AutoStore Technology AS

A system for allocating jobs and/or targets to robots in an automated storage and retrieval system includes a plurality of robots and a framework structure forming a three-dimensional storage grid structure for storing containers. Each robot has wheels configured to move along two perpendicular horizontal directions on the grid. A central computer system manages robot movement and task allocation via a warehouse management system comprising an assigner and a router. The assigner generates lists of job and target options for each robot, which are made accessible to the router. The router assigns jobs and targets using a multi-position search algorithm based on each robot's location and the route required to reach the assigned job and target. This coordinated approach enables efficient task and path assignment within the storage system.

A method picks products from at least one storage container in a picking zone of a picking station of an automated storage and retrieval system. The picking is controlled by a picking system controller communicating with a warehouse management system, WMS. The picking is performed by a picking device in the picking zone by placing picked products in one or more consolidation containers according to orders. The picking system controller is adapted for controlling the picking device and picking station for executing the method. The method includes a) receiving and ranking product orders in the warehouse management system, b) moving, by means of a transport system, storage containers with ordered products towards the picking zone according to the ranking of product orders, and c) checking which storage containers are available and ready to be picked from in the picking station and which storage containers and consolidation containers will be available within a timeframe, as well as determining a current position of the picking device relative to the positions of the at least one storage container that are ready to be picked from and the consolidation containers that are ready to receive the picked products. The method further includes d) establishing different picking sequences for completing each product order from the ranked product orders. Each picking sequence lists the products to be picked from the storage containers and which consolidation containers to place the products in within the timeframe. Each picking sequence is established by estimating the following: shortest travel distance for moving the picking device for picking from one storage container to picking from another storage container; fastest completion of picking from storage containers in the picking station for enabling new storage containers to enter the picking zone of the picking station; and fastest completion of the consolidation containers for replacing with new consolidation containers. The method further includes e) ranking the picking sequences and selecting the picking sequence providing higher throughput of picked products according to ranked product orders; f) executing picking of products by letting the picking system controller control the picking device to pick products from the storage containers and place them within the consolidation containers according to the selected picking sequence within the timeframe; and g) repeating steps a) to f) above.

It is disclosed a remotely operated picking vehicle ( 600 ), an automated storage and retrieval system ( 1 ) comprising the remotely operated vehicle ( 600 ), and a method of using same. The automated storage and retrieval system ( 1 ) comprises: -a rail system ( 108 ) comprising a first set of parallel rails ( 110 ) arranged in a horizontal plane (PH) and extending in a first direction (X), and a second set of parallel rails ( 111 ) arranged in the horizontal plane (PH) and extending in a second direction (Y) which is orthogonal to the first direction (X), wherein the first and second sets of rails ( 110,111 ) form a grid pattern in the horizontal plane (PH) comprising a plurality of adjacent access openings ( 112 ) defined by a pair of neighbouring rails of the first set of rails ( 110 ) and a pair of neighbouring rails of the second set of rails ( 111 ), The remotely operated picking vehicle ( 600 ) comprises:-a vehicle body ( 601 ) comprising drive means for transportation on the rail system ( 108 ); -a picker support ( 610 ) for a robotic picking device ( 630 ) or a human picker, the picker support ( 610 ) being arranged on the vehicle body ( 601 ); - a storage container handling device ( 620 ), arranged on the vehicle body ( 601 ), wherein the storage container handling device ( 620 ) is configured to receive a storage container ( 106 ) from a container handling vehicle ( 301 ) operating on the rail system ( 108 ); wherein the storage container handling device ( 620 ) is configured to support the storage container ( 106 ) when the storage container ( 106 ) is positioned such that it is at least partly lowered into one of the access openings ( 112 ) in the rail system ( 108 ) to allow the storage container ( 106 ) to be exchanged between the container handling vehicle ( 301 ) and the storage container handling device ( 620 ).

A control system controls an automated storage and retrieval system to perform a method including receiving a plurality of orders in an order list; allocating each order to one of a plurality of pick-up entities; ranking the plurality of orders in the order list according to time received; estimating, for each order, a preparation time for preparing and delivering the order to a pick-up point for pick-up by the allocated pick-up entity; estimating, for each order, a pick-up time at which the allocated pick-up entity will be ready to pick up the order based on information about the allocated pick-up entity; comparing, for each order, the estimated preparation time and the estimated pick-up time; updating the ranking of the orders in the order list so that each order will be delivered at the pick-up point at a time within a predetermined time interval overlapping the estimated pick-up time of the allocated pick-up entity; and controlling the automated storage and retrieval system for preparing and delivering the orders of goods at the pick-up point according to the updated ranking of orders in the order list.

Storage containers may be stored a storage system including a framework structure. A robotic consolidation station for use in the storage system includes a first conveyor pathway for transfer of storage containers accommodating items to be picked, a second conveyor pathway for transfer of storage containers in which items are to be consolidated or have been consolidated, and a robotic picking arm arranged to reach the first conveyor pathway and the second conveyor pathway. Each of the first conveyor pathway and the second conveyor pathway includes a first end and a second end. Each first end may be operatively connected to a container outlet of the framework structure for transfer of storage containers from the framework structure and each second end may be operatively connected to a container inlet of the framework structure for transfer of storage containers into the framework structure. The first conveyor pathway includes a picking section. The second conveyor pathway includes a consolidation section. The robotic picking arm is arranged such that items may be picked from a first storage container arranged upon the picking section by use of the robotic picking arm and transferred to a second storage container arranged upon the consolidation section by use of the robotic picking arm. The first conveyor pathway is independently operable of the consolidation section and arranged such that a first storage container may be transferred from a container outlet to a container inlet via the picking section while a second storage container is arranged upon the consolidation section.

Storage containers may be stored a storage system including a framework structure. A robotic consolidation station for use in the storage system includes a first conveyor pathway for transfer of storage containers accommodating items to be picked, a second conveyor pathway for transfer of storage containers in which items are to be consolidated or have been consolidated, and a robotic picking arm arranged to reach the first conveyor pathway and the second conveyor pathway. Each of the first conveyor pathway and the second conveyor pathway includes a first end and a second end. Each first end may be operatively connected to a container outlet of the framework structure for transfer of storage containers from the framework structure and each second end may be operatively connected to a container inlet of the framework structure for transfer of storage containers into the framework structure. The first conveyor pathway includes a picking section. The second conveyor pathway includes a consolidation section. The robotic picking arm is arranged such that items may be picked from a first storage container arranged upon the picking section by use of the robotic picking arm and transferred to a second storage container arranged upon the consolidation section by use of the robotic picking arm. The first conveyor pathway is independently operable of the consolidation section and arranged such that a first storage container may be transferred from a container outlet to a container inlet via the picking section while a second storage container is arranged upon the consolidation section.

A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

A method of operating a bin storage system includes 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. A plurality of supporting rails are arranged in a two-dimensional matrix at the top of the columns. The supporting rails are arranged in a first direction and a second direction orthogonal to the first direction. The method includes 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. A first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails. A second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails. At least one of the first set of wheels and the second set of wheels are 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.

A remotely operated picking vehicle, which is for an automated storage and retrieval system for retrieving and storing products within storage containers, includes a vehicle body, a picker support, and a storage container. The vehicle body includes a base with displacement means for transportation on a rail system. The picker support, which is for a robotic picking device or a human picker, is arranged on the vehicle body. The storage container magazine, which is for supporting three or more storage containers simultaneously, is arranged on the vehicle body. The storage container includes a storage container loading/offloading position and a storage container accessing position. The storage container loading/offloading position is for loading and offloading of storage containers by means of a container handling vehicle. The storage container accessing position is for presenting storage containers to a picker positioned on the picker support.