WO2024231287A1

WO2024231287A1 - Automated vehicle with directional antenna

Info

Publication number: WO2024231287A1
Application number: PCT/EP2024/062289
Authority: WO
Inventors: Henning NORDTVEIT
Original assignee: Autostore Technology AS
Current assignee: Autostore Technology AS
Priority date: 2023-05-05
Filing date: 2024-05-03
Publication date: 2024-11-14
Anticipated expiration: 2025-11-05

Abstract

An automated vehicle for operation in an automated storage and retrieval system equipped with a directional antenna (14) for sending and receiving wireless signals. In one embodiment the antenna is rotatable by a motor so as to point at a wireless access point (12) as the vehicle moves about the rail system of the storage and retrieval system. In another embodiment the antenna is both rotatable and tiltable.

Description

TITLE: Automated vehicle with directional antenna

FIELD OF THE INVENTION

The present invention relates to an automated storage and retrieval system for storage and retrieval of containers, in particular to an automated vehicle for operation in such a system, equipped with a rotatable, directional antenna for receiving and transmitting wireless signals.

BACKGROUND AND PRIOR ART

Fig. 1 discloses a prior art automated storage and retrieval system 1 with a framework structure 100 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. In these 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 A 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.

The upright members 102 of the framework structure 100 may be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns 105. The stacks 107 of containers 106 are typically self- supporting.

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, 401b, 401c which enable the lateral movement of the container handling vehicles 201,301,401 in the A 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, and 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 prior art container handling vehicle 201,301,401 also comprises a lifting device for vertical transportation of storage containers 106, e.g. raising a storage container 106 from, and lowering a storage container 106 into, a storage column 105. The lifting device comprises one or more gripping / engaging devices which are adapted to engage a storage container 106, and which gripping / engaging devices can be lowered from the vehicle 201,301,401 so that the position of the gripping / engaging devices with respect to the vehicle 201,301,401 can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicles 301,401 are shown in Figs. 3 and 4 indicated with reference number 304,404. The gripping device of the container handling device 201 is located within the vehicle body 201a in Fig. 2 and is thus not shown.

Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer available for storage containers below the rails 110,111, i.e. the layer immediately below the rail system 108, Z=2 the second layer below the rail system 108, Z=3 the third layer etc. In the exemplary prior art disclosed in Fig. 1, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=\ ...n and Y=l ...n identifies the position of each storage column 105 in the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in Fig. 1, the storage container identified as 106’ in Fig. 1 can be said to occupy storage position A= 17, Y=l, Z=6. The container handling vehicles 201,301,401 can be said to travel in layer Z=0, and each storage column 105 can be identified by its X and Y coordinates. Thus, the storage containers shown in Fig. 1 extending above the rail system 108 are also said to be arranged in layer Z=0.

The storage volume of the framework structure 100 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 may be identified by a position in an X- and Y- direction, while each storage cell may be 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. WO2015/193278A1 and WO2019/206487A1, 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. 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 WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

Alternatively, 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 WO2019/206487A1.

The rail system 108 typically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, 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. In other rail systems 108, each rail in one direction (e.g. an X direction) may comprise one track and each rail in the other, perpendicular direction (e.g. a Y direction) may comprise two tracks. 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.

WO2018/146304A1, 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.

In the framework structure 100, a majority of the columns are storage columns 105, i.e. columns 105 where storage containers 106 are stored in stacks 107. In addition to storage columns 105, there are special-purpose columns within the framework structure. In Fig. 1, 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. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’ 119,120. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containers 106 may be 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. Note that the term ‘tilted’ means transportation of storage containers 106 having a general transportation orientation somewhere between horizontal and vertical.

In Fig. 1, 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, and the second port column 120 may be 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. In a picking or a stocking station, 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.

If the port columns 119,120 and the access station are located at different levels, 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 WO2014/075937A1, the contents of which are incorporated herein by reference.

When 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. with one or a plurality of other storage containers 106 positioned above the target storage container 106, 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, may be 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. Alternatively, or in addition, 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. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage containers 106 can be repositioned into the original storage column 105. However, the removed storage containers 106 may alternatively be relocated to other storage columns 105.

When a storage container 106 is to be stored in one of the 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. After any storage containers 106 positioned at or above the target position within the stack 107 have been removed, 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.

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. Wireless communication and antennas

The automated vehicles operating in the automated storage and retrieval system described above are in wireless communication with the control system of the storage system. The vehicles are typically equipped with so-called omni-directional antennas that send and receive signals to and from one or more wireless access points. As the size of the automated storage and retrieval system increases, the number of vehicles increases, possibly also the number of access points, each with its own antenna transmitting signals in all direction. This can generate significant signal interference.

SUMMARY OF THE INVENTION

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

In one aspect, the invention is related an automated vehicle for operation in an automated storage and retrieval system as described above, the vehicle being equipped with a directional antenna for sending and receiving wireless signals. In one embodiment the antenna is rotatable by a motor so as to point at a wireless access point as the vehicle moves about the rail system of the storage and retrieval system. In another embodiment the antenna is both rotatable and tiltable. According to one aspect, the control system of the automated storage and retrieval system calculates an angle between a grid position occupied by the vehicle and a known position of an access point and sends a signal to cause the motor to rotate and or tilt the directional antenna to point at the access point. As the vehicle moves to a new grid position, and new angle is calculated, and a new signal sent to rotate the antenna, thereby continuously updating the direction of the antenna as the vehicle moves about the grid. If more than one access point is provided for the system, the control system causes the motor to point the antenna at a first access point. As the vehicle travels along the rail system it may move to a position where it is more optimal to point the antenna at a second access point, for example if the vehicle is closer to the second access point, if the angle to the second access point is more optimal, or if it is optimal to direct the vehicles antenna to a new access point if for example a number of other vehicles have their antenna pointed at the first access point. According to another aspect, the control system causes the motor to rotate and or tilt the antenna based upon measured signal strength of the wireless signal between the vehicle’s antenna and an access point. As used herein, the following terms have the following definitions:

Wireless Communication: Wireless communication via the propagation through the air of electromagnetic waves, for example radio waves. Includes any protocol for communication via wireless signals, including but not limited to communication utilizing wireless LAN (local area network) technology such as Wi-Fi, Bluetooth, Microwave, etc.

Access Point: A networking hardware device that allows wireless devices to connect to a wired local area network. In the context of the present invention, an access point is a stationary device that communicates wirelessly with the handling vehicle of the automated storage system, allowing the vehicles to communicate with the control system of the storage and retrieval system.

Directional antenna: As used herein a directional antenna is to be understood as an antenna which radiates or receives greater radio wave power in a specific direction, as opposed to an omnidirectional antenna that radiates or receives radio wave power equally or substantially equally in all directions. The extent to which an antenna’s angular distribution of radiated power is concentrated in a particular direction is sometimes described by a parameter known as antenna gain, measured in dB (decibels), dBi (decibels relative to an isotropic antenna), or dBd (decibels relative to a dipole antenna). The term directional antenna as used herein refers to the term of art “high gain” employed in the field of wireless antennas, as opposed to the term of art “low gain” antenna that transmits or receives a relatively broad radio beam.

According to one aspect, the invention can be describes as follows:

An automated storage and retrieval system comprising: a framework structure, wherein the framework structure (100) comprises:

- upright members;

- a storage volume comprising storage columns provided between the upright members , wherein storage containers are stackable in stacks within the storage columns;

- a rail system provided on top of the upright members, a control system; a wireless access point affixed at a known location in relation to the framework structure; and a container handling vehicle configured to operate on the rail system , wherein the container handling vehicle is configured to be in wireless communication with the control system , and the control system is configured to direct and monitor the movement of the container handling vehicle on the rail system; and wherein the container handling vehicle comprises: a directional antenna; and a motor, wherein the motor is arranged to rotate the directional antenna to point in the direction of the access point in response to a signal from the control system.

BRIEF DESCRIPTION OF THE DRAWINGS

Following drawings are appended to facilitate the understanding of the invention. The drawings show embodiments of the invention, which will now be described by way of example only, where:

Fig. 1 is a perspective view of a framework structure of a prior art automated storage and retrieval system.

Fig. 2 and 3 are perspective views of prior art container handling vehicles.

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 of a prior art container handling vehicle.

Fig 5 is a top view of automated vehicles having directional antennas according to the invention operating on the rail system of an automated storage and retrieval system.

Fig 6 is a side view of automated vehicles having directional antennas according to the invention operating on the rail system of an automated storage and retrieval system that comprises a plurality of access points.

Fig 7 is a flow chart illustrating control aspects of the invention.

DETAILED DESCRIPTION OF THE INVENTION

In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

The framework structure 100 of the automated storage and retrieval system 1 is constructed in a similar manner to the prior art framework structure 100 described above in connection with Figs. 1-3. That is, the framework structure 100 comprises a number of upright members 102, and comprises a first, upper rail system 108 extending in the X direction and Y direction.

The framework structure 100 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 100 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 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.

One embodiment of the automated storage and retrieval system according to the invention will now be discussed in more detail with reference to Figs.

In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

Fig 5 shows a top down view of the grid structure of an automate storage and retrieval system formed by the intersecting tracks of the rail system, and illustrates the functioning of the present invention. As shown, the intersecting rail system defines a plurality of grid cells 10 corresponding to the opening at the top of storage columns 105. Two automated vehicle 201,301, 401 are shown in two various locations on the grid. Also illustrated is a wireless access point 10. The physical location of the access points is known, and recorded in the control system 500 of the storage and retrieval system. Likewise the location of each grid cell 10 in known and recorded in control system 500. According to an aspect of the invention, the directional angle between the grid cell and the access point is known and recorded. If the Access point is at an elevated position, the angle of inclination between each grid cell and the access may also be recorded in control system 500. The control system 500 is continuously aware of which grid location of the vehicle as it travels about the rail system. For any given grid position, the control system can thus calculate or assign an angle and possible angle of inclination between the grid location and the access point.

The container handling vehicle 201,301,401 is equipped with a directional antenna 14 that is rotatable by a motor 16. When at the vehicle is located at any given grid position, the control system calculates or assigns angle a between the grid cell where the vehicle is located and the access point, and sends a signal to the motor to rotate the antenna in the direction for the access point according to the calculated or assigned angle. As the vehicle moves about the rail system, the grid cell location of the vehicle is continuously updated, such that the motor continuously rotates the antenna to point at the access point.

Fig 6 illustrates an example where the storage and retrieval system comprises more that one access point 12, designated 12, 12’ and 12”. As a vehicle travels along the rail system from a first position in which antenna 14 is pointed towards access point 12, to a new grid position, the control system continues to update the angle between the vehicle and access point 12, until a “hand off’ point 18 is reached beyond which point a more optimal signal would be possible in communication with access point 12’. At this hand-off point, the control system causes the motor the rotate the antenna away from access point 12 in order to point at access point 12’. Similarly, as the vehicle moves towards a third grid position, the control system recalculates the angle between the vehicle and access point 12’ until a new hand-off point 18 is reached whereupon the control system sends a signal to cause the motor to direct the antenna towards access point 12”.

Fig. 7 shows a vehicle 201,301,401 comprising directional antenna 14. Antenna 14 is mounted to a rotatable shaft 20 rotatable by a motor 16. According to one embodiment, antenna 14 may also be mounted on a tiltable bracket 22. One skilled in the art of automated vehicle design will understand there are other ways of arranging a motor to rotate or tilt an antenna. LIST OF REFERENCE NUMBERS

Prior art (figs 1-4):

1 Prior art automated storage and retrieval system

100 Framework structure 102 Upright members of framework structure 104 Storage grid 105 Storage column 106 Storage container

106’ Particular position of storage container

107 Stack 108 Rail system 110 Parallel rails in first direction (X) 112 Access opening 119 First port column

120 Second port column 201 Prior art container handling vehicle 201a Vehicle body of the container handling vehicle 201 201b Drive means / wheel arrangement / first set of wheels in first direction (A)

201c Drive means / wheel arrangement / second set of wheels in second direction (F)

301 Prior art cantilever container handling vehicle 301a Vehicle body of the container handling vehicle 301 301b Drive means / first set of wheels in first direction (X) 301c Drive means / second set of wheels in second direction (F) 304 Gripping device

401 Prior art container handling vehicle 401a Vehicle body of the container handling vehicle 401 401b Drive means / first set of wheels in first direction (X) 401c Drive means / second set of wheels in second direction (F) 404 Gripping device

404a Lifting band 404b Gripper 404c Guide pin 404d Lifting frame 500 Control system

First direction

Y Second direction Z Third direction 10 Grid cell

12 Wireless access point

14 Directional antenna

16 motor

18 handoff point a Angle between vehicle and access point

20 Rotatable shaft

22 Tiltable bracket

Claims

1. An automated storage and retrieval system comprising: a framework structure (100) comprising a rail system (108); a control system (500); a wireless access point (12) affixed at a known location in relation to the framework structure (100); and a container handling vehicle (201; 301) configured to operate on the rail system (108), wherein the container handling vehicle is configured to be in wireless communication with the control system (500); and wherein the container handling vehicle comprises: a directional antenna (14); and a motor (16), wherein the motor (16) is arranged to rotate the directional antenna to point in the direction of the access point in response to a signal from the control system (500).

2. The automated storage and retrieval system of claim 1, wherein the framework structure further comprises:

- upright members (102); and

- a storage volume comprising storage columns (105) provided between the upright members (102), wherein storage containers (106) are stackable in stacks (107) within the storage columns (105); wherein the rail system (108) is provided on top of the upright members (102), and wherein the control system is configured to direct and monitor the movement of the container handling vehicle on the rail system.

3. The automated storage and retrieval system of claim 1 or 2, wherein the signal from the control system is based upon the location of the container handling vehicle on the rail system relative to the access point.

4. The automated storage and retrieval system of claim 1 or 2 wherein the location of the vehicle is determined by the identity of a grid cell (10) occupied by the vehicle.

5. The automated storage and retrieval system of claim 1 or 2, wherein the signal is based upon and/or based on received signal strength of the signal.

6. The automated storage and retrieval system of any preceding claim, wherein the control system is configured to send signals directing the motor to rotate the directional antenna of the container handling vehicle to continuously point at the access point while the vehicle is in motion.

7. The automated storage and retrieval system of any preceding claim, wherein the automated storage and retrieval system comprises a plurality of access points (12, 12’, 12”), and wherein the control system directs the antenna to switch from pointing at a first access point (12) to point at a second access point (12’) when the vehicle passes a handoff point (18), beyond which a better signal is anticipated by the control system to be possible from the second access point (12’).

8. The automated storage and retrieval system according to any preceding claim, wherein the access point is equipped with a directional antenna.

9. The automated storage and retrieval system according to any preceding claim, wherein the directional antenna is also tiltable, and the control system sends a signal to tilt the antenna based on an angle of inclination between the location of the vehicle and an access point.

10. A container-handling vehicle for operation in an automated storage and retrieval system, the container-handling vehicle comprising: a rotatable directional antenna for sending and receiving wireless signals; and a motor arranged to rotate the directional antenna to point in a direction of a wireless access point of the automated storage and retrieval system in response to a signal from a control system.

11. A container-handling vehicle according to claim 10, wherein the directional antenna is tiltable and the motor is arranged to tilt the antenna to point in a direction of a wireless access point of the automated storage and retrieval system in response to a signal from a control system.