Grid-Cell Shuttle Layout for Passing Adjacent ASRS Robots
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Solution Overview
Problem
Existing automated storage and retrieval systems face challenges when container handling vehicles have a footprint larger than a single grid cell, as this restricts the space available for other vehicles to operate, particularly when battery replacement or other protrusions are required.
Innovation Solution
The system incorporates container handling vehicles with a protruding section that extends beyond the footprint when positioned over a grid cell, and a recessed section on adjacent vehicles to accommodate these protrusions, allowing vehicles to pass each other on neighboring grid cells without interference.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If the container handling vehicle has a footprint with horizontal extension equal to the horizontal extension of a grid cell, then the space available for other vehicles to operate is reduced, but the vehicle can be positioned precisely over a single grid cell for operations
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 for precise positioning, while the protruding section extends beyond the footprint to accommodate battery compartments or other equipment without increasing the vehicle's base footprint, thus maintaining track system capacity.
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 vehicles with extended features to coexist on the track system without interfering with each other's operation space.
2Adaptability or versatility
If the container handling vehicle has a protruding section for battery replacement, then the battery compartment can be accessed, but the protruding section prevents other vehicles from operating on neighboring grid cells
Solution Approach 1:
The protruding section is designed with specific local quality to accommodate battery compartments or replacement mechanisms. This localized extension provides the necessary adaptability for battery replacement while the recessed section on adjacent vehicles compensates for the space occupation, maintaining overall system productivity.
3Productivity
If multiple container handling vehicles operate simultaneously on neighboring grid cells, then the system throughput is increased, but the vehicles may interfere with each other's movement space
Solution Approach 1:
The vehicle design incorporates asymmetric features with protruding sections on some vehicles and corresponding recessed sections on adjacent vehicles. This asymmetric arrangement allows multiple vehicles to operate simultaneously on neighboring grid cells without interference, as the protruding section of one vehicle fits into the recessed section of the adjacent vehicle, effectively increasing system throughput while maintaining manageable coordination complexity.
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.