CN116529181A - Remotely operated vehicle for handling storage containers on a track system of an automated storage and retrieval system - Google Patents

Abstract

The invention relates to a remotely operated vehicle (500) for handling a storage container (106) or another vehicle on a two-dimensional track system (108) of an automatic storage and retrieval system (1). The vehicle (500) includes a mass balancing system (450) configured to purposefully displace the balancing weight (452) in order to improve stability of the remotely operated vehicle (500). The invention also relates to a method for operating a remotely operated vehicle (500).

Description

Remotely operated vehicle for handling storage containers on a track system of an automated storage and retrieval system

The present invention relates to a remotely operated vehicle for handling objects, such as storage containers, and in particular to a remotely operated vehicle comprising a mass balancing system. The invention also relates to a method for operating a remotely operated vehicle.

Background

Fig. 1 discloses a prior art automated storage and retrieval system 1 having a frame structure 100, and fig. 2 and 3 a-3 b disclose three different prior art container handling vehicles 201, 301, 401 suitable for operation on such a system 1.

The frame structure 100 comprises upright members 102 and a storage volume comprising storage columns 105 arranged in rows between the upright members 102. In these storage columns 105, storage containers 106 (also referred to as bins) are stacked one on top of the other to form a stack of containers 107. The member 102 may typically be made of metal (e.g., extruded aluminum profile).

The frame structure 100 of the automated storage and retrieval system 1 includes a two-dimensional track system 108 disposed across the top of the frame structure 100, and a plurality of container handling vehicles 301, 401 may run on the track system 108 to raise and lower storage containers 106 from and into the storage columns 105, and also transport storage containers 106 over the storage columns 105. The track system 108 includes: a first set of parallel rails 110 arranged to guide the container handling vehicles 301, 401 to move across the top of the frame structure 100 in a first direction X; and a second set of parallel rails 111 arranged perpendicular to the first set of rails 110 to guide movement of the container handling vehicles 301, 401 in a second direction Y perpendicular to the first direction X. The containers 106 stored in the column 105 are accessed by the container handling vehicles 301, 401 through the access opening 112 in the track system 108. The container handling vehicles 301, 401 may be moved laterally over the storage columns 105, i.e., in a plane parallel to the horizontal X-Y plane.

The upstanding members 102 of the frame structure 100 may be used to guide storage containers during raising and lowering of containers from and into the column 105. The stack 107 of containers 106 is typically self-supporting.

Each prior art container handling vehicle 201, 301, 401 includes a vehicle body 201a, 301a, 401a and first and second sets of wheels 201b, 201c, 301b, 301c, 401b, 401c that enable the container handling vehicle 201, 301, 401 to move laterally in the X and Y directions, respectively. In fig. 2 to 3b, the two wheels in each group are fully visible. The first set of wheels 201b, 301b, 401b are arranged to engage with two adjacent tracks of the first set of tracks 110 and the second set of wheels 201c, 301c, 401c are arranged to engage with two adjacent tracks of the second set of tracks 111. At least one set of wheels 201b, 201c, 301b, 301c, 401b, 401c may be raised and lowered such that the first set of wheels 201b, 301b, 401b and/or the second set of wheels 201c, 301c, 401c may be engaged with a corresponding set of tracks 110, 111 at any time.

Each prior art container handling vehicle 201, 301, 401 further includes a lifting device for vertically transporting the storage containers 106, such as raising the storage containers 106 from the storage column 105 and lowering the storage containers 106 into the storage column. The lifting device comprises one or more gripping/engagement devices adapted to engage the storage container 106, and these gripping/engagement devices may be lowered from the vehicle 201, 301, 401 such that the position of the gripping/engagement devices relative to the vehicle 201, 301, 401 may be adjusted in a third direction Z (e.g. visible in fig. 1) orthogonal to the first direction X and the second direction Y. Some parts of the gripping means of the container handling vehicle 301, 401 are shown in fig. 3a and 3b, denoted by reference numerals 304, 404. The gripping device of the container handling device 201 is located within the vehicle body 201a in fig. 2.

Conventionally, and also for the purposes of this application, z=1 identifies the uppermost layer available for storage containers under the rails 110, 111, i.e., the layer directly under the rail system 108, z=2 identifies the second layer under the rail system 108, z=3 identifies the third layer, and so on. In the exemplary prior art disclosed in fig. 1, z=8 identifies the lowest floor of the storage container. Similarly, x=1..n and y=1..n identifies the position of each storage column 105 in the horizontal plane. Thus, as an example, and using the cartesian coordinate system X, Y, Z shown in fig. 1, the storage container identified as 106' in fig. 1 may be referred to as occupying storage positions x=17, y=1, z=6. The container handling vehicles 201, 301, 401 may be said to travel in layer z=0, and each storage column 105 may be identified by its X and Y coordinates. Thus, the storage containers shown in fig. 1 extending above the track system 108 may also be referred to as being arranged in layer z=0.

The storage volume of the frame structure 100 is generally referred to as a grid 104, wherein the possible storage locations within the grid are referred to as storage cells. Each storage column may be identified by a position in the X-direction and the Y-direction, and each storage unit may be identified by a container label in the X-direction, the Y-direction, and the Z-direction.

Each prior art container handling vehicle 201, 301, 401 includes a storage compartment or space for receiving and loading a storage container 106 as the storage container 106 is transported across the track system 108. The storage space may comprise a cavity centrally arranged within the vehicle body 201a, as shown in fig. 2 and 3b, and described for example in WO2015/193278A1 and WO2019/206487A1, the contents of which are incorporated herein by reference.

Fig. 3a shows an alternative configuration of a container handling vehicle 301 having a cantilever structure. Such vehicles are described in detail in, for example, 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 covering an area in the X-direction and the Y-direction that is generally equal in size to the lateral extent of the storage column 105, such as described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term "lateral" as used herein may refer to "horizontal".

Alternatively, the footprint of the cavity container handling vehicle 401 may be larger than the lateral area defined by the storage columns 105, as shown in fig. 3b and as disclosed in WO2014/090684A1 or WO2019/206487 A1.

The track system 108 generally includes a track having grooves in which wheels of a vehicle travel. Alternatively, the track may comprise an upwardly projecting element, wherein the wheels of the vehicle comprise flanges to prevent derailment. These grooves and upwardly projecting elements are collectively referred to as rails. Each track may comprise one rail, or each track may comprise two parallel rails; in other rail systems 108, each rail in one direction may include one rail, and each rail in other vertical directions may include two rails.

WO2018/146304A1 (the contents of which are incorporated herein by reference) shows a typical configuration of a rail system 108 comprising rails and parallel guide rails in both the X-direction and the Y-direction.

In the frame structure 100, most of the columns 105 are storage columns 105, i.e. columns 105 in which storage containers 106 are stored in stacks 107. However, some columns 105 may have other purposes. In fig. 1, columns 119 and 120 are dedicated columns that unload and/or pick up storage containers 106 using container handling vehicles 201, 301, 401 so that they may be transported to an access station (not shown) where storage containers 106 may be accessed from outside of frame structure 100 or moved out of or into frame structure 100. Such locations are commonly referred to in the art as "ports" and the column in which the ports are located may be referred to as "port columns" 119, 120. The transport to the access station may be in any direction, i.e. horizontal, inclined and/or vertical. For example, the storage containers 106 may be placed in a random or dedicated column 105 within the frame structure 100 and then picked up by any container handling vehicle and transported to the port columns 119, 120 for further transport to an access station. Transportation from the port to the access station may require movement in a number of different directions, such as by a distribution vehicle, cart, or other transportation means. Note that the term "tilting" refers to the transport of the storage container 106 having a generally transport orientation in a direction between horizontal and vertical.

In fig. 1, the first port column 119 may be, for example, a dedicated unloading port column in which the container handling vehicles 201, 301 may unload the transported storage containers 106 to an access station or transfer station, and the second port column 120 may be a dedicated pick-up port column in which the container handling vehicles 201, 301, 401 may pick up the storage containers 106 that have been transported from the access station or transfer station.

The access station may generally be a pick-up station or a stock station where the product items are removed from or positioned in the storage containers 106. In the pick-up station or the stock-up station, the storage containers 106 are generally not removed from the automated storage and retrieval system 1, but are returned to the frame structure 100 after access. The ports may also be used to transfer storage containers to another storage facility (e.g., to another frame structure or to another automated storage and retrieval system), to a transportation vehicle (e.g., a train or truck), or to a production facility.

A conveyor system including a conveyor is typically employed to transport storage containers between the port columns 119, 120 and the access station.

If the port columns 119, 120 and the access station are located at different elevations, the conveyor system may include a lifting device having vertical members for vertically transporting the storage containers 106 between the port columns 119, 120 and the access station.

The conveyor system may be arranged to transfer the storage containers 106 between different frame structures, such as described in WO2014/075937A1, the contents of which are incorporated herein by reference.

When a storage container 106 stored in one column 105 disclosed in fig. 1 is to be accessed, one container handling vehicle 201, 301, 401 is instructed to retrieve the target storage container 106 from its position and transport the storage container to the unloading port column 119. This operation involves moving the container handling vehicles 201, 301 to a position above the storage column 105 where the target storage container 106 is located, retrieving the storage container 106 from the storage column 105 using a lifting device (not shown) of the container handling vehicles 201, 301, 401, and transporting the storage container 106 to the unloading port column 119. If the target storage container 106 is located deep within the stack 107, i.e., one or more other storage containers 106 are positioned above the target storage container 106, the operation also involves temporarily moving the storage container positioned above prior to lifting the target storage container 106 from the storage column 105. This step, sometimes referred to in the art as "digging," may be performed with the same container handling vehicle that is subsequently used to transport the target storage container to the unloading port column 119, or with one or more other cooperating container handling vehicles. Alternatively or in addition, the automated storage and retrieval system 1 may have container handling vehicles 201, 301, 401 dedicated to the task of temporarily removing storage containers 106 from the storage column 105. Once the target storage container 106 has been removed from the storage column 105, the temporarily removed storage container 106 may be repositioned into the original storage column 105. However, alternatively, the removed storage containers 106 may be relocated to other storage columns 105.

When a storage container 106 is to be stored in one column 105, one container handling vehicle 201, 301, 401 is instructed to pick up the storage container 106 from the pick-up port column 120 and transport the storage container to a position above the storage column 105 into which it is to be stored. After the storage containers 106 positioned at or above the target locations within the stack 107 have been removed, the container handling vehicles 201, 301, 401 position the storage containers 106 at the desired locations. The removed storage containers 106 may then be lowered back into the storage column 105 or repositioned to other storage columns 105.

To monitor and control the automated storage and retrieval system 1, for example, the location of individual storage containers 106 within the frame structure 100, the contents of each storage container 106, and the movement of the container handling vehicles 201, 301, 401, such that a desired storage container 106 may be delivered to a desired location at a desired time without the container handling vehicles 201, 301, 401 colliding with one another, the automated storage and retrieval system 1 includes a control system 500 (shown in fig. 1) that is typically computerized and typically includes a database for maintaining tracking of the storage containers 106.

In a related context, in the highly automated environment of modern storage and retrieval systems 1, conventional container handling vehicles perform well when involved in standardized tasks of digging into dedicated storage containers and/or moving efficiently along a track system without colliding with another vehicle. However, prior art container handling vehicles still have drawbacks when it comes to further reducing incidents that are unlikely to occur (e.g. in connection with the handling of storage containers).

WO2019172824 discloses a cargo handling vehicle for handling large cargo, such as freight containers, in narrow aisles. The vehicle includes means for autonomous navigation, an elongated chassis having two pairs of steerable wheels engaged with a floor surface. The length of the wheelbase may vary. A telescopic lifting boom arranged on the chassis and extending in the direction of extension of the chassis is also disclosed. The boom is provided with a lifting unit for carrying a freight container. Various methods/apparatus are disclosed that aim to enhance the stability of a cargo-handling vehicle.

WO2019076760 discloses a container handling system with a one-way port access vehicle. The vehicle may be movable in only one direction and may include a pick-up device pivotable in opposite directions to counter-balance the weight when the port accesses the vehicle carrying container.

In view of the above in whole, it is desirable to provide a remotely operated vehicle that solves or at least alleviates in a simple manner one or more of the above-mentioned problems pertaining to the prior art.

Disclosure of Invention

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

A first aspect of the present invention relates to a remotely operated vehicle for handling a storage container or another vehicle, the remotely operated vehicle operating on a track system of an automated storage and retrieval system, the track system comprising a first set of parallel tracks and a second set of parallel tracks arranged perpendicular to the first set of parallel tracks, the remotely operated vehicle comprising: a first set of wheels arranged to engage two adjacent tracks of the first set of tracks; and a second set of wheels arranged to engage with two adjacent tracks of the second set of tracks, the vehicle further having a mass balancing system comprising balancing weights, the mass balancing system being configured to purposefully displace the balancing weights so as to improve the stability of the remotely operated vehicle.

By providing a remotely operated vehicle according to the first aspect of the invention, changes inherently occurring in the system, for example external vehicle related events such as vehicle engagement and/or lifting of the storage container, may be compensated for. Furthermore, it is also possible to block unexpected disturbances occurring during operation of the vehicle, such as loss of traction of the wheels or the presence of unevenly loaded storage containers. More specifically, the dedicated balancing weight acts like a displaceable counterweight and is used to suitably reposition the center of gravity of the vehicle and/or the vehicle/storage container assembly in response to the vehicle-related event as shown above. By dynamically adjusting the center of gravity, stability of the vehicle and/or the vehicle/storage container assembly is improved. Thus, the risk of a malfunction such as a stop on the rail system or a drop of the storage container is reduced.

The proposed solution is versatile and suitable for different types of remotely operated vehicles (e.g. cantilever vehicles). In the case of a cantilevered vehicle, the system of the present invention is particularly useful for addressing problems associated with lifting of the storage container, such as torque applied to a cantilevered section of the vehicle and/or rollover of the vehicle.

The proposed solution can also be used for vehicles with a central cavity, in particular in order to distribute the load associated with the storage container, in order to achieve a more uniform weight distribution at the wheels.

Furthermore, the invention may also be used if the teleoperated vehicle has an adjustable footprint or is an acquisition unit for an automatic storage and retrieval system. Furthermore, the invention may be applied in the case of maintenance vehicles whose purpose is to remove accident-prone remotely operated vehicles from the rail system.

A second aspect of the invention relates to a method for operating a remotely operated vehicle having a mass balancing system comprising balancing weights for handling a storage container or another vehicle on a two-dimensional track system of an automatic storage and retrieval system. For brevity, the advantages discussed above in relation to remotely operated vehicles may even be associated with a method for operating a vehicle and will not be discussed further.

The relative terms "upper," "lower," "below," "over," "upper," and the like should be understood in their ordinary sense as shown in the cartesian coordinate system. When referring to a two-dimensional track system, "upper" or "above" should be understood as a position closer to the surface track system (relative to another component), while the term "lower" or "below" should instead be understood as a position further from the track system (relative to another component).

Drawings

The following drawings are attached to facilitate an understanding of the invention. These drawings illustrate embodiments of the invention and will now be described, by way of example only, in which:

fig. 1 is a perspective view of a frame structure of a prior art automated storage and retrieval system.

Fig. 2 is a perspective view of a prior art container handling vehicle having a centrally disposed cavity for carrying a storage container therein.

Fig. 3a is a perspective view of a prior art container handling vehicle having a boom for carrying a storage container underneath.

Fig. 3b is a perspective view of a prior art container handling vehicle having an internally disposed cavity for carrying a storage container therein, as viewed from below.

Fig. 4a shows an example of a remotely operated vehicle with a cantilever design and with a mass balancing system according to an embodiment of the invention.

Fig. 4b shows an example of a remotely operated vehicle with a mass balance system according to another embodiment of the invention.

Fig. 5 a-5 c show another example of a remotely operated vehicle having a cantilever design and having a mass balance system according to an embodiment of the present invention.

Fig. 6 is a perspective view of a remotely operated vehicle having a mass balance system according to one embodiment of the present invention.

Fig. 7 a-7 c show an example of another remotely operated vehicle with a mass balance system according to an embodiment of the invention.

Fig. 8 a-8 b show an example of yet another remotely operated vehicle with a mass balance system according to an embodiment of the invention.

Fig. 9 a-9 b show an example of a remotely operated vehicle having a central cavity and having a mass balance system according to an embodiment of the present invention.

Fig. 10 is a graph showing motor torque associated with wheels of a remotely operated vehicle.

Detailed Description

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

The frame structure 100 of the automated storage and retrieval system 1 is constructed in accordance with the prior art frame structure 100 described above in connection with fig. 1-3 b, i.e. a plurality of upright members 102, wherein the frame structure 100 further comprises a first upper rail system 108 in the X-direction and the Y-direction.

The frame structure 100 further comprises storage compartments in the form of storage columns 105 arranged between the members 102, wherein the storage containers 106 may be stacked in the storage columns 105 in the form of stacks 107. The storage container 106 serves as a cargo holder, wherein the cargo may be, for example, groceries, clothing, or automobile parts.

The frame structure 100 may have any size. In particular, it should be appreciated that the frame structure may be wider and/or longer and/or deeper than the frame structure disclosed in fig. 1. For example, the horizontal extent of the frame structure 100 may be greater than 700 x 700 columns and its storage depth greater than 12 containers.

Various aspects of the present invention will now be discussed in more detail, by way of example only, and with reference to fig. 4a to 10.

Turning first to fig. 10, a graph is presented that visualizes effects associated with a conventional container handling vehicle. More specifically, fig. 10 is a visual representation of the performance of motor torque associated with wheels of a vehicle (all wheels being driven) moving in a certain horizontal direction. The x-axis represents time and the y-axis represents acceleration. The dashed line indicates the vehicle speed. Here, the speed increases in the first section of the graph until at the turn (turn), and then it steadily decreases. Thus, the vehicle accelerates in a first section of the graph and decelerates in a second section of the graph. The motor torque associated with each wheel is represented by a curve. It can be readily seen that the front wheels (represented by the two upper curves) experience reduced motor torque during the acceleration phase when compared to the rear wheels. This is a result of a partial loss of wheel traction at the front wheels. This effect can be counteracted by suitably repositioning the balancing weights, as will be discussed below. With continued reference to fig. 10, the difference between the motor torques of the front and rear wheels is significantly reduced during the deceleration phase.

Fig. 4a shows an example of a remotely operated vehicle 500 having a cantilevered design and having a mass balance system 450 according to an embodiment of the invention. The illustrated vehicle 500 includes a support surface 425 that is displaceable in a horizontal direction. The container 106 is located on a support surface 425. The balancing weight 452 is arranged in an upper part of the vehicle 500 and is displaceable in the direction indicated by the arrow along the entire length of said vehicle 500, which corresponds to the total length of the wheeled base 442 and the cantilever section 413. The remotely operated vehicle 500 of fig. 4a further comprises a sensor 456 for measuring the weight of any storage container 106 engaged by the remotely operated vehicle 500 through the lifting frame 415 or supported by the support surface 425. In one embodiment, the sensor 456 is a suitably positioned load cell. The weight of the storage container 106 engaged by the remotely operated vehicle 500 may also be determined indirectly, for example, by the necessary information obtained from the tension acting on each lifting strap (as discussed in connection with fig. 5 a). In yet another embodiment, the aggregate weight of the containers 106 and their contents is known to all containers of the storage and retrieval system.

The control system 454 may be connected to a sensor 456, a balancing weight 452 and a balancing weight displacement device 453. The control system 454 may calculate a new position of the balancing weight 452 based on measurement data received from the sensor 456 and instruct the balancing weight shifting device 453 to shift the balancing weight 452 to the new position. Such measurement data received from the sensor 456 generally indicates that the center of gravity COG of the vehicle 500 has shifted due to engagement of the storage container 106 with the remotely operated vehicle 500. The balancing mass 452 is then shifted to a new position to improve stability of the vehicle/container assembly, such as to prevent tilting of the vehicle 500. For a particular remotely operated vehicle 500, the original position of its center of gravity COG depends on the overall shape of the vehicle 500 and the number and weight of its components. Similarly, the weight of the balancing weight will generally depend on the weight and type of the particular remotely operated vehicle 500. Referring to fig. 4a and 10, at an overall level, the shift cycle of balancing mass 452 may be preprogrammed to counteract known future changes associated with vehicle 500, such as acceleration/deceleration and/or directional changes. Nonetheless, the control system 454 is also capable of counteracting related accidents that occur while the vehicle is in motion.

Fig. 4b shows an example of a remotely operated vehicle 500 with a mass balance system 450 according to another embodiment of the invention. The balancing weight 452 in fig. 4b is arranged in the upper part of the cantilever section 413 and can be displaced along a range equal to the length of the cantilever section 413 in the direction indicated by the arrow. The teleoperated vehicle 500 of fig. 4b is Z-shaped and has a linearly movable support surface 425. The function of the mass balancing system 450 with the sensor 456 and the control system 454 for the balancing weight displacement means 453 is similar to that already described in connection with fig. 4a and is not repeated here.

Fig. 5 a-5 c show another example of a remotely operated vehicle 500 having a cantilevered design and having a mass balance system 450 according to an embodiment of the present invention. The remotely operated vehicle 500 has a through opening in the support section 402. The support surface 425 may be linearly movable relative to the wheeled base 442 between a position directly above the wheeled base 442 and a position directly below the lifting frame 415. The vehicle 500 in fig. 5 a-5 c has similar features as the teleoperated vehicle shown and described in connection with fig. 4 a-4 b, except that the container handling vehicle 500 of fig. 5 a-5 c has walls and a cover surrounding the support surface 425 when the support surface 425 is directly above the wheeled base 442. The solutions presented in fig. 5a to 5b may also have the general effects and advantages discussed in connection with fig. 4a to 4 b.

Fig. 5a is a front perspective view showing storage container 106 disposed on support surface 425 positioned directly above wheeled base 442. The remotely operated vehicle 500 is adapted to handle the storage containers 106 on a two-dimensional track system 108 of the automated storage and retrieval system shown in fig. 1.

In the cantilever section 413, a mass balancing system 450 is disclosed. The balancing weight 452 of fig. 5a is arranged in an upper part of the remotely operated vehicle 500 and is displaceable along the entire length of the container handling vehicle 500, which corresponds to the total length of the wheeled base 442 and the cantilever section 413. Also shown is a control system 454 for the balancing weight shifting apparatus 453 described above in connection with fig. 4 b. The control system 454 detects potential changes/imbalances in the center of gravity (shown in fig. 4 a) of the vehicle 500 and responds dynamically when these changes/imbalances exceed thresholds that may affect important parameters such as traction, proper travel of the vehicle on the track system 108, or operation of the lifting frame 415 of the vehicle. The control system 454 responds by purposefully displacing the balancing weight 452 by means of the balancing weight displacement device 453. More specifically, balancing mass 452 acts like a counterweight and serves to suitably reposition the center of gravity of the vehicle and/or the vehicle/storage container assembly in response to the vehicle-related event as shown above. By dynamically adjusting the center of gravity, stability of the vehicle and/or the vehicle/storage container assembly is improved. Thus, the risk of failure such as a stop on the track system 108 or dropping of the storage containers is significantly reduced.

For example, the change/imbalance associated with the center of gravity COG of the vehicle 500 may occur in response to the vehicle 500 engaging and/or lifting the storage container 106. Without the mass balancing system 450, lifting the storage container 106 may cause tilting of the vehicle 500. Tilting of the vehicle 500 may also occur due to acceleration or deceleration of the vehicle. For example, other events that cause the center of gravity of the vehicle 500 to change and thus trigger displacement of the balancing weight 452 by the balancing weight displacement device 453 are loss of wheel traction due to failure of one or more wheels or axles or engagement of a non-uniformly loaded storage container.

As discussed above in connection with fig. 4a, the mass balance system 450 may include a sensor for measuring the weight of the storage vessel 106. In addition, the system may include another sensor 456' for determining the position of the storage container 106 engaged by the vehicle 500 on the track system 108. In particular, the vertical position of the engaged storage containers 106 is of concern. For example, such a sensor 456' may be integrated into the lifting frame 415, and the vertical position of the engaged storage container 106 may be derived from the length of the extension of the schematically illustrated lifting strap 461 downwardly from the lifting frame 415. The belt 461 is typically connected to a lifting device (not shown). The mass balance system 450 may include another sensor 456 "for determining the spatial distribution of the load weight in the interior of the storage vessel 106 engaged by the vehicle 500. For example, the sensor 456″ may be integrated into the lifting frame 415 and configured to measure the load on the corresponding lifting belt 461, and this information may then be used to identify unevenly loaded storage containers.

In another embodiment (not shown), the mass balance system 450 may include a sensor that measures the angle of inclination on the vehicle 500. In one embodiment, such a sensor may comprise a gyroscope. The inclination angle on the vehicle 500 may also be determined indirectly, for example, by necessary information obtained from the tension acting on each lifting belt 461 or the torque acting on the front/rear axle.

Clearly, the more types of sensors used, the more information is obtained about the engaged storage container 106 (i.e., about the change in center of gravity of the vehicle/container assembly). This information is then used to properly reposition the center of gravity by displacing balancing weight 452.

Fig. 5b is a top perspective view of the mass balance system 450 of fig. 5 a. Referring to fig. 5 a-5 b, balancing weight displacement device 453 may be guided in cantilever section 413 along balancing weight guide 455. The balancing weight displacement means 453 is in the form of a ball screw engaged with the threaded rod 460, wherein the rotation of the ball screw is translated into linear movement of the balancing weight 452 along the rod 460 and the guide 455. The linear displacement of the balancing weight 452 is controlled by a control system 454.

Fig. 5c is a detailed view of the circled area of fig. 5b and shows more detail of the mass balancing system 450 shown in fig. 5 b. In addition to the features described in connection with fig. 5 a-5 b, a balancing weight displacement device motor 457 driven by a battery or the like (not shown) is also shown. A rotary device 458 in the form of a belt transmits rotary motion from the motor 457 to the balancing weight displacement means 453. Although the rotary device 458 disclosed to transfer motion to the balancing weight displacement apparatus 453 is presented in a belt, other devices capable of performing the desired functions may be used. Two parallel balancing weight guides 455 are also shown.

The overall effect and advantage of the present invention can also be attributed to the vehicle of fig. 4a to 5 c. With continued reference to fig. 4 a-5 c, a vehicle 500 having a cantilevered design has the particular advantage of improving upon the resolution of problems associated with the vertical movement of the storage container 106 during lifting, such as the presence of torque on the cantilevered section 413 and the potential tipping of the remotely operated vehicle 500.

Fig. 6 is a perspective view of a remotely operated vehicle 500 having a mass balance system according to an embodiment of the present invention. In this embodiment, the movable storage container supports 550, 550' are disposed above the wheeled base 442 to act as balancing weights. Furthermore, the empty/loaded storage containers 106 may also serve as balancing weights, either alone or in combination with the respective container supports 550, 550'. With continued reference to fig. 6, the center VC of the vehicle is shown as not overlapping the center SC of the storage container support. Here, and because of its substantially symmetrical configuration, the original center of gravity of the vehicle 500 is located in the center of the vehicle 500. The storage container supports 550, 550' and the storage container 106 move in the first direction X in response to an external event, such as a loss of wheel traction, the extent of this movement being here equal to about 15% of the length of the vehicle body along the first direction X. Thus, the center of gravity of the vehicle/storage container assembly is repositioned by moving the supports 550, 550' so that the vehicle/storage container assembly can regain balance. It is also contemplated that the storage container 106 may be properly loaded to compensate for unexpected changes in the center of gravity of the vehicle 500. In addition, the vehicle 500 may include a sensor (not shown) that detects the presence of the storage container 106 on the storage container supports 550, 550'. Thus, in the absence of the storage container 106, the vehicle 500 may automatically arrange the storage container supports 550, 550' in a position that ensures that the footprint of the vehicle 500 is as small as possible. Subsequently, an optimal route for the vehicle 500 across the track system 108 may be calculated, taking into account the current footprint of the vehicle 500. The mass balance system of fig. 6 also has the general effects and advantages discussed in connection with the other vehicle types of fig. 4 a-5 c.

Fig. 7a to 7c show an example of another remotely operated vehicle with a mass balance system according to an embodiment of the present invention.

More specifically, fig. 7a is a perspective view of a remotely operated vehicle 500 adapted to carry storage containers 106 on a two-dimensional track system 108 (such as shown in fig. 1) of an automated storage and retrieval system. The illustrated vehicle 500 has an adjustable footprint to facilitate its movement across the track system 108. Storage bins 106 may be stacked (not shown) to reduce footprint.

Turning to fig. 7 b-7 c, a mass balancing system 450 according to an embodiment of the present invention is shown. The mass balancing system 450 includes a balancing weight 452. In the illustrated embodiment, balancing weight 452 is comprised of two weight elements 452a, 452 b. Element 452a is a dedicated weight that can be shifted in one or two dimensions in the horizontal direction. Element 452b is also a weight that can be displaced in a horizontal direction. However, the element 452b is a functional part of the remotely operated vehicle 500 such that the element 452b has an additional function in the remotely operated vehicle 500. Thus saving space significantly. In the illustrated embodiment, element 452b is a battery for storing energy. In one embodiment, the weight of a battery pack suitable for use in the remotely operated vehicle 500 of the present invention is about 30kg, but it is also contemplated that the battery pack may be heavier or lighter depending on the type of remotely operated vehicle. In another related embodiment (not shown), element 452b is a drive motor for propelling remotely operated vehicle 500. In alternative embodiments, a capacitor that provides energy may be used in place of the battery. By physically dividing the balancing weight into two portions 452a, 452b, a more accurate system is achieved, providing more freedom in relation to the positioning of the balancing weight 452. In this embodiment, the balancing weight may be provided entirely by the functional portion, or entirely by the dedicated portion. Also shown are a first set of wheels 500b for engagement with two adjacent ones of the first set of tracks 110 and a second set of wheels 500c for engagement with two adjacent ones of the second set of tracks 111. Referring to fig. 1 in conjunction with fig. 7b, the remotely operated vehicle 500 always moves along a straight path, the so-called Manhattan path, i.e. the wheels 500b, 500c are not steerable. Furthermore, the mass balancing system of fig. 7 a-7 c may also have the general effects and advantages discussed in connection with the other vehicle types of fig. 4 a-6. For details of the transfer of the rotational movement to the displacement of the balancing weight displacement device, reference is made to fig. 4a to 5c and the corresponding parts of the detailed description thereof.

It is also conceivable to provide a remotely operated vehicle in which the balancing weight can be displaced in the vertical direction by means of a lifting device (not shown). This embodiment may be particularly useful when it is desired to increase the vehicle speed without affecting the vehicle stability. To meet this requirement, the center of gravity (COG; shown in fig. 4 a) of the vehicle or container/vehicle assembly is lowered.

In a related embodiment, the storage vessel 106 may be used as a balancing weight 452, and the adjustment of the center of gravity is accomplished by simply raising/lowering the vessel 106 by means of the lifting frame discussed in connection with fig. 4 a. Thus, existing features of the remotely operated vehicle (e.g., the lift frame) acquire new functionality and may be used to vertically adjust the center of gravity (COG) of the container/vehicle assembly.

Fig. 8a to 8b show an example of yet another remotely operated vehicle with a mass balance system according to an embodiment of the present invention.

Fig. 8a shows a so-called pick-up unit 500 for collecting empty storage tanks 106. In the associated fig. 8b, the battery serves as the sole balancing weight 452b. As described in connection with fig. 5c, a rotary device in the form of a belt transmits the rotary motion from the motor to the balancing weight displacement means. Balancing mass 452b reciprocates along threaded rod 460 as previously discussed. Further, a balancing weight guide 455 is associated with balancing weight 452b. The mass balancing system of fig. 8 a-8 b may also have the general effects and advantages discussed in connection with the other vehicle types of fig. 4 a-7 c.

Fig. 9 a-9 b show an example of a remotely operated vehicle 500 having a central cavity (also shown in fig. 3 b) and having a mass balancing system according to an embodiment of the invention. Fig. 9a is a perspective view of the vehicle 500 on the track system 108, and fig. 9b is a perspective view showing portions of the mass balance system 450. The structural parts and functions of the system are similar to those discussed in connection with fig. 4 and 5. More specifically, the battery 452b serves as a single balancing weight. The vehicle of the central cavity of fig. 9 a-9 b may also have the general effects and advantages discussed in connection with the other vehicle types of fig. 4 a-8 b. A vehicle with a central cavity has the particular advantage of improving the distribution of the load associated with the storage container (not visible in fig. 9a to 9 b) at the wheels 463.

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

Reference numerals

1. Storage and retrieval system

100. Frame structure

102. Upright member of frame structure

104. Storage grid

105. Storage column

106. Storage container

106' specific location of storage container

107. Stack of storage containers

108. Rail system

110. Parallel tracks in a first direction (X)

111. Parallel tracks in the second direction (Y)

112. Access opening

119. First port row

201. Container handling vehicles of the prior art

201a vehicle body of container handling vehicle 201

201b drive device/wheel apparatus, first direction (X)

201c drive device/wheel apparatus, second direction (Y)

301. Cantilever container transporting vehicle

301a vehicle body of container handling vehicle 301

301b in a first direction (X)

301c in a second direction (Y)

401. Container handling vehicles of the prior art

Vehicle body of 401a container handling vehicle 401

401b drive means in a first direction (X)

401c second direction (Y)

402. Support section

413. Cantilever section

415. Lifting frame

425. Support surface

442. Wheeled base

450. Mass balancing system

452. Balancing weight

452a special counterweight block

452b battery balancing weight

453. Balancing weight shifting device

454. Control system

455. Balancing weight guide

456-456' sensor

457. Balance weight block shifting device motor

458. Rotary device

460. Threaded rod

461. Lifting belt

463. Wheel of vehicle

500. Remote operation vehicle

500b first set of wheels

500c second group of wheels

550-550' storage vessel support

X first direction

Y second direction

Z third direction

Claims (30)

1. A remotely operated vehicle (500) for handling a storage container (106) or another vehicle, the remotely operated vehicle (500) operating on a track system (108) of an automated storage and retrieval system (1), the track system (108) comprising a first set of parallel tracks (110) and a second set of parallel tracks (111) arranged perpendicular to the first set of parallel tracks (110), the remotely operated vehicle (500) comprising: a first set of wheels (500 b) arranged to engage with two adjacent tracks of the first set of tracks (110); and a second set of wheels (500 c) arranged to engage with two adjacent tracks of the second set of tracks (111), the vehicle (500) further comprising a mass balancing system (450) comprising a balancing weight (452), the mass balancing system (450) being configured to purposefully displace the balancing weight (452) in order to improve the stability of the remotely operated vehicle (500).

2. The remotely operated vehicle (500) of claim 1, wherein the balancing mass (452) is displaced in response to a change in the position of the center of gravity (COG) of the vehicle (500).

3. The remotely operated vehicle (500) according to any one of the preceding claims, wherein displacement of the balancing weight (452) adjusts the center of gravity (COG) of the vehicle (500) in order to improve the stability of the remotely operated vehicle (500).

4. The remotely operated vehicle (500) according to any one of the preceding claims, wherein said balancing weight (452) is displaceable in a horizontal direction.

5. The remotely operated vehicle (500) according to any one of the preceding claims, wherein said balancing weight (452) is displaceable in a vertical direction.

6. The remotely operated vehicle (500) as recited in claim 5, wherein said balancing weight (452) is displaceable by a lifting device.

7. The remotely operated vehicle (500) of any preceding claim, wherein the mass balance system (450) further comprises a sensor (456) for measuring the weight of a storage container (106) engaged by the remotely operated vehicle (500).

8. The remotely operated vehicle (500) of any preceding claim, wherein the mass balance system (450) further comprises a sensor (456') for determining a position of a storage container (106) engaged by the remotely operated vehicle (500).

9. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the mass balance system (450) further comprises a sensor (456 ") for determining a spatial distribution of load weight in an interior of a storage container (106) engaged by the remotely operated vehicle (500).

10. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the mass balance system (450) comprises a sensor measuring an angle of inclination on the remotely operated vehicle (500).

11. The remotely operated vehicle (500) according to any one of claims 7 to 10, wherein the mass balancing system (450) comprises a control system (454) connected to a sensor (456, 456',456 "), the sensor measuring an inclination angle and a balancing weight displacement device (453), wherein the control system (454) calculates a new position of the balancing weight (452) based on data acquired from the sensor (456, 456', 456"), and instructs the balancing weight displacement device (453) to displace the balancing weight (452) to the new position.

12. The remotely operated vehicle (500) as recited in claim 11, wherein a shift period of said balancing mass (452) is predetermined to counteract a known future change associated with said remotely operated vehicle (500).

13. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the balancing weight (452) is at least one functional part of the remotely operated vehicle (500) such that the balancing weight has an additional function in the remotely operated vehicle (500).

14. The remotely operated vehicle (500) according to claim 13, wherein said balancing weight (452) of said remotely operated vehicle (500) is a battery for storing energy.

15. The teleoperated vehicle (500) of claim 13 or 14, wherein the balancing weight (452) of the teleoperated vehicle (500) is a motor for propelling the teleoperated vehicle (500).

16. The remotely operated vehicle (500) of claim 1, wherein said balancing weight (452) is linearly displaced.

17. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the remotely operated vehicle (500) is cantilevered.

18. The teleoperated vehicle (500) of any one of claims 1-16, wherein the teleoperated vehicle (500) is internal cavity.

19. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the remotely operated vehicle (500) comprises an upper section where the mass balancing system (450) is located.

20. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the mass balancing system (450) comprises at least one balancing weight guide (455) associated with each of the balancing weights (452).

21. The remotely operated vehicle (500) as recited in claim 20, wherein said balancing weight (452) reciprocates along a threaded rod.

22. The teleoperated vehicle (500) of any one of the preceding claims, wherein the teleoperated vehicle (500) comprises a horizontally displaceable support surface (425).

23. The teleoperated vehicle (500) of any one of the preceding claims, wherein the teleoperated vehicle (500) has an adjustable footprint.

24. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the remotely operated vehicle (500) is a service vehicle for moving the other vehicle when the other vehicle fails.

25. The remotely operated vehicle (500) according to any one of the preceding claims, wherein the vehicle (500) always moves along a straight path.

26. A method for operating a remotely operated vehicle (500) having a mass balancing system (450) including a balancing weight (452), the remotely operated vehicle (500) for handling storage containers (106) on a two-dimensional track system (108) of an automated storage and retrieval system (1), the method comprising:

-purposefully displacing the balancing weight (452) in order to improve the stability of the remotely operated vehicle (500).

27. The method of claim 26, wherein the displacement of the balancing mass (452) occurs in response to a change in a center of gravity (COG) of the vehicle (500).

28. The method of claim 26 or 27, wherein the mass balancing system (450) of the remotely operated vehicle (500) further comprises a balancing weight shifting device (453), the method further comprising:

measuring the weight of a storage container (106) engaged by the remotely operated vehicle (500),

-calculating a new position of the balancing mass (452) relative to the remotely operated vehicle (500) based on the acquired weight data, and

-instructing the balancing weight displacement means (453) to displace the balancing weight (452) to the new position.

29. The method of any one of claims 26-28, the method further comprising:

determining the position of a storage container (106) engaged by the remotely operated vehicle (500),

-calculating a new position of the balancing mass (452) relative to the remotely operated vehicle (500) based on the acquired position data, and

-instructing the balancing weight displacement means (453) to displace the balancing weight (452) to the new position.

30. The method of any one of claims 26-29, the method further comprising:

determining a spatial distribution of load weight in an interior of a storage container (106) engaged by the remotely operated vehicle (500),

-calculating a new position of the balancing mass (452) relative to the remotely operated vehicle (500) based on the acquired spatial distribution data, and

-instructing the balancing weight displacement means (453) to displace the balancing weight (452) to the new position.