Grid-Cell Handling Vehicle Layout for Passing Adjacent Robots

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Solution Overview

Problem

Existing automated storage and retrieval systems face challenges when container handling vehicles need to operate with a larger footprint than a single grid cell, as this restricts the space available for other vehicles to operate, particularly when battery replacement or other protrusions require a wider footprint.

Innovation Solution

The system incorporates container handling vehicles with a protruding section that extends beyond the standard grid cell footprint, allowing it to accommodate a recessed section on adjacent vehicles, enabling these vehicles to pass each other over neighboring grid cells without interference.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Area of stationary object

If container handling vehicles are designed with a footprint equal to a single grid cell, then space utilization for vehicle operation is improved, but the ability to accommodate protruding sections (e.g., for battery replacement) deteriorates

Engineering Contradiction:

Improvespace for vehicle operationVSAvoidability to accommodate protruding sections

Core Design Contradiction:

Area of stationary objectVSAdaptability or versatility

Solution Approach 1:

The vehicle body is segmented into a main body and a protruding section. The main body has a footprint equal to one grid cell, while the protruding section can extend into a neighboring grid cell. This segmentation allows the vehicle to maintain compact operational footprint while accommodating additional components like battery compartments in the protruding section.

Inventive Principle:

Principle #1Segmentation

Solution Approach 2:

The protruding section is designed to nest into a recessed section of adjacent vehicles when they operate on neighboring grid cells. This nesting arrangement allows multiple vehicles with protruding sections to operate simultaneously in close proximity without interfering with each other's movement or operations.

Inventive Principle:

Principle #7Nested doll (Nesting)

2Adaptability or versatility

If container handling vehicles have a larger footprint to accommodate protruding sections, then adaptability for battery replacement is improved, but space available for other vehicles to operate deteriorates

Engineering Contradiction:

Improveadaptability for battery replacementVSAvoidspace for other vehicles

Core Design Contradiction:

Adaptability or versatilityVSArea of stationary object

Solution Approach 1:

The protruding section is positioned locally at a specific side of the vehicle body, rather than expanding the footprint uniformly in all directions. This localized protrusion minimizes the impact on overall space utilization while providing the necessary adaptability for battery replacement or other specialized functions.

Inventive Principle:

Principle #3Local quality

Solution Approach 2:

Adjacent vehicles are designed with complementary protruding and recessed sections that nest together when operating on neighboring grid cells. This nesting principle allows vehicles with larger effective footprints to coexist in close proximity, maintaining high space utilization while accommodating the protruding sections.

Inventive Principle:

Principle #7Nested doll (Nesting)

3Productivity

If multiple container handling vehicles operate on adjacent grid cells simultaneously, then productivity is improved, but the risk of contact and interference between vehicles increases

Engineering Contradiction:

Improveoperational efficiencyVSAvoidrisk of contact and interference

Core Design Contradiction:

ProductivityVSReliability

Solution Approach 1:

The recessed section of one vehicle is designed to accommodate the protruding section of an adjacent vehicle when they operate on neighboring grid cells. This nested configuration physically prevents contact between vehicles while allowing them to operate simultaneously in close proximity, thereby maintaining high productivity without increasing interference risk.

Inventive Principle:

Principle #7Nested doll (Nesting)

Solution Approach 2:

The vehicle design preemptively incorporates protruding and recessed sections in complementary positions, preparing the vehicles in advance for potential close-quarters operation. This preliminary design ensures that when multiple vehicles operate on adjacent grid cells, they are already configured to avoid contact, reducing the need for complex real-time coordination.

Inventive Principle:

Principle #10Preliminary action

Data Source

PatentUS12210339B2Automated storage and retrieval system

Publication Date: 2025.01.28 AUTOSTORE TECH AS

AI summary

An automated storage and retrieval system includes a track system including a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.