System for distributing heavy bins in a storage grid

Abstract

A method for storing product items in storage bins in a storage system includes a bin storing grid in which storage bins are stored above each other in columns. The method includes: inserting product items to or retrieving product items from the respective storage bins at a port; determining a weight for each storage bin after one or more product items have been inserted to or retrieved from the storage bin; determining a storage position for the storage bin in the bin storing grid based on the weight; and transporting the storage bin from the port to the determined storage position by means of a vehicle and a bin lift device provided on each vehicle.

Claims

1. A method for storing product items in storage bins in a storage system comprising a bin storing grid in which storage bins are stored above each other in columns, wherein the method comprises: inserting product items to or retrieving product items from the storage bins at a port; overloading a first storage bin with product items; underloading a second storage bin with product items; determining a weight for each storage bin after one or more product items have been inserted to or retrieved from each storage bin; determining a storage position for each storage bin in the bin storing grid based on the determined weight; calculating a total weight for storage bins presently being stored above a storage bin at a lowermost level of each column; selecting the storage position for each storage bin as a position in one of the columns in which a sum of the total weight and the weight of the storage bin at the lowermost level is below a maximum load tolerated by the storage bin at the lowermost level of the bin storing grid; and transporting storage bins from the port to the determined storage position by means of a vehicle and a bin lift device provided on each vehicle; wherein the storage positions for the first and the second storage bins are in a same column.

2. The method according to claim 1, wherein determining the weight for each storage bin comprises weighing the storage bin by means of a weight sensor.

3. The method according to claim 1, further comprising: increasing a height of the bin storing grid for at least some columns.

4. The method according to claim 1, further comprising: storing the total weight for all columns in the grid based on the weight and position of the storage bins; and updating the weight of each column each time a storage bin is removed from or added to the respective columns.

5. A storage system for storing product items in storage bins, wherein the storage system comprises: a bin storing grid in which storage bins are stored above each other in columns; a port where product items are inserted into or retrieved from the storage bins; a first storage bin overloaded with product items; a second storage bin underloaded with product items; a vehicle configured to move horizontally along rails provided on top of the bin storing grid, wherein the vehicle comprises a bin lifting device for transporting the storage bins horizontally and vertically between the bin storing grid and the port; a weight estimation device for estimating the weight of each storage bin after one or more product items have been inserted to or retrieved from the storage bin; and a storage control system provided in communication with the vehicle and the weight estimation device, wherein the storage control system is configured to determine a storage position for each storage bin based on the weight of the storage bin, calculate a total weight for storage bins presently being stored above a storage bin at a lowermost level of each column, and for storage position bin as a position in one of the columns in which a sum of the total weight and the weight of each storage bin is below a maximum load tolerated by a lowermost storage bin being stored at the lowermost level of the bin storing grid; wherein the storage positions for the first and the second storage bins are in a same column.

6. The storage system according to claim 5, wherein the weight estimation device is a weight sensor.

7. The storage system according to claim 6, wherein the weight sensor is located in the port.

8. The storage system according to claim 5, wherein storage control system is configured to store the total weight for all columns in the grid based on the weight and position of the storage bins, and to update the total weight of each column each time a storage bin is removed from or added to the respective columns.

Description

DETAILED DESCRIPTION

(1) Embodiments of the present invention will now be described in detail with reference to the enclosed drawings, where:

(2) FIG. 1 illustrates a perspective view of a prior art storage system;

(3) FIG. 2a illustrates a perspective view of a prior art storage bin from above;

(4) FIG. 2b illustrates a perspective view of the storage bin from below;

(5) FIG. 2c illustrates a first side view of the storage bin;

(6) FIG. 2d illustrates a second side view of the storage bin;

(7) FIG. 2e illustrates a bottom view of the storage bin;

(8) FIG. 2f illustrates a top view of a storage bin;

(9) FIG. 3 illustrates a perspective view of the storage system;

(10) FIG. 4a illustrates a front view of the storage system;

(11) FIG. 4b illustrates a side view of the storage system;

(12) FIG. 4c illustrates a top view of the storage system;

(13) FIG. 5a illustrates a side view of the port device of FIGS. 3 and 4a-c;

(14) FIG. 5b illustrates a cross sectional view of the port device along line A-A of FIG. 5a;

(15) FIG. 6 illustrates a two stacks of storage bins with two possible storage positions;

(16) FIG. 7 illustrates a flow diagram of a method for storing storage bins in a storage system.

(17) It is now referred to FIG. 3 and FIG. 4a-c, where a storage system 3 is shown. The storage system 3 comprises a bin storing grid 15 formed by vertical and horizontal posts connected to each other. On top of the bin storing grid 15, a base 14 for vehicles 1 is formed, where the base 14 have rails 13 for the vehicle wheels. In the bin storing grid 15, storage bins 2 are stored by stacking them above each other in columns 8. A coordinate system is indicated in FIG. 3, with horizontal axis x and y and a vertical axis z. Hence, each storage position P can be referred to as a position defined by its x, y, z coordinate. The level of the lowermost storage bin 2 in each column 8 is referred to as level z1. In the present example, the level z1 corresponds to the floor of the building in which the grid 15 is located.

(18) On the floor, adjacent to the bin storing grid 15, a port 60 is located. At this port 60, one or more product items may be retrieved from the storage bin 2, for example based on a picking order. At this port 60, product items 80 may also be supplied to the storage bin 2.

(19) In FIG. 5b, the position of the leftmost storage bin 2 is a position to which the vehicle 1 can deliver storage bins or from which the vehicle 1 can retrieve storage bins, while the position of the rightmost storage bin 2 is a position in which a person can pick/supply product items 80, provided that the lid 62 is open.

(20) The positions of the storage bins in FIG. 5b are interchanged by rotation of a carrier arm 64 through 180 degrees.

(21) The port 60 comprises lid 62 which is open when the storage bin is in the picking/supply position (i.e. a person may retrieve product items 80 from the storage bin or the person may insert product items 80 into the storage bin) and is closed when the storage bin is to be moved between the positions shown in FIG. 5b. The purpose of the lid 62 is to prevent hands being caught when the storage bins are moved between the positions in FIG. 5b. In FIG. 5b, reference number 70 denotes a weight sensor for measuring the weight of the storage bin 2 including the weight of the product items 80 stored within the storage bin 2. Due to carrier arm 64, there is one weight sensor on each side of the carrying arm 64. It should be noted that if the port 60 were of another type, for example having a conveyor belt or transportation rollers for moving the storage bin, then only one weight sensor 70 is required.

(22) In these drawings, there are two vehicles 1, each comprising a bin lift device 4. In FIG. 4c, these vehicles are indicated as vehicle 1a and 1b. The vehicle 1a is driving over the columns 8 in which storage bins 2 are stored, while the vehicle 1b is positioned over the port 60 and is ready to retrieve the storage bin 2b from the port 60.

(23) The method according to the invention will now be described with reference to FIGS. 6 and 7. In FIG. 6, only two columns 8a and 8b are shown for simplicity. The first column 8a has nine storage bins 2a1, 2a2, 2a3, 2a4, 2a5, 2a6, 2a7, 2a8, 2a9. Here, the letter “a” indicates the column position. In a non-simplified example, the letter “a” will typically be a column referenced by means of x- and y-coordinates. The last number 1-9 indicates the height (z-coordinate). The second column 8b has seven storage bins 2b1, 2b2, 2b3, 2b4, 2b5, 2b6, 2b7.

(24) In FIG. 6, a storage control system 100 is shown as a solid box above the vehicle 1. The storage control system 100 is provided in communication with the vehicle 1 and the weight sensor 70. The storage control system 100 will typically comprise a database containing the position of each storage bin in the grid 15 and the content of each storage bin 2. In addition, the storage control system 100 will now know the weight of each storage bin.

(25) The storage control system 100 may send picking orders to vehicles and persons so that the correct storage bin 2 is retrieved from its column 8 and is transported to the port 60 where one or more product items 80 are picked from the storage bin based on the picking order. In the same way the storage control system 100 may generate supply orders when a shortage of certain product items are detected.

(26) In FIG. 6, a total weight Wtot for the storage bins 2 presently being stored above the storage bin 2a1 at the lowermost level z1 in column 8a is indicated as Wtot (8a), while the total weight Wtot for the storage bins 2 presently being stored above the storage bin 2b1 at the lowermost level z1 of column 8b is indicated as Wtot (8b). As the weight and the positions for all storage bins 2 are known for the storage control system 100, the storage control system 100 may compute the total weight for all columns 8 in the grid 15.

(27) The maximum load Wmax for the storage bin 2 being stored at a lowermost level z1 of the bin storing grid 15 is also determined. This will typically be a fixed value, equal for all storage bins 2, which are set in the storage control system 100. Of course, if there are several different types of storage bins 2, there might be one fixed value for the maximum load Wmax for each type of storage bin 2. In such a case, the storage control system 100 must also know the type of storage bin for all storage bins, for example by means of a type tag readable by a sensor, an identification tag for each storage bin 2 readable by a sensor etc. In the present example, the maximum load Wmax is determined as a maximum of 14 fully loaded storage bins, i.e. Wmax=14*30=420 kg.

(28) The determination of the maximum load Wmax is considered to be a first step 110 of the method shown in FIG. 7.

(29) It is now referred to FIG. 6 again. Based on a picking order, the vehicle 1 is moving a storage bin 2 containing the product item 80 to be picked to the port 60 at position P0.

(30) Then, the storage bin 2 is moved to position P1, where the content of the storage bin 2 is accessible for a person or picking robot (not shown) for picking (alternatively supplying) the product item 80 from the storage bin 2. As described above, the movement from the position P0 to the position P1 is performed by the port 60 itself.

(31) Then, the storage bin 2 is moved to the position P0 again. As described above, the movement from the position P1 to the position P0 is performed by the port 60 itself. At the position P0, the storage bin 2 is ready for retrieval by means of a vehicle 1 again.

(32) After visiting the port 60, the weight of the storage bin 2 is measured by the weighing sensor 70, and this weight is registered by the storage control system 100. This is shown in FIG. 7 as step 112.

(33) In step 114, the storage control system 100 is calculating the total weight Wtot for the storage bins presently being stored above the storage bin at the lowermost level of each column. In the example above, this equals Wtot (8a) and Wtot (8b). This step may be performed before step 112. For example, the total weight Wtot may be stored in a database for each column, where the value for each column is updated each time a storage bin 2 is removed from or added to the stack of storage bins.

(34) In step 116, the sum of the total weight Wtot and the weight W of the storage bin 2 currently being at position P0 is determined and compared with the maximum load Wmax for each column. One storage position P or a number of possible storage positions P are calculated as columns with available space, where the sum of the total weight Wtot and the weight W is below the maximum load Wmax.

(35) If there is more than one possible storage position P, then other criteria are used to decide which one to use. For example, a storage bin 2 containing frequently picked product items 80 should be stored closer to the port 60 than storage bins 2 containing rarely picked product items 80. In the example of FIG. 6, if the storage bin 2 at the position P0 contains frequently picked product items 80, then the storage position P in column 8b should be selected, as this column 8b is closer to the port 60. If the storage bin 2 at the position P0 contains rarely picked product items 80, then the storage position P in column 8a should be selected.

(36) In step 118, one of the vehicles 1 is then controlled to pick up the storage bin 2 at position P0 and then transport it to the storage position P.

(37) The above method will typically be implemented as software in the storage control system 100.

(38) It should be noted that it is possible to install the above method in an already existing storage system 3 where the weight of each storage bin 2 is currently not known. The only requirement is that the software of the storage control system 100 must be updated and that the storage system 3 is updated with a weight estimation device, typically a weight sensor 70, provided in communication with the storage control system 100.

(39) The storage system 3 can be operated as normal or close to normal. A few columns 8 must be emptied. These columns 8 are then used initially to receive all storage bins 2 which have its weight registered by the weight sensor. As more and more storage bins are weighed, more and more columns 8 are filled with storage bins 2 which have had its weight registered. In less busy periods, a storage bin 2 which has not been weighed may be transported to the weight sensor to have its weight registered. After a period of time, the weights of all storage bins are registered.

(40) It should be noted that in the description above, the port 60 is connected directly to the grid 15. Alternatively, the port 60 may be connected to the grid 15 at a distance from the grid 15, for example by means of a conveyor belt assembly or other transporting systems. In such a case, the weight sensor could be implemented as part of such a transporting system. In yet an alternative, the weight sensor 70 could be provided in the vehicle 1 itself, for example by calculating the weight based on the current drawn from a motor of the bin lift device 4 during lifting of the respective storage bins.

LIST OF REFERENCE NUMBERS

(41) 1 Vehicle

(42) 2 Storage bin

(43) 3 Storage system

(44) 4 Bin lift device

(45) 8 Columns

(46) 13 Rails

(47) 14 Horizontal base

(48) 15 Bin storing grid

(49) 60 Port

(50) 62 Lid

(51) 64 Carrier arm

(52) 70 Weight estimation device/Weight sensor

(53) 80 Product item

(54) 100 Storage control system

(55) P Storage position

(56) P0 Position

(57) P1 Position

(58) z1 Lowermost level