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WO2024246206A1 - Station d'accès à guides de lumière pour un système de stockage et de récupération automatisé ayant une grille de stockage - Google Patents

Station d'accès à guides de lumière pour un système de stockage et de récupération automatisé ayant une grille de stockage Download PDF

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Publication number
WO2024246206A1
WO2024246206A1 PCT/EP2024/064906 EP2024064906W WO2024246206A1 WO 2024246206 A1 WO2024246206 A1 WO 2024246206A1 EP 2024064906 W EP2024064906 W EP 2024064906W WO 2024246206 A1 WO2024246206 A1 WO 2024246206A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage
access station
storage container
projection unit
receiving space
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.)
Pending
Application number
PCT/EP2024/064906
Other languages
English (en)
Inventor
Benjamin GUENTER
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
Application filed by Autostore Technology AS filed Critical Autostore Technology AS
Publication of WO2024246206A1 publication Critical patent/WO2024246206A1/fr
Anticipated expiration legal-status Critical
Pending legal-status Critical Current

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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
    • B65G1/137—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
    • 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
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • 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
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars

Definitions

  • the present disclosure relates to an access station of an automated storage and retrieval system, to an automated storage and retrieval system, and to a method for guiding a user where and/or how to place items into a storage container.
  • Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure too and Figs. 2, 3 and 4 disclose three different prior art container handling vehicles 201,301,401 suitable for operating on such a system 1.
  • the framework structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • storage columns 105 storage containers 106, also known as bins, are stacked one on top of one another to form stacks 107.
  • the members 102 may typically be made of metal, e.g. extruded aluminum profiles.
  • the framework structure 100 of the automated storage and retrieval system 1 comprises a rail system 108 arranged across the top of framework structure 100, on which rail system 108 a plurality of container handling vehicles 201,301,401 may be operated to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
  • the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201,301,401 in a first direction X across the top of the frame structure 100, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201,301,401 in a second direction Y which is perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201,301,401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201,301,401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
  • Each prior art container handling vehicle 201,301,401 comprises a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 40 lb, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the X direction and in the Y direction, respectively. In Figs. 2, 3 and 4 two wheels in each set are fully visible.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set 110 of rails
  • the second set of wheels 201c, 301c, 401c is arranged to engage with two adjacent rails of the second set 111 of rails.
  • At least one of the sets of wheels 201b, 201c, 301b, 301c, 401b, 401c can be lifted and lowered, so that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c can be engaged with the respective set of rails 110, 111 at any one time.
  • each storage column 105 can be identified by its X and Y coordinates.
  • the storage volume of the framework structure too has often been referred to as a grid 104, where the possible storage positions within this grid are referred to as storage cells.
  • Each storage column maybe identified by a position in an X- and Y-direction, while each storage cell maybe identified by a container number in the X-, Y- and Z-direction.
  • Each prior art container handling vehicle 201,301,401 comprises a storage compartment or space for receiving and stowing a storage container 106 when transporting the storage container 106 across the rail system 108.
  • the storage space may comprise a cavity arranged internally within the vehicle body 201a, 401a as shown in Figs. 2 and 4 and as described in e.g. WO2O15/193278A1 and W02019/206487A1, the contents of which are incorporated herein by reference.
  • FIG. 3 shows an alternative configuration of a container handling vehicle 301 with a cantilever construction.
  • a container handling vehicle 301 with a cantilever construction.
  • Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.
  • the cavity container handling vehicle 201 shown in Fig. 2 may have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column 105, e.g. as is described in WO2O15/193278A1, the contents of which are incorporated herein by reference.
  • the term ‘lateral’ used herein may mean ‘horizontal’.
  • the cavity container handling vehicles 401 may have a footprint which is larger than the lateral area defined by a storage column 105 as shown in Fig. 1 and 4, e.g. as is disclosed in W02014/090684A1 or W02019/206487A1.
  • the rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run.
  • the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks.
  • Each rail may comprise one track, or each rail 110,111 may comprise two parallel tracks.
  • each rail in one direction e.g. an X direction
  • each rail in the other, perpendicular direction e.g. a Y direction
  • Each rail 110,111 may also comprise two track members that are fastened together, each track member providing one of a pair of tracks provided by each rail.
  • W02018/146304A1 the contents of which are incorporated herein by reference, illustrates a typical configuration of rail system 108 comprising rails and parallel tracks in both X and Y directions.
  • a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107.
  • storage columns 105 there are special-purpose columns within the framework structure.
  • columns 119 and 120 are such special-purpose columns used by the container handling vehicles 201,301,401 to drop off and/or pick up storage containers 106 so that they can be transported to an access station (not shown) where the storage containers 106 can be accessed from outside of the framework structure 100 or transferred out of or into the framework structure 100.
  • such a location is normally referred to as a ‘port’ and the column in which the port is located maybe referred to as a ‘port column’ 119,120.
  • the transportation to the access station maybe in any direction, that is horizontal, tilted and/or vertical.
  • the storage containers 106 maybe placed in a random or dedicated column 105 within the framework structure 100, then picked up by any container handling vehicle and transported to a port column 119,120 for further transportation to an access station.
  • the transportation from the port to the access station may require movement along various different directions, by means such as delivery vehicles, trolleys or other transportation lines.
  • tilted means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.
  • the first port column 119 may for example be a dedicated drop-off port column where the container handling vehicles 201,301,401 can drop off storage containers 106 to be transported to an access or a transfer station
  • the second port column 120 maybe a dedicated pick-up port column where the container handling vehicles 201,301,401 can pick up storage containers 106 that have been transported from an access or a transfer station.
  • the access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers 106.
  • the storage containers 106 are normally not removed from the automated storage and retrieval system 1, but are returned into the framework structure 100 again once accessed.
  • a port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.
  • a conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns 119,120 and the access station.
  • the conveyor system may comprise a lift device with a vertical component for transporting the storage containers 106 vertically between the port column 119,120 and the access station.
  • the conveyor system may be arranged to transfer storage containers 106 between different framework structures, e.g. as is described in W02014/075937A1, the contents of which are incorporated herein by reference.
  • a storage container 106 stored in one of the columns 105 disclosed in Fig. 1 is to be accessed, one of the container handling vehicles 201,301,401 is instructed to retrieve the target storage container 106 from its position and transport it to the drop-off port column 119.
  • This operation involves moving the container handling vehicle 201,301,401 to a location above the storage column 105 in which the target storage container 106 is positioned, retrieving the storage container 106 from the storage column 105 using the container handling vehicle’s 201,301,401 lifting device (not shown), and transporting the storage container 106 to the drop-off port column 119. If the target storage container 106 is located deep within a stack 107, i.e.
  • the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage container 106 from the storage column 105.
  • This step which is sometimes referred to as “digging” within the art, maybe performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column 119, or with one or a plurality of other cooperating container handling vehicles.
  • the automated storage and retrieval system 1 may have container handling vehicles 201,301,401 specifically dedicated to the task of temporarily removing storage containers 106 from a storage column 105.
  • the temporarily removed storage containers 106 can be repositioned into the original storage column 105.
  • the removed storage containers 106 may alternatively be relocated to other storage columns 105.
  • one of the container handling vehicles 201,301,401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport it to a location above the storage column 105 where it is to be stored.
  • the container handling vehicle 201,301,401 positions the storage container 106 at the desired position.
  • the removed storage containers 106 may then be lowered back into the storage column 105, or relocated to other storage columns 105.
  • the automated storage and retrieval system 1 For monitoring and controlling the automated storage and retrieval system 1, e.g. monitoring and controlling the location of respective storage containers 106 within the framework structure 100, the content of each storage container 106, and the movement of the container handling vehicles 201,301,401 so that a desired storage container 106 can be delivered to the desired location at the desired time without the container handling vehicles 201,301,401 colliding with each other, the automated storage and retrieval system 1 comprises a control system 500 which typically is computerized and which typically comprises a database for keeping track of the storage containers 106.
  • WO 2021/122218 Al particularly shows a picking system configured to pick items from, and put items into, storage containers.
  • a camera is configured to produce an image of contents of a storage container and is connected to an image processing system.
  • a robotic picking device is coupled with the image processing system and picks a specific item from the storage container based on the position determined by the image processing system.
  • the present disclosure is related to an access station for an automated storage and retrieval system having a storage section for storing storage containers, the access station comprising a frame structure providing a receiving space for receiving a storage container to be transferred from or into the storage section, an access opening for accessing the receiving space from externally of the access station, at least one optical projection unit having an optical output and being configured to project optical information through the optical output onto at least one interior face of a storage container arranged in the receiving space, and a processing unit coupled with the at least one projection unit, wherein the optical output of the at least one projection unit is directed to the receiving space, such that the at least one projection unit is capable of projecting the optical information onto at least one interior face of a storage container arranged in the receiving space beneath the access opening, and wherein the processing unit is configured to control an operation of the at least one projection unit to selectively project optical information into the storage container arranged in
  • the frame structure may be an assembly of components that form a part of the access station. Inside the frame structure, the receiving space is provided. Preferably, the receiving space is enclosed by the frame structure at least partially such that the receiving space is accessible from outside the frame structure only through the access opening.
  • the access station comprises a cover element that selectively covers or uncovers the access opening.
  • the receiving space maybe arranged at an end of a conveying path, along which storage containers are conveyed to and from the receiving space.
  • the receiving space is capable of receiving storage containers, preferably one storage container at a time, delivered from a storage section of an automated storage and retrieval system.
  • the dimensions of the receiving space are chosen to allow receiving any one of the storage containers stored in the storage section.
  • a conveying device may reach into or extend to the receiving space, such that a storage container, which is conveyed by the conveying device, is movable into and removable from the receiving space.
  • the conveying device maybe in the form of a conveyor or a carousel. However, shuttle-like robots maybe used, which convey storage containers through an access device.
  • the access opening maybe arranged at a top of the access station in a convenient working height.
  • the access opening may have a front edge and a rear edge, wherein the front edge is considered the edge arranged adjacent to a user position, where a user is present to interact with the access station.
  • the rear edge is considered the edge placed further to the storage section and preferably opposed to the front edge.
  • the access opening allows a user to gain access to a storage container that is placed in the receiving space, when it is not closed by a cover element or the like.
  • the access opening maybe substantially horizontal, i.e. it may span up a plane that is substantially parallel to a floor underneath the access station or it may be slightly inclined, such that the rear edge of the access opening is arranged in a slightly higher position than the front edge.
  • the size of the access opening may correspond to the internal area of the storage container so as to allow access to the storage container while keeping the storage container on a storage side of the access opening.
  • a user may conduct various tasks at the access station. For example, the user may pick items from the respective storage container that is placed in the receiving space or put items into the storage container by moving them through the access opening. After the desired tasks at the storage container are accomplished, the storage container maybe conveyed back into the storage section of the automated storage and retrieval system.
  • the tasks to be carried out by the user may be diverse and may include actions that may not be performed intuitively or in a routine manner, depending on the diversity of items stored in the storage and retrieval system. Items of different sizes and weights may need to be placed in a certain way to optimize the space utilization and/or the weight distribution.
  • the access station according to the present disclosure comprises at least one optical projection unit.
  • the at least one optical projection unit has an optical output and is configured to emit light through the optical output, which is accomplished by a light source.
  • the light source is preferably configured to emit light in the visible spectrum.
  • Light emitted from the light source may comprise or form at least one of a light beam, a bundle of light beams in a focused or a fanned-out shape, a static pattern, and a moving pattern.
  • a pattern may be considered as a perceivable structure formed by light to convey information to a user.
  • the at least one optical projection unit is aligned to direct the emitted light into the receiving space, i.e. into a storage container located therein. The emitted light impinges onto a bottom and/or at least one side wall of the storage container.
  • the at least one optical projection unit is capable of displaying information inside the storage container that is placed in the receiving space.
  • a user that is present at the access station and looks into the access opening easily perceives the emitted light and the associated information.
  • guidance information can be provided.
  • the user who is considered to conduct a task at the access station can be guided.
  • the processing unit may be connected to a control system of the automated storage and retrieval system, with which the access station is associated.
  • the processing unit may receive information about the tasks to be conducted at the access station from the control system or from another system that is capable of planning the tasks to be conducted. These tasks may comprise placing several items into the storage container.
  • the processing unit and/or the control system and/or another system maybe capable of executing a space optimization algorithm and/or a weight distribution optimization algorithm, or the like.
  • a result from such an algorithm may comprise position and alignment recommendations for arranging items inside the storage container.
  • the access station may thus be capable of guiding a user where and/or how to place items into a storage container located inside the receiving space to optimize the utilization of space and/or weight distribution by controlling the operation of at least one optical projection unit through a processing unit to display user-perceivable information directly into the storage container.
  • the processing unit may be configured to receive data or information to be projected by the at least one projection unit. It may be configured to process the data or information to create image data to be projected.
  • the control system may simply specify information about items to be placed inside a storage container, such as sizes, numbers, and maybe locations, while the processing unit may generate images, or graphics to be projected.
  • a processing of the data or information in the processing may reduce the data transfer between the control system and the processing unit.
  • the processing unit maybe responsible for providing all correct proportions of the items when projected onto the at least one interior face of the storage container
  • the projection maybe distorted.
  • the processing unit maybe configured to conduct a keystone correction on the image data, such that the resulting projection on the interior face appears undistorted and has parallel pairs of boundary edges and a correct aspect ratio to the user looking into the storage container.
  • each of the projection units may cover a different portion of an image.
  • the processing unit maybe configured to process the data or information to provide separate partial image data to be projected by the plurality of projection units.
  • the processing unit maybe configured to adjust and/or coordinate the individual separate partial image data in a way that the resulting individual projections are flush with each other in order to form a complete image.
  • the processing unit may be configured to provide separate different image data to a plurality of projection units in order to provide different information on different interior faces.
  • the optical output maybe arranged at a distance to the access opening away from the receiving space.
  • the optical output is not arranged inside the receiving space, but at a distance thereto.
  • the optical output maybe arranged substantially above the access opening, which includes a placement directly above a center of the access opening, or further to one of the sides, and/or further to the front edge and/or further to the rear edge. The light emitted by the optical projection unit will thus enter the receiving space substantially from above.
  • it should be avoided that light will be emitted directly into the face of the user at the access station.
  • the at least one projection unit may comprise light shielding flaps, a housing having a certain light guiding cavity, and/or other types of shields to adjust the beam angles.
  • the at least one optical projection unit may also comprise an intrinsic radiation characteristic that allows to precisely direct the emitted light only into the receiving space.
  • the optical information may mainly be projected onto the bottom wall of the storage container.
  • optical information may also be projected onto one or more side walls of the storage container.
  • the optical output of the at least one projection unit may be off-center relative to the access opening.
  • the user of the access station has a great radius of operation around the access opening. Due to the position and orientation of the output side, light can simply be projected onto the bottom and onto sidewalls of the storage container, which allows to provide distinct information on the bottom and the sidewalls. For example, stacking levels or heights, textual information and the like can be displayed on the sidewalls, while the footprints of the items maybe displayed on the bottom.
  • the term “off-center” maybe understood as being shifted further to the rear edge, to the front edge, or to one of the lateral edges above the access opening. The greatest radius of operation maybe reached if the optical output is moved further to the rear edge.
  • the at least one projection unit may be arranged above the access opening and inside the opening contour, i.e. the perimeter of the access opening.
  • the optical output may thus be placed within a footprint of the perimeter. This allows the optical output to reach all the interior faces of the container.
  • the at least one projection unit may comprise a stand having a base, a free end, and at least one arm member extending between the base and the free end, wherein the base maybe attached to a top of the access station adjacent to the access opening and in a distance thereto, and wherein the stand may extend away from the top of the access station, such that the optical output is arranged at a distance to the access opening and is oriented towards the access opening.
  • An arm member maybe realized in the form of an elongated element.
  • the stand maybe connected to the access station through the base.
  • the stand maybe rigidly connected to the access station, i.e. in an immovable state.
  • the base may include a first joint or a first joint assembly that allows to adjust the orientation of the stand relative to the access station.
  • the first joint or first joint assembly may comprise at least one axis and preferably at least two axes of rotation. It is conceivable that the state of the first joint or first joint assembly after adjusting the orientation of the stand relative to the access station can be locked or latched.
  • the stand may comprise a plurality of arm members, e.g. two or three arm members, which are connected to each other in an articulated manner. Hence, the stand is provided in the form of an arm having one or more arm members that are connected to each other, to ensure a positionability of the optical outlet above the access opening.
  • the arm members are connected to each other through a second joint or a second joint assembly.
  • the second joint or second joint assembly may comprise at least one axis and preferably at least two axes of rotation.
  • the state of the second joint or second joint assembly may be locked or latched after adjusting the orientation of the arm members relative to each other.
  • the optical output may be arranged at the free end of the arm, i.e. the end of the stand opposite to the base.
  • the optical output maybe swivably supported on the arm through a third joint or third joint assembly.
  • the third joint or third joint assembly may comprise at least one axis and preferably at least two axes of rotation, such that the orientation of the optical output can be adjusted.
  • the state of the third joint or third joint assembly maybe locked or latched after adjusting the orientation of the optical output.
  • joint assembly maybe understood as a combination of at least two joints, preferably two joints with a single axis of rotation each.
  • the stand may also be a bendable.
  • the stand may thus be realized in the form of a gooseneck or flex arm, which is a semi-rigid, flexible connecting element made of coiled metal tubing. It maybe bent in almost any direction and may remain in its position.
  • the processing unit may be configured to provide a keystone correction. This maybe done manually by adjusting the keystone correction when re-positioning the optical outlet.
  • the stand may comprise a sensor couplable with the processing unit, such that the processing unit is configured to automatically adjust the keystone correction depending on the actual position of the optical outlet.
  • the outlet may comprise a sensor couplable with the processing unit to allow adjusting a keystone correction.
  • the access opening may comprise an opening contour having a front edge, a rear edge, and two lateral edges, wherein the at least one projection unit maybe arranged on an edge region of at least one of the two lateral edges, and wherein the optical output may face into the receiving space.
  • the at least one projection unit does not require a stand or another holding device that is arranged outside, i.e. above, the access opening.
  • the radius of operation for a user will thus be as large as possible and damaging the at least one projection unit by a user handling items above or on the top of the access station can be avoided.
  • the at least one projection unit is integrated into, placed at or placed under the respective edge and faces directly into the receiving space. Blinding a user due to misaligned optical projection unit will be avoided to a greatest possible extent and the access station has a structurally clean top.
  • the at least one projection unit maybe configured to switch off if the optical output is not positioned to the receiving space. This may be done with a mechanical switch or an angle sensor coupled with the respective projection unit.
  • the distance from the at least one projection unit to the respective interior face of the storage container in the receiving space can be reduced as much as possible. Also, the use of several projection units, which each face into different directions, is possible without any restrictions on the user’s workspace. Also, multiple projection units maybe adjacent to each other at the same edge. The several projection units maybe used for providing different information on different side walls and/or the bottom of the storage container if desired. While it maybe possible to also project optical information onto the front wall of the storage container, i.e. through an optical projection unit at the rear edge of the access opening, it maybe hard to see for a user of the access station.
  • the at least one of the two lateral edges may comprise an edge body that at least partially forms the respective edge, wherein the edge body may have at least one transparent section, and wherein the at least one projection unit maybe arranged inside the at least one transparent section.
  • the edge body is an elongated component that at least partially and preferably completely extends along the respective edge of the access opening. It may comprise a partial circle or a polygonal shape, e.g. with rounded edges, as a cross-sectional contour.
  • the at least one optical projection unit may be arranged inside a transparent section of the edge body, such that light emitted by the at least one projection unit, i.e. the optical output, can pass through the transparent wall of the edge body to reach the receiving space.
  • the at least one projection unit maybe arranged completely inside the corresponding edge body.
  • one end of a fiber optic cable may reach into the transparent section of the edge body, while another end of the fiber optic cable maybe coupled with a projection unit arranged in the access station underneath a top and in a distance to the access opening.
  • the at least one projection unit can thus be protected against impacts from items handled by the user, such that damages of the at least one projection unit can be avoided.
  • the edge body is completely transparent. It may consist of a single tubular element.
  • the at least one projection unit is arranged inside the edge body at a desired location. In the desired location, it maybe attached to the edge body by screwing, gluing, or any other positive or non-positive connection. An integration of the at least one optical projection unit into the edge leads to a least possible restriction on the user’s workspace.
  • the at least one projection unit maybe miniaturized.
  • the at least one projection unit may have an inclined optical axis extending from the optical output to a diametrically opposed bottom region of the receiving space.
  • the optical axis is to be understood as an imaginary symmetry line from the optical output, along which the emitted light propagates. If the at least one projection unit is arranged at an edge region, it maybe aligned in a way that the optical axis runs diagonally in the receiving space.
  • the at least one projection unit may emit a bundle of light beams in a fanned-out shape, such that they impinge on the respective opposed side wall as well as the bottom of the storage container.
  • the opposed bottom region maybe understood as a part of the bottom or a side wall near or directly above the bottom of the storage container inside the receiving space at an opposite side of the receiving space. If a plurality of optical projection units are provided at a plurality of edges of the axis opening, their projection fields may intersect and substantially all sidewalls visible for the user can be sued for projecting information.
  • the light emitted by the at least one optical projection unit may produce a focused image of the right height and proportions when it hits the respective interior face of the storage container.
  • the processing unit may adjust the respective image data to follow around the surface of the item, as it maybe considered a part of the projection surface
  • the optical information may comprise at least one of a group of optical information, the group comprising: static optical information, moving optical information, a graphical representation of an item to be placed in a storage container, a number, a text, a symbol, an arrow, and a geometric shape.
  • Static optical information may simply comprise contours of items to be placed, identifiers, such as numbers, names, product codes, or the like.
  • Moving optical information may include substantially the same, but the location of the information projected onto sidewalls of the container or the bottom may change their location, color, appearance, size, etc. during the projection.
  • a graphical representation maybe a contour, a drawing or a photo showing the respective item. It is conceivable to customize the access station to the needs of the user depending on the items to be placed into the storage containers. This maybe achieved by providing a software-based framework in the processing unit that allows to include the desired information and their behavior during projection.
  • the at least one projection unit may comprise an LCD projector, a DLP projector, an LED projector and/or a LASER projector.
  • a LASER based projection unit can be provided in a miniaturized type, which maybe simple to integrate into the above-identified edge body.
  • the present disclosure concerns an automated storage and retrieval system, comprising a plurality of stacks of storage containers arranged in storage columns; a control system for monitoring and controlling the automated storage and retrieval system; and at least one access station according to any of the preceding claims, wherein the storage and retrieval system is adapted to selectively move storage containers from one of the storage columns into the receiving space of the at least one access station and vice versa.
  • the access station maybe directly connected to the automated storage and retrieval system through a conveying device.
  • the automated storage and retrieval system may further comprise a rail system having a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails 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 neighboring rails of the first set of rails and a pair of neighboring rails of the second set of rails, wherein the rail system is located above the storage columns, wherein each storage column is located vertically below a grid opening; and a plurality of container handling vehicles for handling storage containers in the automated storage and retrieval system, each vehicle being configured to move on the rail system above the storage columns.
  • the processing unit of the access station may be coupled with the control system; wherein the processing unit maybe configured to receive information from the control system about items to be placed into a defined storage container; wherein the storage and retrieval system maybe configured to convey the defined storage container into the receiving space of the access station; and wherein the processing unit maybe configured to control the at least one projection unit based on the information received from the control system.
  • the processing unit and/or the control system may be configured to conduct a space allocation algorithm based on the information received from the control system to generate a placement recommendation for the items, and wherein the processing unit maybe configured to control the at least one projection unit based on the placement recommendation.
  • Different approaches for solving a space allocation problem exist.
  • the “Bin Packing Problem” and the “Knapsack Problem” are commonly known combinatorial optimization problems, which may be solved by a variety of different algorithms, which are known to the skilled person. For example, they may include Next Fit, First Fit, Best Fit, First Fit Decreasing, Best Fit Decreasing, Greedy method, Dynamic Programming method, and Back Tracking method.
  • the present disclosure is directed to a method for guiding a user where and/or how to place items into a storage container, the method comprising placing a storage container into a receiving space of an access station of an automated storage and retrieval system; retrieving information about items to be placed into the storage container; projecting optical information onto at least one interior face of the storage container to instruct a user of the access station where and/or how to place items into the storage container based on the retrieved information.
  • Retrieving the information may comprise receiving the information from a control system of the automated storage and retrieval system.
  • the method may comprise conducting a space allocation algorithm based on the retrieved information to generate a placement recommendation for the items; and projecting information about the items into the storage container based on the placement recommendation.
  • the optical information may comprise at least one of a group of optical information, the group comprising static optical information, moving optical information, a graphical representation of an item to be placed in a storage container, a number, a text, a symbol, an arrow, and a geometric shape.
  • FIG. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.
  • FIG. 2 is a perspective view of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • FIG. 3 is a perspective view of a prior art container handling vehicle having a cantilever for carrying storage containers underneath.
  • FIG. 4 is a perspective view, seen from below, of a prior art container handling vehicle having an internally arranged cavity for carrying storage containers therein.
  • FIG. 5 is a perspective view of an access station.
  • Fig. 6 is a perspective view of a modified access station.
  • Fig. 7 is a perspective view of a storage container in an access station.
  • Fig. 8 is a net view of the storage container with projected optical information.
  • FIG. 9 is a perspective view of an automated storage and retrieval system having an access station.
  • Fig. 10 shows a method of guiding a user in a block-oriented view.
  • the framework structure too of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure too described above in connection with Figs. 1-3. That is, the framework structure too comprises a number of upright members 102, and can comprise a first, upper rail system 108 extending in the X direction and Y direction.
  • the framework structure too further comprises storage compartments in the form of storage columns 105 provided between the members 102 wherein storage containers 106 are stackable in stacks 107 within the storage columns 105.
  • the framework structure too can be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in Fig. 1. For example, the framework structure too may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • FIG. 5 shows an access station 600 for an automated storage and retrieval system.
  • the access station 600 has a frame structure 601 which encloses a receiving space 602 for receiving a storage container 106.
  • the frame structure 601 has a top 603, a front 604 and sides 605.
  • the access station 600 furthermore comprises an access opening 606, which allows to access the receiving space 602 from externally of the access station 600.
  • the access opening 606 has a front edge 701. A rear edge 702, and two lateral edges 703 and 704.
  • the front edge 701 faces to the front 604 and to the user of the access station 600, respectively.
  • the top 603 maybe aligned substantially horizontally, i.e. parallel to a floor underneath the access station 600 or slightly inclined, such that the rear edge 702 of the access opening 606 is arranged at a slightly greater height than the front edge 701.
  • a cover element 607 is provided to selectively cover or uncover the access opening 606.
  • the cover element 607 is partially arranged underneath the top 603 and is thus partially shown with dashed lines. For example, it may move from the left-hand side to the right-hand side and vice versa to close or open the access opening 606.
  • Other embodiments are conceivable.
  • the receiving space 602 is coupled with a conveying device 608, which is configured to move storage containers 106 along a conveying path 609 to and from the receiving space 602.
  • a storage container 106 can be retrieved from a storage section of an automated storage and retrieval system and be conveyed to the receiving space 602 along the conveying path 609.
  • a user of the access station 600 will be able to access the storage container 106 present in the receiving space 602 through the access opening 606 if it is not covered by the cover element 607.
  • the user may accomplish various tasks at the storage container 106, which may include placing items into or removing items from the storage container 106. If the user has to handle a variety of items, the access station 600 according to the present disclosure is able to provide guidance to the user through an optical projection unit 610.
  • the optical projection unit 610 is attached to the top 603 at a distance to the access opening 606 away from the receiving space 602.
  • the optical projection unit 610 comprises a base 611, which is fastened to the top 603 adjacent to the access opening 606.
  • the base 611 comprises a first joint 612, which is exemplarily realized in the form of a ball joint that has two degrees of rotational freedom.
  • the optical projection unit 610 comprises an arm 613 having a first arm member 614 and a second arm member 615.
  • the first arm member 614 is swivably connected to the base 611 through the first joint 612.
  • the second arm member 615 is connected to the first arm member 614 through a second joint 616.
  • the second joint 616 exemplarily comprises a single axis of rotation and thus merely act as a hinge.
  • an optical output 618 is provided at a free end 617 of the arm 613.
  • the optical output 618 maybe connected to the second arm member 615 through a third joint 619, which is exemplarily also a ball joint.
  • the arm 613 allows two place the optical output 618 above the access opening 606.
  • the joints 612, 616 and 619 may be lockable.
  • the optical projection unit 610 is configured to project optical information through the optical output 618 into the receiving space 602 and, consequently, onto delimiting walls of a storage container 106.
  • a processing unit 620 which is schematically indicated by a box attached to a side 605, is coupled to the projection unit 610.
  • the processing unit 620 is configured to control an operation of the projection unit 610 to selectively project optical information into the storage container 106 arranged in the receiving space 600. This allows to instruct a user of the access station 600 where and/or how to place items into the storage container 106.
  • the exemplary placement of the optical output 618 above the access opening 606 allows to project information substantially on all delimiting walls of the storage container 106. Further examples how the optical information and the information contained therein allow to guide a user of the access station 600 will be shown in Figs. 7 and 8.
  • Fig. 6 shows an access station 700, which has a slightly modified design compared to the access station 600 of Fig. 5.
  • the lateral edges 703 and 704 as well as the front edge 701 comprise an edge body 705, that forms the respective edge 701, 703, and 704.
  • the edge bodies 705 are exemplarily provided in the form of elongated components with a constant cross-sectional profile.
  • the edge bodies 705 maybe made from a sturdy plastic material, such as ABS (acrylnitril butadien styrol), PC (poly carbonate), PPSU (polyphenylsulfone), or UHMW (ultra high molecular weight polyethylene). Other materials are conceivable.
  • Each of the edge bodies 705 has a transparent section 706, inside which a miniaturized projection unit 707 is arranged. It is conceivable that the edge bodies 705 are completely transparent and the above-mentioned materials are suitable for this purpose.
  • the edge body 705 arranged at the left-hand side lateral edge 703 exemplarily has a circular cross-section, inside which a miniaturized projection unit 707 having an optical output 709 is arranged.
  • the projection unit 707 faces into the receiving space 602 and comprises an optical axis 708 that is directed towards an opposed edge of a bottom surface of a storage container 106.
  • the three edges 701, 703, and 704 comprise such an edge body 705 with integrated projection unit 707. Consequently, optical information can be projected onto a plurality of walls of a storage container 106.
  • the top 603 of the access station 700 remains free from any additional installations.
  • the radius of operation for a user at the access station 700 is clearly increased compared to the solution in Fig. 5. Additionally, the projection units 707 are protected from potential damages through impacts with items handled by a user.
  • Fig. 7 shows a storage container 106 in the access opening 606 of the access station 600 of Fig. 5.
  • the storage container 106 comprises a rear wall 801, a left wall 802, a right wall 803, a front wall 804 and a bottom 805.
  • the walls 801 to 804 surround the bottom 805 and extend from the bottom in an upright manner.
  • a support surface 806 of the storage container 106 is placed on the conveying device 608.
  • the container has a container opening 807, which is accessible through the access opening 606.
  • optical information maybe projected onto the walls 801 to 804 as well as onto the bottom 805.
  • FIG. 8 shows the container 106 in a net view, i.e. with a planar arrangement of the surfaces of the walls 801 to 804 and the bottom 805.
  • a plurality of item contours 808 and 809 are displayed onto the bottom 805.
  • a user standing at the access station 600 or 700 looking into the storage container 106 underneath the access opening 606 would be able to see the contours 808 and 809.
  • the contours 808 and 809 differ in size and shape.
  • the storage container 106 is empty and presented at the respective access station 600 or 700.
  • a user is supposed to pick several items from another storage container in another access station or the like to place them into the empty storage container 106 presented at the access station 600 or 700.
  • four items have a rather elongated shape, and one item is larger and bulkier.
  • the respective contours shown on the bottom 805 indicate a recommended arrangement of the items to utilize the available space on the bottom 805 in an optimal manner.
  • identifiers 810 here in the form of the letter “G”, and 811, here in the form of the letter “H”, are displayed inside the respective contours.
  • the contours 808 and 809 as well as the identifiers 810 and 811 are displayed one after another to indicate a recommended sequence. However, they may also be displayed simultaneously.
  • stacking level indications 812 are projected onto the walls 801 to 803 to show recommended stacking levels.
  • the bulky item shown with contour 809 and the identifier 811 extends over two stacking levels, while the other items are only extending over one stacking level each and are stacked in two rows.
  • FIG. 9 shows an automated storage and retrieval system 800, which exemplarily corresponds to the one shown in Fig. 1.
  • a framework structure too comprising upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102.
  • storage containers 106 are stacked one on top of one another to form stacks 107.
  • a plurality of container handling vehicles 201, 301, 401 can operate on a rail system 108 arranged across the top of framework structure too to raise storage containers 106 from, and lower storage containers 106 into, the storage columns 105, and also to transport the storage containers 106 above the storage columns 105.
  • the rail system 108 comprises a first set of parallel rails 110 arranged to guide movement of the container handling vehicles 201, 301, 401 in a first direction X across the top of the frame structure too, and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 201, 301, 401 in a second direction Y perpendicular to the first direction X.
  • Containers 106 stored in the columns 105 are accessed by the container handling vehicles 201, 301, 401 through access openings 112 in the rail system 108.
  • the container handling vehicles 201, 301, 401 can move laterally above the storage columns 105, i.e. in a plane which is parallel to the horizontal X-Y plane.
  • the automated storage and retrieval system 800 comprises the access station 600 of Fig. 5.
  • the conveying device 608 connects the access station 600 to the storage grid 104 and individual storage containers 106 can be moved to the receiving space 602 of the access station 600 and vice versa.
  • the automated storage and retrieval system 800 may also be equipped with the access station 700 of Fig. 6 in the same manner.
  • Fig. 10 shows a method 900 for guiding a user where and/or how to place items into a storage container 106.
  • the method exemplarily comprises placing 901 a storage container 106 into a receiving space 602 of an access station 600, 700 of an automated storage and retrieval system 800; retrieving 902 information about items to be placed into the storage container 106; and projecting 903 optical information onto at least one interior face of the storage container 106 to instruct a user of the access station 600, 700 where and/or how to place items into the storage container 106 based on the retrieved information.
  • Retrieving 902 the information exemplarily comprises receiving the information from a control system 500 of the automated storage and retrieval system 800.
  • the steps 901 and 902 can also be conducted in reverse order or simultaneously.
  • the method exemplarily comprises conducting 904 a space allocation algorithm based on the retrieved information to create a placement recommendation for the items. Projecting 903 the optical information into the storage container 106 can thus be based on the placement recommendation.
  • Vehicle body of the container handling vehicle 201 is a Vehicle body of the container handling vehicle 201
  • 201c Drive means / wheel arrangement / second set of wheels in second direction (V)
  • 401 Prior art container handling vehicle a Vehicle body of the container handling vehicle 401b Drive means / first set of wheels in first direction ( )c Drive means / second set of wheels in second direction (Y)

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  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne une station d'accès pour un système de stockage et de récupération automatisé, qui comprend une structure de cadre entourant un espace de réception pour recevoir un contenant de stockage, une ouverture d'accès pour accéder à l'espace de réception depuis l'extérieur, au moins une unité de projection optique ayant une sortie optique et configurée pour projeter des informations optiques, et une unité de traitement couplée à l'unité de projection, la sortie optique de l'unité de projection étant dirigée vers l'espace de réception, de telle sorte que l'unité de projection est apte à projeter les informations optiques sur au moins une face intérieure d'un contenant de stockage disposé dans l'espace de réception, et l'unité de traitement étant configurée pour commander un fonctionnement de l'unité de projection pour projeter sélectivement des informations optiques dans le contenant de stockage disposé dans l'espace de réception pour montrer à un utilisateur de la station d'accès où et/ou comment placer des articles dans le contenant de stockage.
PCT/EP2024/064906 2023-05-30 2024-05-30 Station d'accès à guides de lumière pour un système de stockage et de récupération automatisé ayant une grille de stockage Pending WO2024246206A1 (fr)

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NO20230612A NO349287B1 (en) 2023-05-30 2023-05-30 Access station with light guides
NO20230612 2023-05-30

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WO2024246206A1 true WO2024246206A1 (fr) 2024-12-05

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