Handling garments in an automated warehouse
Some embodiments are directed to a method for retrieving garments within an automatic warehouse. The method may include maintaining sets of garments in enclosures, the enclosures are positioned on shelfs of the automatic warehouse. Each set of garments is located within an enclosure of the enclosures, and is hung on hangers located within the enclosure; accessing a selected enclosure of the enclosures, by a first robot. The selected enclosure encloses a garment of interest; obtaining the selected enclosure by the first robot; and providing the enclosure to an interface point within the automatic warehouse, by the first robot.
1 . An enclosure for transporting one or more garments, wherein said enclosure is configured to be conveyed by a robot along a path calculated for movement in an automatic warehouse comprising storage units and one or more other robots, the enclosure comprising:
a plurality of surfaces, including bottom and top surfaces, and sidewall surfaces extending therebetween, said plurality of surfaces are connected together to define an enclosure space having an upper region configured to accommodate said one or more garments, and a bottom part including said bottom surface;
a bar extending between two of said sidewall surfaces in the upper region of the enclosure for supporting at least one hanger hanging a garment; and
a supporting element shaped as a topless box being configured to fit and surround the bottom part of the enclosure, wherein said supporting element is more rigid than at least a higher portion of the enclosure to thereby lower the center of mass of said enclosure and thereby prevent tilt and stabilize the enclosure during conveying, said supporting element configured to be positioned on an adaptor having inner spaces configured to allow a fork of the robot to progress below the enclosure while the enclosure is supported by the adaptor.
2 . The enclosure of claim 1 , wherein a height of the enclosure is configured to be high enough to enable the one or more garments within the enclosure to be hung and be unfolded while maintaining stability during robotic conveyance in the automatic warehouse.
3 . The enclosure of claim 2 , wherein the height of the enclosure exceeds 80 cm.
4 . The enclosure of claim 1 , wherein a size and a shape of the enclosure is configured to fit a space defined in between shelves of the automatic warehouse.
5 . The enclosure of claim 1 , wherein the plurality of surfaces comprises three sidewalls configured to define an opening to enable access to the one or more garments within the enclosure.
6 . The enclosure of claim 1 , wherein at least one of the plurality of surfaces comprises an opening being configured to enable access to the one or more garments within the enclosure.
7 . The enclosure of claim 1 , further comprising at least one sensor being located on an external surface of the enclosure or within the enclosure, said at least one sensor being configured to monitor a position and a tilt of the enclosure during conveying.
8 . The enclosure of claim 1 , further comprising at least a pair of additional supporting elements being located on top of the at least one supporting element; each one of said at least a pair of additional supporting elements being positioned on a symmetrical side of the at least one supporting element.
9 . A system for retrieving garments within an automatic warehouse, the system comprising: the enclosure of claim 1 and a robot being configured to access a selected enclosure enclosing a garment of interest among a plurality of enclosures being positioned on shelves of the automatic warehouse, obtaining the selected enclosure and conveying the enclosure to an interface point within the automatic warehouse.
10 . The system of claim 9 , further comprising at least one sensor being located on the robot or outside the robot, the at least one sensor being configured to monitor a position and a tilt of the enclosure during conveying.
11 . The system of claim 9 , further comprising a computerized system being configured to receive a request to obtain the garment of interest, determine a location of the selected enclosure, and instruct the robot to access the selected enclosure.
12 . The system of claim 11 , wherein said computerized system is configured to control a progress of the robot during conveying the enclosure.
13 . The system of claim 11 , wherein said computerized system is configured to at least one of: reduce a maximal allowable acceleration or deceleration of the robot, change the robot path to move along smooth change of direction curves.
14 . A method for conveying the enclosure of claim 1 by a robot in an automatic warehouse, the method comprises:
stabilizing said enclosure by fitting it in the support element;
placing said enclosure on the adaptor having the inner spaces;
mounting the stabilized enclosure on the robot by positioning a fork of said robot in the inner spaces of the adaptor to reside below the enclosure; and
conveying the enclosure in the automatic warehouse along a path calculated for movement in the automatic warehouse comprising storage units and one or more other robots.
15 . The method of claim 14 , comprising monitoring a position and a tilt of the enclosure during the conveying by reducing a maximal allowable acceleration or deceleration of the robot, and/or changing the robot path to move along smooth change of direction curves.
16 . The method of claim 15 , wherein the monitoring of the position and tilt of the enclosure during conveying comprises correcting in real time the path of the robot to accommodate for the tilt of the enclosure.
17 . The method of claim 14 , wherein the enclosure is a selected enclosure enclosing a garment of interest among a plurality of enclosures being positioned on shelves of the automatic warehouse, and wherein the method comprises conveying the enclosure to an interface point within the automatic warehouse.
18 . The method of claim 17 , further comprising receiving a request to obtain the garment of interest, determining a location of the selected enclosure, and instructing the robot to access the selected enclosure.