Robot for transporting storage bins

Abstract

A remotely operated vehicle assembly for picking up storage bins from a storage system includes a vehicle body that displays a cavity for receiving a storage bin situated somewhere within the storage system, a vehicle lifting device at least indirectly connected to the vehicle body for lifting the storage bin into the cavity, driving mechanisms or components connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, a wireless communication link that provides wireless communication between the vehicle assembly and a remote control unit such as a computer, one or more main power sources supplying electrical power to the driving mechanisms or components and vehicle coupling means for operational and releasable coupling of the main power source to the vehicle body.

Claims

1. A remotely operated vehicle assembly for picking up storage bins from an underlying storage system, comprising: a vehicle body displaying a cavity for receiving a storage bin within the storage system, wherein the size of the cavity is adapted to contain components for a vehicle lifting device and to contain a largest storage bin intended to be picked up by the vehicle assembly, the vehicle lifting device at least indirectly connected to the vehicle body for vertically lifting the storage bin from the underlying storage system into the cavity, driving means connected to the vehicle body allowing remotely controlled movements of the vehicle assembly within the storage system, wireless communication means for providing wireless communication between the vehicle assembly and a remote control unit; a main power source supplying electrical power to the driving means; and vehicle coupling means for releasably coupling the main power source to the vehicle body, wherein said coupling means is configured to allow interchange of the main power source to a stationary charging station after receiving at least one communication signal from the control unit, wherein the vehicle assembly further comprises a management system that manages at least one of the power sources, said management system comprising: means for monitoring at least one selected from the group consisting of: voltage, temperature, state of charge (SOC), depth of discharge (DOD), state of health (SOH), coolant flow, and current; and recharging controlling means for controlling at least one parameter related to recharging of at least one of the power sources.

2. The vehicle assembly in accordance with claim 1, wherein at least one of the power sources is a capacitor.

3. The vehicle assembly in accordance with claim 1, wherein the vehicle coupling means further comprises at least one battery hook pivotably connected to the vehicle body that enables releasable connection between the main power source and the vehicle body.

4. The vehicle assembly in accordance with claim 1, wherein the main power source is arranged within a dedicated main battery cavity.

5. The vehicle assembly in accordance with claim 1, wherein the vehicle assembly further comprises an auxiliary power source that supplies electrical power to the driving means.

6. The vehicle assembly in accordance with claim 5, wherein, during the operation of the vehicle, a minimum amount of power stored in the auxiliary power source equals the power required to move the vehicle assembly from one charging station to an adjacent charging station.

7. The vehicle assembly in accordance with claim 5, wherein the auxiliary power source and the main power source are interconnected such that the main power source may charge the auxiliary power source when the main power source is operationally connected to the vehicle assembly.

8. The vehicle assembly in accordance with claim 1, wherein at least one of the power sources is a rechargeable battery.

9. The vehicle assembly in accordance with claim 8, wherein the vehicle assembly further comprises a battery management system (BMS) managing at least one of the power sources.

10. The vehicle assembly in accordance with claim 1, wherein the main power source comprises: a receiving means for enabling releasable connection to a corresponding charge station connection means situated on a charge station.

11. The vehicle assembly in accordance with claim 10, wherein at least one of the receiving means is a hook receiving means.

12. A storage system for storage of bins comprising: a remotely operated vehicle assembly in accordance with claim 1; a charging station; a vehicle support; and a bin storing structure supporting the vehicle support, the structure comprising a plurality of storage columns, wherein each storage column is arranged to accommodate a vertical stack of storage bins.

13. A method for charging a power source arranged in a remotely operated vehicle assembly, the method comprising: a) moving the remotely operated vehicle assembly to a charging position adjacent to a first charging station; b) transferring a first main power source connected to a vehicle body of the vehicle assembly to the first charging station; c) moving the vehicle assembly to a second charging station using an auxiliary power source that supplies auxiliary electrical power to driving means; and d) transferring a second main power source connected to the second charging station to the vehicle body, the second main power source having been charged for a time period (T) by the second charging station.

14. The method in accordance with claim 13, further comprising: lowering the vehicle body towards an underlying vehicle support during step b) and during step d), thereby disconnecting the main power source from the vehicle body; and raising the vehicle body away from the underlying vehicle support after step b) and after step d), thereby allowing connection of the main power source to the charging station, wherein said lowering and raising of the vehicle body is achieved by elongation means connected to, or being an integral part of, the driving means.

15. The method in accordance with claim 14, wherein the method steps are controlled by transmitting communication signals between a control unit and a wireless communication means within the vehicle assembly.

16. The method in accordance with claim 14, wherein the vehicle is in accordance with claim 1.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

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

(2) FIG. 2 is a perspective base view of a remotely operated vehicle according to the invention;

(3) FIG. 3 is a perspective top view of a remotely operated vehicle according to the invention;

(4) FIG. 4 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support and a robot;

(5) FIG. 5 is a perspective side view of part of a storage system in accordance with the invention including a bin storing grid, a vehicle support, a robot and a plurality of charging stations;

(6) FIG. 6 is a block diagram of a robot showing a main power source and an auxiliary power source, wherein FIGS. 6 (a) and (b) shows the main power source being operationally connected to, and disconnected from, the robot, respectively,

(7) FIG. 7 is a cross sectional view of a robot and a charging station,

(8) FIGS. 8 (a)-(d) are cross sectional views of a robot and a charging station, wherein FIG. 8 (a) shows a battery containing robot in a raised position and at a distance from its charging position, FIGS. 8 (b) and 8 (c) show a battery containing robot in a raised position and a lowered position, respectively, situated adjacent to its charging position and FIG. 8 (d) shows the robot in a lowered position at a distance from its charging position after transfer of the battery to the charging station and,

(9) FIGS. 9 (a)-(c) are cross sectional cut-outs providing further details of the connection mechanisms in FIGS. 8 (b)-(d), wherein FIGS. 9 (a) and (b) show connecting hooks on the robot and the charging stations in raised and lowered position, respectively, and FIG. 9 (c) shows the connecting hooks after successful connection of the battery to the charging station.

DETAILED DESCRIPTION OF THE INVENTION

(10) FIGS. 2 and 3 give perspective views in two different angles of a robot 1 comprising a rectangular vehicle body or framework 4 displaying a cavity 7 centrally arranged there within, a top lid 72 covering the top part of the body 4, a first set of four wheels 10 mounted inside the cavity 7 and a second set of four wheels 11 mounted at the exterior walls of the body 4. The first and second set of wheels 10, 11 are oriented perpendicular to each other. For the sake of clarity a Cartesian coordinate system is shown with its X, Y and Z axes aligned along the principal directions of the rectangular vehicle body 4. The size of the cavity 7 is adapted to contain necessary component for a lifting device 9 (see FIG. 4) and to contain the largest storage bin 2 intended to be picked up by the robot 1.

(11) FIG. 4 shows a part of a storage system 2 where the robot 1 is in a lifting position on a vehicle support 14, directly above a storage column 8 within a supporting bin storing structure 15. A vehicle lifting device 9 is lowered a distance into the storage column 8 in order to hook onto and lift up any storage bin 2 within the column 8.

(12) All operations of the robot 1 are controlled by wireless communication means 19 and remote control units. This includes control of the robot movement, the vehicle lifting device 9 and any vehicle position measurements.

(13) As in FIG. 4 the robot 1 is in FIG. 5 shown arranged on a vehicle support 14 composed of a plurality of supporting rails 13, which vehicle support 14 is supported on a bin storing structure 15 constituting a plurality of storage columns 8.

(14) The robot 1 of FIG. 5 comprises a main battery 6, battery holding means 22-24 for holding a main battery 6 during operation, as well as enabling flow of necessary power to the robots 1 driving means 10,11, an enclosing cover 73 with handles 74 and a control panel 75. In order to allow charging of the main battery 6 the inventive storage system 3 further comprises several charging stations 20,20′ being fixed to the vehicle support 14 in positions that are accessible for the part of the vehicle body 4 including the main battery 6 and/or the robot connection means 22-24. Each charging station 20, 20′ comprises corresponding station connection means 25,26 which aids in the transfer of the main battery 6, as well as ensure stable connection and electrical charging. FIG. 5 shows the particular situation where the robot 1 is approaching the charging station 20 in order to transfer an almost discharged main battery 6 to a battery vacant charging station 20. After a successful transfer, the robot 1 is moved to another charging station 20′, typically being the closest charging station 20′ that contains a main battery 6 being charged to a fully operational level. Such a movement from a first charging station 20 to a second charging station 20′ along the vehicle support 14 may be ensured by means of an auxiliary power source or battery 21 as schematically indicated in the block diagram of FIG. 6, where FIGS. 6 (a) and 6 (b) shows the robot 1 having the main battery connected and disconnected, respectively. When connected, the terminals of the main battery 6 are electrically connected to circuit board 19, which again is controlling the power flow to the driving means 10,11. Note that driving means 10,11 includes all mechanisms and/or components within the robot 1 that at least ensures lateral movements, including wheels, motor, gears, etc. Furthermore, both FIGS. 6 (a) and 6 (b) indicates the above mentioned auxiliary battery 21, which terminals are electrically connected to the same circuit board 19 as the main battery 6. As a result the robot 1 may with this configuration provide sufficient power to the driving means 10,11 to allow operation (lateral movements, elevations, operation of lifting device 9) of the robot 1 even in the complete (physical and/or electrical) absence of the main battery 6 (FIG. 6 (b)). When the main battery 6 is connected, the auxiliary battery 21 may either remain electrically disconnected or function as an additional power source during the continuous operation of the robot 1.

(15) FIG. 7 is a cross sectional view of a robot 1 and a charging station 20 arranged on top of the vehicle support 14, showing in further details the location of the main battery 6, in this embodiment arranged within a dedicated main battery cavity 24, and the components constituting the robot holding means 22,23 on the side of the robot 1 and the station holding means 25,26 on the side of the charging station 20. The robot connection means 22,23 are illustrated as at least one robot hook 22 pivotably fixed to the side walls of the main battery cavity 24, thereby fixing the main battery 6 in position, and at least one robot aperture 23 present at the side of the main battery 6 facing the charging station 20,20′. Likewise, the side of the charging station 20,20′ facing the robot 1 comprises at least one pivotable charge station hook 25 that may be releasably fastened to the robot aperture(s) 23 and at least one charge station aperture 26 that may be releasably receiving the pivotable robot hook(s) 22. The robot 1 is in the lateral position shown in FIG. 7 adjustable in vertical direction, i.e. perpendicular to the vehicle support 14, to ensure reliable and easy fastening of the robot and charge station hooks 22,25 into their respective robot and charge station apertures 23,26. This movement is further detailed in FIG. 8 which illustrates four different stages (a)-(d) of the main battery transfer process from the robot 1 to the charging station 20,20′. In the first stage (FIG. 8 (a)) the robot 1 containing the main battery 6 is approaching the charging station 20,20′ in an elevated position. When the robot 1 is in the lateral transfer position relative to the charging station 20,20′ (FIG. 8 (b)) the charge station situated charge station hooks 25 are being guided into their corresponding main battery situated robot apertures 23. The robot 1 is subsequently lowered a predetermined distance towards the underlying vehicle support 14 (FIG. 8 (c)), resulting in a release of the robot hooks 22 from the main battery 6. Finally the robot 1 is retracted away from the charging station 20,20′ using the auxiliary power source 22 while remaining in the lowered position (FIG. 8 (d). The robot 1 may then regain the elevated position and move along the vehicle support 14 to a charging station 20′ with a sufficiently charged main battery 6.

(16) FIG. 9 (a)-(c) presents an even more detailed presentation of the main battery transfer process from the robot 1 to the charging station 20. FIG. 9 (a) corresponds to the situation depicted in FIG. 8 (b), that is, when the elevated robot 1 has been moved to a transfer position relative to the charging station 20 and the charge station hook 25 has been successfully guided and hooked to the corresponding robot aperture 23. Further, FIG. 9 (b) corresponds to the situation depicted in FIG. 8 (c), when the robot 1 has been lowered, thereby releasing the robot hook 22 from the main battery 6. And finally, FIG. 9 (c) corresponds to the situation depicted in FIG. 8 (d), when the robot 1 has been retracted from the charging station 20 by means of the auxiliary power source 21, leaving the main battery in a charging connection to the charging station 20.

(17) In the preceding description, various aspects of the apparatus 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 apparatus 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 apparatus, 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.

LIST OF REFERENCE NUMERALS/LETTERS

(18) 1 Remotely operated vehicle assembly/robot 2 Storage bin 3 Storage system 4 Vehicle body/framework 6 Main power source/main battery 7 Cavity 8 Storage column 9 Vehicle lifting device 10 First set of vehicle rolling means/first set of wheels/driving means 11 Second set of vehicle rolling means/second set of wheels/driving means 13 Supporting rail 14 Vehicle support 15 Bin storing structure/bin storing grid 19 Circuit board/management system/battery management system 20 Charging station/first charging station 20′ Adjacent charging station/second charging station 21 Auxiliary power source/auxiliary battery 22 Vehicle connection means/robot hook 23 Receiving means/robot aperture 24 Main battery cavity 25 Charge station connection means/charge station hook 26 Charge station aperture 50 Bin lift device 60 Delivery station/port 72 Top lid 73 Enclosing cover 74 Handles 75 Wireless communication means/control panel