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WO2025157377A1 - Dispositif de vérification de bac - Google Patents

Dispositif de vérification de bac

Info

Publication number
WO2025157377A1
WO2025157377A1 PCT/EP2024/051351 EP2024051351W WO2025157377A1 WO 2025157377 A1 WO2025157377 A1 WO 2025157377A1 EP 2024051351 W EP2024051351 W EP 2024051351W WO 2025157377 A1 WO2025157377 A1 WO 2025157377A1
Authority
WO
WIPO (PCT)
Prior art keywords
storage container
container
storage
lifting
insert
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/EP2024/051351
Other languages
English (en)
Inventor
Trond Austrheim
Ivar Fjeldheim
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
Priority to PCT/EP2024/051351 priority Critical patent/WO2025157377A1/fr
Publication of WO2025157377A1 publication Critical patent/WO2025157377A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided

Definitions

  • the present invention relates to a device for determining compliance of a storage container with a predetermined geometric standard, also referred to as a container geometry checking device. Associated systems and methods are also disclosed.
  • 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.
  • 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 maybe 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 no 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 no 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 X direction and in the Y direction, respectively.
  • 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 X direction and in the Y direction, respectively.
  • the first set of wheels 201b, 301b, 401b is arranged to engage with two adjacent rails of the first set no 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 no, 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.
  • each storage column 105 can be identified by its X and Y coordinates.
  • 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 T-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. 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 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 specialpurpose 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 may be 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, 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.
  • 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.
  • 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.
  • Storage containers to be inserted into the grid of an AutoStore system must be checked, so that they are not skewed or out of tolerance.
  • Storage containers that are suitable for automated storage and retrieval systems are manufactured to specific dimensions. For example, the opening of the storage containers will have a specific intended width and length, and the depth, width and length of the containers will also have specific intended dimensions. That is, an ideal storage container would have precisely the correct length, width and depth with walls at a predetermined angle (e.g., 90 degrees) to the base.
  • any particular storage container may deviate from the ideal storage container due to various reasons such as manufacturing tolerances, defects in the material, or damage. If any of the dimensions of a particular storage container exceeds an acceptable tolerance for the storage and retrieval system, then there is a risk that the storage container may get stuck in the automated storage retrieval system.
  • the present invention is directed to the problem to provide for means and a method for easier checking relevant portions of a storage container’s geometry.
  • the invention is related to a device for determining compliance of a storage container with a predetermined geometric standard.
  • the device may be configured to identify one or more deformities in a storage container having an square or rectangular cross-section.
  • the device is also referred to herein as a ‘container geometry checking device’.
  • a device for determining compliance of a storage container with a predetermined geometric standard comprises a support having an attachment arrangement configured to secure the support in a fixed position relative to a lifting arrangement for lifting a storage container along a lifting axis.
  • An insert extends from the support is configured for insertion into the internal volume of the storage container via an opening of the container, which is surrounded by a rim.
  • the insert comprises at least a first pair of parallel opposing sidewall portions, the opposing sidewall portions configured to fit between corresponding opposing internal walls of an ideal storage container conforming to the predetermined geometric standard.
  • the parallel sidewall portions extend parallel to the lifting axis.
  • the invention provides a system for determining compliance of a storage container with a predetermined geometric standard, the storage container having an internal volume and an opening surrounded by a rim, wherein the opening is configured to provide access to the internal volume.
  • the system comprises the device described above in connection with the first and second aspects and further includes a lifting arrangement configured to engage a storage container, wherein the insert is configured to be received in the internal volume of the storage container when the lifting arrangement engages the storage container.
  • the invention provides a container handling device, such as a container handling device of an automated retrieval system, wherein the container handling device comprises the devices and systems of the previous aspects.
  • the lifting arrangement may be the lifting arrangement of a container handling vehicle.
  • the insert may be configured to be secured in a fixed location relative to the gripping arrangement of such a container handling vehicle, which is arranged to engage a storage container.
  • the invention provides a method for determining compliance of a storage container with a predetermined geometric standard, the storage container having an internal volume and an opening surrounded by a rim.
  • the method comprises controlling a system to: (i) lower a device comprising an insert and a support secured to a lifting arrangement into a position the insert enters an internal volume of the storage container via the opening; (ii) actuate a gripping arrangement of the lifting arrangement with the storage container to engage the storage container; (hi) lift the storage container using the lifting arrangement; and (iv)release the storage container from the gripping arrangement.
  • the method can also comprise identifying whether one or more of steps (i)-(iv) have failed; and determining whether the storage container complies with the predetermined geometric standard based on identification of a failure of one or more of steps (i)-(iv).
  • the invention provides an automated storage and retrieval system incorporating any of the systems, devices and methods of the previous aspects.
  • 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, seen from a side, of a container handling vehicle of Fig. 3 with a container geometry checking device attached to its lifting frame approaching a container, according to the invention.
  • FIG. 6 is another perspective view, seen from a side, of a container handling vehicle of Fig. 3 with another container geometry checking device, to be attached to its lifting frame, and a container, according to the invention in exploded arrangement.
  • Fig. ya-yd each show a cross-sectional view of an insert comprising opposing pairs of sidewall portions, each insert seated within the internal volume of an ideal storage container.
  • the invention is generally directed to systems and methods for checking whether a storage container complies with a predefined geometric standard of an ideal storage container.
  • the storage container is generally of a type having an internal volume accessible via an opening that is surrounded by a rim.
  • the container generally includes a base and a plurality of sidewalls that at least partially surround the internal volume.
  • the base and the sidewalls may be solid or they can comprise a lattice or mesh.
  • the storage containers have a rectangular footprint and the systems and methods described herein may be configured to determine whether the container has deformed from an ideal shape.
  • An geometric standard for an ideal rectangular storage container may be 2 pairs of parallel walls and/or four corners each having an internal angle of 90 degrees.
  • a non-ideal container may deviate from this standard in one or more ways. For example, a skewed container may comprise two pairs of parallel walls, where the internal angle of each internal corner is not 90 degrees. Additionally or alternatively, a non-ideal container may comprise one or more bowed sidewalls, such that the container no longer comprises two pairs of parallel walls.
  • non-ideal containers can compromise the stability of a container stack and/or impede retrieval of the container from the grid. This can be because portions of the rim of the container are not in the expected location (for gripping by a lifting mechanism) or because the container cannot freely move vertically up and down the columns within the grid. Misshapen storage containers may also fail to fit within container transport cavities (within container handling vehicles, lifts or access ports). A single container with geometric defects may therefore compromise operation of the automated storage and retrieval grid by causing jams of blockages during the retrieval and return of containers to and from the grid.
  • a geometry checking device may be provided in the context of a container handling vehicle not associated with a particular storage grid.
  • the geometry checking device may be provided separately from a container handling vehicle, for example as a stand alone component configured to be affixed to a container handling device, or as part of a distinct automated geometry checking system.
  • the system comprises a framework structure 100 of an automated storage and retrieval system 1 that 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.
  • the framework structure 100 may have a horizontal extent of more than 700x700 columns and a storage depth of more than twelve containers.
  • Container handling vehicles such as the container handling vehicles 201, 301, 401 in Figures 2, 3 and 4, are configured to run along the upper rail system 108 above the framework structure that forms the storage grid.
  • a container geometry checking device 2 comprises a support comprising an attachment arrangement configured to secure the support in a fixed position relative to a lifting arrangement for lifting a storage container along a lifting axis.
  • the attachment arrangement may be in the form of a plate or bracket configured for use together with fixation means (such as bolts) to fix the support to a lifting arrangement of a container handling vehicle, as shown in Figs. 5 and 6.
  • the geometry checking device 2 also comprises an insert 4, also referred to as a geometry checking structure.
  • the insert 4 extends from the support and is configured for insertion into the internal volume of a storage container via the opening.
  • the insert 4 comprises at least a first pair of parallel sidewall portions.
  • the first pair of parallel sidewall portions may oppose each other along at least a portion of their length, and may be referred to as opposing parallel sidewall portions.
  • the parallel sidewall portions are configured to correspond to (and oppose) internal sidewalls of a storage container, such that the insert fits through the opening and into the internal volume of an ideal storage container having a predetermined geometry.
  • the parallel sidewall portions extend parallel to the lifting axis, the lifting axis being the axis along which the storage container is lifted into and out of the storage grid. In other words, the parallel sidewall portions extend substantially vertically.
  • the attachment arrangement is configured to attach the insert at a fixed position relative to the gripping arrangement associated with the lifting arrangement configured to lift a storage container from the grid.
  • the insert may be configured to have a fixed position relative to the grippers 404b described with reference to Figures 5 and 6 below.
  • the insert 4 can comprise a second pair of opposing sidewall portions.
  • the second pair of opposing sidewall portions in Figs. 5 and 6 extend perpendicular to the first pair of opposing sidewall portions to form an insert having a rectangular cross-section.
  • the rectangular crosssection of the insert 4 is configured to fit within the rectangular cross-section of the internal volume of an ideal storage container.
  • the sidewall portions need not form an uninterrupted boundary corresponding to the sidewalls of the storage container.
  • the parallel opposing sidewall portions of the insert 4 have a height H in a direction parallel to the lifting axis.
  • H may be at least one tenth or a depth D of the internal volume of the container, more preferably a fifth of a depth D of the internal volume of an ideal storage container, more preferably at least one quarter of D, more preferably at least one third of D, and more preferably at least one half of D.
  • the container geometry checking device 2 comprises a container geometry checking structure 4 or insert. This structure is in the form of surfaces 4 oriented in four planes (shown is their normal vector 6) oriented vertically and rectangular towards each other and outwardly like the outside side walls of a box.
  • the container geometry checking device 2 is configured to be mounted to the underside of a lifting frame 4O4d of a lifting device assembly 14 for vertical transportation of the storage container 106 such that the checking device 2 enters into the opening 10 of the storage container 4 when grippers 404b of the lifting device assembly 14 engage the storage container.
  • the container geometry checking structure 4 is at a predefined distance from a relevant portion (namely the vertical inside walls 16) of the storage container 106 (if this container 106 would conform to its predefined ideal shape) when the grippers 404b engage the storage container 106.
  • the lifting device assembly 14 is configured for vertical transportation of the container 106 being, as mentioned, of a predefined shape.
  • the lifting device assembly 14 comprises: a lifting frame 404b comprising the grippers 404b which are adapted to engage, in a form-fitting manner, one of the storage containers 106 from above in accordingly shaped gripping structures 18 in the region of the rim 12 of the opening 10 of the container 106 for its vertical transportation, and the container geometry checking device 2 mounted to the underside of the lifting frame 404b, such that the grippers 404b surround the checking device outwardly, but at least such that the checking device 2 reaches into the opening 10 of the storage container 106 when the grippers 404b engage the container 106, wherein the checking device 106 comprises the container geometry checking surfaces 4.
  • the checking structure 4 comprises reference surfaces 4 which are located at the predefined distance from the relevant portion 16, the inner wall 16, of the container 106 - if it would conform to its predefined shape ideally - when the grippers 404b engage the container 106.
  • the design of the predefined ideal shape of the container 106 comprises a tolerance of deformation of said relevant portion, the inner wall 16, of the container 106, into the direction of the predefined distance and into the direction towards the checking surfaces 4 - so towards the inside of the container 106 - and the predefined distance is equal to this tolerance of deformation of the relevant portion, the inner wall 16, of the container.
  • the checking structure 4 in the embodiment of Fig. 6 comprises a distance sensor 20 which is located at a predefined distance from the relevant portion 16, the inner wall 16, of the container 106, if it would conform to the predefined shape ideally, and when the grippers 404b engage the container 106.
  • the distance sensor 20 is configured to measure its distance from the relevant portion 16, the inner wall 16, of the container 106. This allows to measure, if this distance deviates from the predefined distance according to the ideal shape - and thus a quantification of a possible deformation of the relevant portion 16, the inner wall 16, of the container 106.
  • the distance sensor 20 shown in Fig. 6 may be incorporated into any of the embodiments described herein. Distance sensors according to the disclosure may be configured to measure a distance between the sensor and an internal surface of the storage container.
  • the predefined shape of the container 106 comprises four inner walls 16 of the container 106 which are perpendicular to one another to form a rectangular, generally box-shaped compartment.
  • the checking structure or insert 4 comprises reference surfaces or sidewall portions 4 lying in four vertical planes (shown is their normal vector 6) in a corresponding rectangular arrangement configured to fit inside the rectangular compartment of the container 106.
  • the checking device 4 of Fig. 6 comprises a scanner for scanning an identifying marker of a container, such as a barcode reader 22 for reading a barcode (not shown) on one of the inside walls 16 of the storage container 106, when the grippers 404b engage the storage container 106.
  • a barcode reader is shown, other identifiers and scanners may be used, such as an RFID tag and associated reader. This advantageously allows to identify the respective individual container electronically and to use this information within a electronic control system (not shown) installed in connection with any of the devices described so far, in particular for controlling their respective function.
  • the container geometry checking device 2 is configured to be mounted to the lifting frame or lifting arrangement 404b of the lifting device assembly 14 as described so far, wherein: the checking device 2 is configured to be mounted to the lifting frame 404b such that the grippers 404b surround the checking device 2 outwardly (see in particular Fig. 5), and such that the checking device 2 can be inserted into the opening 10 of the storage container 106, when the grippers 404b engage the container, and wherein the checking device 2 comprises a container geometry checking structure 4, the surfaces 4, which is located at a predefined distance from a relevant portion 16, the inner walls 1 of the container 106, if it would conform to the predefined shape ideally, and when the grippers 404b engage the container.
  • the bin check adapter of container checking device 2 can be mounted on the underside of the lifting device 14 of a robot 301. It is configured to check geometrical features of the containers 106 (also known as bins 106), when they are entered into the system 1.
  • the adapter 2 can be fixed (with a simple fastening device or mechanism like one or a few screws - not shown) to the bottom of the lifting frame 404b of the lifting device 14 and is then operative with the container handling device 301 (also known as robot 301) to drive to a bin 106 to be checked and to check the bin 106, using the motion capabilities of the robot 301 in addition to the following feature options of the adapter 2 of the invention:
  • Adapter 2 (according to Fig. 5) can be arranged and prepared for mechanical checking only.
  • the adapter 2 therefor comprises a pattern 4 or gauge arrangement 4 of plates 4 or checking surfaces 4 of predefined dimensions (within the scope of tolerances technically acceptable for this bin), such that this arrangement fits into the load opening 10 on the upper side of the bin 106 - if it is within acceptable predetermined tolerance of the bin’s intended dimension - in contrast to getting stuck or trapped if the dimension is beyond the acceptable predetermined tolerance.
  • the checking device 2 can optionally be configured to determine whether the test has been passed. For example, a sensor may detect one or more of: whether the insert was successfully inserted, whether the container was successfully lifted, and whether the container was successfully released. Accordingly, the checking device 2 may be configured to determine a status of the storage container based on the result of the test.
  • a communication module may be provided, as part of the checking device 2 or as part of the associated container handling vehicle, which is configured to transfer container status information to an external system.
  • the communication module can be configured to transmit information indicating whether the storage container is an ideal storage container to an external system, to issue an alert to an operator that the container is non-ideal, or to take action to remove the container from the automated storage and retrieval system.
  • the communication module can also be configured to transmit information including one or more measured distances between a sensor and an internal sidewall of the storage container.
  • the adapter of Fig. 6 is arranged and prepared to register the individual bin 106 into the electronic data processing system (not shown) of the automated storage and retrieval system 1.
  • Adapter 2 therefor additionally comprises the bar code reader 22. Consequently, bin 8 does not need to be registered before it is sent into a port 119, 120 of the system 1 to be entered into the system 1 by the robot 301 of Fig. 6.
  • the adapter 2 of Fig. 6 further comprises a controller (not shown) and a radio transmitter (not shown) prepared to send the bar code information to the system 1.
  • the adapter of Fig. 6 is arranged and prepared for additional electronic checking and measuring.
  • the adapter therefor additionally comprises the distance sensor 20 as said arranged and prepared to measure distances inside the load space or internal volume of the bin 8. These internal measurements are then checked for tolerances and consequently also for skewness by electronical data processing and comparison with reference values or thresholds.
  • FIGs. 5 and 6 show embodiments in which the insert 4 comprises four (or more) sidewalls mounted to a support plate, other insert configurations may also be used to check that the geometry of the storage container 106 conforms to the predetermined geometry of an ideal storage container.
  • the insert configurations described below may be used in connection with the container handling vehicle and insert described above with reference to Figs. 5 and 6.
  • an insert 4 is shown within the boundary defined by the sidewalls 106’ of an ideal storage container.
  • the insert 4 comprises four sidewall portions 4a, 4b, 4c and 4d. Sidewalls 4a and 4c oppose each other and are parallel; sidewalls 4b and 4d oppose each other, are parallel and are arranged perpendicular to sidewalls 4a and 4c.
  • the sidewall portions take the form of four corners.
  • Each corner 4’ is formed of two sidewall portions 4a’, 4b’, connected perpendicular to each other. Pairs of sidewall portions are formed by the parallel wall portions of opposing corners.
  • the insert 4 comprises four sidewalls portions joined to form a continuous perimeter wall having rectangular cross-section.
  • Fig. yd only one pair of sidewalls 4a’”, 4b’” is provided.
  • the opposing sidewalls of the pair extend substantially the full length of the corresponding sidewalls of an ideal storage container, such that the sidewalls reach into each corner of the container’s internal volume. It will be appreciated, that by providing sidewall portions that extent into the corners of an ideal storage container internal volume, a container can be checked for deformation such as skew because the insert 4 will only fit within the internal volume of the container if the corners of the container internal volume are in the same location (within a margin of tolerance) as the corners of an ideal container.
  • the margin of tolerance within which the insert 4 fits within the internal volume of an ideal storage container may be chosen depending on the required precision of conformity of the storage container with an ideal storage container for reliable operation of the automated storage and retrieval system of which the storage container is used.
  • the insert may be dimensioned such that a maximum distance between an insert sidewall portion and a corresponding, opposing internal sidewall of an ideal storage container is 5cm, more preferably 3cm, more preferably 2cm, more preferably icm, more preferably 0.5cm and more preferably less than 0.5cm, more preferably less than 0.3cm.
  • the present disclosure also provides associated methods for checking the geometry of a storage container complies with a predefined geometry standard for an ideal container.
  • the method comprises: controlling a system to: (i) lower a device comprising an insert and a support secured to a lifting arrangement into a position the insert enters an internal volume of the storage container via the opening; (ii) actuate a gripping arrangement of the lifting arrangement with the storage container to engage the storage container; (iii) lift the storage container using the lifting arrangement; (iv) release the storage container from the gripping arrangement.
  • the method further comprises the step of identifying whether one or more of steps (i)-(iv) have failed; and determining whether the storage container complies with the predetermined geometric standard based on identification of a failure of one or more of steps (i)-(iv).
  • the method can also comprise measuring a distance between a sensor and/or a reference surface and an internal sidewall of a storage container as described above with reference to Fig. 6.
  • the measurement may be taken during one or more of steps (i)-(iv).
  • the step of determining whether the storage container complies with the predefined geometric standard may be based on one or more of the measurements exceeding a threshold value, and/or the failure of one or more of steps (i)-(iv).
  • the method can further comprise identifying the storage container, optionally by scanning an identifier on the storage container.
  • an additional step of determining an identified storage container as non-compliant and removing the container from an automated storage and retrieval system may be performed.
  • a container geometry checking device comprising a container geometry checking structure, for checking the shape of a storage container having an upper opening surrounded by a rim, wherein the container geometry checking device is configured to be mounted to a lifting frame of a lifting device assembly for vertical transportation of the storage container such that the checking device enters into the opening of the storage container when the grippers engage the storage container, wherein the container geometry checking structure is at a predefined distance from a relevant portion (for instance, a portion which would collide with the assembly or which would make the container not fitting with the grippers if the portion would be out of its predefined ideal shape) of a storage container conforming to a predefined ideal shape when the grippers engage the storage container conforming to the predefined ideal shape.
  • a relevant portion for instance, a portion which would collide with the assembly or which would make the container not fitting with the grippers if the portion would be out of its predefined ideal shape
  • the invention concerns a lifting device assembly for vertical transportation of a storage container.
  • a lifting device assembly for vertical transportation of a storage container having an upper opening surrounded by a rim, comprises: a lifting frame comprising grippers which are configured to engage the storage container (106) from above in the region of the rim of the opening of the storage container (106) for the vertical transportation of the storage container; and a container geometry checking device as defined above.
  • a lifting device assembly can be defined as follows: it is configured for vertical transportation of a storage container of at least one predefined shape (there may be two or more “kinds” of containers - so “of two or more predefined shapes” - which the lifting device assembly is prepared for), the containers respectively having an upper opening surrounded by a rim, wherein the lifting device assembly comprises: a lifting frame comprising grippers which are adapted to engage one of the storage containers (of the at least one predefined shape) from above in the region of the rim of the opening of the container for the vertical transportation of this container, and a container geometry checking device mounted to the lifting frame, preferably such that the grippers surround the checking device outwardly, but at least such that the checking device reaches into the opening of the storage container when the grippers engage a container, wherein the checking device comprises a container geometry checking structure which is located at a predefined distance from a relevant portion (for instance, a portion which would collide with the assembly or which would make the container
  • such a checking structure comprises a reference surface which is located at a predefined distance from the relevant portion of the container conforming to the predefined ideal shape when the grippers engage such a container conforming to the predefined ideal shape.
  • the design of the predefined ideal shape comprises a tolerance of deformation of said relevant portion of the container, preferably into the direction of the predefined distance and/or into a direction towards the checking structure - and the predefined distance is equal to this tolerance of deformation of the relevant portion of the container.
  • This advantageously causes a deformation larger than the tolerance to result in a collision of the checking structure and the relevant portion, thus making this being out of tolerance of the respective container obvious.
  • a deformation smaller than the tolerance does not result in a collision of the checking structure and the relevant portion, thus allowing for continuous function of the handling of this container by means of the lifting device assembly.
  • such checking structure comprises a distance sensor which is located at a predefined distance from the relevant portion of the container conforming to the predefined ideal shape when the grippers engage such a container conforming to the predefined ideal shape - wherein the distance sensor is configured to measure the distance.
  • a distance sensor which is located at a predefined distance from the relevant portion of the container conforming to the predefined ideal shape when the grippers engage such a container conforming to the predefined ideal shape - wherein the distance sensor is configured to measure the distance.
  • the predefined shape of the container comprises four inner walls of the container which are perpendicular to one another to form a rectangular (or a generally box-shaped) compartment, and the checking structure comprises four reference surfaces in a corresponding rectangular arrangement configured to fit inside the rectangular compartment.
  • the checking device comprises a barcode reader for reading a barcode on a storage container when the grippers (404b) engage the storage container (106).
  • a barcode reader for reading a barcode on a storage container when the grippers (404b) engage the storage container (106).
  • a container geometry checking device is configured to be mounted to a lifting frame of a lifting device assembly as described so far, wherein: the checking device is configured to be mounted to the lifting frame, preferably such that the grippers surround the checking device outwardly, but at least such that the checking device can be inserted into the opening of the storage container, when the grippers engage a container, and in that the checking device comprises a container geometry checking structure which is located at a predefined distance from a relevant portion conforming to the predefined ideal shape, when the grippers engage such container.
  • the invention concerns an automated storage and retrieval system.
  • an automated storage and retrieval system for storing and retrieving storage containers wherein the storage containers have an upper opening surrounded by a rim, comprises a container handling vehicle and/or a lifting device as described so far.
  • the invention is directed to a method for introducing a storage container into an automated storage and retrieval system.
  • a method for introducing a storage container into an automated storage and retrieval system and/or by means of a device as described so far as described so far comprises the steps: approaching the storage container which is to be introduced by a container handling device as described so far; approaching the rim with the grippers of the lifting device assembly and thus introducing the checking structure into the opening of the storage container, gripping the rim with the grippers, and checking the distance of the checking structure from the relevant portion of the storage container.
  • checking the distance comprises: measuring the distance of the checking structure from the relevant portion of the storage container by means of a distance sensor in the checking structure and /or checking contact between the checking structure and the relevant portion of the storage container, possibly by means of a contact sensor in the checking structure and /or checking if the storage container can be released by the lifting device assembly.
  • a method for introducing a storage container of a predefined shape into an automated storage and retrieval system as described so far comprises the steps: approaching the storage container (which is to be introduced) with the container handling device which comprises the lifting device assembly; approaching the rim with the grippers of the lifting device assembly and thus introducing the checking structure into the opening of the container, and gripping the rim with the grippers and checking the predefined distance of the checking structure of the checking device mounted to the lifting frame of this container handling device from the relevant portion of the approached container.
  • this checking of the predefined distance is performed alternatively or cumulatively by: measuring by means of a distance sensor comprised in the checking structure; checking contact between the checking structure of the checking device mounted to the lifting frame of this container handling device and the relevant portion of the lifted container by means of a contact sensor; checking the contact by means of a programmed routine of the container handling device, the routine comprising one of the following steps: lowering the checking structure into the opening and thus approaching the rim of the opening with the lifting frame, and the grippers to a location where the predefined shape of the container is prepared to be gripped by the grippers, and if the grippers do not reach the rim, then automatically stopping the routine and automatically stating within the program of the control system that there is contact, else lifting the gripped container by means of the lifting frame and then opening the grippers to release and drop the container and, if the grippers do not leave the rim, then automatically stopping the routine and automatically stating within the program of the control system that there is contact between the checking structure and the relevant portion to the extent of the
  • the additional step is performed, automatically by means of the electronic control system, causing the container handling device not to introduce this container into the system, if it is detected (preferably by this measuring and/or stating contact) that the distance deviates from the predefined distance of the predefined ideal shape by more than a technically predefined deformation tolerance.
  • a bin check adapter can be mounted on the underside of a lifting device of a robot. It is configured to check geometrical features of containers, also known as bins, which are entered into the system.
  • the adapter can be fixed (with a simple fastening device or mechanism like one or a few screws) to the bottom of the lifting device and is then operative with the container handling device (also known as robot) to drive to a bin to be checked and to check the bin, using the motion capabilities of the robot in addition to the following feature options of the adapter of the invention:
  • the adapter can be arranged and prepared for mechanical checking only.
  • the adapter then comprises a pattern or gauge arrangement of plates or other checking structures of predefined dimensions (within the scope of tolerances technically acceptable for this bin), such that this arrangement fits into the load opening on the upper side of the bin (that is within acceptable predetermined tolerance of the bin/ storage containers intended dimension - in contrast to getting stuck or trapped if the dimension is beyond the acceptable predetermined tolerance).
  • this first bin check step is positive.
  • the bin is okay according to this first step, for instance not skewed or dented beyond tolerance.
  • the grippers open, and the bin will drop when its dimensions are okay.
  • the adapter can be arranged and prepared to register the individual bin into the preferred electronic data processing system.
  • the adapter then additionally comprises a bar code reader. Consequently, the bin does not need to be registered before it is sent into a port to be entered into the system by the robot of the invention.
  • the adapter of the invention then further comprises a controller and a radio transmitter prepared to send information to the system.
  • the adapter can be arranged and prepared for additional electronical checking and measuring.
  • the adapter then may additionally comprise some distance sensors arranged and prepared to measure distances inside the load space of the bin. These internal measurements are then checked for tolerances and consequently also for skewness, for instance by electronical data processing and comparison with reference values or thresholds.
  • the adapter according to the invention preferably checks the inside of the bin only.
  • tolerances and skewness of the bin can be determined without requiring measurements taken from the exterior of the bin.
  • Step 1 The lifting frame, with the container checking device attached thereto, is lowered from a container handling vehicle towards the storage container.
  • the ‘container geometry checking structure’ will be unable to enter the storage container. That is, the checking structure would interfere/contact (for instance, the rim opening of) the storage container and hence be blocked from entering the storage container. In this case, step 1 of the test would be failed.
  • step 1 of the test is passed and step 2 can be assessed.
  • Step 2 The container checking device enters the storage container and grippers of the lifting frame grip the storage container.
  • step 2 If (when the gripper releases the storage container) the storage container remains attached to the checking structure, then this suggests that the internal walls (or other “relevant portion”) of the storage container are skewed (and therefor are trapped in the checking structure) and step 2 is failed.
  • step 2 If (when the gripper releases the storage container) the storage container is released (and thus drops) away from the checking structure, then this suggests the internal walls (or other “relevant portion”) of the storage container are not skewed and step 2 is passed.
  • a container geometry checking device comprising a container geometry checking structure, for checking the shape of a storage container having an upper opening surrounded by a rim, wherein the container geometry checking device is configured to be mounted to a lifting frame (4O4d) of a lifting device assembly for vertical transportation of the storage container (106) such that the checking device enters into the opening of the storage container (106) when the grippers (404b) engage the storage container (106), wherein the container geometry checking structure is at a predefined distance from a relevant portion of a storage container (106) conforming to a predefined ideal shape when the grippers (404b) engage the storage container (106) conforming to the predefined ideal shape.
  • An automated storage and retrieval system (1) for storing and retrieving storage containers (106), the storage containers having an upper opening surrounded by a rim, the system comprising a container handling vehicle (201, 301, 401) comprising a lifting device assembly according to Clause 2.
  • Clause 4. A method for introducing a storage container (106) into an automated storage and retrieval system (1) according to clause 3, the method comprising:
  • Clause 5 The method of Clause 4, wherein checking the distance comprises: measuring the distance of the checking structure from the relevant portion of the storage container (106) by means of a distance sensor in the checking structure.
  • Clause 6 The method of Clause 4 or 5, wherein checking the distance comprises: checking contact between the checking structure and the relevant portion of the storage container (106) by means of a contact sensor in the checking structure.
  • Clause 7 The method of Clause 4, 5 or 6, wherein checking the predefined distance comprises: checking if the storage container can be released by the lifting device assembly.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un dispositif pour déterminer la conformité d'un réceptacle de stockage à une norme géométrique prédéterminée. Le dispositif comprend un support comprenant un agencement de fixation conçu pour immobiliser le support dans une position fixe par rapport à un agencement de levage pour soulever un réceptacle de stockage le long d'un axe de levage ; un insert, s'étendant à partir du support, et conçu pour être inséré dans le volume intérieur du réceptacle de stockage par l'intermédiaire de l'ouverture lorsque l'agencement de levage s'engage avec le réceptacle de stockage ; l'insert comprenant au moins une première paire de parties parois latérales opposées parallèles, les parties parois latérales opposées étant conçues pour s'ajuster entre des parois intérieures opposées correspondantes d'un réceptacle de stockage idéal conforme à la norme géométrique prédéterminée, les parties parois latérales parallèles s'étendant parallèlement à l'axe de levage. L'invention concerne également des systèmes et des procédés associés.
PCT/EP2024/051351 2024-01-22 2024-01-22 Dispositif de vérification de bac Pending WO2025157377A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/051351 WO2025157377A1 (fr) 2024-01-22 2024-01-22 Dispositif de vérification de bac

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/EP2024/051351 WO2025157377A1 (fr) 2024-01-22 2024-01-22 Dispositif de vérification de bac

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WO2025157377A1 true WO2025157377A1 (fr) 2025-07-31

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3313409A (en) * 1964-02-07 1967-04-11 Owens Illinois Inc Apparatus for inspecting glassware
US6172748B1 (en) * 1998-12-28 2001-01-09 Applied Vision Machine vision system and method for non-contact container inspection
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20240005543A1 (en) * 2020-11-23 2024-01-04 Dexory Limited A method for measuring and analysing packages for storage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3313409A (en) * 1964-02-07 1967-04-11 Owens Illinois Inc Apparatus for inspecting glassware
US6172748B1 (en) * 1998-12-28 2001-01-09 Applied Vision Machine vision system and method for non-contact container inspection
WO2015193278A1 (fr) 2014-06-19 2015-12-23 Jakob Hatteland Logistics As Robot pour transporter des bacs de stockage
WO2019206487A1 (fr) 2018-04-25 2019-10-31 Autostore Technology AS Véhicule de manipulation de conteneurs doté de première et seconde sections et d'un moteur de dispositif de levage dans une seconde section
US20240005543A1 (en) * 2020-11-23 2024-01-04 Dexory Limited A method for measuring and analysing packages for storage

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