CPC B65G 1/0464 (2013.01) [B65G 1/0407 (2013.01); B65G 1/0478 (2013.01); B65G 1/06 (2013.01); B65G 1/065 (2013.01); B65G 1/137 (2013.01); B65G 1/1371 (2013.01); B66F 9/06 (2013.01); B66F 9/063 (2013.01); B66F 9/07 (2013.01); G05B 19/41895 (2013.01); G05D 1/0022 (2013.01); G06Q 10/08 (2013.01); G06Q 10/087 (2013.01); B65G 1/00 (2013.01); G06K 17/00 (2013.01); G06Q 10/00 (2013.01)] | 31 Claims |
1. A method of operating a bin storage system comprising a plurality of storage columns for storage of a plurality of vertically-stacked storage bins with a plurality of supporting rails arranged in a two-dimensional matrix at the top of the columns, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, and a plurality of robot vehicles for transporting storage bins, the method comprises:
positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from the storage columns,
receiving a storage bin from the storage column into the cavity, and
moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle,
wherein a first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails, and
wherein at least one of the first set of wheels and the second set of wheels is configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.
|
9. A robot vehicle for transporting storage bins in a bin storage system, wherein the bin storage system comprises one or more storage columns and a plurality of supporting rails arranged in a two-dimensional matrix at the top of the columns, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction,
wherein the robot vehicle comprises:
a cavity displaying a downwardly facing opening for a storage bin arranged to receive the storage bin from the storage columns in the bin storage system, and
a plurality of wheels arranged to allow the robot vehicle to travel in the first direction and the second direction along the supporting rails of the bin storage system,
wherein a first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails, and
wherein at least one of the first set of wheels and the second set of wheels is configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.
|
16. A robot vehicle for transporting storage bins in a bin storage system, comprising:
a cavity arranged to receive a storage bin from a storage column, and
a plurality of wheels arranged to allow the robot vehicle to travel in a first and second direction along a plurality of supporting rails arranged in a two-dimensional matrix, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction,
wherein a first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails,
wherein the wheels in at least one of the first set of wheels and the second set of wheels are arranged such that each of the wheels define part of a local outermost periphery of the robot vehicle, and
wherein at least one of the first set of wheels and the second set of wheels is configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.
|
20. A computer program product for a control unit in a bin storage system comprising:
a plurality of storage columns for storage of a plurality of vertically-stacked storage bins, and a plurality of robot vehicles for transporting storage bins, the computer program product comprises instructions that when executed on the control unit performs a method of operating the bin storage system, the method comprises:
positioning a cavity of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns,
receiving a storage bin from the storage column into the cavity, and
moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle that are arranged for travelling in a first direction and a perpendicular second direction along the bin storage system.
|
21. A computer program product for a control unit in a bin storage system comprising:
a plurality of storage columns for storage of a plurality of vertically-stacked storage bins, with a plurality of supporting rails arranged in a two-dimensional matrix at the top of the columns, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction, and a plurality of robot vehicles for transporting storage bins, the computer program product comprises instructions that when executed on the control unit performs a method of operating the bin storage system, the method comprises:
positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from the storage columns,
receiving a storage bin from the storage column into the cavity, and
moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle,
wherein a first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails, and
wherein at least one of the first set of wheels and the second set of wheels is configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.
|