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WO2019238676A1 - Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille - Google Patents

Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille Download PDF

Info

Publication number
WO2019238676A1
WO2019238676A1 PCT/EP2019/065210 EP2019065210W WO2019238676A1 WO 2019238676 A1 WO2019238676 A1 WO 2019238676A1 EP 2019065210 W EP2019065210 W EP 2019065210W WO 2019238676 A1 WO2019238676 A1 WO 2019238676A1
Authority
WO
WIPO (PCT)
Prior art keywords
remotely operated
delivery vehicle
vehicle
container
storage
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/EP2019/065210
Other languages
English (en)
Inventor
Trond Austrheim
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Autostore Technology AS
Original Assignee
Autostore Technology 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
Priority claimed from NO20181005A external-priority patent/NO344662B1/en
Priority claimed from NO20181524A external-priority patent/NO345059B1/no
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Priority to US17/059,222 priority Critical patent/US12246757B2/en
Priority to EP19730166.6A priority patent/EP3807185B1/fr
Publication of WO2019238676A1 publication Critical patent/WO2019238676A1/fr
Anticipated expiration legal-status Critical
Priority to US19/029,698 priority patent/US20250162619A1/en
Ceased legal-status Critical Current

Links

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
    • 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
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • 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
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • B65G1/0471—Storage devices mechanical with access from beneath
    • 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
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1378—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on fixed commissioning areas remote from the storage areas
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders

Definitions

  • the present invention relates to a safety device for a delivery vehicle adapted for transport of storage containers between a storage grid for storage of storage containers, and a second predetermined location adapted for handling of the storage container.
  • the framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, in which storage columns 105 storage containers 106, also known as bins, are stacked one on top of another to form stacks 107.
  • the safety device may comprise a collision mechanism and a sensor, a switch or a combination thereof.
  • the sensor or switch may be activated when a dangerous situation occurs such as in the event of a collision.
  • the sensor or switch operates as a fail-safe device providing a signal to the control unit which automatically stops or reverses the delivery vehicle, by applying a reverse torque to the wheels, for bringing the vehicle to a safe state, when activated.
  • Such safe state may be for example reversing the vehicle at least a distance, or reduce the power to idle, or applying brakes while leaving the vehicle still active and ready to resume normal operation once control is reestablished.
  • a mechanism may be provided with a preset resistance or force that must be overcome such that it is activated only when a force transmitted to the delivery vehicle exceeds a predefined value.
  • a preset force or resistance may rely on friction, spring or some other form of pre-load that must be overcome by the force of the collision.
  • Fig. 9 A-B illustrates a remotely operated delivery vehicle comprising a collision mechanism in form of a pressor sensor arranged as a list at the top of the container carrier.

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un véhicule de livraison télécommandé pour le transport d'un conteneur de stockage entre une grille de stockage et de récupération automatisée, qui est configurée pour stocker une pluralité de piles de conteneurs de stockage, et une station d'accès pour la manipulation du conteneur de stockage par un opérateur robotique et/ou un opérateur humain. Le véhicule de livraison télécommandé comprend : - une carrosserie de véhicule comprenant un moteur permettant d'entraîner une pluralité de dispositifs de roulement pour déplacer le véhicule de livraison télécommandé dans un plan horizontal ; - une unité de commande permettant de commander le véhicule de livraison télécommandé ; et - un porte-conteneurs (35) disposé au-dessus de la carrosserie de véhicule motorisé pour transporter un conteneur de stockage. Le véhicule de livraison télécommandé comprend un dispositif de sécurité qui transmet un signal à l'unité de commande de sorte qu'il exécute une action d'actionnement du véhicule de livraison télécommandé dans le cas où une collision est détectée. La collision est provoquée par une force (F) agissant sur le véhicule de livraison télécommandé (30) et est détectée par un mécanisme de collision (60) du dispositif de sécurité et le mécanisme de collision est un dispositif de déplacement de porte-conteneurs (60) agencé de sorte qu'il déclenche le dispositif de sécurité lors du déplacement du porte-conteneurs (35) par rapport à la carrosserie de véhicule motorisé (31), ladite première position étant la position non déplacée et la seconde position étant la position déplacée.
PCT/EP2019/065210 2018-06-12 2019-06-11 Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille Ceased WO2019238676A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
US17/059,222 US12246757B2 (en) 2018-06-12 2019-06-11 Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
EP19730166.6A EP3807185B1 (fr) 2018-06-12 2019-06-11 Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille
US19/029,698 US20250162619A1 (en) 2018-06-12 2025-01-17 Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
NO20180813 2018-06-12
NO20180813 2018-06-12
NO20181005 2018-07-19
NO20181005A NO344662B1 (en) 2018-06-12 2018-07-19 An automated storage and retrieval system and a method of transporting storage containers between an automated storage and retrieval grid and a second location
NO20181524A NO345059B1 (en) 2018-06-12 2018-11-28 Safety device for a delivery vehicle
NO20181524 2018-11-28

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US17/059,222 A-371-Of-International US12246757B2 (en) 2018-06-12 2019-06-11 Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
US19/029,698 Continuation US20250162619A1 (en) 2018-06-12 2025-01-17 Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system

Publications (1)

Publication Number Publication Date
WO2019238676A1 true WO2019238676A1 (fr) 2019-12-19

Family

ID=66826984

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/EP2019/065210 Ceased WO2019238676A1 (fr) 2018-06-12 2019-06-11 Dispositif de sécurité pour un véhicule télécommandé, système et procédé d'amélioration de la sécurité opérationnelle d'un système de grille

Country Status (1)

Country Link
WO (1) WO2019238676A1 (fr)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112744501A (zh) * 2020-12-29 2021-05-04 昆船智能技术股份有限公司 一种航材的自动化存储配送系统及方法
WO2021249865A3 (fr) * 2020-06-12 2022-02-24 Autostore Technology AS Véhicule de distribution doté d'un support de conteneur rotatif, et procédés d'utilisation associés
GB2604226A (en) * 2020-12-24 2022-08-31 Ocado Innovation Ltd Motion control of a robotic load handling device
NO348001B1 (en) * 2022-12-16 2024-06-17 Autostore Tech As A container transport vehicle, an automated storage and retrieval system and a method thereof

Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2377638A1 (fr) * 1977-01-13 1978-08-11 Foerenade Fabriksverken Detecteur de collision
JPS60191855A (ja) * 1984-03-12 1985-09-30 Toshiba Corp 無人搬送車の衝突検知装置
EP1103816A1 (fr) * 1999-11-24 2001-05-30 Denso Corporation Dispositif de détection électro-mécanique d'impact pour des véhicules
JP2001344020A (ja) * 2000-05-31 2001-12-14 Nippon Yusoki Co Ltd 無人搬送車の制御装置及び制御方法
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
US20050232729A1 (en) * 2004-03-31 2005-10-20 Jervis B. Webb Company Transport with rotatable load and safety bumper
US20140086714A1 (en) * 2012-09-27 2014-03-27 Ohad MALIK Automated warehousing systems and method
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015185628A2 (fr) * 2014-06-03 2015-12-10 Ocado Innovation Limited Procédés, systèmes et appareil de commande de mouvement de transport de dispositifs
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
US9358975B1 (en) * 2015-04-10 2016-06-07 Google Inc. Virtual moving safety limits for vehicles transporting objects

Patent Citations (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2377638A1 (fr) * 1977-01-13 1978-08-11 Foerenade Fabriksverken Detecteur de collision
JPS60191855A (ja) * 1984-03-12 1985-09-30 Toshiba Corp 無人搬送車の衝突検知装置
NO317366B1 (no) 1999-07-01 2004-10-18 Autostore As Lagringsanlegg med fjernstyrte vogner med to hjulsett og heisinnretning for drift på skinner anlagt i kryss over kolonner av lagringsenheter som er adskilt med vertikale profilstolper
EP1103816A1 (fr) * 1999-11-24 2001-05-30 Denso Corporation Dispositif de détection électro-mécanique d'impact pour des véhicules
JP2001344020A (ja) * 2000-05-31 2001-12-14 Nippon Yusoki Co Ltd 無人搬送車の制御装置及び制御方法
US20050232729A1 (en) * 2004-03-31 2005-10-20 Jervis B. Webb Company Transport with rotatable load and safety bumper
US20140086714A1 (en) * 2012-09-27 2014-03-27 Ohad MALIK Automated warehousing systems and method
WO2014090684A1 (fr) 2012-12-10 2014-06-19 Jakob Hatteland Logistics As Robot pour le transport de bacs de stockage
WO2015185628A2 (fr) * 2014-06-03 2015-12-10 Ocado Innovation Limited Procédés, systèmes et appareil de commande de mouvement de transport de dispositifs
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
US9358975B1 (en) * 2015-04-10 2016-06-07 Google Inc. Virtual moving safety limits for vehicles transporting objects

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021249865A3 (fr) * 2020-06-12 2022-02-24 Autostore Technology AS Véhicule de distribution doté d'un support de conteneur rotatif, et procédés d'utilisation associés
GB2604226A (en) * 2020-12-24 2022-08-31 Ocado Innovation Ltd Motion control of a robotic load handling device
GB2604226B (en) * 2020-12-24 2023-05-31 Ocado Innovation Ltd Motion control of a robotic load handling device
US12443187B2 (en) 2020-12-24 2025-10-14 Ocado Innovation Limited Motion control of a motion device
CN112744501A (zh) * 2020-12-29 2021-05-04 昆船智能技术股份有限公司 一种航材的自动化存储配送系统及方法
CN112744501B (zh) * 2020-12-29 2022-06-03 昆船智能技术股份有限公司 一种航材的自动化存储配送系统及方法
NO348001B1 (en) * 2022-12-16 2024-06-17 Autostore Tech As A container transport vehicle, an automated storage and retrieval system and a method thereof

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