceiver 51 on the vehicle that enables sending feedback communications to the 4. Each robot has a local computer processor 512 connected to The non-transitory computer readable memory on the device / removal vehicle is Navigate the storage system and interact with the storage units based on the commands received objectives and feedback on completion of commanded tasks to the master control system For reporting purposes, specifically to perform local functions, its on-board local processor The processor is connected to the processor and executes statements and instructions stored in the memory. To enable execution of the tasks, the local processor 512 of the vehicle 14 may The processor is connected to a storage grid I / O interface, which allows the processor to and responsible for the movement of the vehicle at the work station and its interaction with the storage unit. The control of the various electronic components of the vehicle (motors, actuators, sensors, etc.) that are responsible for In the illustrated embodiment, such components include a wheel unit of a vehicle. a wheel drive motor 524 for driving the rotation of the height adjustable wheel set of the vehicle; Wheel lift motor 526 for controlled raising and lowering of the wheel unit Wheel shift motor or actuator 528 for controlling inward / outward shifting , a turret motor 530 for controlling the rotation of the vehicle's turret, an arm actuator 532 for controlling the extension / contraction of the turret arm; a shuttle motor for controlling the linear motion of a shuttle that can move back and forth along the arm; 534, and a set of load condition sensors 100, which are described further below. The processor 512 also controls the vehicle 14 for functions and purposes that will be described in more detail below. The on-board scanner 66 is connected to the

[0046] FIG. 6B illustrates a processor of a computer control system in conjunction with a hand / object sensing mechanism 53. and collaborative execution of both safety and task supervision control logic by the storage / retrieval vehicle. Each work station control system 504 has a local computer 506 (see FIG. The work station controller 506 then controls the hand / object sensing mechanism to detect the detection signal. 53. A positive detection by sensing mechanism 53 in step 1001 Step 1002 generates an input signal to the workstation controller 506, In response, the computer control system 500, in step 1003, Check for the presence of storage / retrieval vehicles at the work station.

[0047] This vehicle presence check is used to ensure successful completion of the vehicle driving task commanded by it. A local processor in each vehicle that is configured to automatically report to the master control system A master system that preferably stores dynamically updated location records for all vehicles. The master control system may be implemented by the vehicle's motion sensor 502. The vehicle recognizes that it has reached the target destination spot of the task and uses this confirmed location to move the vehicle. The movement task is commanded in a straight line segment (i.e., the starting spot A trip that requires more than one dimensional movement from the starting point to the final destination is a linear one-way movement segment. Thus, the master control system directs the storage / retrieval vehicles to the work stations. Whenever you command an action, at some point the target destination spot will The command for the linear movement segment that is the entry spot of the work station, then the work station One or more straight lines along the lower track of the section that command the vehicle to move forward in the following direction. The occupancy status of access spots and intermediate spots in the travel segment or entirely This includes access spots that depend on non-occupancy. When it becomes necessary, the master control system commands another linear motion segment to move the vehicle to the working state. the exit spot of the work station, followed by another linear movement segment in the other direction. The vehicle will be moved from the station exit spot back to the storage grid. ,The master control system checks whether there is a vehicle in the work station. Retrieve dynamic location records of all vehicles and check if their last recorded location was at a work station Search for vehicles that were either entrance, intermediate, access or exit spots of However, this is only one example, and for example, the occupancy rate of a work station may be increased. Other techniques using sensors to verify the presence or absence of vehicles in the work station may be used, in which case a check for the presence of a vehicle in the work station is performed in step 1003. The querying may be performed locally by the workstation control system.

[0048] If it is determined that there is no vehicle at the target work station, the vehicle is The lack of a hand allows the user's hand to be inserted into the work station at the access opening. There are no collision hazards with either vehicle or vehicle access openings, and hand / object detection systems are installed at the access openings. Count the number of line items that are picked or placed in the storage unit. This means that there is no storage unit to help track them, so hand / object sensing mechanisms53 A positive detection of one or more vehicles in the working zone is ignored in step 1004. If it is determined that the access points are in the same location, then in step 1005, for example, The movement sensors 58, 59 installed at the work stations adjacent to the spot, and the work Vehicle operations are monitored by checking the dynamic vehicle location records of vehicles in the station. A check is made for the static occupancy of the access spots of stations. The currently stored value in the vehicle location record is the access spot for that work station. The vehicle will not be able to access the access spot if no movement is detected from the movement sensor. In this case, a positive detection is made that the vehicle is statically parked in the lot.

[0049] In response, in step 1006, the computer control system The control system 504 detects whether an access point is selected or placed in a parked storage unit. The remaining quantity of an item is greater than zero (the remaining "Line item quantity" of the item) Open tasks (picking, replenishment, or kitting) If yes, step 1007 The computer control system then reduces the number of remaining lines by one and based on that, The number of dynamically displayed lines shown to the human worker in I is also synchronously decreased by one. The worker is then given additional items to be picked or placed from the parked storage units. If the line item quantity was already zero, the status In step 1008, the computer control system displays an error message on the HMI 508. thereby allowing items to be picked or distributed to storage units parked in access spots. The error may have occurred due to exceeding the number of line items placed. Thus, the worker is informed of the actual quantity of items picked or placed. You can then review the order and make the appropriate modifications to match the number of lines allocated to the order. Cut.

[0050] If it is determined in step 1005 that there is no statically parked vehicle at the access spot, If so, in step 1009, the movement sensors 58, 59 of the work station detect the detected vehicle. If there is no movement, the system operation continues in the normal manner. However, if a motion sensor detects motion near the access spot in step 1010 This increases the risk of workers injuring their hands when moving storage containers in and out of the access spot. Or an item protruding upward from a storage container attempting to leave an access spot The risk of damage to items or equipment due to the emergency stop signal is displayed. The control system 504 immediately sends the information to the master control system 502, and the master control system As a result, in step 1011, 502 issues an emergency stop command to the vehicle in the work station. This will prompt the mobile station to move to an access spot if it was not previously occupied. The vehicle that is about to enter the access spot from its previous resting position or that was parked there The leaving vehicle must immediately stop in step 1012 to prevent injury or damage. The vehicle 14 reports its successful emergency stop to the master control system 502. In response, for example, after the vehicle movement is resumed, neither of the worker's hands are in danger. To prevent this, the workstation HMI requires two-hand input and the workstation control system Until the system 504 reports that the light curtain has been re-established in an unbroken state. time for the reset action to be taken by the appropriate personnel and confirmed At that time, the master control system controls all vehicle movements to the vehicle at the target work station. After this reset, normal operation resumes, repeating the procedure of FIG. 6B. Whenever there is a positive detection signal from the hand / object sensing mechanism, the master The control system controls the storage retrieval vehicle to and from the access spot of the work station. Not to command or permit.

[0051] Figure 6B shows a procedure that combines both safety check and quantity counting functions. Alternatively, other embodiments may simply omit steps 1005-1008 of FIG. 6B and simplify steps 1006-1008 of FIG. 6C. As indicated by the abbreviated safety procedures, it is not necessary to hand / object counting. It should be understood that it is not necessary to use the body sensing mechanism. As an added precaution, step 1 The movement detection actions of steps 1009 and 1010 also include steps 1002 and 1003. A negative "no movement detected" decision may proceed to step 1003 and a positive "movement detected" decision may proceed to step 1004. The "motion detected" decision proceeds to emergency stop steps 1011-1013. Positive hand or object detection at the access opening and the access spot or The combination of detection of movement in adjacent work stations allows the control system to An emergency stop is always initiated even if it does not indicate the current presence of a vehicle in the storage unit. Install light curtains or other hand / object sensors within the access openings of the workstation through which workers pass. The same safety and / or quantity counting functions using the sensing mechanism can be implemented within the work station. The movement of storage units is not necessarily affected by the robotic storage / retrieval vehicles from the storage grid. It can also be used in unaffected work stations, e.g. in similarly equipped The conveyor base of the storage unit passes through an access spot below the access opening. It will be appreciated that the present invention may be used in work stations that use over-routing.

[0052] 4 to 6 show an inner longitudinal rail 38 as part of an isolated work station. a, but when the work station is installed in a grid structure, this rail is It will be understood that the layout of the lower track of the lid structure is shared. The inner longitudinal rail 38a of the work station on the right side of the figure is aligned with the lower rail of the grid structure. In-line sections of Y-direction perimeter rails 26 on each side of the road layout 28 The outer rail of the work station is aligned in the Y direction of the grid structure's lower track layout. The cross rails of the work stations are parallel to the front edge rails of the lower track layout. The Y-direction perimeter rails 26 are positioned in-line with the X-direction rails of the lower track layout and At the joining location, it connects to the outer longitudinal rail 38b of the work station. The inner longitudinal rail 38a of the work station on the left side is aligned with the lower track rail of the grid structure. The in-line sections of the X-direction perimeter rails 24 on each side of the layout are The outer rails 38 of the work station are aligned along the X-axis of the grid-structured lower track layout. The cross rail of the work station is parallel to the edge rail in the X direction of the lower track layout. Position and join the forward edge rail inline with the Y direction rail of the lower track layout 4. The work station is connected to the outer longitudinal rail 38b at the

[0053] Thus, the lower track of each work station is cubic in position along the lower track layout. The extension track is connected to the lower track layout of the original grid structure, which is a 3D grid. Located outside the two-dimensional footprint occupied by the track and the upper and lower track layouts. Between the work station where the work is placed and the column and shaft extending therebetween Allows seamless transition of robotic storage / retrieval vehicles. 3D grid underrail The transition of vehicles between the road layout and the work station is based on the lower track of the work station. The work station entrance SEN is located at one end, facing the lower track of the work station. The work station exit SX is located at the second end of the work station. The control system allows the robot storage / retrieval vehicle to travel in one direction from a dedicated entrance to a dedicated exit. The vehicle is driven through the work station in a timely manner, thereby allowing multiple vehicles to be placed within the work station. This allows the vehicles to park on the lower track of the three-dimensional grid, thus eliminating traffic hazards on the lower track layout. In the illustrated example, separate entrance and exit spots are used, and the entrance spot By including one or more intermediate spots at each work station between the entrance and exit spots This increases the internal queue capacity of each workstation.

[0054] However, the use of separate inlet and outlet spots and the The inclusion of one or more intermediate spots and any dedicated spots other than entrance or exit spots Placing an access opening in the slot is an optional feature and can be used completely or in various For example, in one alternative embodiment, the lower part of the work station The track can be as simple as two cross rails extending from the lower track layout. , defines a single spot where the access opening 52 is located, thus forming a single Serve as entrance, exit and work station access points at orbital spots The robotic storage / retrieval vehicles are suspended from the perimeter rails on the sides of the lower track layout. Drive forward and access this single spot extension track in the straight X or Y direction The operator is connected to the work station through an opening, and the work station exits in the reverse direction, and the three-dimensional grip is Returning to the bottom track layout of the grid, the extension track is therefore The enclosure does not necessarily have to be elongated along the perimeter of the lower track layout of the lid structure. , inlets spaced apart at locations spaced apart in the longitudinal direction of the lower track of the work station; It is not necessary for the chute to be elongated with an exit point. Such a long and narrow extension track is formed by a chute that is open along its entire inside as shown in the drawing. can be used together with one of several spots along the extended trajectory. Allowing them to function as entrance and / or exit spots.

[0055] Figure 7 shows an overhead view of one of the work stations and the bottom track layout of the three-dimensional grid. The lower track layout is shown in schematic form, as well as the adjacent area of ​​the work station. The squares shown between two adjacent X-direction rails and two adjacent Y-direction rails of the Each area in the three-dimensional grid is called a "spot". Each spot under the lower shaft is designated as a landing spot SLND, and the robot The storage / retrieval vehicle travels vertically downward through the downshaft and then enters the lower track rail. Each spot under each upshaft on the circumference is a 3D A grid is designated as the starting spot SLCH, from which the robot storage / retrieval vehicle The work station moves upwards through the upshaft to the upper track layout. The spots in the lower grid adjacent to the 18 entrance spots SEN are for robot-operated vehicles. Exit the bottom track layout of the three-dimensional grid and enter work station 18 at its entrance spot. The exit spot SX of the work station 18 is adjacent to the exit spot SEM. The spots in the lower grid are the exit spots for the robotic vehicle to reach the work station. The reentry spot that reenters the three-dimensional grid from SX is called SR. The arrow in the figure indicates the movement path. Then the robotic storage / retrieval vehicle first appears at the lower track layout's appearance spot. Move outward from the work station to the entrance spot and then Move longitudinally through an access spot for transport and then move longitudinally to an exit spot and then returns to the lower orbit layout at that re-entry spot.

[0056] Either or both of the emergence and re-entry spots may be multi-use spots, e.g. For example, as shown in the example, where the re-entry spot is also the landing spot, Also as a landing or starting spot under each downshaft or upshaft All other spots in the area of ​​the lower track layout adjacent to the work station The storage units are located under each storage column of the grid in which the storage units are shelved. These spots are designated by a computer-controlled system to accommodate parked robots. / A vehicle with higher priority than the pick-up vehicle, directed to the same work station, and If there is another robot storage / retrieval vehicle assigned to move to the station, The robotic storage / retrieval vehicle that transports each storage unit is called the robotic storage / retrieval vehicle. The storage unit was removed from the down shaft at the landing spot SLND. As available parking spots SP where the vehicle can be selectively parked after landing on the track layout The computerized system controls the specific spot where one of the storage / retrieval vehicles is parked. System selection allows parking / retrieval vehicles to arrive at the grid-like lower track layout. The shortest available distance from one of the designated landing spots to the work station entrance. The distance may be based on the distance traveled.

[0057] This allows assigning tasks to robotic storage / retrieval vehicles and creating a 3D grid and The computer responsible for controlling the navigation through the work station The control system controls a group of occupied vehicles (i.e., vehicles with their respective storage units). ), the order in which tasks were assigned (i.e., the allocation order), and their storage units The order in which vehicles are removed from their respective storage locations (i.e., removal order), The order in which the vehicles land on the road layout (i.e., landing order) and / or the order in which the vehicles are assigned to occupy the road The order in which the first arrives in the vicinity of the emergence spot adjacent to the assigned work station (i.e. The storage units are directed in a sequence that does not necessarily correspond to the order of arrival or approach. The system can coordinate arrival at assigned work stations.

[0058] In one illustrative example, the picking operation is performed by a computer controlled system. and one or more respective storage locations, each containing a different item for a first customer order. One or more that pick up a unit and deliver the storage unit to a specific work station and allocating a first group of vehicles for delivery to the same work station. To do this, one or more storage units are created, each containing a different item for a second customer order. assigning a second group of the one or more vehicles assigned for removal; , including. From the initial location of each vehicle, a storage unit containing the appropriate items is stored. Available pick-up locations (in this case, priority is given to the current location of the robot storage / pick-up vehicle) The shortest route from the location to the assigned work destination via different pick-up location options (which may be based on the entire travel path) to the assigned work station. Due to differences in travel distances, vehicles from the two groups were transported to their removed storage units. They may arrive at the lower track together and approach their assigned work stations in a mixed order. Here, a computer control system controls the advancement of two groups of vehicles to a work station. Assign a priority to order the entry of vehicles to the lower rails not currently occupied by vehicles with lower priority. You can instruct it to park in a parking spot on the road layout.

[0059] Since the assigned priority may be based, at least in part, on "group delivery," All items in one order will be delivered before items in the other order. The weighting may be based on a "first on foot" or "first to arrive" basis, where First vehicle landing on the under-track layout or approaching the assigned work station In "group shipping" orders, or when orders are smaller than the size (i.e. (select larger orders than usual), shipping destinations (select more nearby shipping destinations before more remote (select orders destined for a particular destination), delivery lead time, customer type, availability of shipping vehicles, etc. Two vehicle groups are prioritized for order on an "order first" basis. The priority of each of these is determined by the priority of the other. Depending on the placement criteria, regardless of the specific order in which the two orders were received by the system, All items from the first order will be accessed from the workstation before items from the second order. may be delivered to a designated access spot or may require multiple storage units for complete fulfillment. For larger orders, the work station may need to be re-opened before returning to continue picking the larger order. A queue of robots / vehicles are arranged to pick up small orders in their entirety at once. May be interrupted by one or more assigned robotic storage / retrieval vehicles.

[0060] Referring again to FIG. 23, the executable state of the software in the master control system 502 is The statements and instructions can be sent to, for example, a Warehouse Management System (WMS) or other host system. The order processing module 518 receives details of the order to be fulfilled from the order processing module 519. Orders placed with the service may include, for example, customer type, delivery deadline, order size, shipping distance, and shipping Based on scheduled or estimated availability of vehicles, etc., by WMS or other hose system Priority may be pre-assigned to orders already applied to the order processing module 518. The order is sorted from highest to lowest priority, and each order is sorted one by one. Identification of the specific line item (UPC, SKU or other unique identifier) ​​and selection Each line item contains the quantity of that item (i.e. the quantity of the line item) that is These line item tasks for each order are then broken down into line item tasks in the Planning module 52 0. The planning module transfers the unique identifier from each line item task to each The current location of the storage unit and the quantity and type of items stored there. The inventory is compared to a dynamically updated inventory record in a master control system that includes the type of inventory. Based on this, the planning module determines the storage area in which the storage unit containing the line item is currently stored. The planning module also identifies the location of the work schedule to be assigned to the current order. Available storage / Identify the pick-up vehicle and line-up this information for each line item task assignment. These task assignments are grouped into tasks along with the item quantity. The order processing module 522 is shared with the order processing module 522 for performing task assignments for processed orders. Converting the vehicle into a recognizable command that is wirelessly transmitted to the vehicle, thereby Task assignment also ensures that processed orders are delivered to assigned work stations. The system also shares the line item quantity with the workstation control system 506. For example, a storage unit may contain multiple item types, so each task assignment Identification of specific items to be picked from the storage unit, as required in some cases. may be included.

[0061] In addition to order-based prioritization, you can also assign additional item priorities to different line items on individual orders. A work-based priority may be applied, where each task assignment has a Item priorities are also included. Such item-based priorities are based on style, size, Various items such as size, weight, color, ingredients, liquid or dry, allergens, contaminants, etc. For example, fulfillment of a retail order may be based on the sorting of the recipient's retail store. There may be a need for execution of styles, colors, sizes, etc. that are packaged together for convenience. Heavy items or liquid goods can be prioritized, allowing them to be delivered to work stations faster. By shipping heavy / liquid items in the bottom of the shipping container, they are then delivered. This allows light / dry goods to be packed at the top to prevent crushing and liquid contamination of the bottom packed goods. Similarly, non-allergenic foods should be washed before reaching the work station to avoid cross-contamination. In this case, allergenic foods may be served and packaged first.

[0062] Based on sequence between storage units of different sequence or between storage units of the same sequence Ordered delivery of storage units by priority, whether based on items One particular example of adjusting the Extraction vehicles V1, V2, V3, and V4 are prioritized by a computer control system. Each storage unit, U1, U2, U3, U4, ranked in decreasing order, Thus, storage unit U1 on vehicle V1 has the highest priority, and storage unit U2 on vehicle V4 has the highest priority. The upper storage unit U4 has the lowest priority, but its arrival is close to the work station. However, there is an order that does not match this priority. First land on the lower orbit layout and approach the SEM spawn spot. Since the vehicle V4 is also low, it can be placed near the entrance of a work station, for example at the exit of the lower track layout. The car is parked in a parking spot SP adjacent to the current spot SEM. Turning to FIG. 7B, the car Both V2s land on the lower orbital layout and approach the emergence spot SEM. Vehicle V2 has priority. Since the priority is not the highest, for example, the vehicle V1 located at the work station adjacent to the previously parked vehicle V4 may be parked at the work station. The vehicles are also parked in the open parking spots SP near the entrance to the park. Turn to Figure 7C. Then, vehicle V3 lands on the lower orbital layout and approaches the emergence spot SEM. 3 does not have the highest priority, so for example, the work station adjacent to the previously parked vehicle V2 The vehicles are also parked in the open parking spot SP near the entrance of the station. Once aimed, vehicle V1 lands on the lower track layout and approaches emergence spot SEM. Since it has the highest priority, the parked vehicles V2, V3, and V4 are Directly at the entrance spot SEN of the work station, as possible by a non-obstructive relationship. Turning now to FIG. 7E, vehicle V1 moves toward the work station shaft on the extended track. The driver will move forward through the gate and park at the access spot SA above it, thereby The highest priority storage unit U1 is accessed for interaction between the robot and the robot operator. Deliver to Spot.

[0063] Turning now to FIG. 7F, the highest priority storage unit U1 is placed in the access slot of the workstation. After delivery to pot SA, vehicle V2 carrying the next highest-ranked storage unit U2 is then , from the parking spot to the emergence spot of the lower track layout, and from there to the work station to the entrance spot and from there to the access point of the work station where the vehicle V1 is currently parked. Vehicle V2 is commanded to head towards access spot SA. Looking at Figure 7G, the next highest priority storage unit is Vehicle V3 carrying Knit U3 will travel from the parking lot to the emergence spot on the lower track layout. From here to the entrance spot of the work station and from there to the spot where the vehicle V1 is currently parked. and next to it vehicle V2 is already queued, Vehicle V3 is ordered to the intermediate spot currently occupied by vehicle V2. Turning to FIG. 7H, the lowest storage unit U4 is parked adjacent to the The final vehicle, V4, will be transported from the parking lot to the emergence spot on the lower track layout, and then to the next At the entrance to the work station, vehicles V2 and V3 are already waiting behind vehicle V1. Vehicle V4 is parked at the entrance spot SEN of the work station. The vehicle V1 is parked adjacent to the intermediate spot currently occupied by vehicle V3. The lower track layout will be arranged according to the above-mentioned coordination and priority of the vehicles and their transport storage units. The advance of vehicles at the outs is sequenced appropriately to the access spots of the work stations. Four storage units are waiting in the work station for the scheduled progression.

[0064] Figure 7I shows the control logic of the computer control system processor and the storage / retrieval vehicle. The figure shows the collaborative implementation of SICK, which stores vehicles and their transport storage units in a three-dimensional storage grid. In step 2001, the master control The system 502 selects the new order with the highest priority among those in the queue to be processed. Generate task assignments from line items in and then assign the task assignments to work stations The controller 506 then transmits the task command to the storage / retrieval vehicle. Upon receiving the command, the vehicle performs a task-defined movement through the storage grid at step 2002. Start a route to retrieve each storage unit from the storage location and The bins are transported to the lower track of the three-dimensional storage grid and then transferred to their assigned work stations. Meanwhile, the workstation controller 506 aggregates the pending tasks. The tasks for the new order are assigned together with the remaining unfinished task assignments for the previous order, which are also called If such a task is pending, the step In 2003, a computer control system was installed at the entrance, middle and access points of the work station. Check if there are any open spots between the cess openings. To do this, The Work Station Controller is the master control system for the vehicles assigned to the pending tasks. Query the system's dynamic vehicle location record to see if the last known location was within this work station. The query retrieves records of vehicles that are in one of these spots. If no matching vehicle is found above, the work station will search for a spot that can be filled. This means that the workstation controller 506 ,The next vehicle is assigned to the work station, taking into account the available occupancies in the work station. Initiate the procedure to "call" in. Pending task order and item priority Based on the ranking, the identification of the vehicle is performed by the work station controller. will be done.

[0065] In this example, the fulfillment of a previous order is already in progress at a work station, and a new order This assumes that the order priority of the current order does not exceed that of any previous orders. This also applies if the system is configured to follow a "no interruption" workflow. In this case, an order fulfillment that is already in progress may be interrupted by another order, even if it has a higher priority. In step 2004, the work station controller 506 Determines whether all vehicles are already in the work station. To do this, To do this, the workstation controller checks whether the workstation has been entered yet. To identify any of the vehicles that have not been assigned to these tasks , for example, at the entrance, intermediate and access spots on the lower track of the work station. Any of the ones with a last known location that does not match the unique identifier By querying the dynamic position records of these vehicles in the master control system, the preservation of the previous order The master control system can check the tasks in progress. On 06, the last known location of all queried pending task vehicles from a previous order was If it reports that it is a spot in a work station, the work station controller The user then determines in step 2004 that all vehicles from the previous order are already in the work station. After this positive detection in step 2004, Top 2005 will call the vehicles with the highest priority task assignments in the new order. To do so, the work station controller 506 Identify the highest priority pending task assignment among all task assignments and The master control system sends a "call request" to identify the vehicle specified by the task assignment. In response, the master control system sends a command to the vehicle to It sets a flag indicating that it has been called or has been called.

[0066] As mentioned before, the movement of the vehicles is commanded in a segmented manner, i.e., the vehicles are The overall movement plan used to pick and deliver units to the work stations is the line Therefore, the task command sent to the vehicle is divided into storage unit segments. Movement instructions to complete the entire task of picking the item and delivering it to the work station Instead, the movement instructions are sent in segments. The next segment to be ordered is then processed in the planning module before being sent to the vehicle. The vehicle reaches the end of a commanded segment. Each time, the vehicle masters a confirmation signal that it has completed the last commanded driving segment. and in response, sending a further frame containing instructions for the next linear travel segment back to the control system. A message is sent to the vehicle. The flagging of the vehicle that was called by the work station is After retrieving the assigned storage unit and landing on the lower track layout, the vehicle is completed When the vehicle sends a confirmation of the requested movement segment, the Master Controller A moving route of one or more linear segments leading to the entrance spot of a work station. To recognize the execution of the command, the planning module creates a route to such a work station. This means that the system calculates the route and sends the commands to the vehicle. From the vehicle's last known position on the lower track layout to the entrance of the work station If the message contains multiple linear segments, it is sent piecemeal for each segment. Receive a confirmation signal that the storage / retrieval vehicle has arrived at the landing spot on the lower track. The master control system uses this at the checkpoint to flag the vehicle. You can see whether a vehicle is in operation or has been called, and the work status of that vehicle is updated accordingly. The system calculates the movement route to the destination and decides whether to issue the command. The spots on the lower track other than the pots are used as checkpoints where this route decision is made. Depending on whether it works and is still being called or needs to be temporarily parked, the working status The system can also dynamically update the vehicle's overall route to the destination.

[0067] When you call for a vehicle with the highest priority for a new order, the vehicle assigned to the same order but with a working status Other vehicles that have not yet been flagged by a call request from the station will continue to Park in 2006 and wait another minute to get into the work station when another spot opens up. Any such uncalled vehicles must wait for a while. Instead of the travel path of the work station, the planning module Substitute parking in available parking spots outside the work station dynamically generated by The system is commanded to use a hold pattern travel path to the end of the transfer path, preferably stopping near its entrance. In the case of a parked vehicle, the vehicle enters a work station and waits there for a call state to be assigned. If the vehicle waits its turn to be called, the master control system will later receive a call request for that vehicle. , calculation of the travel route from the parking lot to the work station and commands are instantly triggered. Next, steps 2003 to 2005 are repeated, and then step 2007 checks A search is performed and in each iteration, all the vehicles in the new order are 4. The previous orders are checked to see if they have still been called in the same way as above. Once all vehicles have been called, subsequent orders are assigned to that work station. The process ends if all the vehicles from the previous order are still in stock at step 2004. If it is found not to be in the work station, the highest-ranked vehicle from that previous order will be called. Put out, park the other landed vehicles in that order, and all landed vehicles in the new order Parking will be done in the same way as described in steps 2005 and 2006 of the new order. Steps 2008 and 2009 were performed, and then steps 2003 and 2004 were performed. Repeated.

[0068] Just as the storage units are arranged and the robotic vehicle navigates the storage array By using a grid structure, the ordering that is performed within it allows for space collection. While avoiding the space and material inefficiencies associated with prior art such as round-type sorting conveyors. This allows for complex sequencing or sorting during order picking operations, where picking The steps are carried out on one machine and then the sorted items are stored in a separate storage structure. Various downstream machine or equipment types are used before being delivered to the assigned work station. A second stage of sorting of types is then carried out.

[0069] In the previous example, the vehicle is affected by the flow of other unparked vehicles moving through the three-dimensional grid. Retrieve the storage unit on the way to the designated lower workstation without interference. A dedicated up-seater is used, especially on the lower track layout, for the purpose of selectively parking vehicles after parking. shafts, dedicated downshafts, and designated parking spots, but Coordinating sequenced deliveries to work stations with other locations in the origin grid It will be appreciated that the removed storage unit may be temporarily parked at the same time. Any spot in the square between the X and Y rails of the upper track layout can be used to park inactive vehicles waiting to be activated. Similarly, by means of operational assignments and instructions from a computer control system, It may be used as a temporary parking spot for occupied vehicles while adjusting the delivery order. , the spots on the upshaft and downshaft are the dots that go into the downshaft. Drop-down spots and climb-outs from the upshaft Parking through a grid is preferred, with the option of reserved (climb-out) spots. not to disrupt the flow of traffic for unlicensed vehicles and not to be used for temporary parking purposes Similarly, ordered delivery arrangements take into account higher priorities assigned to other In order to delay the arrival of such parked vehicles at the work station, Parking of vehicles may be allocated at any level of the upper and / or lower shafts, but Occupying vehicles should preferably avoid such interference with shaft movement by other vehicles. Selected embodiments may be advantageous in that the upward traffic of the robotic storage / retrieval vehicle A specific upshaft dedicated only to the upward flow of traffic and a separate ditch dedicated only to the downward flow of traffic. While other embodiments have separate shafts, each shaft is restricted to traffic flow in a particular direction. It will be appreciated that it is not necessary to have a lower portion below such a bidirectional shaft. A spot on the orbital layout serves as both a departure spot and a landing spot, The spot on the upper track layout above the directional shaft is the drop-down spot and It also serves as both a climb-out spot for the shaft. It has a work station on the lower level for servicing from the partial track layout, but the extension The same concept for a work station served by a long track, and a work station Similarly, the grid coordination of the sequenced delivery of storage units to the work stations is This may be used instead if provided from the upper track layout.

[0070] In-grid survey of the same invention for ordered delivery of storage units to work stations The adjustment is made so that the work station is the "travel-through" work station of the present invention disclosed herein. Regardless of whether it is a 3D or 4D system, it must fit completely within the 2D footprint of the track layout. It can also be used as a storage grid, where storage units are retrieved and returned to the storage grid. The same robotic storage / retrieval vehicle responsible for storing the storage unit transports it to the work station. or the robot / storage / retrieval vehicle transports the work station through the A "drop-off" work station where storage units are dropped off at the loading point, e.g., at the turn Tables, elevators, conveyors, or unloaded storage units at the workstation other handling equipment responsible for transitioning to the access point, where Or the robot worker will work with the off-grid storage unit. The capture points to be used are either inside or just outside the two-dimensional footprint of the track layout. and an access point (e.g., an access opening 52 on an access spot SA) is Outside the footprint of the two-dimensional track layout, i.e., outside the storage grid structure .

[0071] In many of the above examples, human or robotic workers remove such items from storage units. A work station that can be removed and packed into a shipping container for delivery to the customer. Fulfill the order by delivering a storage unit to the customer that contains the items in that order. Although the focus of the paper is on picking operations, which are used to It can also be used for storage or order buffer operations, where the access to the work station Place your items in a storage unit presented to you by a robotic storage / retrieval vehicle with Spot From there, the robotic storage / retrieval vehicle re-enters the grid and retrieves the storage unit. The replenishment process involves the robotic storage / Items placed in the removal vehicle transport storage unit have not been previously stored in the structure. New stock items of the selected type, or stock replacing previously selected items This is a replenishment item, which allows the operational steps to fulfill the orders referenced herein. Performance of tasks on the application is not necessarily limited specifically to fulfilling customer orders. Here, the items ordered by the customer are removed from the storage unit for shipping to the customer. The orders to be fulfilled consist of picking items from or placing items in For example, for restocking or kitting purposes (the latter is for mixing different types of items in a single Bulk stocking units to single stocking units, each of which contains only a single item type Storage units at the access openings of work stations, regardless of It should be understood that the work order may be any type of work order that similarly requires interaction with a

[0072] The order buffer operation involves first picking operations, and then the computer control system Stored in a different retrieval storage unit that contains a specific collection of items required to fulfill the statement. Assign and direct a group of pipes / removal vehicles to retrieve the items in that storage unit. Items assigned to this buffer operation, down to the layout of the grid-like lower track. The assigned vehicle group will transport the vehicle to the entrance of the assigned work station. As the vehicle moves through the stations, workers can see when each vehicle arrives at the access spot for the work station. When the order is placed, one or more items are extracted from each vehicle's storage unit, and these The extracted items are merged together to form a complete or partial fulfillment of an order. can be.

[0073] The fully or partially fulfilled orders correspond to storage spaces in a three-dimensional grid structure. These will be placed in interchangeable sized containers, which will be the same size as the other storage units. For example, it may be a storage bin that can be opened or closed, or it may be a shipping container of a different type than the storage unit. container (e.g., if a consolidated order item fulfills the entire order, e.g., if necessary Depending on the packaging, it may be a sealed cardboard shipping box with the shipping label already attached. The computer controller sends the unloaded vehicle to the same work station, where The container with the consolidated order is then placed at the access spot of the work station. The computer controller then assigns the vehicle that will carry this order to the third vehicle. 3D grid structure and transfers fully or partially fulfilled orders to a 3D grid structure. Instruct them to store the inventory items in the available storage locations. The same three-dimensional storage grid used to store the It is also possible to buffer partially prepared or fully prepared shipments. For example, , a shipping vehicle is expected to arrive and pick up a fully completed order for delivery. A partial order that requires a future pickup time or additional items not currently in stock. For orders fulfilled in the future, the time when the stockout will be replenished to allow for order completion. For example,

[0074] When it is time for pickup or restocking, the computerized system backs up the The requested order pick operation is executed and a robotic storage / pickup vehicle is sent to Retrieve the order container from the location and place it in the work station through the access opening. The container is then moved to a work station for removing the container or the individual items contained therein. If the buffered order is a partial order, the previously missing If the dropped item can be used as a shipping container, add it to the same container. , are consolidated with the removed items by consolidating them into a new shipping container.

[0075] The novel work station, its novel use, and the sequence of work station delivery We have summarized the novel use of the 3D grid structure itself for ordering and order buffers. ,Then, other novel points in the 3D grid structure, the robot vehicle fleet, and the,between them Pay attention to the collaborative actions of the two.

[0076] FIG. 8 shows an independent portion of the lower track layout of the three-dimensional grid structure, parallel The first and second longitudinal rails 60a, 60b are aligned along the X direction of the lower track layout. A set of additional parallel cross rails 62a-62f extend from the lower track layout. The first and second longitudinal rails 60a, 60b are vertically spaced apart along the Y direction of the As shown above, each spot in the lower track layout has two In the square area between each pair of longitudinal rails and adjacent cross rails 62a to 62f The cross rails on the same side of each spot (the right side of each spot in the example shown) The cross rail is equipped with a visually detectable position marker 64 at the midpoint of the top surface of the cross rail. The removable position markers may be applied as separate stickers or labels or may be marked on the track itself. Each robotic storage / retrieval vehicle is equipped with a location marker 64. 6. Place scanner 6 on the side of the robotic storage / retrieval vehicle that matches the side of the track spot being The scanner detects when a robotic storage / retrieval vehicle moves through the lower track layout. As it moves, it is oriented to capture images of the marked cross rails. The image capture device has a downward angled field of view, the field of view being aligned with the marks on the rail. The frame size at the top of the frame is oriented to exceed the size of the detectable marker. The scanner and position markers ensure that the robotic storage / retrieval vehicle is positioned at a predefined spot on the lower track. When it is properly centered between the two longitudinal rails and the two cross rails that bound it, Each position marker 64 on one of the cross rails corresponds to a given portion of the scanner's field of view. The robots are positioned relative to each other so as to occupy a central region (e.g., a central region thereof). When a storage / retrieval vehicle arrives at the target destination spot on the lower track layout, it is scanned The sensor captures images from the current field of view and transmits them to the robot vehicle's local computer processor. The software module executed by the scanner locates the position of the position marker on the larger The position of the marker in the display frame is compared with the expected position where the marker is expected. A match is then confirmed between the sub-region of the display frame and the sub-region of the display frame. If the marker is in the central region of the display frame, the software will ensure that the marker is properly centered in the display frame. Therefore, the relative match or mismatch is a Relative alignment between the storage / retrieval vehicle and the target spot on the lower track layout This reflects the

[0077] As described in Applicant's published PCT application WO2016 / 172793, The robotic storage / retrieval vehicle 14 has two opposite sides A pair of X-direction wheels 68 and two other opposing pairs of The X-direction wheel 68 is equipped with a Y-direction wheel 70. The Y-direction wheel 70 is The Y-direction rail of the track layout does not engage with the frame of the storage / retrieval vehicle. Just as the robot storage / retrieval vehicle can be raised and lowered, Lift and lower the frame or chassis so as not to engage with the X-direction rail of the track layout. The robot storage / retrieval vehicle is driven by Y-direction wheels on Y-direction rails. When traveling in the Y direction by dynamic rotation, the X-direction wheel moves without contacting the X-direction rail. Meanwhile, the robot storage / retrieval vehicle drives the X-direction wheels on the X-direction rail. When moving in the X direction by dynamic rotation, the Y direction wheel does not come into contact with the Y direction rail. increases.

[0078] FIG. 8 shows the layout of the lower track in the X direction of the robotic storage / retrieval vehicle 14. Drive towards the target destination spot on the Y-direction rail and move the position marker The figure shows an example of scanning the lower track layout. Each position marker is aligned along the 2D grid of the lower track layout. The system retrieves a scannable code containing a unique ID for each spot designated within the field map. The unique ID may then be stored in the location marker of the target destination spot. Along with the alignment, the robotic storage / retrieval vehicle reaches the correct target destination spot. Verify arrival and achieve proper centering of the robotic storage / retrieval vehicle to this spot Such alignment allows for (1) robotic storage / retrieval The exit vehicle moves in the opposite direction to other vehicles passing through adjacent spots in the track layout. (2) the target destination spot is within reach of the robotic storage / retrieval vehicle; If the starting point is intended to move upwards through the shaft, the robot Ensure that the tube / removal vehicle is properly aligned with the vertical shaft above it. .

[0079] The wheels on the opposite side of the robot storage / retrieval vehicle and the corresponding rails on the lower track layout By engaging with the rails, the robotic storage / retrieval vehicle moves in a track direction perpendicular to these rails. The target spot of the lower track layout is automatically aligned. In the example shown, the wheels in the X direction are engaged with the rails in the X direction, so the robot storage The robot storage / picking vehicle is automatically aligned to the target spot in the Y direction. While the launch vehicle arrives at the target spot in the X direction, the scanner Images are captured from the robot and executed by a local processor on the robotic storage / retrieval vehicle. The software executed checks the position of the position marker image in the observation frame and The deviation between the actual position marker position and the expected position marker position in the frame is expressed in the X direction. as a feedback signal to dynamically adjust the drive signal to the motors of the steering wheels. Drive the robotic storage / retrieval vehicle to properly center it over the spot of interest Use the same alignment procedure to move the Y wheel to the target spot in the Y direction. The robot storage / retrieval vehicle is controlled by feedback control on the track layout. The scanners are located on the appropriate working side of each vehicle so that the vehicle does not rotate. As long as the marker is placed on a particular set of rails (X-direction or Y-direction rails) is not important.

[0080] 9A and 9B show the Y direction rail 62 after the vehicle has just completed a run. The performance of the alignment procedure in the direction of the arrow is shown. The box represents the outer boundary of the scanner's field of view (FOV), BFOV, whose center point is C. The markers 64 are aligned properly on the target spots of the grid track. The FOV sub-region SFOV that is expected to be at the specified position is located on the target spot in the grid. The misalignment of the vehicle is shown in Figure 9A, where the marker is clearly off to one side of the sub-region. In FIG. 9B, the marker 64 is exactly in the center of the FOV, thus completely occupying the expected central sub-region SFOV, thus over the target spot of the grid orbit It can be seen that this represents the properly aligned position of the vehicle. The only difference between the images captured for this purpose is that the markers are misaligned. Instead of being offset from the center in the left-right direction of FIG. 9A, The problem is that it is set up.

[0081] The wheel drive motors of each vehicle are encoded and controlled by the master control system. A non-directional movement command is received with a direction of travel and a grid spot to move in that direction. The local processor is expressed only in terms of the diameter of the transport wheel and the number of square grids. Based on a stored proportionality coefficient that represents a predetermined relationship between the uniform width shared by the The encoded motion command is then converted into the appropriate drive signal for the wheel motor. The motor then reports to the program that the appropriate number of wheel revolutions have been performed to correspond to the commanded travel length. So the processor can get the encoded wheel mode Once feedback confirmation is received from the scanner that the desired rotation has been completed, the scanner Triggers image capture and performs visual analysis on the captured image to determine pixel The difference between the expected and actual positions of the marker in the scanner FOV, calculated as the vector offset value VPO. Identifies whether there is an offset between the position.

[0082] If the calculated offset is zero or within the tolerance threshold, the processor Ensure proper alignment of vehicle at target spot of lid track. Offset is zero. If the vehicle is not in the correct position or exceeds the tolerance threshold, the vehicle is out of position. Accordingly, the processor calculates the pixel offset in the image in proportion to the amount of calculation. By sending drive signals to the motors in the appropriate direction, which is determined by the direction of the offset in the image. This corrective wheel rotation action is initiated by the wheel motor. After the motion is performed, an updated image is captured to check if proper alignment was achieved. or to correct for overshoot or undershoot in the last correction attempt. The same offset determination process is used to evaluate whether further corrective action is needed to Once proper alignment is achieved, the vehicle processor issues the command "Position Achieved". " confirmation signal to the master control system, which is encoded in marker 64 and The scanner 66 reads the signal as feedback to the master control system. Verify that the vehicle has reached the specified target destination spot by the assigned vehicle task. This ensures that the commanded linear travel segments arrive aligned at the target destination. Upon confirmation, the master control system notifies the vehicle of the unique identifier of the spot where the vehicle has currently arrived. Dynamic position records can be updated. The lower track of the work station can be confirmed by same arrival, The same marker placement is used for alignment check / correction and position update purposes.

[0083] The above alignment check / correction process is generally summarized in FIG. 9C, step 3001 The computer control system follows the grid-like track layout of the grid structure. or along the bottom track of the work station, the number of grid squares or spots The selection commands the vehicle to move in one direction. In step 3002, such a command In response to receiving the signal, the vehicle determines the diameter of the vehicle's carrier wheels and the location of the grid and track spots. According to the known proportionality between the standardized width and the commanded number of In step 3003, the vehicle's local processor drives the scanning spot. In step 3004, the vehicle command The coded marker 64 and its predicted position in the image in the same X or Y direction as the unidirectional run Analyze the captured images by measuring any pixel offset between to check proper alignment of the uniquely coded markers 64 on the rails. If the cameras are properly aligned in the image (i.e., there is no offset), At least the vehicle speed does not exceed a predetermined threshold value, in step 3005, the vehicle processor A unique identifier read from a uniquely encoded marker 64 scanned by both A confirmation signal including the number of the control signals is wirelessly transmitted to the master control system, which uses the signal to to verify the arrival of the vehicle at the target destination spot specified by the movement command. If it is found that the markers are not properly aligned in the image, step 3006 The vehicle then applies a drive signal proportional to the pixel offset value VPO measured from the image analysis. The wheel motors attempt to self-correct their alignment by sending Step 3004 is repeated again until confirmation.

[0084] In addition to such adjustments of the vehicle position when arriving at the target position on the track layout, the vehicle Early dynamic adjustment of both movements allows the vehicle to scan for other markers along its path. By doing so, the target spot can be reached upstream of its arrival down the target shaft. The original movement instructions assigned and sent to the storage / retrieval vehicles by the data control system is based on the actual physical distance to the target shaft based on the known grid dimensions of the structure. The vehicle passes through multiple pass-through spots to reach the target grid spot below the target shaft. If the scanner reaches the pass-through spot, it scans it as it passes through each pass-through spot. The result can then be used to calculate the initially assigned distance to travel and the distance from the vehicle's current position. To account for the difference between the true remaining travel distance from the target spot to the target spot, the moving instruction is Dynamically corrects the positioning, thus eliminating the need for fine-tuning of the alignment during final arrival at the target spot. More accurate alignment of storage / retrieval vehicles to target spots to avoid or reduce congestion Coordinate the arrival of the requested flight.

[0085] The illustrated embodiment is a grid-like three-dimensional structure in which targets on the lower track layout are arranged. Static position markers placed at fixed locations relative to available spots and storage / This arrangement uses a moving scanner mounted on the extraction vehicle while statically attaching the grid structure. By placing detectable markers on strategically placed scanners and robotic storage / retrieval vehicles, can be reversed with the wheel-controlled robotic storage / retrieval vehicle. It is preferable to perform image processing related to the scanner. Scanner / marker alignment check The above description of the tool indicates that the robotic storage / retrieval vehicle is located above such a starting spot. Before being lifted into the shaft, the vehicle is properly positioned at the target departure spot on the lower track layout. This is done with reference to the lower track layout to ensure that the alignment is correct. The same tool can be used on the upper track layout to place the robot storage / retrieval vehicle on the shaft. Before lowering the vehicle into the designated drop-down spot above each shaft, It can also be aligned to.

[0086] Figures 10 to 15 show the exit spot SX just outside one of the work stations adjacent to the exit spot SX. Robot at the starting spot SLCH of the bottom track layout of the side three-dimensional grid structure One of the storage / retrieval vehicles is shown. Most of the grid has been omitted for illustrative purposes. This particular launch spot (one of the X-direction rails is labeled 60) The lower rail defines the Y-direction rail (one Y-direction rail is labeled 62). The four rails of the road layout and the intersection between them at the corner of the starting spot Four support legs 30 support the ball, and four support legs 31 stand upright from the four corners of the starting spot and above the starting spot. Of the four upright frame members 12 that define the four corners of each vertical upshaft, Only the first two and the second remain. The other two upright frame members are for the robot storage / retrieval system. Improve vehicle visibility and lift storage / retrieval vehicles up the upshaft above 4 is omitted to show interaction with the novel lift mechanism 72 for

[0087] The lift mechanism 72 is arranged in a rectangular footprint at the starting spot, It sits on the same ground as the support legs 30. It is different from the lower track layout of Figs. As shown in FIG. 1, the lift mechanisms 72 are interconnected by a horizontal cross brace 76. The base frame has four vertical upright corner legs 74, and the top ends of the corner legs 74 are and a top panel 78 attached to the top surface of the base frame. Form 80 is positioned above the top panel 78 of the base frame and is fitted with a suitable actuator. In the illustrated example, the The electric motor 82 is an electric linear actuator mounted on the underside of the top panel of the base frame. The actuator 81 has an upper panel for connection to the underside of the lifting platform. The actuator has an output rod 84 that reaches upward through a central opening in the actuator. Therefore, when the linear actuator is extended, the lift platform is lifted from the top panel. When the linear actuator is retracted, the lift platform moves down. The four linear guide rods are in contact with or adjacent to the top panel of the base frame. A set of 86 pads are attached to the underside of the lift platform near that corner. , through a set of bushings or bearings in the top plate of the base frame, Slides up and down through the top plate as the linear actuator extends and retracts Thus, the rod guide stabilizes the lift platform and maintains its horizontal position. This helps to keep the orientation level.

[0088] The base frame is a base frame with the top panel 78 of the base frame in the rail of the lower track layout. has a lower elevation than the lower track layout so as to be at a lower elevation of the upper side; and For example, the lift platform can be positioned slightly below the underside of these rails. When it is in the lowered position adjacent to the top panel of the base frame, it It has a lower height than the lower track layout so that it does not protrude above the rail. In the trailing position of the lift platform, the robotic storage / retrieval vehicle is The mounting bracket 88 is These sides extend outward from the top panel of the base frame of the lift mechanism, e.g. The rails are fixed to the lower track layout, thus allowing the grid-like track layout to be are properly squared and properly centered within the square area of ​​the starting spot. Fix the lift platform in place.

[0089] The lift mechanism may, for example, be wired to a local computer at the work station. As shown in Figure 23, the computer control system can be connected via a wired or wireless connection. A robotic storage / retrieval vehicle that moves along the lower track layout. Both are paired below the upshaft where the robotic storage / retrieval vehicle is to move. Upon reaching the elephant starting point, or more typically immediately after leaving the work station. The robot storage / retrieval vehicle will park at this departure spot just outside the workstation exit. When the vehicle is installed, it will use the position marker and the associated scanner described above to locate the upshaft and Precisely aligned, the robotic storage / retrieval vehicle's radio transceiver detects the target departure spot. The arrival of the robot storage / retrieval vehicle at the pot is confirmed by computer. Send a signal to the control system.

[0090] This process is shown in FIG. 19A, where in step 4001 the master control system , to cause a vehicle to move from an adjacent exit spot of a work station to a starting spot. In response, the vehicle determines the distance in one direction to the starting spot in step 4002. In step 4003, the vehicle self-drives to the designated spot. Perform the alignment check / correction procedures and alignment confirmation reporting process that are specified in the In response, the master control system, in step 4004, Instruct the system to send an activation signal to the lift mechanism 72 and in response The actuator 80 is actuated in the extension direction to raise the lift platform 80. The underside of the robot storage / retrieval vehicle's frame or chassis is aligned with the lower track layout. The vehicle's transport wheels are then brought into contact with the upper part of the track layout. In step 4005, the lift mechanism is raised to this wheel lift height. and the lift mechanism is connected to the local computer 50 of the work station control system. 6 is confirmed by sending a first stage lift confirmation signal to In another embodiment, the lift mechanism is connected to the master control system. can be directly controlled by the master control system and can report confirmation directly to the master control system do.

[0091] The weight of the robot storage / retrieval vehicle must be such that the transport wheels of the robot storage / retrieval vehicle Instead of resting on the rails of the lower track layout, it will be supported by a lift mechanism. Therefore, the master control system stores / retrieves the mode transition command in step 4007. In response, the local processor of the storage / retrieval vehicle 14 transmits the This starts the transition of the vehicle from track entry mode to shaft traverse mode. As part of the vehicle's local processor, the vehicle's local processor controls the wheel movement motors or actuators. in the appropriate direction to move the transport wheels of the robot storage / retrieval vehicle horizontally inwards. By extending inwards, the overall footprint of the robotic storage / retrieval vehicle is reduced to The pinion wheel is reduced in size so that it can fit into the shaft. The rack teeth on the upright frame members at the corners of the shaft are engaged, thereby This allows the lifting of storage / retrieval vehicles. If the wheel was in a previously lowered track entry position, the wheel lift motor or actuator Raising the height adjustable wheel set of the vehicle via actuation of actuator 526. In this way, all eight wheel units can be supported by the lift mechanism. When both are fully raised, they are high enough to engage the rack teeth. The lower segment 32 of one of the two upright frame members shown has rack teeth. Although only one lower set of 90 is shown, such rack teeth can be found on the upshaft. All eight inwardly facing sides of the four upright frame members are provided with a substantially ranging from full height to near upper track layout.

[0092] After such a retraction of the wheels and, if necessary, the raising of the height-adjustable wheels, In step 4008, the vehicle is switched from the track entry mode to the shaft traverse mode. In response, the master control system sends a confirmation that the transition to the In step 4009, the master control system notifies the work station controller 506 , Robot storage / retrieval vehicle pinion wheel teeth grid structure upright frame part The robot stores / removes the material in an elevated position either by engaging with the rack teeth at the bottom of the material or by placing it immediately adjacent to the rack teeth. and commanding further extension of the lift mechanism actuator to lift the vehicle. Once this further extension is complete in step 4010, the lift mechanism A vehicle stage extension confirmation signal is sent to the local work station computer, which As a confirmation that both are in the fully raised position for lifting the upshaft, In response, in step 4011, the master control system The system then commands the vehicle to climb up the upshaft onto the upper track layout, In response, in step 4012, the vehicle's local processor controls the wheel motors 524 When activated, the vehicle's pinion wheel drives the engine through the upshaft in the grid structure. Begin ascent of bot storage / retrieval vehicle.

[0093] The lift mechanism, powered by the mains power, is thus powered by the on-board power of the storage / retrieval vehicle. The storage source is not used to lift the robot to a position where it can engage with the rack teeth. When the onboard power supply of the extraction vehicle moves from the lower track layout to the upper track layout Reduce the overall energy load consumed by the vehicle's on-board power supply To keep the robot storage / retrieval vehicle aligned with the upshaft during lifting To achieve this, the underside of the lift platform and vehicle chassis must be positioned so that the vehicle is positioned at the starting point of the track. Matching patterns are created so that they automatically align with each other when properly centered on the The device may have compatible male and female features laid out in a line, thereby allowing lift The elevated platform is then fitted with a male / female feature on it that fits into a matching female feature on the underside of the vehicle chassis. The mating feature is designed to allow the lift platform to move when the vehicle chassis is raised. In the example, four male nipples are fitted to the lift platform to prevent slipping. It protrudes upward from the top surface near its outer corners and is attached to four It joins with the joining recess of the.

[0094] FIG. 20 illustrates one of the robotic storage / retrieval vehicles 14 and the resulting three-dimensional grid structure. Robotic storage / retrieval for delivery within manufacturing and work stations Pick-up on board the vehicle In the example shown, a storage unit 92 is shown that can hold smaller individual items. The insertable and removable storage unit is an open-top tray, but as described elsewhere herein As previously mentioned under Location, use a resealable box, container with lid, or tote bag instead. In other embodiments, the storage unit can have multiple items stored therein. It may be the packaging of individual items, as opposed to a container for storage. And in other embodiments where the work station is larger, the storage unit may include one or more Whether the item above is one relatively large individual item or multiple items Regardless, the palette that is received may be: A system is a set of multiple containers (e.g. boxes, trays, containers, or totes, with one or more items in each such container. is stored.

[0095] As disclosed in Applicant's published PCT application WO2016 / 172793, The robotic storage / retrieval vehicle 14 is configured such that the storage unit 92 is 4 and surrounded by a stationary outer deck surface 98. The apparatus features an upper support platform 94 which may feature a movable turret 96. As disclosed in published PCT application WO 2016 / 172793, The turret may again have an extendable / retractable arm (not shown), which may be used to rotate the turret. With the ability to turn, each vehicle can be positioned on either side of any shaft in a three-dimensional grid structure. on all four sides of the robotic storage / retrieval vehicle to allow access to the storage units. Then, the storage unit is pulled onto the support platform and removed from the support platform. It allows pushing storage units out. That is, each robotic storage / retrieval vehicle can: The shaft can be rotated to allow access to storage locations on any of the four different sides of the shaft. It is operable in four different working positions within either of the currently illustrated embodiments. In the drawings, the turret and deck surfaces are shown in simplified form without detail for ease of illustration. The use of a rotatable turret with a single extendable / retractable arm is shown in FIG. Has four different working positions to access either side of either shaft This is an example of a robotic storage / retrieval vehicle that can be operated, but other vehicles are available as well, all of which are Four different working positions can be achieved, allowing interaction with the sides of the vehicle, e.g. It is understood that the device has multiple extendable arms that can be extended from four different sides. will be done.

[0096] The turret and surrounding deck surface were mounted on a Robotic Storage / Retrieval Vehicle 14. Collectively, these elements define a square landing area upon which the storage unit will rest when the storage unit is seated. The area is equal to or below each storage unit in the three-dimensional grid structure as shown in FIG. Similar size and shape, with the storage unit seating occupying the entire landing area. The robot is fully received and properly aligned in the landing area of ​​the robotic storage / retrieval vehicle. To ensure that the upper support platform 94 is supported at intervals along its perimeter, A set of load state sensors 100 are arranged adjacent to the outer periphery of the load state sensor 100. In the illustrated example, the load sensor is an optical sensor embedded in the upper surface of the landing area. 4 quantities placed adjacent to each one of the landing area's 4 outer corners The extendable / retractable arms can be used to retract the storage space into a 3D grid. As part of the loading routine that pulls the storage unit from the robotic storage / retrieval vehicle The vehicle's local processor detects the presence of a sensor above the storage unit below. The load status sensor is checked for the four load status sensors. Positive detection signals from these devices confirmed the presence of storage units at all four corners of the landing area. to ensure that the storage unit is fully received at the landing area and properly squared up. It is recognized.

[0097] One embodiment uses a reflective optical sensor for load condition detection, and the sensor's light beam emitter The light energy transmitted by the storage unit is transmitted to the storage device when the storage unit is present on it. It is reflected off the underside of the unit and returns to the sensor's optical receiver, correctly determining its presence. Calculating the time of flight (i.e., the time between the emission of a light pulse and the detection of a reflected light pulse) (d) Reflection and exposure from the underside of a storage container seated in the landing area of ​​a robotic storage / retrieval vehicle The sensor can be used to distinguish between the reflected light and the reflection of another surface at a distance. Type, e.g., limit switches that are mechanically activated by contact with the underside of a storage unit or by the presence of cooperating magnetic elements on the underside of the storage unit that emit a detectable magnetic field. It will be appreciated that a magnetic sensor that includes a moving part may be used. To avoid this, or to accommodate magnetic integration or other special configurations of the storage unit, optical sensors may be required. In some cases, a censor may be preferable.

[0098] As disclosed above, the third-party warehouse used to store inventory items at order fulfillment centers The dimensional grid structure organizes orders that are fully or partially completed within the same inventory storage grid structure. Figure 22 shows an example of an inventory storage system of the type shown in Figure 2. A separate 3D sorting / buffer grid is shown that can complement the grid. The incoming supply stock loaded into the pallet is removed from the pallet and stored in the stock storage grid shown in Figure 2. 22. The sorting / buffer grid structure 200 is It features the same three-dimensional framework as the inventory storage grid, thus forming a storage column and two To define the upright shaft between the track layouts, matching upper and lower track layouts are and an array of upright frame members between the robotic storage / retrieval vehicles, each Horizontally across the track layout and vertically across the shaft between the two track layouts However, the sorting / bagging The storage locations within the grid 200 include orders picked from the inventory grid, such as: The robots are controlled by a central computer control system, For example, through the same computer control system shared by the inventory storage grid and wirelessly controlled.

[0099] In the illustrated example of FIG. 22, the upper track layout of the sorting / buffer grid 200 is The incoming shipping container 204 is loaded onto the robotic storage / retrieval vehicle in the upper track layout. and is provided by a plurality of capture stations 202 arranged in cooperation therewith. Each intake station sorts a series of arriving shipping containers into 20 buffer grids. 0, and a robot storage / The sorting vehicle 14 is lifted up at its periphery by a distance equal to or slightly exceeding the height of the pick-up vehicle 14. Each component is slightly elevated above the upper track layout of the grid 200. Thus, the exit of each intake conveyor 206 is aligned with the upper track level. The landing area of ​​the robotic storage / retrieval vehicle when it enters the layout The intake conveyor is thus located at or above the upper horizontal reference plane. A pickup aligned with the exit end of the intake conveyor on the periphery of the block layout. A shipping container entering the landing area of ​​one of the robotic storage / retrieval vehicles at the push pot The tena can be slid or dropped.

[0100] As shown, one or more intake stations are in an upper track configuration. Any one or more of the perimeter sides may be provided, but all intake stations are Located on the common side of the upper track arrangement closest to the on-site inventory storage grid where the cargo container arrives Alternatively, the combined order items may be sorted at the stock storage grid work station. / One or more intermediate packaging stations that are then packaged before being sent to the buffer grid 200 However, if two grids are shared, they may be on the common side of the upper track configuration closest to the grid. It should be understood that the equipment does not have to be located in a designated facility.

[0101] The lower track layout of the sorting / buffer grid 200 is 2. cooperate with the bot storage / retrieval vehicle to unload the outgoing shipping container 210 The output is provided by a plurality of output stations 208 arranged in a row. The facility queues a series of outgoing shipping containers and forwards them to a location further downstream in the facility, e.g. If available, transport the container to the final packing area or loading bay where it will be loaded onto the shipping vehicle. The inlet end of each output conveyor 212 may include a lower When entering the track layout, there is a landing area for the robot storage / retrieval vehicle. The conveyor is thus positioned at or slightly below the horizontal plane of the inlet end of the conveyor. The drop-off spots are located on the periphery of the lower track layout aligned with The robotic storage / retrieval vehicle outputs the shipping container from the robotic storage / retrieval vehicle. It can be slid or lowered onto the entrance end of the conveyor. One or more output stations are , may be provided on any one or more peripheral sides of the upper track layout. Illustrated examples are, for example, A pair of loading bays, optionally located on opposite sides of the sorting / buffer grid 200, At least two reverses of the lower track layout are provided to feed the packing area respectively. It features an output station on the opposite side.

[0102] Each arriving shipping container is assigned to this pick-up task by a computer-controlled system. Pickup from one pick-up station by assigned robotic storage / retrieval vehicle The storage location can then be accessed through the respective shaft. Available (currently unoccupied) storage locations in the sorting / buffer grid 200 and left in this storage location for later retrieval. Instead of commanding a robotic storage / retrieval vehicle to store an arriving shipping container, The computer controlled system can then immediately detect the location of the shipping container in the loading bay or packing area. The shipping container is sent to one of the output stations based on the need or availability at the A robotic storage / retrieval vehicle may be commanded to make direct delivery.

[0103] A computerized control system manages these storage options for picked-up shipping containers. When selecting between the sorting / bagging and direct output options, if the configuration container is already Compare the orders associated with that shipping container with other orders entered in the buffer grid 200. Additionally or alternatively, you can check the order priority of the picked up order. If the shipping container is only a component of a larger overall order, the shipping Whether you store the container or deliver it directly to an output station depends on the bigger picture. Other shipping containers that fulfill the remainder of the order are also present in the sortation / buffer grid 200. Based at least in part on whether a The entire order is either present or about to be present and there are other higher priority orders available. If not, the currently picked up container will be automatically The order is sent directly to the appropriate output station to which it is assigned. Containers are removed from their respective storage locations in the sortation / buffer grid 200; If it is already there, it is delivered to the same assigned output station, Or, other configuration containers are currently in the input station or will soon be present. If so, the imminent pickup and direct delivery to that output station will be assigned for delivery.

[0104] One particular example of an application that would benefit from the combination of two 3D grids is e.g. retail. A wide variety of retail items for adults are available at specific aisle sections or at stores that cater to specific products. Grouping from the stock storage grid according to other identifiable sub-areas of the retailer's store layout This is an aisle-based or similar location-based kitting operation where items are picked up by group. Different groups are packed into different shipping containers, and such selected items As each group of products is picked and packed, a temporary storage (i.e. buffer) is used. The inventory storage grid, its connected work station, or any subsequent packing station further downstream in the inventory storage grid. The shipping containers are sorted / buffered at a certain point in time. arrives at the destination, one or more of the containers received first will be shipped to the destination, and the remaining containers received afterwards will be shipped to the destination. As the shipment may arrive much sooner than the original shipment, previously received packages may be delayed by at least The remaining containers are either received by the sorting / buffer grid or will be received shortly. They are temporarily stored (i.e. buffered) in the sorting / buffer grid until they are available. At such times, the first shipping container received that was previously buffered will be sorted / bagged. The products are taken from their respective storage locations in the grid 200 and consolidated (e.g., palletized) The robots are then shipped to retailers via one or more robotic storage / retrieval vehicles for The ready and completed orders are delivered to a common output station.

[0105] However, this is one non-limiting example of the usefulness of the sorting / buffer grid 200. By way of example only, its use is in accordance with the present invention and the applicant's published PCT application WO2016 / 17 For use in inventory storage solutions that specifically use the three-dimensional grid structure employed in 2793 Also, aisle-based kitting for retailers is just one example. A corridor-based or similarly mapped organization with distinct identifiable sub-regions Non-retail customers who have a similar layout can benefit from kitted delivery as well. This includes storing incoming raw materials or prefabricated components from external suppliers in bulk. The manufacturer may include a manufacturer of a kitted shipping container, where the kitted shipping container is a raw material or prefabricated construction. On-site manufacturing, where components are distributed across manufacturing stations within one or more facilities The kitting approach also allows the manufacturing station itself to Depending on the supply needs of such stations, they may be combined into one product line. Different stages or full or partial assembly stages of two different product lines The difference in the direction to which the kitted material or component is directed, whether or not it is a It may also be used when the regions are distinct sub-regions.

[0106] In another example, such manufacturing facility may store the stock units into which the kits are delivered at a manufacturing facility of the same facility. With or without a downstream sorting / buffer grid 200 to feed the manufacturing station. Regardless of the above, the inventory storage grid in Figure 2 is used for kitting of raw materials and / or components. The system may have a supervisor on-site.

[0107] As mentioned above, the computer controlled systems referred to in this specification include one or more computers. A computer processor and associated therewith for performing various related tasks as described herein. and instructions executable by said one or more processors to perform the and a non-transitory computer readable memory having stored therein a grid of cubic pixels. Navigation through the original storage structure and through the work stations connected to it In a grid-like three-dimensional storage structure for controlling and by robotic storage / retrieval vehicles Controlling the deposit and removal of storage units to and from storage locations Generate and transmit command and communication signals to a fleet of robotic storage / retrieval vehicles for and one or more databases of a computer control system to said one or more processors. Priority for storage units to be retrieved based on order data accessed by the This includes the creation and allocation of

[0108] As described above, various modifications can be made to the present invention, and the same can be obviously greatly improved. Since many different embodiments may be made, all matter contained in the accompanying specification is to be construed without limitation. It is intended to be illustrative only and not definitive.

Claims

1. one or more storage / retrieval vehicles; A two-dimensional area is occupied, and the one or more storage / retrieval vehicles move in two directions on the two-dimensional area. a grid-like under-track layout that is transportable to the A second track layout is disposed above the grid-like lower track layout. A plurality of storage columns distributed in a 3-dimensional area, the plurality of storage columns being arranged so as to overlap each other. Each column has storage locations for arranging and storing storage units within it. and a storage unit is sized to be mounted in the storage column at the storage location or in the storage area. by said one or more storage / retrieval vehicles for placement or removal from the pipeline location. Multiple storage columns, each of which is accessible by A three-dimensional structure comprising: the lower track layout along which the three-dimensional structure and the storage columns are distributed; At least one work station located outside the two-dimensional area of ​​the The work station is linked to the grid-like lower track layout by a long track. The one or more storage / retrieval vehicles may be connected to the work station and the underrail. and a road layout, thereby connecting said storage location and said work station. The transportation of said storage units to and from the facility is entirely by said one or more storage / retrieval vehicles. At least one work station, A storage system comprising:

2. The work station may include one or more The storage system of claim 1 , provided solely by the storage / retrieval vehicle.

3. The extension track is connected to the lower track of the three-dimensional structure at two opposing ends of the extension track. connected to the layout, whereby each storage / retrieval vehicle is connected to one end of the extension track. and re-enters the three-dimensional structure at the other end of the extended trajectory.

3. The storage system of claim 1 or 2, wherein the extension track can be traversed in any direction.

4. 4. The method according to claim 1, wherein the extension track is at least partially enclosed. Storage system as described.

5. The extension track extends from an inlet located at or adjacent one end of the extension track to a Passing through said work station through an exit located at or adjacent to the opposite end The storage system according to claim 1 .

6. The work station is located on the extension track extending from the grid-like lower track layout.

6. A storage system as claimed in any one of claims 1 to 5, comprising an enclosure to the road.

7. The work station is provided by the extension track, and the vehicle is supported by the work station. When the storage / retrieval vehicle reaches the access opening of the storage / retrieval vehicle, the storage / retrieval vehicle 10. The storage unit according to claim 1, further comprising an access opening for accessing the storage unit mounted on the storage unit.

7. A storage system according to any one of claims 6 to 6.

8. The work station includes a top plate having the access opening therethrough, and the extension track includes The storage system of claim 7 running under the top plate.

9. a sensing mechanism operable to detect insertion of an operator's hand at the access opening. The storage system according to claim 6 or 7.

10. The sensing mechanism may be configured to sense the presence of the access opening while the presence of the access opening is detected. and operable to prevent movement of the storage / retrieval vehicle on the track extension of claim 1. Item 10. The storage system according to item 9.

11. The sensing mechanism detects the current task to which a given storage and retrieval vehicle is assigned by detecting a detection counter. The predetermined storage / retrieval vehicle is removed from the access opening until the quantity of the storage / retrieval vehicle is equal to the quantity of the A storage system according to claim 9 or 10, operable to prevent separation. 。

12. The at least one work station is connected to the grid by a respective extension track.

2. The method of claim 1, further comprising:

12. A storage system according to any one of claims 1 to 11.

13. Sequencing groups of storage units from said three-dimensional structure to said work stations. at least one processor configured to coordinate the delivery of the (a) transferring said storage units from each of said storage locations to a plurality of storage / retrieval vehicles; generating a signal to indicate removal; (b) directing the plurality of storage / retrieval vehicles to transport the storage / retrieval vehicles to the extended track in a particular order; and a signal directing the vehicle to navigate said three-dimensional structure in a manner that coordinates the arrival of the vehicle. generating The system of claim 1 , comprising:

14. At least one processor, wherein step (b) is From among them, a first storage / retrieval vehicle having a higher priority than the second storage / retrieval vehicle. and the first storage / retrieval vehicle is adapted to access the grid-like lower track layout. While being transported along the extension, the second storage / retrieval vehicle is on the extension track. to park itself in said three-dimensional structure in a parking spot that is unobstructed by the and generating a signal to:

15. The three-dimensional structure is disposed above the grid-like lower track layout. a plurality of upright shafts spaced and distributed across said two-dimensional area of ​​the outlet; wherein the storage locations of each of the storage columns are accessible by one or more storage / retrieval vehicles therethrough. 1 or 2, each of which is adjacent to one of the upright shafts accessible by 15. The system according to any one of claims 14 to 14.

16. one or more storage / retrieval vehicles; occupying a two-dimensional area, said one or more storage / retrieval vehicles moving in two directions over said two-dimensional area; Grid-like track layout and above or below a grid-like track layout, A plurality of storage columns distributed over the entire dimensional area, overlapping each other. Each column, which has a plurality of storage locations arranged therein, is configured to determine the arrangement and size of the storage units therein. and sizing said storage unit to accommodate said storage location in said storage column. said one or more storage / retrieval locations for placement or removal at or from said storage location; a plurality of storage columns, each of which is accessible by a vehicle; A three-dimensional structure comprising: Outside the two-dimensional area of ​​the track layout within which the storage columns are distributed At least one work station; Equipped with wherein a front between at least one work station and a storage location in the three-dimensional structure; The transportation of the storage units is performed solely by the one or more storage / retrieval vehicles. 、 Storage system.

17. Sequencing groups of storage units from said three-dimensional structure to said work stations. at least one processor configured to coordinate the delivery of the (a) transferring said storage units from each of said storage locations to a plurality of storage / retrieval vehicles; generating a signal to indicate removal; (b) transmitting the plurality of storage / retrieval vehicles to the work stations in a particular order; and directing the system to navigate said three-dimensional structure in a manner that coordinates the arrival of storage / retrieval vehicles. generating a signal to The system of claim 16, comprising:

18. At least one processor, wherein step (b) is identifying a first storage / retrieval vehicle having a higher priority than a second storage / retrieval vehicle, It can be directed to park itself in a 3D structure in a parking spot that is unobstructed for movement. and generating a signal indicative of the detected temperature.

19. The three-dimensional structure may be arranged above or below the grid-like lower track layout. a plurality of upright shafts spaced and distributed within the two-dimensional area of ​​the layout; The storage locations of each of the storage columns are accessed by one or more storage / retrieval vehicles.

17. The method according to claim 16, wherein the upright shafts are adjacent to each other and accessible through the upright shafts.

19. The system of any one of claims 18.

20. one or more storage / retrieval vehicles; Three storage areas sized to accommodate the placement and storage of storage units therein. a three-dimensional structure having a three-dimensional array; A selected storage unit from said storage location is transported by said one or more storage / retrieval vehicles. and at least one work station that is portable and can be moved around the work station. wherein each work station is a station through which the one or more storage / retrieval vehicles are driven; a portable enclosure and when the vehicle reaches the access opening of the work station The enclosure is accessible to a storage unit mounted on one of the storage / retrieval vehicles. and an access opening for Storage system.

21. The enclosure has an entrance and an exit at each end, and is accessible by one of the storage / retrieval vehicles. and moving through said access opening during movement between said inlet and said outlet. The storage system according to claim 20 .

22. The work station includes a top plate having the access opening therethrough, and the enclosure includes the 22. A storage system according to claim 20 or 21, extending below the top plate.

23. a sensing mechanism operable to detect insertion of an operator's hand at the access opening.

23. The storage system according to any one of claims 20 to 22.

24. The sensing mechanism may be configured to sense the presence of the access opening while the presence of the access opening is detected.

24. The storage / retrieval vehicle of claim 23, operable to prevent movement of the storage / retrieval vehicle at the Storage system.

25. The sensing mechanism detects the current task to which a given storage and retrieval vehicle is assigned by detecting a detection counter. The predetermined storage / retrieval vehicle is removed from the access opening until the quantity of the storage / retrieval vehicle is equal to the quantity of the 25. A storage system according to claim 23 or 24, operable to prevent separation. Hmm.

26. Transporting the store unit between at least one of the work stations and the storage location.

26. The method according to claim 1, wherein the transportation is performed exclusively by the one or more storage / retrieval vehicles. A storage system according to any one of claims 1 to 4.

27. The storage system is between the three-dimensional structure and the at least one work station.

27. The storage system of any one of claims 1 to 26, which does not include any conveyor operating at Stem.

28. The storage unit is transported to the at least one storage / retrieval vehicle by the one or more storage / retrieval vehicles.

28. A storage system according to any one of claims 1 to 27, Stem.

29. For a goods-to-person fulfillment system A work station, the work station comprising: a defined path along which retrieved storage units are conveyed when the work station is in use; an enclosure extending at least partially around the defined path; A given storage unit traveling along the defined path arrives at the access opening. an access opening through said enclosure, said access opening being accessible at times; a sensing mechanism operable to detect insertion of an operator's hand at the access opening; A work station comprising:

30. The sensing mechanism may be configured to sense the presence of the access opening while the presence of the access opening is detected. and operable to prevent movement of said predetermined storage unit on a predefined path in said section.

30. The work station of claim 29,

31. The sensing mechanism detects whether the detection counter is a current pick number that is assigned to a given storage unit. The predetermined storage unit is filled with the storage unit until it is equal to the quantity for the king or replenishment task. Operable to prevent movement away from the access opening according to claim 29 or 30 The storage system described in.

32. one or more storage / retrieval vehicles in which the storage units are transported along the defined path; A work station according to any one of claims 29 to 31 in combination.

33. one or more storage / retrieval vehicles; A two-dimensional area is occupied, and the one or more storage / retrieval vehicles move in two directions on the two-dimensional area. A grid-like track layout that is transportable to above or below the grid-like track layout, A plurality of storage columns distributed within a dimensional area and arranged so as to overlap each other. Each column, which has a plurality of storage locations, is configured to accommodate the placement and storage of storage units therein. Multiple storage columns that are sized to accommodate your needs; and The secondary grid of the track layout is located above or below the grid of the track layout. A plurality of upright shafts distributed within the storage area, Each storage column adjacent to a respective one of the upright shafts passing through the location includes a storage Placing or removing storage units into or from said storage locations in a column a plurality of upright shafts accessible by one or more storage / retrieval vehicles for storing and retrieving 、 A grid-like three-dimensional structure comprising: A set of detectable markers and a sensor operable to detect the detectable markers wherein either the detectable marker or the sensor is a grid. A grid-like track above or below an upright shaft within a grid-like three-dimensional structure. The detectable marker or a second one of the sensors is mounted on the storage and retrieval vehicle; A set of cameras and a set of sensors, Equipped with Here, any one of the storage / retrieval vehicles is During the arrival at each of the designated locations above or below the target shaft, The detection of each marker by the sensor is used to automatically detect and locate said storage / retrieval vehicle as needed. before transitioning said storage / retrieval vehicle from said grid-like track layout to a target shaft. Check alignment of both target shafts and adjust if necessary. Storage system.

34. The detectable markers are arranged in the grid-like three-dimensional structure in the grid-like trajectory layout. The sensor is statically supported at or near the spot on the support.

34. The system of claim 33 mounted on a tube / removal vehicle.

35. The system is configured such that the storage / retrieval vehicle is located below or above the target shaft. While traveling to each spot, the storage / retrieval vehicle passes through Additional spots located at or near each other spot in the grid-like three-dimensional structure and using the results of said scanning to store said / Dynamically adjust the movement instructions in which the picking vehicle is operating to find the picking target below or above the target shaft.

35. The method of claim 34, further configured to more precisely target each spot. The system described.

36. Each sensor has a field of view that exceeds the size of the detectable marker and the detectable marker is aligned with the target system. The storage / retrieval vehicle is expected to be in proper alignment with the shaft. an image capture device intended to encompass a predetermined location, the system comprising: the location of each of said markers within the field of view and a predetermined sub-field of the field of view in which each of said markers is expected; The method is configured to check for a match between the target shuffle region and the target shuffle region, whereby the match is 36. The method of claim 33, further comprising:

3. The system according to claim 1 .

37. Method for controlling the positioning of one or more storage / retrieval vehicles in a grid-like three-dimensional structure - Patents.com The one or more storage / retrieval vehicles are arranged on a secondary track on a grid-like track layout. An upright shaft whose upright axis intersects with the grid-like track layout at the origin. [0023] In the third dimension, (a) Grid at a spot on or near a grid-like track layout Either a set of detectable markers or a set of sensors supported on a three-dimensional structure. a first one of the set of detectable markers positioned above or below the upright shaft; a second one of said sets of sensors mounted on said storage / retrieval vehicle; wherein the sensor is operable to detect the detectable marker; 、 (b) one of the storage / retrieval vehicles is above or below a defined target shaft; During arrival at each of the locations, one of the storage / retrieval vehicles will have a detectable marker. using one of the sensors to detect one of the mosquitoes; (c) detecting a marker in front of the storage / retrieval vehicle using detection of the marker by one of the sensors; Before attempting a transition from said grid track layout to a target shaft, and checking the alignment of the vehicle with the target shaft and adjusting it if necessary. A method comprising:

38. The detectable markers are located at or attached to the spots of the grid-like trajectory layout. The sensor is statically supported within the grid-like three-dimensional structure near the storage / retrieval device.

40. The method of claim 37, wherein the method is carried out on an export vehicle.

39. The storage / retrieval vehicle is located at each spot below or above the target shaft. while traveling toward the other spots that the storage / retrieval vehicle passes through during said travel. Scanning additional detectable markers located in a grid-like three-dimensional structure at or near the and using the results of said scan to determine which transfer vehicle said storage / retrieval vehicle is operating in. Dynamically adjusts movement instructions to more precisely target individual spots below or above the target shaft 40. The method of claim 38, further comprising the step of:

40. Step (b) uses the sensor to capture a digital image from a field of view that includes the marker. and step (c) capturing the position of each of the markers within the field of view. Checking for correspondence between the position of the marker and a predefined sub-region of the field of view where each marker is expected. and whereby the matching determines the appropriateness of the storage / retrieval vehicle for the target shaft.

40. The method of any one of claims 36 to 39, further comprising:

41. one or more storage / retrieval vehicles; A lower track layout capable of carrying one or more storage / retrieval vehicles; and a plurality of storage columns above the lower track layout, each column being spaced apart from the other; A storage area is provided with multiple storage locations arranged so that each storage unit can and a storage unit that is sized to accommodate placement and storage of items in the storage compartment. for placing or removing the ram in or from said storage location, respectively. a plurality of storage columns, each of which is accessible by said one or more storage / retrieval vehicles; A three-dimensional structure comprising: The lower track layout from which the storage / retrieval vehicle moves upward. At the starting point of the out, any one of the storage / retrieval vehicles is placed on the lower rail level. each lift mechanism operable to lift the respective one of the components upwardly from the layout; A storage system comprising:

42. the three-dimensional structure includes an upright member extending upwardly from a starting point of the lower track; the upright frame members are upwardly traversable by the storage / retrieval vehicle; The system of claim 41.

43. The three-dimensional structure includes a drive element on the upright member, and the storage / retrieval vehicle has a front a drive element engageable with said drive element for conveying said storage / retrieval vehicle upwardly along said uprights; and a cooperating drive member thereon, the drive element of each upright member being adapted to drive the lower track layout. and each of the lift mechanisms for each of the storage / retrieval spots terminates at a high position above the and lifting one of the vehicles to said elevated position where said drive member engages said drive element.

43. The system of claim 42, operable to:

44. The drive element includes a rack of teeth, and the drive member includes a rotatably driven pinion wheel.

44. The system of claim 43, comprising:

45. The lower track layout may include one or more of the storage / retrieval vehicles over a two-dimensional area. said grid-like lower track layout occupying said two-dimensional area, 45. The system of any one of claims 41 to 44.

46. The three-dimensional structure includes a plurality of upright stations above the grid-like lower track layout. each of said upright shafts passing through said storage locations of said storage column; Each storage column adjacent to one of the storage / retrieval vehicles is accessible from the one or more storage / retrieval vehicles. The system of claim 45, wherein:

47. A storage / retrieval vehicle for transporting storage units in an automated storage system. The storage / retrieval vehicle is of a similar size and shape to the underside of one of the storage units. a landing area having a shape similar to that of the landing area; and a set of load state sensors located adjacent to the periphery of the landing area. Thus, the load status sensors detect the load status of the one storage unit from below. Detection is performed to determine whether the one storage unit on the platform is fully loaded and properly positioned. while verifying that the load status sensor is aligned, and Detection of the underside of one of the containers is performed on the platform of one of the storage units. Storage / retrieval vehicles exhibiting improperly loaded or improperly aligned conditions.

48. 48. The storage / retrieval vehicle of claim 47, wherein said load condition sensor is an optical sensor.

49. The removed storage unit is transported from the storage system to the workstation entrance or intake. A method of providing in an ordered manner to a point, comprising: (a) occupying a two-dimensional area, over which one or more storage / retrieval vehicles are located within said two-dimensional area; a grid-like track layout that allows transport in two directions; and above or below a grid-like track layout, a plurality of storage columns distributed within a dimensional area, each column having a storage unit number of storage units therein; Multiple storage areas arranged on top of each other in sizes that accommodate placement and storage each of said storage columns for storing storage units to or from said storage locations; accessible by one or more storage / retrieval vehicles to place or remove ,multiple storage columns, and having a three-dimensional structure comprising: (b) a storage / retrieval vehicle for delivery from each storage location to said work station; causing retrieval of each storage unit designated for the (c) within the three-dimensional structure, the work station of the removed storage unit. Coordinating ordered delivery to an ingress or intake point; A method comprising:

50. Step (c) comprises transporting one or more of said storage / retrieval vehicles to said work station. said three areas in a non-obstructing relationship to said entrance or intake point of said dimensional structure, thereby parking the vehicle in a higher priority position in the determined delivery order. one or more other storage / retrieval robots are connected to the one or more parked storage / retrieval vehicles.

50. The method of claim 49, wherein the inlet or intake point is accessible without interference from Law.

51. The first one in a non-obstructing relationship to the inlet or intake point of the work station. The one or more areas deliver their respective store units to the work stations and then The robotic storage / retrieval vehicle re-enters the lid-like three-dimensional structure, and the work station 51. The method of claim 50, wherein the outlet of the valve is in a non-inhibitory relationship to the outlet of the valve.

52. The one or more regions in non-obstructive relationship to the entry or entry point are 52. The method according to claim 50 or 51, further comprising one or more parking spots on a lidded track layout. The method described.

53. The one or more parking spots may be used by the storage / retrieval device to access the storage location. The designated landing and departure spots of said grid-like track layout where vehicles enter and exit Any of the above grids other than the drop-down spots, drop-down spots and / or climb-out spots.

53. The method of claim 52, further comprising selecting from unoccupied spots of a dovetailed track layout. The method described.

54. Step (c) is a step of determining whether the storage / retrieval vehicle arrives at the grid-like track layout. The shortest available distance from the location of the work station to said entrance or intake point The storage / retrieval is performed from an area not occupied by a vehicle located on a travel path of the distance.

54. Any of claims 49 to 53, including selecting a particular area in which to park one of the vehicles.

13. The method according to claim 1.

55. The ordered delivery in step (c) comprises: (i) the robotic storage / retrieval vehicle is tasked with retrieving each of the storage units; The assigned order, (ii) each of said storage units is retrieved by said storage / retrieval vehicle; The order of removal, (iii) the landing order in which the storage / retrieval vehicles arrived at the grid-like track layout; Introduction, (iv) the approach sequence in which the storage / retrieval vehicles arrived near the work station; 55. Any one of claims 49 to 54, wherein the order is inconsistent with at least one of The method according to

56. The ordered delivery is performed by selecting one of the orders of allocation, pick-up, landing, and approach.

56. The method of claim 55, wherein the order is inconsistent for at least two of:

57. The ordered delivery is performed by selecting one of the orders of allocation, pick-up, landing, and approach.

56. The method of claim 55, wherein the order is inconsistent for at least three of the following:

58. The sequenced delivery includes all of the sequences of allocation, pick-up, landing, and approach.

56. The method of claim 55, wherein the order is inconsistent for all of the

59. 56. The method of claim 55, wherein the ordered delivery is out of sequence with respect to the allocation order.

59. The method of any one of claims 1 to 58.

60. 56. The ordered delivery is out of sequence with respect to the retrieval order.

60. The method of any one of claims 1 to 59.

61. 55 to 59. The ordered deliveries are out of sequence with respect to the arrival order.

61. The method of any one of claims 60 to 60.

62. 55 to 59. The ordered delivery is out of sequence with respect to the access order.

61. The method of any one of claims 61 to 61.

63. The three-dimensional structure may include a plurality of tracks positioned above or below the grid-like track layout. and each storage column is adjacent to a respective one of the upright shafts. and wherein the storage locations of the storage column are passed through by the one or more storage / retrieval vehicles.

63. The method of any one of claims 49 to 62, wherein the method is accessible by

64. The storage system comprises a storage system according to any one of claims 1 to 36 and 41 to 46.

64. The method of any one of claims 49 to 63, which is a storage system.

65. 1. A storage system comprising: occupying a two-dimensional area, and over which one or more storage / retrieval vehicles are located on said two-dimensional area. A grid-like track layout that allows transport in two directions; and above or below the grid-like track layout, A plurality of storage columns distributed in a 3-dimensional area, the plurality of storage columns being arranged so as to overlap each other. Each column has a number of storage locations, each of which is responsible for the arrangement and storage of storage units within it. and a storage unit is mounted in the storage column at the storage location or in the storage area. and (b) storing or removing the item from the storage site by said one or more storage / retrieval vehicles. Multiple storage columns, each of which is accessible A three-dimensional structure comprising: Outside the two-dimensional area of ​​the track, at the entrance or intake point of the work station at least one access point for receiving a storage unit delivered to the A work station; Ordering of storage unit groups from a three-dimensional grid structure to work stations Configured to coordinate deliveries, (a) having a plurality of storage / retrieval vehicles retrieve said storage units from respective storage locations; generating and transmitting a signal instructing the device to output the (b) A number of storage / retrieval vehicles are directed to the entrance of a work station in a specific sequence. A grid-like three-dimensional storage system is provided in a manner that coordinates the arrival of storage / retrieval vehicles at storage points or retrieval points. generating and transmitting a signal directing navigation through the structure; At least one processor including: A storage system comprising:

66. The at least one processor further comprises: The first storage / retrieval vehicle of the two has a higher priority than the second storage / retrieval vehicle. identifying a vehicle and determining whether the first storage / retrieval vehicle is at an entrance or exit of a work station; While being transported to the retrieval point, the second storage / retrieval vehicle is a parking spot in a non-obstructive relationship to the entrance or intake point of the facility; generating and transmitting a signal to instruct the vehicle to park itself at the structure.

66. The system of claim 65, configured to:

67. The at least one processor further comprises: and the robotic storage / retrieval vehicle is in a non-obstructing relationship with the exit of each of the storage units. After delivery of the knit to the work station, the knit re-enters the three-dimensional structure from among the locations. and selecting a parking spot.

2. The system according to claim 1 .

68. The at least one processor may further comprise a processor for determining whether or not step (b) is performed based on a designated landing spot, an exit spot, or a combination of the designated landing spot and the exit spot. a departure spot, a drop-off point for said storage / retrieval vehicles to enter and exit said grid-like track layout; The parking spot may be selected from among locations other than the drop-down spot and / or climb-out spot. The method of claim 14, 18, 66 and 67, further comprising: selecting a spot.

2. A system as described in any one of claims 1 to 11.

69. The at least one processor may further comprise a processor for receiving the at least one The grid track layout is used to access said entrance or intake points from the point of arrival. The parking area is selected from among areas not occupied by vehicles that are located on the shortest available travel route.

69. The method of claim 66, further comprising: selecting a spot. The system described in

70. The three-dimensional structure may include a plurality of tracks located above or below the grid-like track layout. and each storage column is adjacent to a respective one of the upright shafts and in front of the The storage locations of the storage column are accessible by the one or more storage / retrieval vehicles therethrough.

70. The system of any one of claims 65 to 69, wherein the system is accessible via

71. 1. A method for preparing and buffering order shipments, comprising: (a) a plurality of storage / retrieval vehicles; A two-dimensional area is occupied by a storage / retrieval vehicle which moves in two directions over the two-dimensional area. Portable grid track layout and A two-dimensional grid of tracks above or below the grid of tracks. A plurality of storage columns distributed within the area, the plurality of columns being arranged so as to overlap each other. Each column with storage location corresponds to the placement and storage of said one or more items therein. each of which is sized to store an item in the storage column or in the storage location of the storage column. Accessible by one or more storage / retrieval vehicles for placement or removal from the pipeline site. A plurality of storage columns, A three-dimensional structure comprising: Items removed from storage and transported to the grid track layout are The storage / retrieval vehicle is transported along a bed-like track layout to the entrance of the work station. at least one work station that is deliverable by moving the having a grid-like three-dimensional storage system comprising: (b) assigning to said group of storage / retrieval vehicles the specific items required to fulfill an order; and transporting the retrieved items to said grid-like trajectory layout. and further conveying the work station to an entrance thereof. (c) performing a particular set of items together, either completely or partially, at a work station; forming a fulfilled order and placing said fully or partially fulfilled order in a container. P, and (d) the container is loaded into one of the storage / retrieval vehicles at a work station; In this state, one of the storage / retrieval vehicles is moved to one of the storage locations, and the container depositing the item in one of said storage locations for further completion or shipping at a later time; storing the fully or partially fulfilled orders; A method comprising:

72. 8. The container is a shipping container in which the order is shipped to a remote destination.

1. The method according to claim 1.

73. The fully or partially fulfilled order is a fully fulfilled order and the shipping cost is The container is ready for shipment upon subsequent removal from said three-dimensional storage system.

73. The method of claim 72, which is a fully sealed and labeled shipping container.

74. The item placed in the storage location is contained in the storage unit, and step (b ) to retrieve a specific set of storage units that contain a specific set of items and delivering a particular collection of storage units to the entrance of the work station.

74. The method of any one of claims 71 to 73.

75. Step (c) comprises: storing the particular set of items in the particular set of storage units; 75. The method of claim 74, comprising removing the at least a portion of the

76. Step (d) is to determine whether the particular set of items is stored in the same time period that the particular set of items was removed from the storage location. and loading the container into said one of said storage / retrieval vehicles in said storage unit of said type.

76. The method of claim 74 or 75, comprising:

77. The three-dimensional structure may include a plurality of tracks positioned above or below the grid-like track layout. and each storage column is adjacent to a respective one of the upright shafts. wherein said storage column locations are accessible by said one or more storage / retrieval vehicles.

77. The method of any one of claims 71 to 76, wherein

78. The at least one processor is operable to access a storage location by the storage / retrieval vehicle. The parking space is selected from among the spots in a non-obstructing relationship to the upright shaft of the three-dimensional structure being accessed.

70. Any of claims 14, 18 and 66 to 69 configured to select a car spot.

3. The system according to claim 1 .

79. 1. A sorting / buffering system for shipping containers, comprising: a loading area in which the storage / retrieval vehicles are positioned to selectively transport shipping containers; one or more storage / retrieval vehicles, each having occupying a two-dimensional footprint, on which one or more storage / retrieval vehicles reside within said two-dimensional footprint A grid-like track layout that allows transportation in two directions at the top of the original area, A two-dimensional footprint of the grid-like track layout is placed above or below the track layout. A plurality of storage columns present in spaced apart distribution within the print, each column overlapping one another. Multiple storage units are arranged side by side and sized to accommodate the placement and storage of shipping containers. a plurality of storage columns each having a storage location; A two-dimensional footprint of a grid-like track layout is placed above or below the track layout. the third storage / retrieval vehicle passing through the third storage / retrieval vehicle; a plurality of upright shafts that can enter and exit said grid-like track layout in any dimension; adjacent to each one of the upright shafts through the storage locations of the storage column, Each storage column in the storage system may include a shipping container to or from the storage location of the storage column. Accessible by one or more storage / retrieval vehicles to place or remove the tenna. Multiple upright shafts, A grid-like three-dimensional structure comprising: A sorting / buffer system comprising:

80. One or more intake stations where arriving shipping containers are loaded into said grid-like three-dimensional structure. and one or more grids into which outgoing shipping containers are loaded from said grid-like three-dimensional structure. and an output station on said input side, provides the grid-like three-dimensional structure at their different levels, system.

81. The grid-like track layout has storage columns and upright shafts below it. an upper track layout located at an upper level of the The lower track layout is located at the lower level where the storage column and upright shaft are located. and wherein the capture station and the output station each include the grid and providing a three-dimensional structure that is different from either the upper level or the lower level of the three-dimensional structure. The system of claim 80.

82. The intake station provides the upper track layout, and the output station 82. The system of claim 81, wherein the sub-levels provide the grid-like three-dimensional structure. Hmm.

83. The capture station is adapted to receive inputs at each level of the grid-like three-dimensional structure. When the vehicle is loaded, the upper reference plane is equal to or greater than the upper reference plane occupied by the loading area of ​​the storage / retrieval vehicle. The conveyor includes an intake conveyor having its outlet end located at a height equal to or higher than the intake conveyor, The outlet end of the intake station is connected to each of the levels of the grid-like three-dimensional structure. When an arriving shipping container enters the loading area of ​​said storage / retrieval vehicle, 83. The system of claim 81 or 82, arranged to supply a

84. The output station enters each level of the grid-like three-dimensional structure. Sometimes the lower reference level is equal to or greater than the lower reference level occupied by the loading area of ​​said storage / retrieval vehicle. an output conveyor having its inlet end located at a lower elevation than said The inlet end of the output station rests on each level of the grid-like three-dimensional structure. and receiving a shipping container exiting the loading area of ​​said storage / retrieval vehicle when entering said storage / retrieval vehicle.

84. A system according to any one of claims 81 to 83, arranged to:

85. The same facility as the buffer / sorting system is provided upstream of the buffer / sorting system. The buffer / sorting system is provided with the providing an incoming shipping container containing items to be picked from the inventory storage system; 79 to 84. A system according to any one of claims 79 to 84.

86. The inventory storage system is of the same type as that described in any one of claims 79 to 81. and a three-dimensional grid storage structure for storing the additional three-dimensional grid of the group, the three-dimensional grid storage structure being arranged in a lateral direction in three dimensions. and a group of one or more storage / retrieval vehicles each operable to interrupt the A combination of claim 85.

87. The buffer / sorting system may include multiple buffers each directed to a destination facility at different times. at least two of said shipping containers form a partial component of the entire order receiving a plurality of shipping containers containing items destined for different sub-regions of said destination facility; and One or more initially received shipping containers of the plurality of shipping containers are buffered. The shipping container is placed in each storage location of the grid-like three-dimensional structure of the sorting / sorting system. The remaining part of the buffer / sorting system is then received or approached by the buffer / sorting system. and temporarily storing said Only once the subsequent remainder of the shipping container is received or the buffer / accessing the sorting system and using at least one of said storage / retrieval vehicles to buffer the one or more initially received outputs from within the grid-like three-dimensional structure of the sorting / distribution system; removing the cargo container; The first received shipping container and the remainder of the shipping containers thereafter are consolidating the products into a single shipment for delivery to a local facility; For delivery to a destination facility where the space is divided into different identifiable sub-areas by 85. The system of any one of claims 79 to 84, including overall order bundling. A method using the

88. The extension track extends completely to the access point of the work station, A human or robotic worker at the station retrieves the storage / retrieval vehicle from the storage / retrieval vehicle. an access point to access a storage unit delivered to the access point; A storage system according to any one of claims 1 to 15.

89. The work station and the one or more storage / retrieval vehicles are configured to effect complete delivery of the storage unit to an access point of an application; Only one of the storage / retrieval vehicles allows a responsible human or robotic worker to 20. The storage unit according to claim 16, wherein the storage unit delivered thereto can be accessed. The storage system described in.

90. 3. The method according to claim 1, wherein at least some of the work stations do not have a conveyor.

89. A storage system according to any one of claims 8, 88 and 89.

91. 91. The method of claim 90, wherein all of the work stations do not include any conveyors. Storage system.

92. The work station is positioned such that the extended track is positioned below or near the access opening. at least one movement sensor operable to detect movement of the storage / retrieval vehicle on a sensing mechanism and a movement sensor, the sensing mechanism and the at least one movement sensor being and configured to terminate motion of the storage / retrieval vehicle upon positive detection by both the sensor and the sensor.

26. The storage system according to any one of claims 9 to 11 and 23 to 25.

93. Transmitting a movement command to said storage / retrieval vehicle; monitoring a state of the detection mechanism; The work stage is positioned at or adjacent to an access spot beneath the access opening. Monitor movement within the system Both a positive detection at the access opening and a detection of the movement within the work station. transmit an emergency stop signal to the storage and retrieval vehicle in the work station under the condition that 23. The method according to claim 9, further comprising a computer control system configured to: A storage system according to any one of claims 25 to 92.

94. The computer control system detects movement into and out of the access spot. The movement of the storage retrieval adjacent to the opposite side of the access spot is monitored so as to 94. The storage system of claim 93, configured as follows:

95. The computer control system identifies a storage and retrieval vehicle at the access spot. and (i) detecting said positive at said access opening and (ii) detecting said positive at said access spot. (iii) the particular presence at or in the access spot; and a lack of movement detected adjacent to the work station. Is the remaining line item quantity for an assigned task being performed on greater than zero? If so, it will be structured to decrease the quantity of the remaining line items.

95. The storage system of claim 93 or 94.

96. monitoring the status of the sensing mechanism; Retention at the work station, particularly at the access spot below the access opening Monitor the presence of tube removal vehicles; The remaining quantity of line items currently assigned to the above work stations is zero. Check for outstanding tasks larger than 2 At least determining the presence of the storage retrieval vehicle at the access spot; A set of conditions including confirmation of said open task where the remaining line item quantity is greater than zero the computer configured to reduce the remaining line item quantity in response to a a computer control system; 92. A storage system according to any one of claims 9 to 11, 23 to 25 and 91.

97. The computer control system controls a human worker at the work station. The work station is configured to display instructions for assigned tasks. a human-machine interface, the computer control system and / or (b) a dynamically updated display of the number of lines remaining. If the quantity count is found to be zero, a count error is notified to a human operator. 95 or 96, configured to display at least one of a warning message 96. A storage system as described in 96.

98. movement of the storage unit along said defined path when under or near the access opening; A motion sensor operable to detect a motion of the at least one motion sensor, a sensing mechanism, and a and terminating movement of said storage unit upon positive detection by both of at least one of said movement sensors.

33. The method of claim 29, further comprising a movement sensor configured to Work station.

99. Send commands to control the movement of storage units; Monitor the state of the sensing mechanism; At or adjacent to an access spot below an access opening Monitor movement within the work station Both positive detection at the access opening and detection of the movement within the work station. a condition for transmitting an emergency stop signal to terminate the movement of the storage unit; Any of claims 29 to 32 and 98 in combination with a computer control system.

13. A work station according to claim 12.

100. The computer control system detects movement into and out of the access spot. In order to monitor the movement of the storage unit adjacent to the opposite side of the access spot, 100. The work station of claim 99, configured as follows:

101. The computer control system detects the specific presence of a store unit at the access spot. (i) the positive detection at the access opening; (ii) the positive detection at the access spot; and (iii) at or through said access opening. and configured to identify a combination of the detected absence of movement adjacent to the portion; The remaining line item quantity for an assigned task being performed at a work station Checks if it is greater than zero, and if so, the remaining line items above 101. A work station according to claim 99 or 100 for reducing quantity.

102. monitoring the status of the sensing mechanism; Storage units are provided at the work station, particularly in access spots below the access opening. Monitor whether the The above work station is currently assigned to a line item with zero remaining quantity. Check for outstanding tasks larger than 2 determining at least the presence of the storage retrieval vehicle at the access spot; A set of conditions must be met, including checking that the open task has a remaining line item quantity greater than zero. In response, a computerized control configured to reduce the remaining line item quantity. The operation of any one of claims 29 to 32 and 98 in combination with a control system. Station.

103. The computer control system assigns tasks to human workers at said work stations. The work station is configured to display instructions for the assigned task. a human-machine interface, the computer control system and / or (b) a dynamically updated display of the remaining line item quantities. If an item quantity count is found to be zero, the counting error is reported to a human worker.

2. The method of claim 1, further comprising: The storage system according to claim 01 or 102.

104. The system determines the location of the marker within the field of view and if a discrepancy occurs between them. and measuring an offset between the predetermined sub-region of the field of view of the target object and the predetermined sub-region of the field of view of the target object. and actuating said drive source for conveying the vehicle in a corrected direction with a corrected drive signal proportional to the speed of said drive source.

37. The system of claim 36, configured to:

105. The system includes applying the corrective drive signal to recheck the proper alignment.

105. The system of claim 104, configured to re-measure the offset after use.

106. 104. The method of claim 103, wherein the drive source is an on-board drive source of the storage / retrieval vehicle.

105. The system according to claim 105.

107. 107. The on-board drive source comprises a wheel motor of the storage / retrieval vehicle. The system described in

108. Step (c) includes determining the positions of the markers within the field of view and, in the event of a discrepancy therebetween, measuring an offset between a predetermined sub-region of the field of view; The proportional corrected drive signal is used to generate a drive source for transporting the vehicle in a corrected direction. and moving the sensor.

109. To recheck the proper alignment, the off-state drive signal is applied after application of the corrective drive signal.

109. The method of claim 108, further comprising remeasuring the set.

110. 110. The method according to claim 108 or 109, wherein the drive source is an on-board drive source of the vehicle. How to.

111. 4. The method of claim 1, wherein the on-board drive source comprises a wheel motor of the storage / retrieval vehicle.

110. The method according to claim 110.

112. A method for checking position accuracy in the movement of a vehicle along a route, comprising: and a series of detectable markers located at respective potential destinations of interest. The sensor, together with an image capture device mounted on both, is used to capture the image of the subject. and capturing a digital image from a field of view including the marker when the vehicle arrives at one of the destinations. determining the location of each marker in the field of view and the expected viewing angle of each marker; and checking for a match with a predetermined sub-region of the field, whereby said match indicates a suitable alignment of the vehicle relative to the target destination.

113. Checking for coincidence includes determining the locations of markers within the field of view and any discrepancies therebetween. measuring an offset between the predetermined sub-region of a final field of view, the method comprising: The corrected drive signal, which is proportional to the measured offset, is used to convey the vehicle in the corrected direction.

113. The method of claim 112, further comprising activating a drive source for driving the actuator.

114. To recheck the proper alignment, the off-state drive signal is applied after application of the corrective drive signal.

114. The method of claim 113, further comprising remeasuring the set.

115. 115. The method of claim 114, wherein the drive source comprises an on-board drive source of the vehicle.

116. 115. The system of claim 114, wherein the on-board drive source comprises a wheel motor of the vehicle. method.

117. The vehicle is a robotic storage and retrieval vehicle of an automated storage and retrieval system.

117. The method of any one of claims 112 to 116,

118. 1. A track-based vehicle having position accuracy monitoring, comprising: Each of the objects along the trajectory, each of which is statically positioned thereon, The present invention relates to a method for detecting a target object, the method comprising: and a vehicle configured to deliver along the track; and a vehicle mounted on said vehicle and configured to detect said marker when said vehicle arrives at one of said potential destinations; an image capture device configured to capture a digital image from a field of view including a position of each marker in a field of view and a position of the field of view where each marker is expected; Checking for a match with a predefined sub-area, whereby the match is stored against the target destination an image capture device that indicates proper alignment of the pick-up vehicle; An apparatus comprising:

119. The device detects the positions of markers in the field of view and the position of the markers in the field of view in the event of a discrepancy therebetween. measuring an offset between the predetermined sub-region and the 2. The method of claim 1, further comprising the step of: activating a drive source for conveying the vehicle in a corrected direction according to a corrected drive signal.

19. The apparatus described in 18.

120. The apparatus after application of the corrective drive signals to recheck the proper alignment.

120. The apparatus of claim 119, configured to re-measure the offset.

121. 121. The apparatus of claim 120, wherein the drive source comprises an on-board drive source of the vehicle.

122. 122. The method of claim 121, wherein the on-board drive source includes a wheel motor of the vehicle. Law.

123. The vehicle is a robotic storage and retrieval vehicle of an automated storage and retrieval system.

123. The method of any one of claims 118 to 122.

124. A local processor is provided on the storage / retrieval vehicle, The computer processor controls a loading route that pulls the storage unit to the robotic storage / retrieval vehicle. The load status of all the load state sensors in the set are checked as part of the and from which all or only a partial subset of said load state sensors receive positive detection signals.

49. The security device according to claim 47 or 48, configured to determine whether the security device has a security code. Tube / extraction vehicle.

125. Executing the method steps of any one of claims 108 and 112 to 117. A step executable by a local processor of a vehicle having a scanner thereon to detect the presence of the scanner. A non-transitory computer readable medium having stored thereon the statements and instructions.

126. Storage units to robotic storage / retrieval vehicles in automated storage and retrieval systems A method for verifying proper loading of a storage unit into a robotic storage / retrieval vehicle, comprising: As part of a loading routine, the robotic storage / retrieval vehicle's local processor 2. Using a processor, a front end of a similar size and shape is attached to the underside of the storage unit. A plurality of loads are positioned adjacent to the periphery of the landing area of ​​the robotic storage / retrieval vehicle. performing a status check on each of the status sensors; and determining from said status checks whether said load status sensor is determining whether all or only a partial subset of the sensors have a positive detection signal; This allows a full set of positive detection signals from all of the load state sensors to be read by the storage unit. confirming that the load is fully loaded and properly aligned and A partial subset of positive detection signals from only a specific subsection of the storage unit and identifying improperly loaded or improperly aligned.

127. 127. The storage / retrieval vehicle of claim 126 for carrying out the method steps. storing thereon statements and instructions executable by said local processor; Non-transitory computer-readable medium.

128. The at least one processor (a) a task for each line item of one or more received orders to be fulfilled at a work station; Generate assignments and each task assignment contains at least the a specification of each of the storage units, the three-dimensional structure for delivery to the work station; and a respective storage / retrieval vehicle for retrieving said respective storage unit. Includes identification of (b) transmitting a command signal to each of the storage / retrieval vehicles in the task assignment. and removing each of said storage units from their current storage locations to said work stations. Start shipping and delivery, (c) determining whether there is an available occupancy at said work station; (d) In response to the abovementioned identification of available occupancy, a station located outside and in front of the From the storage / retrieval vehicles assigned to deliver to the work station, Identifying the next highest priority storage / retrieval vehicle for calling to the station; (e) commanding the next highest priority vehicle to move to the work station; The present invention relates to a method for manufacturing a semiconductor device, comprising: The system is as follows:

129. The at least one processor, in step (e), one or more remaining storage / retrieval vehicles located outside the work station, 129. The system of claim 128, configured to instruct a vehicle to park.

130. The processor, in step (e), determines whether one of the remaining storage / retrieval vehicles is Complete the previous travel segment of that task assignment that ends outside of the workstation. The remaining storage / retrieval vehicles may be decommissioned only after receiving a confirmation signal from them that the decommissioning has been completed. and then instructing each of the remaining storage / retrieval vehicles to park. One of the two is a holding pattern that terminates in an available parking spot outside the work station.

130. The system of claim 129, wherein the vehicle is instructed to follow a route of travel of the vehicle.

131. The at least one processor, after step (e), Command all of said respective storage / retrieval vehicles to move to said work station. and configured to perform one or more repetitions of steps (c) through (e) until the 131. The system of any one of claims 128 to 130.

132. The processor, in step (d), For identification of any storage / retrieval vehicle belonging to said particular order from among the two, Using the identification of the specific order to which the previously entered storage / retrieval vehicle in the work station belongs and select the next highest priority vehicle from any storage / retrieval vehicles belonging to said particular order.

132. A system according to any one of claims 128 to 131 configured to select.

133. The at least one processor in step (a) determines the task allocation. and in step (d), the item-based prioritization of the items. and identifying a highest priority vehicle base based at least in part on the prioritization of the bases.

133. The system of any one of claims 128 to 132, configured to:

134. The at least one processor is adapted to receive or assign order-based priorities. and in step (d), at least in part, determining the order-based priority.

134. The method of claim 128, further comprising: identifying the highest priority vehicle in a The system is as follows:

135. The at least one processor, in step (d), allocates the orders to the plurality of orders. identifying the highest priority vehicle from among the storage / retrieval vehicles assigned to the storage / retrieval system; said identification of a high-speed storage / retrieval vehicle at least in part based on which of a plurality of orders is fastest; 135. The method of claim 128, further comprising: The system described in

136. The at least one processor, in step (d), allocates the orders to the plurality of orders. identifying said highest priority vehicle from among the storage / retrieval vehicles assigned to said highest priority vehicle; Identifying a prioritized storage / retrieval vehicle is based at least in part on the relative attention among multiple orders.

136. The method of claim 128, further comprising: system.

137. The processor, in step (e), Before ordering the movement of a vehicle to the work station, the next highest priority vehicle is first Both of them recognize the previous movement segment of the task assignment that ends outside the said work station. and configured to wait for a confirmation signal from said next highest priority vehicle indicating completion; Next, the robot is prompted to proceed to the work station by following the travel route to the work station. 128 to 130, configured to command a high priority storage / retrieval vehicle to 36. A system as described in any one of claims 36.

138. Steps (b) and (c) may be implemented in one or more processors of a computer control system. the automated steps being performed by In step (b), (i) for each line item of one or more received orders to be fulfilled at said work station; generating task assignments, each of the task assignments being at least one of the tasks assigned to the work stations; Each of the three-dimensional structures for retrieval from their current storage location. The specifications for each storage unit and the respective procedures for retrieving said respective storage units. including the identification of each storage / retrieval vehicle; (ii) sending a command signal to each of said storage / retrieval vehicles in said task assignment; to transfer the current location of each of said storage units to the work station. and In step (c), (iii) determining whether there is an available occupancy at said work station; And, (iv) responsive to said determination of available occupancy, positioning a location outside said work station; and a storage / retrieval vehicle assigned to deliver the work station to the front of the vehicle. Identifying the next highest priority storage / retrieval vehicle for calling to said work station. And, (v) commanding said next highest priority vehicle to move to said work station. And, 65. The method of any one of claims 49 to 64, comprising:

139. Step (v) also comprises storing one or more remaining storage / retention units located outside said work station. and commanding a pick-up vehicle to park outside the work station. The method of claim 138.

140. commanding parking of each of said remaining storage / retrieval vehicles in step (v). First, one of the remaining storage / retrieval vehicles finishes outside the work station. and waiting for a confirmation signal that the previous travel segment of that task assignment has been completed. , then assigning the one of the remaining storage / retrieval vehicles to an available vehicle outside the work station. and instructing the vehicle to follow a holding pattern path of travel that terminates in a parking area.

140. The method according to claim 139.

141. Step (c) comprises: and performing one or more repetitions of steps (iii) through (v) until the 141. The method of any one of claims 138 to 140, further comprising:

142. Step (iv) is to extract the fuel from the storage / retrieval vehicle located outside the work station. To identify any storage / retrieval vehicles belonging to said particular order from said To select the next highest priority vehicle from any of the storage / retrieval vehicles belonging to the sentence, To this end, the special registration to which the previously authorized storage / retrieval vehicle already in the work station belongs must be made.

142. The method of any one of claims 138 to 141, comprising using a specific order identification. Law.

143. In step (i), item-based prioritization in the task allocation and in step (iv), at least in part, determining the item-based priorities.

142. Identifying the next highest priority vehicle based on 2. The method according to claim 1 .

144. The item-based priority is based on the number of line items in the one or more orders. attributes of (i) style, (ii) size, (iii) weight, (iv) color, (v) ingredients, (vi) dry / liquid content, (vii) contamination risk, and (viii) allergen sacs. The method of claim 143, based on one or more of the following:

145. Step (i) includes receiving or assigning an order-based priority; v) determining whether the next highest priority order is based at least in part on the order-based priority order.

145. The method of any one of claims 138 to 144, comprising identifying a vehicle that is not

146. In the step (iv), among the storage / retrieval vehicles allocated to the plurality of orders, and identifying the next highest priority vehicle from the next highest priority storage / retrieval vehicle. The identification is based at least in part on which of the plurality of orders was received earliest.

146. The method of any one of claims 138 to 145, comprising:

147. Step (iv) selects the next vehicle from among the storage / retrieval vehicles assigned to the plurality of orders. identifying a next highest priority vehicle and said next highest priority storage / retrieval vehicle; said identifying said orders being based at least in part on relative order sizes among said plurality of orders.

147. The method of any one of claims 138 to 146, comprising:

148. In step (v), the operation step of the next highest priority storage / retrieval vehicle is First, the next highest priority vehicle from the next highest priority vehicle will be ordered to move to the next station. Previous movements of task assignments in which a higher priority vehicle terminates outside of said work station awaiting a confirmation signal indicating that the segment has been completed, and then A high-speed storage / retrieval vehicle is caused to follow a travel route to the work station and retrieve the work station. and commanding the vehicle to enter the station.

13. The method according to claim 1.

149. The removed storage unit is then moved from the storage system to the workstation entrance or intake. A method for coordinating the provision of points in an ordered manner, comprising: Execution by one or more processors of a computer controlled system of the following automated steps: That is, (a) assigning tasks to each line item of one or more sales orders to be fulfilled at a work station; Each task assignment generates at least a system assignment for delivery to a work station. The system retrieves the specifications and and an identification of a respective storage / retrieval vehicle for retrieving said respective storage unit. Another step, (b) transmitting a command signal to each storage / retrieval vehicle in said task assignment; retrieval and removal of each of said storage units from their current storage locations to a work station; and initiating delivery. (c) determining whether there is an available occupancy at said work station; and, (d) in response to said identification of available occupancy, a work station located outside said work area From the storage / retrieval vehicles assigned to deliver to the work station, identifying a next highest priority storage / retrieval vehicle for calling into the station; 、 (e) commanding the next highest priority vehicle to move to the work station; P and A method comprising:

150. Step (e) includes: and commanding a vehicle to park outside the work station.

49. The method according to claim 49.

151. In step (e), commanding parking of each of said remaining storage / retrieval vehicles. That is, first, one of the remaining storage / retrieval vehicles is outside its work station. Waiting for a confirmation signal that the previous movement segment of the task assignment has been completed and then providing one of the remaining storage / retrieval vehicles for use outside the work station. and commanding the vehicle to follow a holding pattern travel path terminating at a possible parking spot. The method of claim 150.

152. Step 3: Continue moving the vehicle until all of the respective storage / retrieval vehicles are in the work station.

149. The method of claim 149, further comprising performing one or more iterations of steps (c) through (e).

152. The method of any one of claims 1 to 151.

153. Step (d) removes the storage / retrieval vehicle from the work station. To identify any storage / retrieval vehicles belonging to said particular order from said To select the next highest priority vehicle from any of the storage / retrieval vehicles belonging to the sentence, To this end, the special registration to which the previously authorized storage / retrieval vehicle already in the work station belongs must be made.

153. The method of any one of claims 149 to 152, comprising using a specific order identification. Law.

154. In step (a), item-based prioritization in the task allocation and in step (d), determining at least in part the item-based priorities.

154. Any of claims 149 to 153, further comprising identifying the highest priority vehicle based on 2. The method according to any one of claims 1 to 11.

155. The item-based priority is based on the number of line items in the one or more orders. attributes of (i) style, (ii) size, (iii) weight, (iv) color, (v) ingredients, (vi) dry / liquid content, (vii) contamination risk, and (viii) allergen sacs. The method of claim 154, based on one or more of the following:

156. Step (a) includes receiving or assigning an order-based priority; and step (d). based at least in part on the order-based priority of the vehicle.

156. The method of any one of claims 149 to 155, comprising identifying

157. In the step (d), from among the storage / retrieval vehicles allocated to the plurality of orders, identifying the highest priority vehicle from the storage / retrieval vehicle; the identification is based at least in part on which of said plurality of orders was received earliest.

157. The method of any one of claims 149 to 156, comprising:

158. Step (d) selects the next storage / retrieval vehicle from among the storage / retrieval vehicles assigned to the plurality of orders. identifying a vehicle with a high priority and storing, at least in part, said vehicle with the highest priority; / Identifying the pick-up vehicle based on relative order sizes among the plurality of orders.

158. The method of any one of claims 149 to 157.

159. In step (e), the operation step of the next highest priority storage / retrieval vehicle is First, the next highest priority vehicle from the next highest priority vehicle will be ordered to move to the next station. Previous movements of task assignments in which a higher priority vehicle terminates outside of said work station awaiting a confirmation signal indicating that the segment has been completed, and then A high-speed storage / retrieval vehicle is caused to follow a travel route to the work station and retrieve the work station. and commanding the vehicle to enter the station.

13. The method according to claim 1.

160. The computer controlled system of any one of claims 149 to 159. Stores statements and instructions that can be executed by one or more computer processors and a non-transitory computer readable medium for performing the automated method steps.

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