Grid Robot Layout for Battery Access Without Vehicle Interference
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Solution Overview
Problem
In automated storage and retrieval systems, container handling vehicles with a footprint equal to a single grid cell face limitations when needing to protrude for battery replacement, as this restricts space for other vehicles, reducing system capacity.
Innovation Solution
The design incorporates a protruding section that extends beyond the vehicle's footprint, with a complementary recessed section in adjacent vehicles, allowing them to pass each other without contact, enabling efficient movement on neighboring grid cells.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the container handling vehicle protrudes for battery replacement, then battery replacement operation is facilitated, but space for other vehicles is restricted
Solution Approach 1:
The protruding section of one container handling vehicle is designed to be accommodated within the recessed section of another vehicle when positioned on adjacent grid cells. This nesting arrangement allows the protruding battery compartment to occupy space that would otherwise be unavailable, enabling battery replacement operations without permanently restricting the operational space for other vehicles in the system.
2Area of stationary object
If the footprint of the container handling vehicle corresponds to a single grid cell, then space utilization is optimized, but vehicles cannot protrude for battery replacement
Solution Approach 1:
The container handling vehicle is segmented into a main body with a footprint corresponding to a single grid cell and a separate protruding section containing the battery compartment. This segmentation allows the main body to maintain optimal space utilization while the protruding section provides the necessary adaptability for battery replacement operations, effectively separating the conflicting requirements of compactness and operational versatility.
3Productivity
If multiple vehicles operate on adjacent grid cells, then system capacity is enhanced, but vehicle interference increases
Solution Approach 1:
Adjacent container handling vehicles are designed with asymmetric configurations where one vehicle has a protruding section and its neighbor has a corresponding recessed section. This asymmetric design creates complementary shapes that allow vehicles to interlock when positioned on adjacent grid cells, enabling multiple vehicles to operate simultaneously in close proximity without causing interference, thereby enhancing system capacity while maintaining operational independence.
Data Source
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AI summary
The present invention relates to automated storage and retrieval system comprising: a track system comprising 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 which is orthogonal to the first direction, which first and second sets of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; a plurality of stacks of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; a plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks, the container handling vehicles being configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings, wherein each of the plurality of container handling vehicles comprises: a wheel assembly for guiding the container handling vehicle along the track system; wherein the container handling vehicle has a footprint with a horizontal extension which is equal to or less than the horizontal extension of a grid cell. Each container handling vehicle comprises: a protruding section which extends horizontally beyond the footprint of the load handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell; and a recessed section arranged to accommodate the protruding sections of other container handling vehicles when it operates over a neighbouring grid cell. The present invention also relates to a container handling vehicle for such an automated storage and retrieval system and a method of operating such an automated storage and retrieval system.