METHOD FOR OPERATING A BIN STORAGE SYSTEM AND ROBOT VEHICLE FOR TRANSPORTING STORAGE BINS
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.
1 . An automated storage system comprising:
a three-dimensional storage structure having
a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins, and
a vehicle support on the pillars, the vehicle support comprising a plurality of supporting rails arranged in a two-dimensional matrix of meshes, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction; and
a plurality of remotely controlled robot vehicles movable along the supporting rails, said robot vehicles comprising
a vehicle body having a cavity for receiving a storage bin from the storage columns in the bin storage system,
a plurality of rolling members attached to the vehicle body and 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, and
a lifting device arranged to lift a storage bin into the cavity,
wherein the robot vehicle can move along the supporting rails of the storage structure to positions immediately above a storage column and lift bins into the cavity for further transport along the supporting rails of the storage structure;
wherein at least some of the supporting rails arranged at outer border areas of the vehicle support form border meshes having reduced average cross sectional areas compared to the average cross sectional area of the remaining meshes of the vehicle support.
2 . The automated storage system according to claim 1 , wherein the average reduced cross sectional areas of the border meshes are about half of the average cross sectional area of the remaining meshes.
3 . The automated storage system according to claim 1 , wherein the cross sectional areas of the border meshes are reduced only along the second direction of the vehicle support.
4 . The automated storage system according to claim 1 , arranged such that when the robot vehicle extends exactly over the cross sectional area of a central storage column in the first direction and over half of the cross sectional area of an adjacent storage column in the second direction, the central storage column being a storage column situated immediately below the cavity of the robot vehicle, the cross sectional area of the border meshes in the second direction is approximately half of the cross sectional area of the remaining meshes.
5 . The automated storage system according to claim 1 , wherein the size of the border meshes is adapted to the degree of extension beyond a central storage column, the central storage column being a storage column situated immediately below the cavity of the robot vehicle when the robot vehicle is in a position for initiating pick up of a storage bin contained in said central storage column, such that the robot vehicle may reach all the storage columns in the storage system independently of the robot vehicle's orientation in the second direction.
6 . The automated storage system according to claim 1 , wherein the vehicle body covers at most the lateral cross section of a central storage column in the first direction, the central storage column being a storage column situated immediately below the cavity of the robot vehicle, and covers the lateral cross section of more than one central storage column in the second direction during use.
7 . The automated storage system according to claim 6 , wherein the vehicle body extends beyond the lateral cross section of the central storage column at both sides in the second direction.
8 . The automated storage system according to claim 7 , wherein the extension beyond the lateral cross section of the central storage column is equal on both sides in the second direction.
9 . The automated storage system according to claim 1 , wherein at least some of the plurality of supporting rails include two rolling tracks wherein the rolling tracks are configured to contact at least some of the wheels of the robot vehicle.
10 . The automated storage system according to claim 1 , wherein at least one set of the vehicle rolling means is arranged fully within the vehicle body.
11 . The automated storage system according to claim 1 , wherein no component of the robot vehicle extends beyond the outermost periphery of the robot vehicle defined by the vehicle rolling means.
12 . The automated storage and retrieval system according to claim 1 , wherein the rolling members comprise a first set of wheels arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of wheels arranged to allow the robot vehicle to travel in the second direction along the supporting rails.
13 . The automated storage and retrieval system according to claim 12 , wherein 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.
14 . The automated storage system according to claim 13 , wherein the first set of wheels or the second set of wheels are configured to be displaceable from the supporting rails.
15 . The automated storage system according to claim 13 , wherein both of the first set of wheels and the second set of wheels are configured to be displaceable from the supporting rails.
16 . The automated storage system according to claim 1 , wherein the cavity comprises a downwardly facing opening of an essentially same width and length as an opening of the storage column from which the storage bin is received.
17 . The automated storage system according to claim 1 , wherein the cavity is centrally arranged in the robot vehicle when viewed from below the robot vehicle.
18 . The automated storage system according to claim 1 , wherein the lifting device is arranged to lift a storage bin from the storage column to an end position within the cavity, and wherein the robot vehicle is moving along the bin storage system prior to the lifting device coming to an end position within the cavity.
19 . The automated storage system according to claim 1 , wherein the lifting device is arranged to initiate descent to engage a storage bin prior to the robot vehicle comes to a halt above the storage column.
20 . A method of operating an automated storage system, the automated storage system comprising a three-dimensional storage structure having a plurality of pillars which are positioned with internal distances and in a rectangular arrangement, wherein the rectangular arrangement of the pillars define storage columns for the storage of a plurality of vertically-stacked storage bins, and a vehicle support on the pillars, the vehicle support comprising a plurality of supporting rails arranged in a two-dimensional matrix of meshes, said supporting rails arranged in a first direction and a second direction orthogonal to the first direction; and a plurality of remotely controlled robot vehicles movable along the supporting rails, said robot vehicles comprising a vehicle body having a cavity for receiving a storage bin from the storage columns in the bin storage system, a plurality of rolling members attached to the vehicle body and 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, and a lifting device arranged to lift a storage bin into the cavity, wherein the robot vehicle can move along the supporting rails of the storage structure to positions immediately above a storage column and lift bins into the cavity for further transport along the supporting rails of the storage structure; wherein at least some of the supporting rails arranged at outer border areas of the vehicle support form border meshes having reduced average cross sectional areas compared to the average cross sectional area of the remaining meshes of the vehicle support, and wherein the vehicle body covers at most the lateral cross section of a central storage column in the first direction, the central storage column being a storage column situated immediately below the cavity of the robot vehicle, and covers the lateral cross section of more than one central storage column in the second direction during use; the method comprising:
positioning a cavity 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, wherein the cavity is arranged centrally within a body of the one of the plurality of robot vehicles;
receiving a storage bin from the storage column into the cavity; and
moving the robot vehicle along the bin storage system, using a first set of vehicle rolling means arranged to allow the robot vehicle to travel in the first direction along the supporting rails, and a second set of vehicle rolling means arranged to allow the robot vehicle to travel in the second direction along the supporting rails.