KR20160106098A - Robot for transporting storage bins - Google Patents

Abstract

The present invention relates to a remote controlled vehicle assembly for bringing a storage box from a storage system, and to a method of replacing a power source within the vehicle assembly. The remote control vehicle assembly includes a vehicle body showing an empty space capable of receiving a storage box somewhere in the storage system, a vehicle elevating device connected to the vehicle body at least indirectly to raise the storage box to the empty space, A wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit such as a computer to enable remote control of movement of the vehicle assembly within the storage system, And vehicle engaging means for adjustable and releasable coupling of the main power source to the vehicle body.

Description

[0001] ROBOT FOR TRANSPORTING STORAGE BINS [0002]

The present invention relates to a remote controlled vehicle for bringing a storage box from a storage system such as defined in the preamble of claim 1 and relates to a storage system for box storage and a method for replacing the power supply.

A remote controlled vehicle for picking up a storage box from a storage system is known. A more detailed description of an associated prior art storage system is given in WO 98/49075. Moreover, details of a prior art vehicle suitable for such a storage system are disclosed in Norwegian patent NO317366. Such prior art storage systems have a three-dimensional storage grid that includes storage boxes stacked on top of each other to a certain height. These storage grids are usually constructed as aluminum columns joined together by top rails. A number of remote controlled vehicles or robots are arranged to move sideways on these top rails. Each robot (vehicle) is provided with a lift for picking up, picking-up and dropping boxes stored in the storage grid, and a rechargeable battery for supplying electrical capability to the motor coupled to the robot. The robot typically communicates with the conditioning system via a wireless connection and is charged at a charging station, typically at night, as needed.

This prior art storage system is illustrated in Fig. The storage system 3 comprises a plurality of robots 1 which are arranged to move over a dedicated support rail 13 and to receive the storage box 2 from the storage column 8 within a box storage grid 15 do. This prior art storage system 3 may include a given box lifting device 50 and the latter may be stored from the robot 1 at the top level of the box storage system 3 And is arranged to receive the box 2 and carry the storage box 2 vertically downward to a delivery station or port 60.

In this known system, however, there was an undesirable robotic stagnation due to the need for charging, thereby reducing the operating cycle of the storage system 3 as a whole, typically up to 16 hours per day.

The present invention aims at providing a solution that can significantly increase the overall operational cycle, preferably close to 24 hours per day.

The invention may be claimed and characterized in the main claims, and the dependent claims refer to other features of the invention.

In particular, the invention relates to a remote controlled vehicle assembly (assembly) capable of retrieving storage boxes from a storage system, comprising: a vehicle body showing an empty space capable of receiving a storage box somewhere in the storage system; A drive means connected to the vehicle body to remotely control the movement of the vehicle assembly in the storage system, and a remote control such as a computer assembly and a computer, One or more main power sources for providing power to the drive means and vehicle engagement means for adjustable and releasable engagement of the main power source to the vehicle body . An adjustable coupling is defined as a combination capable of securing power flow between a power source and a drive means.

In one preferred embodiment, this coupling is used to allow automatic switching or switching of the main power source to the charging station after receiving at least one communication signal from the conditioning unit, i.e., .

In another preferred embodiment, the vehicle assembly has one or more auxiliary power sources for supplying power to the drive means.

In another preferred embodiment, the vehicle assembly further comprises a management system for managing at least one of the power sources. Such a management system may include means for monitoring at least one of voltage, temperature, charge state, discharge depth, state of health, refrigerant flow and current, and at least one of the above mentioned monitoring parameters And at least one parameter associated with charging at least one of the power sources,

In another preferred embodiment, the minimum amount of power charged in the auxiliary power source is equal to the power required to move the vehicle assembly from one charging station to an adjacent charging station during operation.

In another preferred embodiment, the one or more auxiliary power sources and the at least one primary power source may be interconnected such that the primary power source charges the auxiliary power source when the primary power source provides power to the vehicle.

In another preferred embodiment, at least one power source, i. E. At least one main power source and / or at least one auxiliary power source, can be exemplified by a supercapacitor such as a shadow capacitor, a hybrid capacitor and / Lt; / RTI >

In another preferred embodiment, the at least one power source, i.e. the at least one main power source and / or the at least one auxiliary power source, is a rechargeable battery (battery). The rechargeable battery may be a lithium-ion battery, a nickel-cadmium battery, a nickel-metal hybrid battery, a lithium-ion polymer battery, a lithium sulfur battery, a thin film battery, a smart battery, Batteries, or a combination thereof. In order to monitor and adjust the performance of at least one battery, the vehicle assembly further includes a battery management system (BMS) in the form of a printed circuit board for managing / regulating charging for at least one power source . Preferably, such a BMS is set up to operate in the main power source.

In another preferred embodiment, the main power source may comprise a receiving means for making a releasable connection to a corresponding charging station connecting means situated on the charging station, wherein preferably at least one of the receiving means comprises a hollow recess, May be a hook receiving means such as a hole or a hank and may be capable of releasable connection with a corresponding pivotable charging station latch on the charging station.

In another preferred embodiment, the vehicle connecting means further comprises at least one battery latch pivotably connected to the vehicle body, enabling a releasable connection between the vehicle body and the main power source.

The invention also relates to a storage system for a storage box, for example a storage system having a structure such as that disclosed in detail in Norwegian patent application NO20121488. This system has the following.

- one or more remote control vehicles, such as the vehicles disclosed above,

- one or more charging stations

- a vehicle support having a plurality of support rails

A box storage structure for supporting a vehicle support and comprising a plurality of storage columns, wherein each storage column is adapted to receive a vertically stacked storage box.

   The main part of the box storage structure fits the locations on the vehicle support where the support rails intersect.

The present invention also relates to a method for charging a power source installed on or near a remote controlled vehicle. Such a method has the following steps.

a) move the remote control vehicle assembly to a charging position adjacent to the first charging station.

b) deliver a first main power source connected to the vehicle body of the vehicle assembly to the first charging station.

c) Moving the vehicle assembly to a second charging station using an auxiliary power source that supplies auxiliary power to the driving means.

d) transfer a second main power source connected to the second charging station to the vehicle body, with the second main power source being charged for a substantial period of time at the second vehicle station;

The filling station is preferably mounted on a lower support on which the vehicle assembly is moving.

In a preferred embodiment, the inventive method further comprises the following steps.

- lowering the vehicle body toward the vehicle support during the steps b) and d) so that the main power source can be released from the vehicle body.

- raising the vehicle body from the vehicle support after steps b and d so that the main power source (6) is connected to the charging station.

At this time, the lowering and raising of the vehicle body may be performed by elongation means connected to the driving means or constituting an integral part.

In another preferred embodiment, the steps of the inventive method may be adjusted by sending and receiving communication signals between the conditioning unit and the wireless communication means in the vehicle.

The vehicle assembly used in the method of the present invention is preferably of the type disclosed above.

In the following description, numerous specific details are set forth in order to provide an understanding of embodiments of the claimed vehicle, system and method. However, those of ordinary skill in the art will recognize that these embodiments may be practiced without one or more of the specific details, or with other elements or systems. In other aspects, well-known constructions or acts are not disclosed and are not described in detail in order to avoid obscuring aspects of the disclosed embodiments.

Figure 1 is a perspective view of a prior art storage system,
2 is a perspective view of a remote control vehicle according to the present invention,
FIG. 3 is a perspective view of the remote control vehicle according to the present invention,
FIG. 4 is a side view of a part of a storage system according to the present invention, including a box storage grid, a vehicle support and a robot (vehicle)
Figure 5 is a side view of a portion of a storage system according to the present invention, including a box storage grid, a vehicle support, a robot and a plurality of charging stations,
Fig. 6 is a block diagram of a robot showing a main power source and an auxiliary power source, Figs. 6A and 6B are diagrams showing a main power source to be operatively connected or separated from the robot,
7 is a cross-sectional view of the robot and charging station,
8A to 8D are cross-sectional views of a robot and a filling station, in which FIG. 8A shows a battery-containing robot in a raised position and a distance from the filling position, FIGS. 8B and 8C show a robot- And FIG. 8D shows a robot in a descending position a certain distance from the charging position after the battery is transferred to the charging station.
9A to 9C are explanatory cross-sectional views showing the connection operation of Figs. 8B to 8D in more detail, Figs. 9A and 9B show connection latches of the robot and the charging station in the raised position and the lowered position, respectively, Lt; RTI ID = 0.0 > a < / RTI > successful connection of the battery to the charging station.

2 and 3 are a perspective view showing a state in which a space 7 disposed centrally in the main body 4 and a top cover 72 covering the upper part of the main body 4, A first set of wheels 10 and a robot 1 having a rectangular vehicle body or framework having a second set of four wheels 11 disposed on the outer wall of the body 4. [ As seen from two different angles. The first and second wheel sets 10, 11 have a direction perpendicular to each other. For the sake of clarity, a Cartesian coordinate system having X, Y and Z axes arranged along the main direction of the rectangular vehicle body 4 is shown. The size of the space 7 is determined so as to fully accommodate the largest storage box 2 intended to be lifted up to the robot 1, including the parts required for the lifting device 9 (see Fig. 4).

Figure 4 shows a part of the storage system 2 wherein the robot 1 is in an elevated position above the vehicle support 14 and just above the storage column 8 in the box storage support structure 15. [ The vehicle lift apparatus 9 is lowered a certain distance into the storage column 8 so as to raise and hold some storage box 2 in the column 8. [

All the operations of the robot 1 are controlled by the wireless communication means 19 and the remote control unit. Such manipulation includes robot motion, vehicle elevator 9 and any vehicle position measurement adjustments.

5, the robot 1 is placed on a vehicle support 14 composed of a plurality of support rails 13, and the vehicle support 14 is supported by a box storage structure (not shown) constituting a plurality of storage columns 8 15). The robot 1 shown in Fig. 5 includes a main battery 6, battery holding means 22 to 24 for holding the main battery 6 during operation and supplying electric power to the robot 1, driving means 10, 11, a handle 4, and an adjustable panel 75. The cover < RTI ID = 0.0 > 73 < / RTI > The storage system 3 of the present invention for charging the main battery 6 is provided with a position capable of accessing a part of the vehicle body 4 including the main battery 6 and / Further comprising several charging stations (20, 20 ') located in the vehicle support (14). Each charging station 20, 20 'has a corresponding station connecting means 25, 26 for assuring stable connection and electrical charging as well as for transferring the main cell 6. Fig. 5 shows a concrete situation in which the robot 1 approaches to transfer the main battery 6 almost discharged to the charging station 20 without the battery. After successful transfer, the robot 1 moves to another charging station 20 ', typically the nearest charging station 20', which has the main cell 6 charged to a level at which it can be fully operated. Such movement along the vehicle support 14 from the first charging station 20 to the second charging station 20 'can be ensured by the auxiliary power source or battery 21 schematically indicated in the block diagram of Figure 6 Here, FIGS. 6A and 6B show a robot 1 in which a main battery is connected or disconnected, respectively. When connected, the terminals of the main cell (6) are electrically connected to the circuit board (19) and the circuit board regulates the power flow to the driving means (10, 11). It should be noted that the drive means 10 and 11 ensure that all the operations and / or elements are included in the robot 1 to provide lateral movement including at least wheels, motors, gears, and the like. Furthermore, both Figs. 6A and 6B show the auxiliary battery 21 mentioned above, which terminal is electrically connected to the same circuit board 19 as the main battery 6 does. As a result, the robot 1 can provide sufficient power to the drive means 10 and 11 in this form, so that even when the main battery 6 is physically and electrically incomplete, the operation of the robot 1 (lateral movement, Operation of the elevating device 9) (see Fig. 6B). When the main cell 6 is connected, the auxiliary battery 21 remains electrically disconnected or acts as an additional power source during the continuous operation of the robot 1. [

7 is a cross-sectional view of the charging station 20 and the robot 1 installed at the upper end of the vehicle support 14 and shows the position of the main battery 6 better. In this embodiment, The elements constituting the robot engaging means 22 and 23 are on the side of the charging station 20 and the station connecting means 25 and 26 are on the side of the charging station 20. The robot engagement means 22 and 23 comprise at least one robotic clasp 22 pivotally secured to the side wall of the main cell space 24 for fixing the main cell 6 in place, 20, 20 ') with at least one robot hole (23) on the side of the main cell (6) facing each other. Likewise, the side of the charging station 20, 20 'facing the robot 1 has at least one pivotable charging station latch 25 and at least one charging station aperture 26, Can be releasably clamped in the hole 23 and the filling station hole 26 can releasably receive the pivotable robotic latch 22. The robot 1 is adjusted vertically in the lateral position shown in Fig. 7, i.e. perpendicular to the vehicle support 14, to ensure reliable and easy loading of the robot and charging station latches 22, 25 with their respective robots Into the filling station holes (23, 26). This movement is described in more detail in Fig. 8 which shows four different steps a to d of the main cell transfer process from the robot 1 to the charging station 20, 20 '. In the first step (FIG. 8A), the robot 1 including the main cell 6 approaches the charging station 20, 20 'in the raised position. When the robot 1 is in the lateral transfer position with respect to the charging stations 20 and 20 '(see FIG. 8B), the charging station latches 25 placed on the charging stations are moved to the robot holes 23, . The robot 1 is then lowered by a predetermined distance toward the underlying vehicle support 14 (see FIG. 8C) and results in the release of the robotic latch 22 from the main cell 6 (see FIG. 8D). The robot 1 is then able to recover the raised position and move along the vehicle support 14 to the charging station 20 'with the main battery 6 fully charged.

9A to 9C show the main battery transfer process from the robot 1 to the charging station 20 in more detail. 8A. In other words, when the raised robot 1 is moved to the transfer position with respect to the charging station 20 and when the charging station latch 25 is successfully guided and the corresponding robot And it is shown when it is caught in the hole 23. 9B corresponds to the situation depicted in Fig. 8C, which shows when the robot 1 is lowered and accordingly releases the robot latch 22 from the main cell 6. [ Finally, FIG. 9C corresponds to the situation depicted in FIG. 8D, in which the robot 1 uses the auxiliary power source 21 to transfer the main battery, which is transported from the charging station 20 and is charged to the charging station 20 It indicates when to leave.

In the foregoing description, various aspects of the apparatus according to the present invention have been described in connection with the illustrated embodiment. For purposes of explanation, specific numerical values, systems and configurations have been set forth in order to provide a thorough understanding of the device and its operation. However, such references are not intended to be provided in a limiting sense. It will be apparent to those skilled in the art that various changes and modifications of the embodiment illustrated herein as well as other embodiments of the apparatus are within the scope of the present invention.

1: Remote control vehicle assembly / robot 2: Storage box
3. Storage System 4: Vehicle Body / Frame
6: main power source / main battery 7: space (void)
8: Storage column 9: Vehicle elevator
10: a first set of vehicle rolling means / first wheel set / driving means
11: second set of vehicle rolling means / second wheel set / driving means
13: support rail 14: vehicle support
15: Box storage structure / box storage grid
19: Circuit Board / Management System / Battery Management System
20: charging station / first charging station
20 ': adjacent charging station / second charging station
21: auxiliary power source / auxiliary battery 22: vehicle coupling means / robot latch
23: receiving means / robot hole 24: main cell space (void)
25: charging station connecting means / charging station latch
26: charging station hole 50: box lifting device
60: Shipping station / port 72: top lid
73: Enclosing cover 74: Handle
75: Wireless communication device / control panel

Claims (16)

A remote controlled vehicle assembly (1) for bringing a storage box (2) from a lower storage system (3)
A vehicle body (4) showing a space (7) capable of receiving the storage box (2) in the storage system (3)
A vehicle elevating device 9 connected at least indirectly to the vehicle body 4 for vertically lifting the storage box 2 from the lower storage system 3 to the space 7,
(10, 11) connected to the vehicle body (4) so as to remotely control the movement of the vehicle assembly (1) in the storage system (3)
Wireless communication means (75) for providing wireless communication between the vehicle assembly (1) and the remote control unit,
A main power source (6) for providing power to said drive means (10, 11)
Further comprising vehicle engaging means (22) for releasable engagement of said main power source (6) with respect to said vehicle body (4)
Characterized in that said vehicle engaging means (22, 23) is adapted to be able to replace said main power source (6) to a stationary charging station (20) after receiving at least one communication signal from said regulating unit One) The method according to claim 1,
Further comprising an auxiliary power source (21) for supplying power to said drive means (10, 11). 3. The method according to claim 1 or 2,
Further comprising a management system (19) for managing at least one of said power sources (6, 21)
The management system 19 monitors at least one of a voltage, a temperature, a state of charge (SOC), a depth of discharge (DOD), a state of health (SOH) What you can do
Characterized in that it comprises recharging means for regulating at least one parameter (parameter) relating to the recharging of at least one of said power sources (6, 21). The method of claim 3,
Characterized in that the minimum amount of power stored in the auxiliary power source (21) is equal to the power required to move the vehicle assembly (1) from one charging station (20) to an adjacent charging station (20 ' (1). The method according to claim 3 or 4,
The auxiliary power source 21 and the main power source 6 are arranged such that when the main power source 6 is connected to operate on the vehicle assembly 1 the main power source 6 is connected to the auxiliary power source 21 (1). ≪ / RTI > 6. A method according to any one of the preceding claims,
Characterized in that at least one of the power sources (6, 21) is a capacitor. 6. A method according to any one of the preceding claims,
Characterized in that at least one of the power sources (6, 21) is a rechargeable battery. 8. The method of claim 7,
Further comprising a battery management system (BMS) (19) for managing at least one of said power sources (6, 21). 6. A method according to any one of the preceding claims,
Characterized in that the main power source (6) comprises a receiving means (23) for allowing a releasable connection to a corresponding charging station connecting means (25) overlying the charging stations (20, 21) One). 10. The method of claim 9,
Characterized in that at least one of said receiving means is a hook receiving means. 6. A method according to any one of the preceding claims,
Characterized in that at least one battery latch (22) is pivotally connected to the vehicle body (4) and forms a releasable connection between the main power source (6) and the vehicle body (4) One). A storage system (3) for storage of a storage box (2)
12. A remote controlled vehicle assembly (1), such as the vehicle assembly of any one of claims 1 to 11,
The charging station 20, 20 '
The vehicle support 14,
A box storage structure (15) for supporting the vehicle support (14), comprising a box storage structure (15) comprising a plurality of storage columns (8, 8a, 8b)
Characterized in that each storage column (8, 8a, 8b) is adapted to receive a vertical stack of said storage box (2). A method for charging a power source (6, 6 ') installed in a remote control vehicle assembly (1)
A step of moving the remote control vehicle assembly 1 to a charging position adjacent to the first charging station 20,
B) transferring a first main power source (6) connected to the vehicle body (4) of the vehicle assembly (1) to the first charging station (20)
C) moving the vehicle assembly 1 to a second charging station 20 'using an auxiliary power source 21 for supplying auxiliary power to the driving means 10, 11,
Connected to said second charging station (20 ') in said vehicle body (4) in a state where a second main power source (6') is charged in said second vehicle station (20 ' And transferring the two main power sources (6 '). 14. The method of claim 13,
lowering the vehicle body (4) toward the vehicle support (14) during steps b and d so that the main power source (6) can be detached from the vehicle body (4)
After the steps b and d, the vehicle body 4 is lifted from the vehicle support 14 so that the main power source 6 is connected to the charging station 20, 20 '
Characterized in that the lowering and raising of the vehicle body is carried out by means of elongation means connected to or integral with the drive means (10, 11). 15. The method of claim 14,
Characterized in that the steps are regulated by sending and receiving communication signals between the conditioning unit and the wireless communication means (75) in the vehicle assembly (1). 16. The method according to claim 14 or 15,
Characterized in that the vehicle assembly (1) is a vehicle assembly (1) according to any one of claims 1 to 11.

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