NO343383B1 - Single cell robot with control unit - Google Patents

Single cell robot with control unit Download PDF

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Publication number
NO343383B1
NO343383B1 NO20161313A NO20161313A NO343383B1 NO 343383 B1 NO343383 B1 NO 343383B1 NO 20161313 A NO20161313 A NO 20161313A NO 20161313 A NO20161313 A NO 20161313A NO 343383 B1 NO343383 B1 NO 343383B1
Authority
NO
Norway
Prior art keywords
vehicle
storage system
control unit
control panel
remotely operated
Prior art date
Application number
NO20161313A
Other languages
Norwegian (no)
Other versions
NO20161313A1 (en
Inventor
Ingvar Hognaland
Ivar Fjeldheim
Trond Austrheim
Original Assignee
Autostore Tech As
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Autostore Tech As filed Critical Autostore Tech As
Priority to NO20161313A priority Critical patent/NO343383B1/en
Priority to PCT/EP2017/070016 priority patent/WO2018033426A1/en
Priority to TW106128130A priority patent/TW201808750A/en
Publication of NO20161313A1 publication Critical patent/NO20161313A1/en
Publication of NO343383B1 publication Critical patent/NO343383B1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

A remotely operated vehicle 80 for picking up storage bins 60 from an underlying storage system 10, comprising an internal lifting device for lifting storage bins 60 from the underlying storage system 10, rolling means 85 allowing movement of the vehicle 80 along first and second directions (x, y) on the underlying storage system 10, driving means 90 situated at or at least partly within the rolling means 85 for providing driving force to the vehicle 80 while occupying minimum space, and a control unit 95 configured to control the movements of the vehicle 80, where the control unit 95 is connected to said driving means 90 and provided with wireless communication to and from the vehicle 80 by means of a wireless communication link 75. The control unit 95 is connected to a control panel 100 with input means for manual overriding a remote controlled operation of the vehicle 80.

Description

Introduction
The present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system. The vehicle occupies a single cell holding storage bins, and comprises control means for manually overriding a remotecontrolled operation.
Background
A remotely operated vehicle for picking up storage bins from a storage system is known. A detailed description of a relevant prior art storage system is presented in WO 98/49075, and details of a prior art vehicle being suitable for such a storage system is disclosed in detail in Norwegian patent no. 317366 B1.
Such prior art storage systems comprise a three-dimensional storage grid holding storage bins that are stacked on top of each other up to a certain height. The storage grid is normally constructed as aluminium columns interconnected by top rails, onto which a plurality of remotely operated vehicles, or robots, are arranged to move laterally. Each vehicle is equipped with a lift for picking up, carrying, and placing bins that are stored in the storage grid. A vehicle further comprises a rechargeable battery for supplying electrical power to a motor incorporated in the vehicle. The vehicle typically comprises a control unit adapted for communication with a control system via a wireless link which is provided with power from the internal rechargeable battery that is recharged at a charging station when needed.
An example of a prior art storage system is illustrated in figure 1. The storage system 10 includes a plurality of remotely operated vehicles 80 configured to move in X and Y directions on dedicated supporting rails 20, and to receive a storage bin 60 from a storage column 30 within a bin storing grid 50. The prior art storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery port or station 40.
Said known system comprises vehicles 80, each covering a cross section of the underlying storage system 10 corresponding to two storage columns 30.
In order to allow an increase in the number of remotely operated vehicles operating simultaneously on the top rails of the three-dimensional storage grid, the applicant has also developed single cell vehicles, where each vehicle occupying only a single cell. Each vehicle will operate very close to each other, e.g. as close as 4mm. This does however introduce a problem related to congestion if one or more vehicles fail to operate which may result in blocking of other vehicles. If congestion or jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may be blocked.
There are solutions for rescuing and handling vehicles, but these focus on performing services and removing of faulty vehicles. An example of a robotic service device is described in WO 2015/140216.
It is thus an object of the present invention to provide a single cell vehicle with control means for manually overriding a remote operation thereby enabling manual operation of the vehicle.
Summary of the invention
The present invention relates to a remotely operated vehicle, or robot, for picking up storage bins from a storage system.
More specifically, the invention is defined by a remotely operated vehicle for picking up storage bins from an underlying storage system, comprising an internal lifting device for lifting storage bins from the underlying storage system, rolling means allowing movement of the vehicle along first and second directions (x, y) on the underlying storage system, driving means situated at or at least partly within the rolling means for providing driving force to the vehicle while occupying minimum space, and a control unit configured to control the movements of the vehicle, where the control unit is connected to said driving means and provided with wireless communication to and from the vehicle by means of a wireless communication link.
The remotely operated vehicle is characterized in further comprising a control panel comprising input means for manually overriding a remote-controlled operation of the vehicle, where the control panel is connected to the control unit, and a robot arm installed on the top section of the vehicle, where the robot arm is adapted for accessing the control panel the control unit is connected to a control panel with input means for manual overriding a remote-controlled operation of the vehicle.
Other features of the invention are defined in the dependent claims.
Brief description of the drawings
Figure 1 is a perspective view of a prior art storage system comprising a grid and a plurality of remotely operated vehicles;
Figure 2 shows a section of the storage system seen from above where several vehicles are arranged directly above five neighbouring storage columns;
Figure 3 shows a remotely operated vehicle according to one embodiment of the invention, and
Figure 4 shows the control unit and its connection to different control means.
Detailed description of the invention
The present invention addresses a problem related to remotely operated single cell vehicles for picking up storage bins from a storage system. Using single cell vehicles in a storage system described in the background section above allow more vehicles to operate simultaneously. They may then operate very close to each other, e.g. as close as 4mm. This may however introduce a problem if one or more vehicles fails or is stuck. Congestion may then occur resulting in several blocked vehicles. If congestion and jamming occurs it will be hard to operate and move the automated vehicles. Control signals to and from vehicles may further be blocked.
It is thus an object of the present invention to provide a single cell vehicle with control means enabling manually overriding of a remote-controlled operation of the vehicle.
Figure 1 is a perspective view of a prior art storage system 10 comprising a storing grid 50 and a plurality of remotely operated vehicles 80. The upper part of the storage grid is provided with dedicated supporting rails 20 for the vehicles to run on. The vehicles 80 are configured to move in X and Y directions on the rails 20, and to receive a storage bin 60 from a storage column 30 within a bin s toring grid 50. The storage system 10 may also include a dedicated bin lift device 70, the latter being arranged to receive a storage bin 60 from a vehicle 80 at the top level of the storage system 10 and to convey the storage bin 60 down in a vertical direction to a delivery station or port 40.
Figure 2 shows a section of the storage system 10 seen from above, and where several vehicles 80 are arranged directly above five neighbouring storage columns 30. This figure illustrates the problem occurring if the remotely operated vehicle 80 located in the middle is stuck. It will then block the passage for the other vehicles 80 making a storage operation more time consuming and possibly preventing it totally.
Figure 3 shows a remotely operated vehicle 80 according to one embodiment of the invention. The vehicle 80 is adapted for picking up storage bins 60 from an underlying storage system 10.
The body of the vehicle 80 comprises a cavity for receiving a storage bin 60. The cavity is arranged centrally within and is surrounded by the body of the vehicle 80.
The body of the vehicle 80 further comprises A lifting device for lifting and lowering a storage bin 60 is further provided in the body of the vehicle 80.
The vehicle 80 further comprises rolling means 85 allowing movement of the vehicle 80 along first and second directions (x, y) on the underlying storage system 10. The rolling means are connected to driving means 90 situated at or at least partly within the rolling means 85 for providing driving force to the vehicle 80. This configuration will occupy minimum space within the vehicle 80, thereby freeing space for other installations in the vehicle.
The vehicle 80 further comprises a control unit 95 configured to control the movements of the vehicle 80. The control unit 95 is connected to the driving means 90 and provided with wireless communication to and from the vehicle 80 by means of a wireless communication link 75.
In addition to controlling the vehicle 80 by means of wireless input signals, the control unit 95 is also connected to a control panel 100 with input means for manually overriding a remote-controlled operation of the vehicle 80. This manual overriding feature is important if congestion with several vehicles 80 occurs.
In one embodiment, the control unit 95 is installed in the top section 110 of the vehicle 80, e.g. above the cavity holding a storage bin 60.
The control panel 100 may be installed in the top section 110 of the vehicle 80 and with input means that are accessible from the outside of the vehicle 80. This configuration is favourable for vehicles 80 occupying only a single cell. Even though all sides of a vehicle are blocked due to other neighbouring vehicles 80, the outer part of the top section will always be accessible. The control panel 100 may in one embodiment comprise input buttons for controlling movements of the vehicle 80.
In one embodiment, the control panel 100 comprises an emergency stop button 105 stopping all operations of the vehicle 80. This may be necessary if the wireless connection is lost. The emergency stop button 105 and the control panel 100 will be accessible for operation from the outside of the vehicle. This opens for different scenarios for pressing the stop button 105 and operating the control panel 100.
One or more vehicles may for instance be equipped with a robot arm enabled to access the control panel of an adjacent vehicle 80. There may also be an installation, located above the upper part of the storage grid, having means for moving to a specific vehicle 80 and accessing the control panel 100 and the stop button 105. An operator may also operate the control panel 100 directly.
By placing a control panel 100 with a stop button 105 on the top section 110 of the vehicle 80, a vehicle may be operated despite of a broken wireless control link.

Claims (4)

1. A remotely operated vehicle (80) for picking up storage bins (60) from an underlying storage system (10), comprising an internal lifting device for lifting storage bins (60) from the underlying storage system (10), rolling means (85) allowing movement of the vehicle (80) along first and second directions (x, y) on the underlying storage system (10), driving means (90) situated at or at least partly within the rolling means (85) for providing driving force to the vehicle (80) while occupying minimum space, and a control unit (95) configured to control the movements of the vehicle (80), where the control unit (95) is connected to said driving means (90) and provided with wireless communication to and from the vehicle (80) by means of a wireless communication link (75),
c h a r a c t e r i z e d i n further comprising:
- a control panel (100) comprising input means for manually overriding a remote-controlled operation of the vehicle (80), where the control panel (100) is connected to the control unit (95), and
- a robot arm installed on the top section (110) of the vehicle (80), where the robot arm is adapted for accessing the control panel (100).
2. The remotely operated vehicle (80) according to claim 1, where the control panel (100) is installed in the top section (110) of the vehicle (80).
3. The remotely operated vehicle (80) according to claim 2, where the control panel (100) comprises an emergency stop button (105).
4. The remotely operated vehicle (80) according to claim 2, where the control panel (100) comprises input buttons for controlling movements of the vehicle (80).
NO20161313A 2016-08-18 2016-08-18 Single cell robot with control unit NO343383B1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
NO20161313A NO343383B1 (en) 2016-08-18 2016-08-18 Single cell robot with control unit
PCT/EP2017/070016 WO2018033426A1 (en) 2016-08-18 2017-08-08 Single cell robot with control unit
TW106128130A TW201808750A (en) 2016-08-18 2017-08-18 Single cell robot with control unit

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
NO20161313A NO343383B1 (en) 2016-08-18 2016-08-18 Single cell robot with control unit

Publications (2)

Publication Number Publication Date
NO20161313A1 NO20161313A1 (en) 2018-02-19
NO343383B1 true NO343383B1 (en) 2019-02-18

Family

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Family Applications (1)

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NO20161313A NO343383B1 (en) 2016-08-18 2016-08-18 Single cell robot with control unit

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NO (1) NO343383B1 (en)
TW (1) TW201808750A (en)
WO (1) WO2018033426A1 (en)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10961054B2 (en) * 2018-06-08 2021-03-30 Attabotics Inc. Storage and retrieval systems performing internal sortation by orchestrated navigation of storage grid robots to workstation intake points
NO345766B1 (en) 2018-10-12 2021-07-19 Autostore Tech As A mobile storage system and a method of providing the mobile storage system
WO2020193475A1 (en) 2019-03-25 2020-10-01 Autostore Technology AS Automated grid storage and retrieval system with foam-based fire prevention system
NO345321B1 (en) 2019-03-25 2020-12-07 Autostore Tech As Automated grid storage and retrieval system with foam-based fire prevention system

Citations (6)

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Publication number Priority date Publication date Assignee Title
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
DE20216460U1 (en) * 2002-10-25 2003-04-03 Braeutigam Antriebs Und Transp Synchronized drive for multiple locomotives on railway train has driver cabs at each end of train Synchronized by central computers
EP1352817A1 (en) * 2003-05-13 2003-10-15 TMS Automotion GmbH Transport device and method for transporting components
US20030233177A1 (en) * 2002-03-21 2003-12-18 James Johnson Graphical system configuration program for material handling
DE102010021705A1 (en) * 2010-05-27 2011-12-01 Sew-Eurodrive Gmbh & Co. Kg Method for transporting an object, vehicle, installation
WO2015140216A1 (en) * 2014-03-18 2015-09-24 Ocado Innovation Limited Robotic service device

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Publication number Priority date Publication date Assignee Title
NO972004D0 (en) 1997-04-30 1997-04-30 Hatteland Electronic As Jacob Method for organizing flow of goods for a horizontally layered and deep-stacked inventory with disparate components, as well as transfer equipment for standardized containers for the purpose
NO317366B1 (en) 1999-07-01 2004-10-18 Autostore As Storage system with remote controlled wagons with two wheelsets and lifting device for operation on rails arranged in cross over columns of storage units separated by vertical profile posts
KR100381415B1 (en) * 2000-07-14 2003-04-23 삼성전자주식회사 AGV and emergency stopping control method of AGV
NO335839B1 (en) * 2012-12-10 2015-03-02 Jakob Hatteland Logistics As Robot for transporting storage containers
CN203937526U (en) * 2014-07-18 2014-11-12 安徽中家智锐科技有限公司 The 8 degree-of-freedom manipulator systems on AGV chassis

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5170352A (en) * 1990-05-07 1992-12-08 Fmc Corporation Multi-purpose autonomous vehicle with path plotting
US20030233177A1 (en) * 2002-03-21 2003-12-18 James Johnson Graphical system configuration program for material handling
DE20216460U1 (en) * 2002-10-25 2003-04-03 Braeutigam Antriebs Und Transp Synchronized drive for multiple locomotives on railway train has driver cabs at each end of train Synchronized by central computers
EP1352817A1 (en) * 2003-05-13 2003-10-15 TMS Automotion GmbH Transport device and method for transporting components
DE102010021705A1 (en) * 2010-05-27 2011-12-01 Sew-Eurodrive Gmbh & Co. Kg Method for transporting an object, vehicle, installation
WO2015140216A1 (en) * 2014-03-18 2015-09-24 Ocado Innovation Limited Robotic service device

Also Published As

Publication number Publication date
WO2018033426A1 (en) 2018-02-22
NO20161313A1 (en) 2018-02-19
TW201808750A (en) 2018-03-16

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