Inventory system with mobile drive unit and inventory holder

The present invention relates generally to a system for transporting storage items in accordance with the preamble of claim 1, and in particular to a system comprising a mobile power unit and a storage container. The invention also relates generally to a method for connecting a mobile power unit to a storage container.

BACKGROUND OF THE INVENTION [0002] Modern storage systems, such as the systems used in mail order and e-commerce stores, airport baggage systems and systems in production plants performing non-standard orders, have to face significant challenges in providing a quick, precise response to requests related to storage positions . In recent years, automation has made it possible to improve the speed and efficiency of storage and retrieval of warehouse items for such systems. However, automation often means the lack of flexibility of storage systems that are difficult to scale and adapt to changing requirements. In addition, automatic systems often contribute to inefficient use of space, which makes them unfeasible in many cases.

[0003] Document US 2003/0218307 A1 discloses a system according to the preamble of claim 1.

SUMMARY OF THE INVENTION [0004] According to the present invention, there is provided a system for transporting storage positions and a method for connecting a mobile power unit to a storage container as described in the appended claims.

[0005] According to the present disclosure, the storage position transport system comprises a storage container and a mobile drive unit. The storage container includes a frame for storing stock items and a docking plate that can accept the docking head from below. The mobile drive unit includes a docking head that can connect to the docking plate, and a drive module for driving the mobile power unit. The mobile drive unit may further move the storage container when the docking head is connected to the storage container.

[0006] According to the present invention, the method of connecting a mobile drive unit to a storage container takes into account the position of the mobile storage unit under the storage container, lifting the mobile storage unit's docking head while adjusting the lateral position of the mobile storage unit and adapting the orientation of the mobile storage unit, connecting the mobile storage unit to the storage container and the displacement of the mobile storage unit together with the storage container in accordance with claim 11.

[0007] The technical advantages of some embodiments of the present invention include the ease of scaling a warehouse management system, the ability to adapt it to manage different types of storage positions, size and shape, and only the minimum operator effort required. Particular embodiments of the present invention may provide other technical advantages, including space-saving benefits.

[0008] Other technical advantages of the present invention will be readily apparent from the following drawings, descriptions and claims for a person skilled in the art. In addition, although certain specific advantages have been mentioned above, various embodiments may include all or some of said advantages or none of them.

BRIEF DESCRIPTION OF THE DRAWINGS To enable a more complete understanding of the present invention and its advantages, a brief description is provided below with accompanying drawings, among which:

LYNX. 1 shows a storage system according to a specific embodiment.

LYNX. 2 is a diagram of a mobile power unit according to a specific embodiment.

LYNX. 3 shows the components of a storage container according to a specific embodiment. LYNX. 4A and 4B show the view of the docking head according to a specific embodiment in a side view and in plan view, respectively.

LYNX. 5A-5G illustrate the operation of various components of a mobile drive unit of a storage container during docking.

LYNX. 6 is a diagram of the operation of the mobile power unit during docking.

LYNX. 7A-7H illustrate the movement of a mobile power unit and a storage container according to a specific embodiment of each of these elements.

LYNX. 8 is a diagram of the operation of the mobile power unit when moving the storage container according to a specific embodiment.

DETAILED DESCRIPTION OF THE INVENTION [0010] FIG. 1 depicts a storage system 10 for storing, sorting and retrieving storage items 40, which includes a mobile drive unit 20 and a storage container 30. The storage container 30 allows storage of a plurality of storage positions of various types. The mobile drive unit 20 connects to the storage container 30 and moves the storage container 30 between designated points in the work space associated with the storage system 10.

[0011] The mobile drive unit 20 can move within the working space, and after docking to the storage container 30, drive and / or otherwise move the storage container 30. The mobile drive unit 20 can include any suitable means for docking into the storage container 30 and driving a mobile power unit 20 and a storage container 30.

[0012] Further, in a specific embodiment, the mobile drive unit 20 can autonomously set destinations and control the movement of the mobile drive unit 20. In specific embodiments, the mobile drive unit 20 can additionally or alternatively receive information indicating the mobile drive unit 20 of the destinations and /. or to control the operation of the components of the mobile power unit 20 from a management device belonging to the storage system

10, from storage 10 or any other suitable person or device. The mobile drive unit 20 may receive information via a wireless interface, via a wired connection or any other suitable means to communicate with the operator or management device belonging to the storage system 10. In principle, the mobile drive unit may be displaced depending on the mobile configuration drive unit 20 and storage system 10, control, in whole or in part, the mobile drive unit 20 or only devices or external persons.

are described in detail below with reference to FIG. 2.

The storage container 30 allows storage positions 40 to be stored. In a specific embodiment, the storage container 30 comprises a plurality of storage baskets, each basket accommodating storage positions 40. Alternatively, the storage positions 40 may be hung on hooks in a storage container 30 or him. In principle, storage positions 30 can be stored in any suitable manner within the storage container 30 and / or the outer surface of the storage container 30. The storage container 30 can be rolled, moved or otherwise moved by means of the mobile drive unit 20. Furthermore, in specific embodiments, the storage container 30 can provide additional drive, being a supplement to the drive provided by the mobile power unit 20. The storage container 30 can be one or more storage containers 30 in which the storage items 40 are stored in the storage system 10. The elements and operation of the storage container 30, according to a specific embodiment, are described in detail below with reference to FIG. 3.

[0015] Warehouse items 40 are any elements, material or living or non-living objects suitable for storing, retrieving, delivering, sorting and / or routing in an automated system for handling inventory, storage, production and / or parts. For example, storage items 40 may be goods stored in a warehouse. The mobile drive unit 20 may collect a storage container 30 containing specific storage positions 40 indicated in the customer's order for the purpose of packaging them for sending to the customer or other person.

[0016] Another example may be storage items 40 constituting luggage in the airport storage room. The mobile drive unit 20 can retrieve a storage container 30 containing the luggage for its transport, monitoring and / or otherwise processed according to specific rules. This may include the selection of certain pieces of baggage for the purpose of testing for the presence of explosives, relocation of baggage related to the flight, flight in which the gate has changed, or withdrawal of baggage belonging to passengers who are late on the aircraft.

[0017] Still another example of storage items 40 may be individual elements of the production set. Specifically, these may be elements to be included in the product being assembled, such as electronic components for a non-standard computer system. In such an embodiment, the mobile drive unit 20 can retrieve specific elements based on the specification attached to the customer's order.

[0018] Still another example of storage positions 40 may be human, e.g. in the configuration of a hospital storage system for managing hospital resources 10 storage positions 40 may be beds with specific patients. The storage system 10 can therefore be configured in a manner that ensures safe and effective movement of hospital beds, reducing the risk of injury to patients and mistakes resulting from human error. In general, the storage items 40 may be any items suitable for storage in the storage container 30 in the manner described below.

[0019] In operation, the mobile drive unit 20 moves the storage container 30 between locations within the workspace to provide storage positions 40 to specific locations. For example, the workspace can be a work area in a warehouse. As indicated above, the mobile drive unit 20 can determine the way the mobile drive unit moves autonomously and / or on the basis of commands received by the mobile drive unit 20. In a specific embodiment, the mobile drive unit 20 receives a command indicating the storage location for the storage container 30 and with an indication of the destination for the storage container 30. In response to the mobile command, the drive unit 20 moves to a storage location. The mobile drive unit 20 may then dock the storage container 30. The docking procedure of the mobile power unit 20, according to a specific embodiment, is described in detail below with reference to FIG. 5.

The storage container 30 may include a braking mechanism, as hereinafter described, which prevents the storage container 30 from moving, protecting the storage container 30 against accidental movement or being displaced. When docking the storage container 30, the mobile drive unit 20 can disengage the brake mechanism of the storage container 30. After the brake mechanism is disconnected, the mobile drive unit 20 can move the storage container 30.

[0021] The mobile drive unit 20 can move the storage container 30 to a second location, such as a storage station, where the corresponding storage positions 40 can be selected from the storage container 30 and then packed for shipping, or where the storage items 40 can be added to the container In a specific embodiment, the mobile storage unit 20 can provide sufficient power to drive both the mobile drive unit 20 and the storage container 30. In alternative embodiments, the storage container 30 can provide additional power, e.g. via the motorized wheels of the storage container 30,assisting the mobile drive unit 20 to drive the storage container 30 for transport to the second position.

[0022] Depending on the configuration and characteristics of the mobile storage unit 20 and the storage system 10, the mobile drive unit 20 can move the storage container 30 using various suitable methods. In a specific embodiment, the mobile drive unit 20 allows movement of the storage container 30 along a two-dimensional grid, combining movement along straight line sections with ninety-degree rotations and arc movement to transport the storage container 30 from the first position to the second position. LYNX. 7A-7H illustrate the movement of the mobile drive unit 20 and the storage container 30 according to such an embodiment.

[0023] Once the mobile drive unit 20 reaches the second position, the mobile drive unit 20 can maneuver in any suitable manner with the storage container 30 to facilitate access to the storage positions 40 stored in the storage container 30. For example, the mobile drive unit 20 can rotate the storage container 30 by positioning the storage container 30 with a suitable side to the storage system operator 10 or other suitable person, e.g. a packer selecting storage positions 40 from the storage container 40. After completion of the maneuvering, the mobile drive unit 20 can be undocked from the storage container 30 in any suitable manner.

[0024] Alternatively, instead of undocking after reaching the second location, the mobile drive unit 20 may, after carrying out the respective operations at the second location, transport the storage container 30 back to the first position or the third position. For example, the mobile drive unit 20 may move the storage container 30 back to the original storage location, a new storage location, or another storage station, when the packer takes out certain storage positions 40 from the storage container 30.

[0025] The storage system 10 can be configured to take into account any number of storage containers 30 and mobile drive units 20 for independent optimization of storage capacity and transport resources available in storage system 10. Therefore, the storage system 10 can provide a flexible system for moving stock items 40. Furthermore, specific embodiments of the storage system 10 may be configured to use specific techniques for moving the storage container 30, which provide space-saving benefits for the storage system 10, as detailed in FIG. 7A 7H.

[0026] FIG. 2 shows a mobile drive unit 20 according to a specific embodiment in front and side view. The mobile drive unit 20 includes a docking head 110, a drive module 120 and a docking cylinder 130. In the example shown, the drive module 120 includes a motorized axis 122, motorized by a wheel 124 and stabilizing wheels 126.

[0027] The docking head 110 connects the mobile drive unit 20 to the storage container 30. The docking cutter 110 may further allow the storage container 30 to be maneuvered by the mobile drive unit 20, for example, by driving the storage container 30, rotating the storage container 30 and / or moving the storage container 30 in any other suitable manner. LYNX. 4 details the elements of the docking head 110 according to a specific embodiment. In addition, although the following description assumes that the mobile drive unit 20 includes a particular embodiment of the docking head 110 that rotates only as a result of the rotation of the mobile drive unit 20 and with it,

[0028] The drive module 120 drives the mobile drive unit 20, and after docking the mobile drive unit 20 also the storage container 30. The drive module 120 may be any suitable collection of one or more components that can be used to drive the mobile drive unit 20. For example in the illustrated embodiment, the drive module 120 includes a motorized axis 122, a pair of motorized wheels 124 and a pair of stabilizing wheels 126. At each end of the motorized axis 122 there is one motor-driven wheel 124, and at each end of the mobile drive unit 20 there is one stabilizing wheel 126.

[0029] The drive module 120 may be configured to drive the mobile drive unit 20 in any suitable manner. For example, in the illustrated embodiment, the motor-driven wheels 124 can rotate in the first direction, driving the mobile drive unit 20 in the forward direction. The motorized wheels 124 can also rotate in a second direction to drive the mobile drive unit 20 in a reverse direction. In this embodiment, the configuration of the drive module 120 also allows the mobile drive unit 20 to rotate while the mobile drive unit 20 remains stationary in the translation range. Specifically, each of the motorized wheels 124 can rotate in a different direction, causing the mobile drive unit 20 to rotate.

[0030] As stated above, the mobile drive unit 20 may autonomously control the movement of the mobile propulsion unit 20 and / or receive instructions to move from the management device, operator or any other suitable person or device. In general, the movement of the mobile power unit 20 may, depending on the configuration of the mobile power unit 20 and the storage system 10, control, in whole or in part, the mobile drive unit 20 or only devices or external persons. As also indicated above, in the present description, it is assumed that the mobile drive unit 20 receives one or more commands from the storage system 10 with an indication of a specific storage container 30 to be moved by the mobile storage unit 20,

[0031] The docking ram 130 moves the docking head 110 towards the storage container 30 to allow the mobile drive unit to be docked to the storage container 30. The docking ram 130 may also allow the docking station 110 to be adjusted in another suitable manner to allow docking. The docking ram 130 may include any suitable means compatible with the configuration of the mobile power unit 20 and storage container 30 to move the docking head 110 or otherwise adjust the position or orientation of the docking head 110. For example, in the illustrated embodiment, the docking ram 130 includes a motorized shaft attached to the center of the docking head 110.

[0032] The position sensor 140 may be one or more sensors, detectors or other means for determining whether the mobile power unit 20 is properly positioned before the docking process begins. For example, the docking head 110 may be self-adjusting by correcting the positioning errors of the mobile power unit 20 within a certain tolerance range, and the position sensor 140 may include detectors to detect whether the position of the mobile power unit 20 with respect to the storage container 30 is within the acceptable tolerance range. . Specifically, the mobile drive unit 20, in a particular embodiment, includes a camera and additional processing elements,

[0033] During operation, the mobile drive unit 20 receives a command indicating the location of a specific storage container 30. The drive module 120 moves the mobile drive unit 20 to the location of the storage container 30 in any suitable manner, based on resources and configuration of the drive module 120. For example in the example The drive module 120 moves the mobile power unit 20 by rotating the motor-driven wheels 124 of the drive module 120 to drive the rotary motion of the mobile power unit 20.

[0034] When the mobile drive unit 20 reaches the location of the storage container 30 or close to it, the drive module 120 can maneuver the mobile drive unit 20 so that the docking head 110 is in and near the docking plate of the storage container 30. FIG. . 4A and 4B and the accompanying description refer to the docking head 110, the docking plate, and a docking process according to a specific embodiment of the mobile drive unit 20.

In general, the mobile drive unit 20 may carry out any steps necessary to connect the mobile power unit 20 to the storage container 30 and prepare the storage container 30 for movement during the docking process. LYNX. 4A-4B, 5A-5G and 6 show in detail various aspects of the docking process in specific embodiments.

[0036] After docking the mobile drive unit 20 to the storage container 30, the mobile drive unit 20 can drive the storage container 30 and control the movement of the storage container 30, e.g., rotate the storage container 30. The mobile drive unit 20 can then move the storage container 30 to the destination When the mobile drive unit 20 and the storage container 30 reach the target location, the mobile drive unit 20 can additionally rotate the storage container 30, e.g. to position the storage container 30 with a specific side to be used in the command. packer or other person. The mobile drive unit 20 may then undock the storage container 30, as described below,

[0037] Once it reaches the right destination or other suitable time, the mobile drive unit 20 may be undocked from the storage container 30. Before undressing from the storage container 30, the mobile drive unit 20 may set the mobile drive unit 20 according to one or more points. grid or other reference points in any suitable form. The position sensor 140 may include cameras, light detectors, magnetic sensors, or any other suitable means for detecting reference marks indicating a suitable location and / or orientation of the storage container 30. The mobile drive unit 20 may then use the reference marks to position the storage container 30 at the point of the grid. within the storage system workspace 10.

[0038] As part of the undocking of the storage container 30, the mobile drive unit 20 may carry out any suitable operations. For example, during undocking from the storage container 30, the mobile drive unit 20 may actuate the storage container brake mechanism 30 or otherwise configure the storage container 30 to prevent the storage container 30 from moving. In addition, as suggested above, the mobile drive unit 20 can position the container In the specific embodiment of the storage system 10, the mobile drive unit 20, before undocking, sets the storage container 30 to the reference point along the first axis. Then, the mobile drive unit 20 is undocked from the storage container 30 and rotated. The mobile drive unit 20 re-docks the storage container 30 and sets the storage container 30 to a reference point along the second axis.

[0039] FIG. 3 shows a storage container 30 according to a specific embodiment. LYNX. 3 shows the construction and components of one side of the storage container 30. In a specific embodiment, the storage container 30 may comprise any number of surfaces of similar or different construction. The shown storage container 30 includes a frame 310, a movable element 330, a brake mechanism 340 and a docking plate 350.

[0040] The frame 310 supports the storage positions 40. The frame 310 provides a space for storing the storage positions 40 outside or inside the frame 310. The storage space provided by the frame 310 can be divided into a plurality of storage baskets 320, each of which can store storage positions. The storage bins 320 may include any of any storage means, such as baskets, baffles or hooks.

[0041] In a specific embodiment, the frame 310 consists of a plurality of trays 322 arranged one on top of the other and attached to or placed on the base 318. In such an embodiment, the storage baskets 320 may be formed by a plurality of adjustable baffles 324 that can be moved to resize one or more storage baskets 320. In alternative embodiments, the frame 310 may be a single storage basket 320 including a single tray 322 without adjustable partitions 324. Furthermore, in specific embodiments, the frame 310 may be a support surface mounted on a movable element 330. The stock items 40 may be stored in such a storage container 30 when placed on the frame 310.

The frame 310 may also include a plurality of frame surfaces 312 forming the outer surface of the frame 310. Furthermore, each storage bin 320 may be connected to one or more specific frame surfaces 312, the storage baskets 320 being in the frame corners 310 defined by both frame surfaces 312. In a particular embodiment, access to the storage basket 320 is only possible through frame surfaces connected to a given storage bin 320. Therefore, when the mobile drive unit 20 and the storage container 30 arrive at the destination, the mobile drive unit 20 can rotate the container the storage 30 with a specific surface of the frame 312 to the packer, facilitating its selection of storage positions 40 from a specific storage basket 320 connected to those surfaces of the frame 312.

[0043] Furthermore, in a specific embodiment, the frame 310 may include a plurality of device openings 326 that allow the mobile drive unit 20 to position the docking head 110 at the docking plate 350. The size, shape, and placement of the openings of the device 326 may depend on size, shape, and other features of a particular embodiment of the mobile drive unit 20 and / or storage containers 30 used by the storage system 10. For example in the illustrated embodiment, the frame 310 includes four legs 328 forming openings for devices 326 and allowing the mobile drive unit 20 to position the mobile drive unit 20 under the frame 310 at the location where the docking plate is in this embodiment. The leg length 328 may depend on the height of the mobile power unit 20.

[0044] The movable member 330 facilitates the movement of the storage container 30. The mobility element 330 may be any combination of passive elements that allows the storage container 30 to move through the mobile drive unit 20. For example, the movable member 330 may include wheels, skis, tractions rollers and / or other passive elements providing the possibility of displacement suitable for enabling rolling, sliding of the mobile storage container 30, or otherwise moving it. In addition, in specific embodiments, the storage container 30 may include active elements, such as engine-powered wheels, which assist the mobile drive unit 20 in driving the storage container 30. In addition, the moving element 330 may include elements located outside the storage container 30. For example, in a particular embodiment, the storage system 10 may be provided with compressed air nozzles located in the floor of the work surface. When the nozzles are actuated, the compressed air can partially lift the storage container 30 above the ground, facilitating the driving of the storage container 30. In the embodiment shown, the moveable element 330 is a four-wheel system 332, each wheel 332 being connected to the end of a specific leg 328. the storage system 10 can be equipped with nozzles with compressed air, located in the floor of the working surface. When the nozzles are actuated, the compressed air can partially lift the storage container 30 above the ground, facilitating the driving of the storage container 30. In the embodiment shown, the moveable element 330 is a four-wheel system 332, each wheel 332 being connected to the end of a specific leg 328. the storage system 10 can be equipped with nozzles with compressed air, located in the floor of the working surface. When the nozzles are actuated, the compressed air can partially lift the storage container 30 above the ground, facilitating the driving of the storage container 30. In the embodiment shown, the moveable element 330 is a four-wheel system 332, each wheel 332 being connected to the end of a specific leg 328.

[0045] The braking mechanism 340, after activation, deactivates the movable element 330 or otherwise blocks the facilitation of the movement of the storage container 30 by the displacement element 330. The mechanism 340 may include any means suitable for switching off a particular type of element providing the ability to move 330 used in the case of a storage container 30. For example, in a particular embodiment, the movable element 330 is a wheel arrangement 332, and the brake mechanism 340 is a shock absorber that, when activated, locks the wheel assembly 332.

[0046] The docking plate 350 may receive part of the docking head 110, connecting the storage container 30 to the mobile drive unit 20, and facilitating movement of the storage container 30 by the mobile drive unit 20. In addition, the docking plate 350 holds part or all of the weight of the storage container 30 when the storage container 30 is docked to the mobile drive unit 20. The docking plate 350 may include corresponding means that may receive part of the docking head 110, connect the storage container 30 to the mobile power unit 20, and enable the storage container 30 to be controlled by the mobile drive unit 20. FIG. 4A and 4B detail the components of the docking plate 350 according to a specific embodiment.

[0047] FIG. 4A shows the docking head 110 and the docking plate 350 in a side view, while FIG. 4B shows the docking head 110 in plan view and the docking plate 350 in a bottom view according to a specific embodiment of each of the elements. In the illustrated embodiment, the docking head 110 includes a docking cone 410, one or more control spikes 420, and a brake contact surface 430. The docking plate 350 includes a docking cavity 440, one or more control slots 450, and a brake actuator 490.

The docking cone 410 provides a component of the mobile drive unit 20 to which the docking plate 350 can be connected when the docking head 110 is aligned with the docking plate 350. The docking ram 130, or other portion of the mobile power unit 20, can include elements for extending the docking cone 410 for docking.

[0049] According to the invention, the docking head 110 is positioned appropriately independently, and the docking con- trol 410 may, during docking, correct small displacements between the docking head 110 and the docking plate 350. For example, in a particular embodiment, the docking cone 410 may include a truncated portion. conical and part with a vertical surface. Due to the beveled conical portion, the movement of the docking cone 410 up during docking can cause lateral movement of the docking head 110 and / or the mobile drive unit 20, and consequently the docking head 110 concentric with respect to the docking plate 350. As a result, the mobile drive unit 20 it can correct some degree of displacement by moving the docking cone 410 towards the docking plate 350 and / or inserting it into it. An example of such a solution is presented in more detail in FIG. 5A 5G. The storage container 30 can also be configured to move during docking. As a result, the movement of the docking cone 410 vertically can put the storage container 30 in transverse motion, complementary to or independent of the mobile drive unit 20, to facilitate docking.

[0050] The control spikes 420 allow the mobile drive unit 20 to cause and / or control the movement of the storage container 30. In a particular embodiment, the control spikes 420 are the docking head projections 110, which shape fits into the control ports 450 of the docking plate 350 after docking the mobile drive unit 20 to the storage container 30. As a result of the interaction between the control spikes 420 and the control slots 450, the mobile drive unit 20 can put the storage container 30 in a translational and / or rotational movement by rotating the docking head 110 and, as a result, setting the control spikes 420 in the selected type of motion. As indicated above, the docking head 110 may rotate as a result of independent movement of the docking head 110 or a fixed motion of the mobile power unit 20, along with it,

The brake contact surface 430 disconnects the brake mechanism 340 of the storage container 30 after docking the mobile drive unit 20 to the storage container 30. In the embodiment shown, the brake contact surface 430 includes four washers that are compressed by the brake cylinder components 490 during docking as a result of the docking interaction between the mobile power unit 20 and the storage container 30.

[0052] As part of the docking, the docking cone 410 enters the docking station 440. The docking cavity 440 may include means for locking the docking cone 410 or attaching the storage container 30 to the mobile power unit 20 after docking in a different manner. In addition, the docking station 440 may adjust or change the position of the docking head 110 with respect to the docking plate 350 to position the mobile drive unit 20 and storage container 30 in line and correct some errors in the position of the mobile drive unit 20. Specifically, the docking configuration 440 may fit the docking head 110 and / or the mobile propulsion unit 20 in motion or modify the ongoing motion parallel to a specific surface of the storage container 30 on which the docking plate 350 is located.

The control slots 450 are slits, openings, depressions, cuts or gaps in any other suitable form that can receive the control spikes 420 after docking the mobile drive unit 20 to the storage container 30. In the embodiment shown, the control slots 450 are recesses in the plate docking device 350, whose shape fits the spikes 420, and the configuration causes rotation or advancing motion of the spikes 420 upon docking the mobile drive unit 20 or docking the mobile drive unit 20 into the storage container 30 respectively causing rotation or translational movement of the storage container thirty.

[0054] In addition, the control slots 450 may be configured to adapt the position and / or orientation of the rotatable docking head 110, the mobile drive unit 20 and / or the storage container 30. In the invention, the control slots 450 are located along a concentric circle with respect to the docking cavity 440, each control slot having an oblique or convex surface facing the selected position on the periphery of the circle. As the docking cylinder 130 rises up against the docking plate 350, movement of the control spikes 420 along the oblique surface of the control slots 450 may cause the mobile drive unit 20 and / or storage container 30 to rotate, as detailed below with reference to FIG. 5A5G.

[0055] The docking sensor 460 may detect successful completion of the docking or one or more steps of the docking process. Essentially, the docking sensor 460 may be any element for detecting the position, orientation, movement and / or other features or properties of the mobile drive unit 20 and / or storage container 30 with respect to the docking process. For example, the dock sensor 460 may be a magnetic sensor arranged to allow contact with the magnetic plates on the docking plate 350 when the docking head 110 contacts the docking plate 350. The magnetic sensor would then detect successful docking of the mobile power unit 20 to the storage container 30.

[0056] The docking sensor 460 may also include additional means suitable to provide a signal or other information to the controls of the mobile power unit 20 to facilitate docking. For example, in the case of a mobile driving unit 20 configured to be turned, the position sensor 140 can detect the movement of the mobile drive unit 20 into which the docking station 440 or control slits 450 has set it as a result of the shift between the docking head 110 and the docking plate 350 as described above . In such an embodiment, the docking sensor 460 may include a circuit for generating wheel drive control signals of the mobile drive unit 20. The docking sensor 460 may thereby rotate the motor-driven wheel in the appropriate direction,

[0057] In another example, the docking sensor 460 may be means for detecting the downward force effect on the mobile drive unit 20 through the storage container 30. In this embodiment, the docking sensor 4 60 may also control the operation of the docking ram 130 and continue lifting the docking head 110 until the entire weight of the storage container 30 is transferred to the mobile power unit 20. As a result, the docking sensor 460 in such an embodiment can allow for maximum increase in the adhesion of the motorized wheels of the mobile power unit 20.

[0058] The brake cylinder 490 includes any means for controlling the brake mechanism 340 through the brake contact surface 430 during docking. The brake actuator 490 may be, partly or fully, of the braking means elements 340. Alternatively, the brake actuator 490 may be components connected to the brake mechanism 340 or in contact with it. In the illustrated embodiment, the brake actuator 490 includes levers to which the pads of the illustrated brake contact surface 430 are pressed during docking, causing actuation of appropriate components such as disc brakes (not shown), hydraulic brakes, air brakes or any other suitable means to inhibiting the movement of any relevant elements of the element providing the possibility of moving 330.

[0059] Although FIG. 4A and 4B illustrate a specific docking head 110 and docking plate 350, each of these elements having a specific shape and construction, mobile drive unit 20 and storage container 30 respectively include docking head 110 and docking plate 350 of any shape and construction allowing creation connections between the mobile power unit 20 and the storage container 30.

[0060] FIG. 5A-5G illustrate the operation of the docking head 110 and the docking plate 350 according to a specific embodiment during docking. For illustrative purposes, in FIG. 5A-5G shows a docking head 110 and a docking plate 350, according to a specific embodiment, configured to allow connection when the mobile drive unit 20 is under the storage container 30. However, as noted above, in alternative embodiments of the mobile drive unit 20 and storage container Other configurations are possible for connecting the mobile drive unit 20 arranged in any suitable manner to the storage container 30.

[0061] FIG. 5A and 5B show the initial position of the cradle 110 after the mobile drive unit 20 has been positioned by the mobile drive unit 20 under the storage container 30. FIG. 5A shows a cross-section of the docking head 110 and the docking plate 350 in side view, while FIG. 5B shows the docking head 110 in plan view and the docking plate 350 in a bottom view. As indicated by the axis of the docking plate 502a-bi of the docking head 504a-b in FIG. 5B, the mobile drive unit 20 is positioned such that the top of the docking cone 410 is slightly offset from the axis of the docking cavity 440. In addition, the initial orientation of the docking head 110 is not matched with the orientation of the docking plate 350.

[0062] FIG. 5C shows a cross-section of the docking head 110 and the docking plate 350 in side view in the first phase of the docking process. In the embodiment shown, the beginning of this first phase determines the insertion of the tip of the docking cone 410 into the docking cavity 440. In a particular embodiment, in the first phase, the upward movement 510 moves the docking cone 410 upward along the oblique surface of the docking cavity 440. This causes both the docking head 110 and the mobile drive unit 20 in translational movement 520. As indicated above, in a specific embodiment, the docking sensor 460 or position sensor 140 can detect translational movement 520 and rotate the wheels of the mobile drive unit 20, assisting in alignment of the docking head 110 in one line with a docking board 350. Alternatively or additionally, the configuration of the mobile drive unit 20 may include turning and in a passive manner to allow the mobile drive unit 20 to be rolled in the appropriate direction. In addition, as noted above, in specific embodiments, the storage container 30 can be configured to move during docking. Then, upward movement 510 of the docking cone 410 may also drive the storage container 30 in translation, in addition to propelling the docking head 520 and / or the mobile drive unit 20 either instead of or not. in specific embodiments, the storage container 30 may be configured to move during docking. Then, upward movement 510 of the docking cone 410 may also drive the storage container 30 in translation, in addition to propelling the docking head 520 and / or the mobile drive unit 20 either instead of or not. in specific embodiments, the storage container 30 may be configured to move during docking. Then, upward movement 510 of the docking cone 410 may also drive the storage container 30 in translation, in addition to propelling the docking head 520 and / or the mobile drive unit 20 either instead of or not.

[0063] FIG. 5D shows a cross-section of the docking head 110 and the docking plvtv 350 in side view in a second phase of the docking process, FIG. 5E shows the docking head 110 in a second phase in a top view. In the embodiment shown, the start of this phase determines the insertion of the control spikes 420 into the control slots 450. In this second phase, the upward movement 510 moves the control spikes 420 up along the oblique surfaces of the control slots 450. This causes the docking head 110 to rotate 530 as shown in FIG. 5D and 5E. As noted above, in a specific embodiment, the docking sensor 460 can detect rotational movement 530 and start actively rotating the mobile drive unit 20 in the direction of rotation 530, for example, by rotating the motorized wheel 124 of the mobile drive unit 20 in opposite directions. Thus, the mobile drive unit 20 may actively assist in aligning the docking head 110 in alignment with the docking plate 350. Alternatively, or additionally, the configuration of the mobile drive unit 20 may include turning and in a passive manner to allow the mobile drive unit 20 to rotate in the appropriate direction. In addition, as noted above, in specific embodiments, the storage container 30 can be configured to move during docking. Then upward movement of the 510 control spikes 420 may also rotate the storage container 30, in addition to rotating the docking head 110 and / or the mobile power unit 20 or instead.

[0064] FIG. 5F shows a cross-section of the docking head 110 and the docking plate 350 in side view in the third phase of the docking process. In the embodiment shown, this third phase begins after the docking head 110 is aligned with the docking plate 350. The docking ram 130 holds the upward movement 510 of the docking head 110 until the docking sensor detects the docking head 110 contacting the docking plate 350. In this third phase, the vertical surfaces of the docking cone 410 and control spikes 420 are aligned with the inner vertical surfaces of the docking plate 350. As a result of this alignment, the docking cone 410 and control spikes 420 may exert lateral pressure on the interior surfaces of the docking plate 350, placing the storage container 30 in translational and / or rotational movement.

[0065] FIG. 5G depicts a mobile drive unit 20 and a storage container 30 in the fourth phase of the docking process. In the embodiment shown, this fourth phase begins after the docking sensor detects the docking head 460 contacting the docking plate 350. When the docking sensor 460 detects the docking head contacting the docking plate 350, the docking ram 130 may continue to lift the docking head 110. As the weight of the storage container 30 is transferred from the legs 328 to the mobile drive unit 20, the storage container 30 begins to act on the mobile power unit 20 with a downward force of 540. The downward force 540 increases the adhesion of the motorized wheels 124 relative to the floor in the working space and improves the mobility of the mobile power unit 20. The mobile drive unit 20 then determines the moment when sufficient force is transferred to the motorized wheel 124 and the docking process is completed. At this point, part or all of the weight of the storage container 30 can be supported on the docking plate 350.

[0066] FIG. 6 is a flow chart of a specific embodiment of the mobile power unit 20 during the docking process shown in FIG. 5A 5G. The steps corresponding to actions carried out or caused by elements other than the mobile propulsion unit 20 are indicated in FIG. 6 dotted line. In particular FIG. 6 describes the operation of the mobile power unit 20 in accordance with one embodiment that actively aids the docking head 110 to align with the docking plate 350 by driving or rotating the wheels of the mobile power unit 20 in a suitable manner. In alternative embodiments, the mobile drive unit 20 may, alternatively or additionally, provide passive support due to the configuration of the drive module 120 enabling the mobile drive unit 20 to roll,

[0067] In step 600, the mobile drive unit 20 positions the docking head 110 under the storage container 30. The mobile drive unit 20 or the component of the mobile drive unit 20, such as the docking cylinder 130, starts lifting the docking head 110 at step 605. At step 610, the mobile unit The drive 20 configures the drive module 120 to allow the mobile drive unit 20 to roll.

[0068] In step 615, the mobile drive unit 20 starts the first phase of the docking process. As indicated above, the "starting" of the first phase may mean that the mobile drive unit 20 will continue to lift after inserting the top of the docking cone 410 into the docking cavity 440. At step 620, the docking station 440 puts the mobile drive unit 20 into translational movement 520 for setting The mobile docking unit 110 is in line with the docking plate 350. In step 625, the mobile drive unit 20 detects the translational movement 520 of the docking head 110 and / or the mobile drive unit 20. In response to step 630, the mobile drive unit 20 drives the mobile drive unit 20 in the direction of motion. 45, actively assisting the alignment of the docking head 110 in line with the docking board 350.

[0069] In step 635, the mobile drive unit 20 begins the second phase of the docking process. As with the first phase, the "starting" of the second phase can mean that the mobile drive unit 20 will continue to lift the docking head 110 after inserting the tops of the control spikes 420 into the control slots 450. In step 640 and according to the method referred to in the present invention, the slots The driver 450 drives the docking head 110 in a rotating motion 530 to adjust the orientation of the docking head 110 to the orientation of the docking plate 350. The mobile drive unit 20 detects rotating motion 530 at step 645. At step 650, the mobile drive unit 20 rotates the mobile drive unit 20 in the direction of motion. 530, assisting in arranging the docking head 110 in line with the docking board 350. Again,

[0070] At step 655, the docking head begins the third phase. "Starting" the third phase can mean continuing to lift the docking head 110 after the docking head 110 and docking board 350 are aligned. At 660, the mobile drive unit detects contact between the docking head 110 and the docking plate 350.

[0071] The mobile propulsion unit 20 begins the fourth phase in step 665 in response to contact detection. "Starting" the fourth phase can mean continuing to lift the docking head 110 upon contact of the docking head 110 and the docking plate. At step 670, the mobile power unit 20 determines that the mobile power unit 20 has sufficient downward force to ensure adequate adhesion of the motorized wheels 124 on the floor. The mobile drive unit 20 starts to move both the mobile drive unit 20 and the storage container 30 at 675, completing the docking process.

[0072] As noted above, the mobile drive unit 20 may further be configured to detect failed attempts to perform any or all of the steps shown in FIG. 6. Furthermore, the configuration of the mobile power unit 20 may allow for the repetition of any failed stage or steps until the pre-determined number of attempts have been successfully completed or stopped. For example, in a particular embodiment, if the mobile power unit 20 fails to complete a particular phase, the mobile power unit 20 may start again to perform this phase, repeating the corresponding steps up to three times. After three unsuccessful attempts, the mobile drive unit 20 may interrupt the docking attempt and contact the management device within the storage system 10,

[0073] The mobile propulsion unit 20 can also be configured in such a way that, in response to the detection of an unsuccessful docking attempt, it turns and starts to dock again. For example, in a particular embodiment, the mobile drive unit 20 may provide the possibility of rolling only back and forth along an axis defined by the motorized wheel 124. Thus, the docking plate 350 may enable translational movement 520 only along this axis.

[0074] As a result, in a specific embodiment, the mobile drive unit 20 can complete the first docking phase by lifting the docking head 110 until the tops of the control spikes 420 are introduced into the control slots 450. As a result, the docking head 110 and the docking plate 350 will set in one line along the first axis. The mobile drive unit 20 may then lower the docking head 110 and rotate, the motorized wheels 124 defining a second axis perpendicular to the first axis. The mobile power unit 20 can then repeat the first phase of the docking process. As a result of this operation, the docking head 110 and the docking plate 350 will align with each other along the second axis. The mobile drive unit 20 can then complete the remainder of the docking process as described above.

[0075] FIG. 7A-7H illustrate the steps of operating a mobile drive unit 20 according to a specific embodiment as part of moving a storage container 30. The mobile drive unit 20 can be configured to move the storage container 30 in any suitable manner. As a result, in specific embodiments, the mobile propulsion unit 20 may employ displacement techniques that provide specific advantages when used in a storage system.10. For example, FIG. 7.A 7H illustrate a specific embodiment in which the mobile power unit 20 provides space-saving benefits when operating within the storage system 10. In particular, FIG. 7A 7G shows the mode of operation of the mobile power unit 20, when the mobile drive unit 20 moves the storage container 30 from the first position to a second position along the path that includes rotation of ninety degrees. The illustrated storage system 10 takes into account a plurality of grid points 710a-c, being separate physical locations within a workspace associated with storage system 10. This procedure can also be used during unloading of storage container 30 in storage location to ensure that storage container 30 is set according to the grid.

[0076] In FIG. 7A shows the starting location of both the mobile drive unit 20 and the storage container 30. The initially mobile drive unit 20 is located at the grid point 710b and the storage container 30 at the grid point 710a. As shown in FIG. 7B, the mobile drive unit 20 moves to the grid point 710a and is positioned under the storage container 30. Here, the mobile drive unit 20 is undocked from the storage container 30, indicating the lack of the docking head 110 in FIG. 7B. As shown in FIG. 7C, the mobile drive unit 20 then docks the storage container 30, indicating the contour of the docking head 110. The mobile drive unit 20 drives the mobile power unit 20 and the storage container 30, moving them to the grid point 710b, as shown in FIG. 7D. At the grid point 710b, the mobile drive unit 20 is undocked from the storage container 30 in accordance with FIG. 7E. Then, the mobile drive unit 20 rotates, as shown in FIG. 7F.

[0077] After rotating, the mobile drive unit 20 re-docks the storage container 30 as shown in FIG. 7G. The mobile drive unit 20 drives the storage container 30, moving it to the grid point 710c, as shown in FIG. 7H. The mobile drive unit 20 may then undock from the storage container 30, rotate the storage container 30 or perform any appropriate additional movements or operations to complete the movement.

[0078] FIG. 8 is a diagram of the stages of operation of the mobile power unit 20 as part of the movements shown in FIG. 7A 7H. As indicated with reference to FIG. 7.Λ 7H, this description illustrates the operation of a mobile power unit 20 according to one embodiment configured to move in a certain manner. In certain embodiments, however, the mobile drive unit 20 may be configured to move in another suitable manner depending on the features and configuration of the storage system 10.

[0079] In particular FIG. 8 illustrates the operation of the mobile power unit 20 when docking the mobile drive unit 20 to the storage container 30, moving the storage container 30, and rotating the storage container 30 to move the storage container 30 from the first location to the second location. At step 810, the mobile drive unit 20 receives the command indicating the storage location and the destination for the storage container 30. The mobile drive unit 20 moves to the storage location at step 820. The mobile drive unit 20 dockes the storage container 30 at step 830. At step 840 mobile the drive unit 20 starts moving the storage container 30.

[0080] At the appropriate point, the mobile drive unit 20 may rotate on the path to the second location. As part of the rotation, the mobile drive unit 20 undoes the storage container 30 at step 850. At step 860, the mobile drive unit 20 rotates the mobile drive unit 20. The mobile drive unit 20 re-dock the storage container 30 at step 870. At step 880, the mobile drive unit 20 resumes moving the storage container 30. The mobile drive unit 20 can then perform any additional movements or operations and make the additional revolutions necessary to achieve the second location. At step 890, the mobile drive unit 20 reaches the second location.

[0081] Although several embodiments have been included in the description of the present invention, one skilled in the art can propose a number of changes, variations, corrections, transformations, and modifications as long as such changes, variants, patches, transformations, and modifications will fall within the scope of the present invention and the appended claims. .