Autonomous vehicle for goods storage and retrieval system with deflector

Abstract

An autonomous vehicle (30) for an article storage and retrieval system (ASRS) (10) is proposed, the autonomous vehicle (30) being configured to move within a storage area (12) to collect a container (22 a) from a plurality of containers (22) stored in the storage area (12), each container (22) being disposed within a cell (20) of the storage area (12), the cells (20) being distributed along two horizontal directions (X1, X2) and a vertical direction (Z), the autonomous vehicle (30) comprising a chassis (36) and a controller adapted to move the chassis (36) in the two horizontal directions (X1, X2). a rotating means (38) coupled to the chassis (36), a climbing means (46) adapted to move the chassis (36) in the vertical direction (Z), a gripping means (54) capable of gripping the container (22a), and at least one deflector (60) mounted laterally on the chassis (36), the deflector (60) having an external guide surface (62) inclined with respect to the vertical direction (Z) and configured to push the container (22) towards the rear (28) of the cell (20) when the chassis (36) is moved in the vertical direction (Z).

Description

[Technical Field]

[0001] The present disclosure relates to the field of automated storage and retrieval systems (ASRS) in warehouses. [Background technology]

[0002] An automated storage and retrieval system (ASRS) typically includes storage racks and a fleet of autonomous vehicles, or AGVs (Automated Guided Vehicles). One example is described in U.S. Patent Application Publication No. 2020 / 0172332 A1.

[0003] Storage racks are vertical structures typically arranged within warehouses. They typically include a vertical support column to which pairs of brackets are fixed for supporting containers. The two brackets of each pair, cantilevered relative to the support column, are oriented toward each other and configured to support one of the containers. The pair of brackets thus defines cells along the height of the rack, each cell adapted to accommodate one of the containers containing one or more items stored within the warehouse.

[0004] The containers generally consist of bins or trays, typically made of plastic, generally parallelepiped in shape with a rectangular base, in which the items of interest can be stored. These containers are received within the cells by resting on brackets on the storage racks.

[0005] Each autonomous vehicle is capable of moving within the warehouse to collect containers stored in cells of a storage rack. Autonomous vehicles are known that are adapted to move along the floor and climb vertically along the vertical supports of the storage rack to collect containers stored in cells at higher locations.

[0006] However, it has been observed that the vertical movement of an autonomous vehicle along a storage rack generates vibrations, causing displacement of the container along the bracket. The container may then protrude from the cell to a point where it falls into the path of the autonomous vehicle or ends up in its path. In the latter scenario, the autonomous vehicle collides with the container during its vertical movement, often causing damage to the vehicle and / or the container and potentially completely immobilizing the autonomous vehicle within the rack. Displacement of a container of a few millimeters is sufficient to cause a collision. A dropped container or this type of damage requires maintenance, which disrupts the operation of the ASRS, in that the system must be interrupted and production halted. This therefore represents a net loss for the end user of the system.

[0007] It is proposed to have specific autonomous vehicles within the ASRS that are distinct from the fleet of autonomous vehicles because their mission is not to collect containers, but simply to push and accurately reposition containers within a cell of a storage rack when the container protrudes from that cell.

[0008] Such dedicated autonomous vehicles would travel the same routes as the fleet of autonomous vehicles in the warehouse and thus contribute to congestion in the warehouse. In that case, it may be necessary to reduce the number of autonomous vehicles circulating for container collection. The efficiency of the ASRS may be significantly reduced.

[0009] Additionally, it may be necessary to identify a container protruding from a rack in order to guide a dedicated autonomous vehicle to that particular container. In this case, the ASRS must include a means for locating the displaced container as well as a means for directing the dedicated vehicle to the displaced container, increasing the complexity and costs associated with implementing and using the ASRS.

[0010] Furthermore, there is a delay between the detection of a displaced container and the arrival of a dedicated vehicle to replace it. The correction is not immediate. As a result, the autonomous vehicle cannot move along the rack where the displaced container is located, risking a collision with the container. Again, this reduces the efficiency of the ASRS. Summary of the Invention

[0011] The present disclosure aims, inter alia, to provide a simple, economical and effective solution to the above-mentioned problems.

[0012] An autonomous vehicle for an article storage and retrieval system (ASRS) is proposed, the autonomous vehicle being configured to move within a storage area to collect containers from a plurality of containers stored in the storage area, each container being located within a cell of the storage area, the cells being distributed along two horizontal and vertical directions, the autonomous vehicle: a chassis, - gripping means capable of gripping the container; - rotation means adapted to move the chassis in two horizontal directions; - climbing means adapted to move the chassis vertically; at least one deflector mounted laterally on the chassis, the deflector having an external guide surface inclined relative to the vertical direction and configured to push the container towards the rear of the cell when the chassis is moved vertically.

[0013] Thus, the deflector is an integral part of the autonomous vehicle used to collect the containers, and the footprint of the storage area can be reduced compared to a situation where some vehicles circulate to collect the containers and other vehicles circulate to relocate displaced bins.

[0014] When an autonomous vehicle passes in front of a cell to retrieve a container, the deflector can automatically push back the displaced container without stopping or requiring any specific action on the part of the autonomous vehicle. In addition to the fact that the autonomous vehicle does not need to know the location of displaced containers or avoid them, the selection of specific characteristics of the deflector allows for immediate and highly accurate repositioning of containers that are out of position.

[0015] In general, the deflector is advantageously configured to ensure movement of the container towards the rear of the cell during vertical movement of the vehicle by the action of guide surfaces of the deflector fixed relative to the chassis of the vehicle, advantageously such operation does not itself require movement of the deflector relative to the chassis during this operation and therefore does not use an actuator for such movement.

[0016] The features described in the following paragraphs may optionally be implemented independently of each other or in combination with each other.

[0017] The chassis may carry internal components comprising at least one set of control electronics, one or more drive units for the rotation means, and an autonomous source of electrical energy, the chassis comprising a casing comprising one or more shells covering the chassis while at least partially concealing the internal components, the at least one deflector being at least one of the shells of the casing covering the side of the chassis and extending vertically while protruding outward from the chassis.

[0018] The deflector therefore has a dual function, i.e. - a primary function as a guide element configured to push back the container during the vertical movement of the vehicle; -It is a part of a simple structure that combines the function of a casing element for one or more sides of the chassis, configured to hide the internal components.

[0019] The deflector's shape allows the repositioning of containers within the cell. The deflector does not require the addition of additional components to the casing. Therefore, the complexity of the autonomous vehicle is not increased by adding a deflector.

[0020] Furthermore, the deflector may be integrated into an autonomous vehicle in a simple manner by modifying existing external parts of the autonomous vehicle: no new components, only simple changes to the shape and dimensions of the casing. The integration of the deflector may be performed by using existing fastening means on the chassis of the autonomous vehicle.

[0021] In one variant, the at least one deflector is different from the shell or shells of the casing, thus making it possible to separate the casing function, which may be provided by a lightweight and potentially flexible element (e.g., thermoformed plastic), from the deflector function, which may be provided by a rigid and strong part (e.g., metal) positioned locally at a suitable location on the vehicle.

[0022] The guide surface may extend vertically and may include an angled guide portion configured to push the container towards the rear of the cell during vertical lift.

[0023] The autonomous vehicle typically rises to position itself vertically at the level of the container to be retrieved and loads the container before descending with it. By pushing the container back during the autonomous vehicle's ascent, any risk of collision between the autonomous vehicle and the displaced container is avoided.

[0024] The inclined guide portion configured to push the container toward the rear of the cell during vertical ascent may extend between a first point located at the upper end of the deflector and a second point located between the upper and lower ends of the deflector, and a line connecting the first and second points may form an angle of 5° to 20° with a vertical axis extending vertically.

[0025] A particular angle at the top of the guide avoids incorrect repositioning of the container or the container being bounced off the abutment at the rear of the cell.

[0026] The distance measured vertically between the first point and the second point may be between 60 mm and 100 mm.

[0027] The guide portion protrudes from the chassis a distance that allows it to push back containers that protrude only a few millimeters (e.g., 10 mm) from the cell without interfering with the climbing member that the autonomous vehicle climbs or the support posts of the storage rack.

[0028] The guide surface is said inclined guide being a first guide configured to push the container towards the rear of the cell during vertical ascent; a second inclined guide part arranged vertically below the first part and configured to push towards the rear of the cell during vertical descent of the vehicle.

[0029] Thus, the deflector can push back a displaced container during the ascent of the autonomous vehicle to retrieve the container, and during the descent of the autonomous vehicle, without the autonomous vehicle having to stop or take any particular action.

[0030] There is a risk that the container will be displaced again after being repositioned during the ascent of the autonomous vehicle. Such a movement can be caused by a rebound against the rear of the cell, generated by the excessive thrust applied to the container by the (first) guide part of the deflector during ascent, but can also be caused by vibrations caused by the movement of another autonomous vehicle located near the container. This movement can unintentionally cause the container to protrude again while the autonomous vehicle is moving vertically along a substantially vertical direction above the container. The second guide part of the deflector makes it possible to avoid a collision during the descent by pushing the container towards the rear of the cell during the descent of the vehicle.

[0031] The second inclined guide portion may extend between a third point that may coincide with the second point and a fourth point that is located at the lower end of the deflector, and the straight line connecting the third point and the fourth point forms an angle of 5° to 20° with the vertical direction.

[0032] The specific angle at the bottom of the guide part prevents incorrect repositioning of the container and also allows any protruding container that is displaced to be pushed back by vibrations associated with the movement of an autonomous vehicle moving close to the container or by bouncing off an abutment at the rear of the cell.

[0033] The distance measured in the vertical direction between the third point and the fourth point is between 60 mm and 100 mm.

[0034] The cumulative height of the first and second guide sections corresponds to the height of a standard casing without guide sections, so the shell can be attached to the chassis using existing fastening means without modifying the chassis.

[0035] The shell may be a thin-walled plastic structure, preferably the shell is made of polycarbonate, or it may be a thin-walled metal structure, for example made of aluminum.

[0036] The shell is therefore easy to manufacture at low cost, yet has mechanical properties, particularly rigidity, suitable for pushing back containers having masses of 1.5 kg to 30 kg without breaking.

[0037] The autonomous vehicle may include two deflectors mounted on two opposite sides of the chassis.

[0038] The autonomous vehicle can climb by engaging with the climbing members provided on the two storage racks facing each other. By providing deflectors facing each of the two storage racks, it is possible to push back displaced containers in the cells of these two storage racks.

[0039] The climbing means is at least one motorized gear, preferably two gears, arranged laterally on the chassis on the same side as the deflector, the at least one gear being adapted to mesh with a climbing member comprising a vertically extending gear rack or link chain; a deployment mechanism configured to deploy and retract the at least one gear relative to the chassis, the at least one gear transitioning from a retracted position intended to decouple the gear from a gear rack on a climbing member to a deployed position configured to couple the gear to the climbing member; The deployment mechanism is configured to deploy and retract the deflector in conjunction with deploying and retracting the at least one gear.

[0040] The width of the autonomous vehicle in the storage position is smaller than the space between the storage racks, thereby creating an aisle for the autonomous vehicle to move freely between the racks. Deploying the deflector and gear allows the climbing means and deflector to approach the storage racks for climbing and pushing back bins, respectively.

[0041] The rotation means may comprise at least one wheel adapted to move the chassis and direction changing means adapted to change the direction of the wheel.

[0042] Autonomous vehicles can move on the floor without the need for guide means such as rails (free-field movement). This allows them to easily navigate and patrol the warehouse, even when the storage racks are rearranged. Autonomous vehicles are versatile. The vehicles are flexible and can easily rearrange the storage racks to suit requirements (for example, when activity drops) and without interrupting production.

[0043] According to another aspect, there is provided an item storage and retrieval system, the system comprising: a plurality of storage racks arranged in a storage area along two horizontal directions, each rack extending vertically, the storage racks comprising: vertically aligned cells, the cells having loading and unloading openings for loading / unloading containers in horizontal loading and unloading directions; A plurality of storage racks each having a vertical climbing member; a plurality of containers disposed within cells of each storage rack; - at least one autonomous vehicle comprising a climbing means configured to couple to a climbing member to ensure vertical movement of the chassis, the at least one deflector facing a loading or unloading opening of a cell of the storage rack when the chassis is moving along the vertical direction, the at least one deflector being positioned between the loading opening of the storage rack and the chassis of the vehicle;

[0044] At a nominal position of the container within the cell, the distance between the rear end of the container and the rear of the cell may be 8 to 12 mm, and the autonomous vehicle may be configured to return the container to the nominal position when the container is displaced 10 mm or more from the nominal position.

[0045] Each container may be adapted to receive at least one article, the container and the at least one article having a mass between 1.5 kg and 30 kg, and the shape of the deflector is adapted to accurately reposition containers having such loads.

[0046] According to yet another aspect, a method for retrieving a container is provided, the method being implemented in an item storage and retrieval system, comprising: -associating an autonomous vehicle with a container to be retrieved in a storage area; moving the autonomous vehicle in two horizontal directions until the autonomous vehicle is aligned with a vertical climbing member of one of the storage racks that receives the container to be retrieved; - coupling a vehicle's climbing means to a climbing member of the storage rack; - vertically moving the autonomous vehicle until the autonomous vehicle is positioned vertically at the level of the container to be retrieved, and during the vertical movement of the vehicle, pushing the container protruding from the cell towards the rear of the cell by contact between the container and a deflector of the autonomous vehicle.

[0047] The autonomous vehicle may move vertically at speeds between 0 m / s and 3 m / s, allowing for precise repositioning of containers within the cell. [Brief explanation of the drawings]

[0048] Other features, details, and advantages will become apparent from reading the following detailed description and from examining the accompanying drawings. [Figure 1] 1 is a schematic diagram of an article storage and retrieval system. [Figure 2] 2 is a schematic diagram showing details of a storage rack in the item storage and retrieval system of FIG. 1. [Figure 3] FIG. 2 is a schematic perspective view of an autonomous vehicle that may be utilized in the item storage and retrieval system of FIG. 1. [Figure 4] FIG. 4 is a schematic perspective view of a shell of a casing that may be utilized in the autonomous vehicle of FIG. [Figure 5] FIG. 5 is a cross-sectional view of FIG. [Figure 6] 2 shows a functional diagram of a method for retrieving items implemented in the item storage and retrieval system of FIG. 1; [Figure 7] 2 is a schematic diagram illustrating an example of the movement of an autonomous vehicle in the item storage and retrieval system of FIG. 1 to retrieve an item. DETAILED DESCRIPTION OF THE INVENTION

[0049] 1 schematically represents an automated storage and retrieval system ASRS 10 comprising a storage area 12. In the following description, reference will be made to a vertical direction Z, a first horizontal direction X1, and a second horizontal direction X2. It will be understood that the vertical direction Z is perpendicular to the first horizontal direction X1 and the second horizontal direction X2. Also, the second horizontal direction X2 is perpendicular to the first horizontal direction X1.

[0050] The storage area 12 includes a plurality of storage racks 14. Each storage rack 14 is served by at least one aisle Ai extending in a first horizontal direction X1. Each storage rack 14 includes a plurality of pairs of vertical columns 16 arranged along the first horizontal direction X1. Each column 16 extends in a vertical direction Z. The columns 16 of each pair of columns are spaced apart from each other in a second horizontal direction X2. Thus, each storage rack 14 forms a plurality of rows 18 arranged one after the other in the first horizontal direction X1.

[0051] Each row 18 of the storage rack 14 includes a plurality of cells 20, each adapted to contain a container 22 containing at least one item. The cells 20 of each row 18 are arranged in a first horizontal direction X1 between two consecutive pairs of columns 16. The cells 20 of each row 18 are stacked in multiple levels in a vertical direction Z between a lowest level and a highest level.

[0052] The cells 20 at the lowest level are above floor level. According to one embodiment, each column 18 may therefore comprise a free space 23 formed vertically between floor level and the cells 20 at the lowest level. According to one embodiment, the storage area 12 may therefore comprise a plurality of aisles Pi extending at floor level in the second horizontal direction X2, each aisle Pi crossing the free space 24 of one of the columns 22 of each storage rack 20. These aisles Pi allow the autonomous vehicle 30 to circulate beneath the storage racks 14 and to directly access a given position within the at least one aisle Ai without having to move the vehicle along the at least one aisle Ai.

[0053] According to another embodiment (not shown), the storage area 12 may not have such an aisle (denoted Pi) below the storage racks 14. Movement of an autonomous vehicle to a given position within the at least one aisle Ai requires the vehicle to move along the at least one aisle Ai from one of its ends.

[0054] 2 shows a cell 20 of the storage rack 14 in more detail. A pair of brackets 24 is fixed to a pair of support posts 16 in each row 18 and separates the cells 20 from one another in the vertical direction Z. Each cell 20 is bounded below by two pairs of brackets 24 that are consecutive in the vertical direction Z. A container 22 within the cell 20 rests on a pair of brackets 24. Two of the pair of brackets 24 are cantilevered from the support posts 16, oriented toward each other. Each pair of brackets is configured to support the container 22 with two separate supports below the container.

[0055] Each container 22 is received in a loading opening 26 of a cell 20 so as to extend toward a rear 28 of the cell 20. The loading opening 26 faces an aisle Ai serving the cell 20. The rear 28 of the cell 20 is away from the aisle Ai. In the illustrated example, each cell 20 can receive two containers 22 arranged one behind the other along the second horizontal direction X2. In this example, the rear 28 of the cell 22 corresponds to the central portion of the cell 20 between two adjacent aisles Ai. The rear 28 of each cell 20 is defined, for example, by an abutment means 31 integral with the bracket 24.

[0056] The container 22 contained within the cell 20 is typically a plastic bin or tray. The container 22 is typically parallelepiped in shape. The container may contain one or more items such that the combined mass of the container 22 and the items is between 1.5 kg and 30 kg.

[0057] A fleet of autonomous vehicles 30 is responsible for transporting containers 22 from cells 20 to order preparation stations 32. An example of an autonomous vehicle 30 is shown in FIG.

[0058] Here, each autonomous vehicle 30 is an automated guided vehicle (AGV). For this purpose, the autonomous vehicle 30 is equipped with control electronics (not shown), which can receive commands for the containers 22 to be collected and can calculate a route between the position of the autonomous vehicle 30 and the position of the cell 20 containing the containers 22 to be collected. To guide itself within the warehouse and collect the containers 22 in question, the autonomous vehicle 30 is equipped with a guide system 34, in this case a laser guide. Alternatively, the guide system 34 can be equipped with means for following floor markings. In this case, the storage area 12 includes floor markings forming guidelines. The floor markings may, for example, comprise linear strips along a first horizontal direction X1 and linear strips along a second horizontal direction X2.

[0059] To move on the floor in the two horizontal directions X1 and X2, each autonomous vehicle 30 includes a chassis 36 that is typically parallelepiped-shaped and one or more rotation means 38. In the example shown, the autonomous vehicle 30 includes two rotation means 38 arranged on the lower front and lower rear sides of the chassis 36. In this case, the autonomous vehicle 30 may include two side rolling bearings 40 arranged on the two lower side surfaces to ensure hydrostatic balance of the autonomous vehicle 30. Alternatively, the autonomous vehicle 30 may include four rotation means 38, each arranged at a lower corner of the chassis 36.

[0060] Each rotation means 38 comprises a wheel 42 having an axis of rotation perpendicular to the vertical direction and a fork 44 to which the wheel 42 is attached so as to pivot about the axis of rotation. Drive means (not shown), in particular a set of pinions, enable the wheels 42 to rotate about their axes of rotation relative to the chassis 36. The autonomous vehicle 30 comprises an actuator connected to each drive means. Alternatively, each rotation means 38 may comprise a respective actuator for actuating the drive means.

[0061] Each rotation means 38 further comprises means for changing the direction of movement (not shown). These means for changing the direction of movement comprise pivoting means for pivoting the wheels 42 about an axis perpendicular to the chassis 36. Each rotation means 38 here comprises an actuator for actuating the pivoting means. Alternatively, a single actuator may be provided for actuating the pivoting means of each rotation means 38.

[0062] The rotating means 38 may be configured for free-field operation on floors without guide rails, particularly along the two horizontal directions X1, X2. Such a rotating means 38 allows for faster and more flexible installation of the article storage and retrieval system 10. Furthermore, the noise footprint is also reduced for the comfort of human operators working in the warehouse.

[0063] To perform movement in the vertical direction Z and to position itself vertically at the level of the cells 20 containing the receptacles 22 to be collected, each autonomous vehicle 30 is equipped with a climbing means 46. The climbing means 46 includes one or more gears 48, each configured to move the autonomous vehicle 30 along the posts 16 of the storage rack 14 by engaging with a climbing member 50 of the post 16. Here, each storage rack 14 includes a climbing member 50, in this case a gear rack or link chain, extending vertically along each post 16. The climbing member 50 is fixed to each post 16. When ascending or descending, the rotational movement of each gear 48 of the climbing means 46 is translated into vertical movement of the autonomous vehicle 30 along the post 16.

[0064] The climbing means 46 includes at least a first gear 48 that can engage with a climbing member 50 of one of the pillars 16 of the first storage rack 14, and a second gear 48 that can engage with a climbing member 50 of one of the pillars 16 of a second storage rack 14 adjacent to the first storage rack 14, the pillars 16 being aligned with each other in a second horizontal direction X2.

[0065] In this case, the climbing means 46 comprises four gears 48, namely: two gears 48 that can engage with two posts 16 of a first storage rack 14, the two posts 16 of the first storage rack 14 being successive in a first horizontal direction X1; - two gears 48 that can engage with two posts 16 of a second storage rack 14 adjacent to the first storage rack 14 in the second horizontal direction X2, the two posts 16 of the second storage rack 14 being consecutive in the first horizontal direction X1 and each gear 48 facing one of the consecutive posts of the first storage rack 14 in the second horizontal direction X2.

[0066] Each gear 48 of the climbing means 46 may be movable between a stored position in which the gear 48 is housed within or above the chassis 36, and a deployed position in which the gear 48 protrudes laterally from the chassis 36. To this end, the climbing means 46 includes a deployment mechanism 52 for deploying the gear 48. In the stored position, the autonomous vehicle 30 has a width in the second horizontal direction X2 or optionally in the first horizontal direction X1 that is smaller than the distance separating two consecutive pairs of columns 16. The autonomous vehicle 30 may freely circulate within paths Ai extending in the first horizontal direction X1, or may optionally circulate through paths Pi (optional) extending in the second horizontal direction X2.

[0067] To load the collected containers 22 onto the autonomous vehicle 30, the autonomous vehicle 30 is equipped with a gripping means 54. The gripping means 54 comprises a retractable arm 56 adapted to be deployed within the cell 20 of the storage rack 14. The retractable arm 56 is deployable in a second horizontal direction X2 (here, the second horizontal direction X2 is the loading / unloading direction). The retractable arm 56 is deployed towards the rear 28 of the cell 20, within the loading opening 26 of the cell 20 facing the autonomous vehicle 30. An actuator makes it possible to deploy or retract the deployable arm 56. The retractable arm 56 is adapted to pull the container 22 out of the cell 20 and load it onto the upper surface of the chassis 36.

[0068] Additionally, autonomous vehicle 30 is powered by an autonomous source of electrical energy (not shown), which is a battery mounted on chassis 36. Autonomous vehicle 30 can recharge itself by connecting to a charging station located, inter alia, within a warehouse.

[0069] Each autonomous vehicle 30 includes a casing 58 adapted to protect components of the autonomous vehicle 30. The casing 58 extends from all four sides of the chassis 36 in the vertical direction Z and covers the internal components mounted on the chassis 36. Here, the casing 58 includes multiple shells. In particular, there are movable side shells 60 attached to the sides of the chassis 36 on which the climbing means 46 is provided. When the deployment mechanism 52 moves the gear 48, the shells 60 of the casing 58 also move. When the climbing means 46 is deployed, the shells 60 are also deployed to protrude laterally relative to the chassis 36.

[0070] Each side shell 60 forms a deflector 62 adapted to push a container 22 protruding from a cell 20 toward the rear of the cell 20. At the nominal position of each container 22 in the cell 20, the distance D (measured along the second horizontal direction X2) separating the rear end of the container 22 from the rear 28 of the cell 20 may be 8 to 12 mm. When the container 22 is displaced from its nominal position along the second horizontal direction X2, the container 22 may protrude from the loading opening 26 of the cell 20. This relative displacement between the container and the bracket 24 may typically be caused by vibration of the storage rack. The deployed deflector 62 is positioned between the chassis 36 and the loading opening 26 of the cell 20. The guide surfaces 64, 66 of the deflector 62 contact the displaced container 22, for example, a container displaced by a distance greater than 10 mm from its nominal position. The guide surfaces 64, 66 are inclined relative to the vertical direction Z and can push the containers 22 towards the rear of the cell 20 and return them to their nominal position.

[0071] In an alternative configuration, the shell is separate from the deflector.

[0072] As can be seen more clearly in FIGS. 4 and 5 , each side shell 60 includes a first inclined guide portion 64, i.e., an upper portion. The first inclined guide portion 64 extends from a first point P1, which forms the upper end of the deflector 62, to a second point P2, which is lower in the vertical direction Z than the first point P1. A line connecting the first point P1 and the second point P2 may form an angle 1 of 5° to 20° with the vertical axis Z of the chassis 36. The height H1 of the first inclined guide portion 64 in the vertical direction Z may be 60 to 100 mm. Between the first point P1 and the second point P2, the first inclined guide portion 64 forms a slope that protrudes laterally from the chassis 36. This slope allows the container 22 to be guided toward a nominal position during the ascent of the autonomous vehicle 30 along the vertical direction Z.

[0073] Each side shell 60 may include a second inclined guide portion 66, i.e., a lower portion. The second guide portion 66 extends from a third point P3 to a fourth point P4, which forms the lower end of the side shell 60. Here, the second point P1 and the third point P3 coincide. The second inclined guide portion 66 extends in the vertical direction Z, contiguous with the first inclined guide portion 64. A line connecting the third point P3 and the fourth point P4 may form an angle a2 of 5° to 20° with the vertical axis Z of the chassis 36. The height H2 of the second guide portion 66 measured in the vertical direction Z may be 60 mm to 100 mm. The second inclined guide portion 66 forms a slope between the third point P3 and the fourth point P4 and is adapted to guide the container 22 toward the nominal position during descent of the autonomous vehicle 30 along the vertical direction Z.

[0074] Each side shell 60 is particularly a thin-walled plastic shell formed, for example, by injection molding. Each side shell 60 may be made, for example, of polycarbonate. Alternatively, each side shell 60 may be a metal shell, for example, made of aluminum. The thickness of each side shell 60 may be between 1 mm and 3 mm. The side shells 60 are sufficiently rigid to withstand impacts to the container 22, particularly when the autonomous vehicle 30 is moving vertically at a speed of up to 3 m / s and when the combined mass of the container 22 and the item is between 1.5 kg and 30 kg.

[0075] Next, a method for retrieving the container 100 implemented in the above-described item storage and retrieval system 10 will be described.

[0076] The method 100 includes a first step 101. The first step 101 includes associating an autonomous vehicle 30a located at an initial location in a warehouse with a container 22a to be collected in a storage area 12. The container 22a to be collected is located within a collection cell 20a of a plurality of cells 20 in the storage area 12. The container 22a to be collected contains one or more items to be collected for order preparation.

[0077] The first step 101 may include a first substep of selecting the container 22a to be collected in the storage area 12, which makes it possible to establish the location of the collection cell 20a. The location of the collection cell 20a may be established as the aisle Ai serving the storage rack 14 in which the collection cell 20a is located, the row 18 of the storage rack 14 in which the collection cell 20a is located, and the level at which the collection cell 20a is located along the storage rack 14.

[0078] The first step 101 may include a second sub-step that includes establishing communication with the autonomous vehicle 30a located at the initial location by a wireless communication network, such as, for example, WiFi, WiMAX, IWLAN, GSM, GPRS, UMTS, etc.

[0079] The method 100 includes a second step 102. The second step 102 includes sending instructions to the electronic control unit of the autonomous vehicle 30a. The instructions include the location of the collection cell 20a and instructions for calculating a route between the initial location of the autonomous vehicle 30a and the location of the collection cell 20a. Here, the calculated route includes a movement of the autonomous vehicle 30 in a first horizontal direction X1 (or several movements in the first horizontal direction X1) and / or a movement in a second horizontal direction X2 (or several movements in the second horizontal direction X2). The route is also calculated based on the current and / or planned locations of other autonomous vehicles 30 located in the warehouse. The path is established without allowing a collision with one of the other autonomous vehicles 30. For this purpose, provisions may be made to transmit the current locations of the other autonomous vehicles 30 of the fleet and / or their planned driving routes to the control electronics in real time.

[0080] Alternatively, the second step 102 may be replaced by a central control unit located remotely from the autonomous vehicle 30a calculating a route between the initial position of the autonomous vehicle 30a and the position of the collection cell 20a and transmitting the route to the autonomous vehicle 30a.

[0081] Method 100 includes a third step 103. Third step 103 includes moving autonomous vehicle 30a across a floor in two horizontal directions X1, X2.

[0082] A third step 103 may include moving the autonomous vehicle 30a on the floor in at least a first horizontal direction X1 so as to align the autonomous vehicle 30a in a second horizontal direction X2 with an aisle Pi of the storage area 12 that leads to the row 18 in which the collection cell 20a is located.

[0083] The third step 103 may include a second auxiliary step that includes moving the autonomous vehicle 30a on the floor in a second horizontal direction X2 within the aisle Pi of the storage area 10 that leads to the column 18 in which the collection cell 20a is located.

[0084] The movement in the first horizontal direction X1 and the second horizontal direction X2 may be repeated one or more times. At the end of the third step 103, the autonomous vehicle 30a is aligned with the climbing member 50 of the storage rack 14 that forms the row 18 comprising the collection cells 20a.

[0085] The method 100 includes a fourth step 104. The fourth step 104 includes coupling the climbing means 46 of the autonomous vehicle 30a to the climbing member 50 of the storage rack 14 that includes the collection cell 20a.

[0086] The fourth step 104 may include the sub-step of deploying the climbing means 46, where each gear 48 of the climbing means 46 is deployed from a stored position to a deployed position for coupling to a gear rack or link chain forming the climbing member 50. In this case, the deflector 62 is deployed along with each gear 48.

[0087] The method 100 includes a fifth step 105. The fifth step 105 includes moving the autonomous vehicle 30a in the vertical direction Z. The autonomous vehicle 30a moves along the posts 16 of the storage rack 14 by engagement between the climbing means 46 of the autonomous vehicle 30a and the climbing members 50 of the storage rack 14, in this case via rotation of each gear 48 and the gear rack or link chain to which the gears 48 are coupled. The movement along the vertical direction Z is performed to vertically align the autonomous vehicle 30a with the level of the collection cell 20a containing the receptacle 22a to be collected.

[0088] During a fifth step 105 of moving the autonomous vehicle 30a in the vertical direction Z, the deflector 62 pushes back the containers 20 protruding from the storage cell 22. The guide surfaces of the deflector 62 contact the containers and reposition the containers to their nominal positions within the cell 20.

[0089] The method 100 includes a sixth step 106. The sixth step 106 includes loading the container 22a to be collected, which is held within the collection cell 20a, onto the upper surface of the chassis 36. The gripping means 54 is deployed within the collection cell 20a to grip the container 22a to be collected and position it on the upper surface.

[0090] The method includes a seventh step 107. The seventh step 107 includes moving the autonomous vehicle 30a in the vertical direction Z until the autonomous vehicle 30a is at floor level. Similar to the fourth step 104, engagement between the climbing means 46 of the autonomous vehicle 30a and the climbing member 50 of the storage rack 14 causes the autonomous vehicle 30a to move.

[0091] Here again, during a seventh step 107 of moving the autonomous vehicle 30 a in the vertical direction Z, the deflector 62 pushes back the container 22 protruding from the storage cell 20 .

[0092] The method 100 includes an eighth step 108. The eighth step 108 includes separating the climbing means 46 and the climbing member 50.

[0093] The eighth step 108 may include a sub-step of folding each gear 48 of the climbing means 46 toward the chassis 36. Each gear 48 of the climbing means 46 is folded from the unfolded position to the folded position. The folding of each gear 48 also ensures the folding of the deflector 62 toward the chassis 36.

[0094] Method 100 includes a ninth step 109. Ninth step 109 includes moving autonomous vehicle 30a across the floor in a first horizontal direction X1 and a second horizontal direction X2 until the autonomous vehicle reaches order preparation station 32.

[0095] The ninth step 109 may include a first auxiliary step that includes moving the autonomous vehicle 30a on the floor in a second horizontal direction X2 within the aisle Pi of the storage area 10 to exit the storage area 12.

[0096] The ninth step 109 may include a second auxiliary step of moving the autonomous vehicle 30a in the first horizontal direction X1 and / or the second horizontal direction to access the order preparation station 32.

Claims

1. An autonomous vehicle (30) for an article storage and retrieval system (ASRS) (10), the autonomous vehicle (30) being configured to travel within a storage area (12) to collect a container (22 a) from a plurality of containers (22) stored in the storage area (12), each container (22) being located within a cell (20) of the storage area (12), the cells (20) being distributed along two horizontal directions (X1, X2) and a vertical direction (Z), the autonomous vehicle (30) being configured to: a chassis (36), - rotation means (38) adapted to move said chassis (36) in said two horizontal directions (X1, X2); climbing means (46) adapted to move said chassis (36) in said vertical direction (Z); - gripping means (54) capable of gripping said container (22a); at least one deflector (60) mounted laterally on said chassis (36), said deflector (60) having external guide surfaces (62) inclined with respect to said vertical direction (Z) and configured to push said containers (22) towards the rear (28) of said cells (20) when said chassis (36) is moved in said vertical direction (Z); An autonomous vehicle (30) comprising:

2. 2. The autonomous vehicle (30) of claim 1, wherein the chassis (36) carries internal components including at least one set of control electronics, one or more actuators for the rotation means, and an autonomous electrical energy source, the chassis (36) comprises a casing (58) comprising one or more shells that cover the chassis (36) while at least partially hiding the internal components, and the at least one deflector (60) is the or at least one of the shells of the casing that covers a side of the chassis (36) and extends in the vertical direction (Z) while protruding outward from the chassis (36).

3. 2. The autonomous vehicle of claim 1, wherein the chassis carries internal components including at least one control electronics, one or more actuators for the rotation means, and an autonomous electrical energy source, the chassis comprising a casing comprising one or more shells that cover the chassis while at least partially concealing the internal components, and the at least one deflector is distinct from the one or more shells of the casing.

4. 4. The autonomous vehicle (30) of claim 1, wherein the guide surface (62) extends in the vertical direction (Z) and comprises an inclined guide portion (64) configured to push the container (22) toward the rear (28) of the cell (20) during ascent in the vertical direction (Z).

5. 5. The autonomous vehicle of claim 4, wherein the inclined guide portion (64), configured to push the container (22) toward the rear (28) of the cell (20) during ascent in the vertical direction (Z), extends between a first point (P1) located at an upper end of the deflector (60) and a second point (P2) located between the upper end and the lower end of the deflector (60), and a straight line connecting the first point (P1) and the second point (P2) forms an angle (a1) of 5° to 20° with a vertical axis extending in the vertical direction (Z).

6. 6. The autonomous vehicle (30) of claim 5, wherein a height (H1) measured in the vertical direction (Z) between the first point (P1) and the second point (P2) is between 60 mm and 100 mm.

7. The guide surface (60) - said inclined guide (64) being a first guide (64) configured to push said container (22) towards said rear part (28) of said cell (20) during said vertical ascent; and a second inclined guide portion (66) arranged below the first portion (64) in the vertical direction (Z) and configured to push the container (20) towards the rear portion (28) of the cell (20) during descent of the autonomous vehicle (30) in the vertical direction (Z).

8. 8. The autonomous vehicle (30) of claim 7 in combination with claim 4 or 5, wherein the second inclined guide portion (66) extends between a third point (P3) that can coincide with the second point (P2) and a fourth point (P4) that is arranged at the lower end of the deflector (60), and a straight line connecting the third point (P3) and the fourth point (P4) forms an angle of 5° to 20° with the vertical direction (Z).

9. 9. The autonomous vehicle of claim 8, wherein a height measured in the vertical direction between the third point and the fourth point is between 60 mm and 100 mm.

10. The autonomous vehicle (30) of claim 2 alone or in combination with any one of claims 3 to 9, wherein the shell (60) is a thin-walled plastic or metal structure.

11. The autonomous vehicle (30) of any one of claims 1 to 10, wherein the autonomous vehicle (30) comprises two deflectors (60) attached to two opposite sides of the chassis (36).

12. The climbing means (46) is at least one motorized gear (48), preferably two gears (48), arranged laterally on the chassis (36) on the same side as the deflector (60), said at least one gear (48) being adapted to mesh with a climbing member (50) comprising a gear rack or link chain extending in the vertical direction (Z); a deployment mechanism (52) configured to deploy and retract said at least one gear (48) relative to said chassis (36), said at least one gear (48) transitioning from a retracted position intended to separate said gear (48) from said climbing member (50) to a deployed position configured to couple said gear (48) to said climbing member (50); 12. The autonomous vehicle (30) of claim 1, wherein the deployment mechanism (52) is configured to deploy and retract the deflector (60) in conjunction with the deployment and retraction of the at least one gear (48).

13. 13. The autonomous vehicle (30) of any one of claims 1 to 12, wherein the rotation means (38) comprises at least one wheel (42) adapted to move the chassis (36) and direction-changing means adapted to change the orientation of the wheel (42).

14. An article storage and retrieval system (10), comprising: a plurality of storage racks (14) arranged in a storage area (12) along two horizontal directions (X1, X2), each storage rack (14) extending in a vertical direction (Z), said storage racks (14) comprising: a plurality of cells (20) along said vertical direction (Z), said cells (20) having loading or unloading openings (26) for loading / unloading containers (22) in a horizontal loading and unloading direction (X2); A plurality of storage racks (14) each having a vertical climbing member (50); a plurality of containers (22) arranged in said cells (20) of each storage rack (14); at least one autonomous vehicle (30) according to any one of claims 1 to 13, comprising the climbing means (46) configured to be coupled to the climbing member (50) to ensure the vertical movement of the chassis (36), wherein the at least one deflector (60) faces the loading or unloading opening (26) of the cell (20) of the storage rack (14) when the chassis (36) is moving along the vertical direction (Z), the at least one deflector (60) being arranged between the loading opening (26) of the storage rack (14) and the chassis (36) of the autonomous vehicle (30); An article storage and retrieval system (10) comprising:

15. 15. The system of claim 14, wherein a distance (D) between a rear end of the container (22) and the rear (28) of the cell (20) at a nominal position of the container (22) within the cell (20) is between 8 and 12 mm, and the autonomous vehicle (30) is configured to return the container (22) to the nominal position when the container is displaced by 10 mm or more from the nominal position.

16. 16. The system (10) of claim 14 or 15, wherein each container (22) is adapted to receive at least one item, and the container (22) and the at least one item have a mass of between 1.5 kg and 30 kg.

17. A method for retrieving a container (22) implemented in an article storage and retrieval system (10) according to any one of claims 14 to 16, comprising: - associating an autonomous vehicle (30a) of said at least one autonomous vehicle (30) with a container (22a) to be retrieved in said storage area (12); - moving the autonomous vehicle (30a) in the two horizontal directions (X1, X2) until the autonomous vehicle (30a) is aligned with a vertical climbing member (50) of one of the storage racks (14) that receives the container (22a) to be retrieved; - coupling the climbing means (46) of the autonomous vehicle (30a) to the climbing member (50) of the storage rack (14); - moving the autonomous vehicle (30a) in the vertical direction (Z) until the autonomous vehicle (30a) is positioned vertically at the level of the container (22a) to be retrieved, and during the movement of the autonomous vehicle (30a) in the vertical direction (Z), pushing the container (22) protruding from the cell (20) towards the rear (28) of the cell (20) by contact between the container (22) and the deflector (60) of the autonomous vehicle (30); A method comprising:

18. 18. The method of claim 17, wherein the autonomous vehicle (30) moves vertically at a speed between 0 m / s and 3 m / s.

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