Opportunistic charging system for an automated storage and retrieval system

{
  "publication_number": "US12009678B2",
  "country": "US",
  "kind": "B2",
  "title": "Opportunistic charging system for an automated storage and retrieval system",
  "abstract": "An opportunistic rail charging system is disclosed for recharging power supplies on mobile robots transporting goods within an automated order fulfillment system. Individual chargers may be incorporated into each mobile robot for converting a facility line voltage from the charge rail to a voltage for which the rechargeable power supplies on each mobile robot are rated.",
  "claims": [
    "1. A power supply system for a plurality of mobile robots in a facility, comprising: a charge rail mounted in a vertical track along which the plurality of mobile robots travel, the vertical track further comprising a gear rack to enable vertical travel of the plurality of mobile robots while charging on the charge rail; the charge rail configured to receive an alternating current (AC) charging voltage from the facility; a plurality of coupling mechanisms comprising a coupling mechanism on each of the plurality of mobile robots, the coupling mechanism on a mobile robot of the plurality of mobile robots configured to be biased horizontally against the charge rail mounted on the vertical track to contact the charge rail and transfer the AC charging voltage from the charge rail to the mobile robot; a plurality of chargers comprising a charger on each of the plurality of mobile robots, the charger on each of the plurality of mobile robots receiving the AC charging voltage and converting the AC charging voltage from the charge rail to a second voltage smaller than the AC charging voltage; and a plurality of rechargeable energy storage devices comprising a rechargeable energy storage device on each mobile robot of the plurality of mobile robots, the rechargeable energy storage device on each of the plurality of mobile robots receiving the second voltage from the charger on the mobile robot and being charged using the second voltage.",
    "2. The power supply system of claim 1, wherein the plurality of mobile robots are charged by being connected to the charge rail simultaneously.",
    "3. The power supply system of claim 1, further comprising a controller configured to implement a hibernate function in a mobile robot of the plurality of mobile robots, the hibernate function disconnecting power loads from the rechargeable energy storage device when the mobile robot is forced to wait for an extended period away from the charge rail.",
    "4. The power supply system of claim 1, wherein the rechargeable energy storage device is a super capacitor.",
    "5. The power supply system of claim 4, wherein the super capacitor is one of a regular electric double layer capacitor, a lithium super capacitor and an ultra-low impedance capacitor.",
    "6. The power supply system of claim 1, wherein at least five mobile robots of the plurality of mobile robots may simultaneously charge their rechargeable energy storage devices at a maximum rate for which the chargers and/or rechargeable energy storage devices of the at least five mobile robots are rated.",
    "7. The power supply system of claim 1, wherein the coupling mechanism is biased to maintain contact with the charge rail while the mobile robot is traveling vertically on the vertical track.",
    "8. The power supply system of claim 7, wherein the mobile robot maintains a horizontal position while the mobile robot is vertically traveling on the vertical track.",
    "9. The power supply system of claim 1, wherein the coupling mechanism comprises a spring positioned to horizontally bias the coupling mechanism against the charge rail.",
    "10. The power supply system of claim 1, wherein the mobile robot further comprises: a guide bearing for engaging the gear rack; and a counter bearing configured to rest against a surface of the vertical track to maintain the mobile robot in a generally horizontal position during vertical travel; wherein the coupling mechanism is positioned between the guide bearing and the counter bearing.",
    "11. A power supply system for a plurality of mobile robots in a facility, the mobile robots configured to travel on a track system to transport containers to and from storage locations within the facility, the power supply system comprising: a charge rail vertically mounted in a vertical rail of a vertical portion of the track system, the charge rail configured to provide a first voltage, the vertical rail further comprising a gear rack to enable vertical travel of the plurality of mobile robots while charging on the charge rail; a plurality of chargers comprising a charger on each of the plurality of mobile robots, the charger on each of the plurality of mobile robots converting the first voltage from the charge rail to a second voltage smaller than the first voltage; a plurality of rechargeable energy storage devices comprising a rechargeable energy storage device on each of the plurality of mobile robots, the rechargeable energy storage device on each of the plurality of mobile robots being opportunistically charged using the second voltage as each mobile robot of the plurality of mobile robots travels on the track system to transport containers to and from storage locations within the facility; and a plurality of coupling mechanisms comprising a coupling mechanism on each of the plurality of mobile robots, the coupling mechanism on a mobile robot of the plurality of mobile robots configured to be biased horizontally against the charge rail mounted on the vertical rail to contact the charge rail and transfer the first voltage from the charge rail to the mobile robot.",
    "12. The power supply system of claim 11, wherein a predefined maximum number of mobile robots of the plurality of mobile robots travel within the vertical portion of the track system at a given time during transport of the containers to and from storage locations within the facility, wherein the predefined maximum number of mobile robots may charge at their maximum rate while each is traveling in the vertical portion of the track system.",
    "13. The power supply system of claim 11, further comprising a material control system (MCS) executing instructions to control the navigation of the plurality of mobile robots and to divert a mobile robot from transferring containers to and from storage locations to connection with the charge rail where it is determined by the MCS that the mobile robot requires more charge to continue transferring containers to and from storage locations.",
    "14. The power supply system of claim 13, wherein the MC S communicates with the charger on each of the plurality of mobile robots to independently control the charging of each of the plurality of mobile robots.",
    "15. The power supply system of claim 13, wherein the MCS controls a number of mobile robots in the vertical portion of the track system at a given time so that all mobile robots in the vertical portion may charge at a maximum rate of the mobile robots.",
    "16. The power supply system of claim 13, wherein the MCS positions the plurality of mobile robots on the vertical portion of the track system to charge at a rate slower than a maximum charge rate of the mobile robots at idle periods of the facility.",
    "17. The power supply system of claim 11, wherein the first voltage is the line voltage from the facility.",
    "18. A method of charging rechargeable energy storage devices of a plurality of mobile robots in an automated storage and retrieval system (ASRS) facility, comprising: (a) delivering an AC line voltage for the (ASRS) facility to a charge rail; (b) propelling a mobile robot of the plurality of mobile robots along a vertical track comprising the charge rail, the mobile robot comprising a coupling mechanism configured to be biased horizontally against the charge rail mounted on the vertical track to contact the charge rail; (c) upon connection of the mobile robot with the charge rail, converting the AC line voltage from the (ASRS) facility to a lower voltage usable to charge a rechargeable energy storage device of the mobile robot via a charger on the mobile robot; and (d) charging the rechargeable energy storage device of the mobile robot with the lower voltage converted in said step (c) while the mobile robot is propelled along the vertical track in said step (b).",
    "19. The method of claim 18, wherein said step (b) of propelling a mobile robot of the plurality of mobile robots along a vertical track is performed for a purpose independent of charging the mobile robot.",
    "20. The method of claim 18, wherein said step (d) of charging the rechargeable energy storage device of the mobile robot comprising the step of charging the rechargeable energy storage device of the mobile robot at a maximum rate for which the charger and/or the rechargeable energy storage device are rated where a plurality of mobile robots are connected to the charge rail."
  ],
  "description_excerpt": "An automated order fulfillment system for use in supply chains may fulfill orders for individual product items, also referred to herein as “eaches.” Traditional order fulfillment facilities store eaches in containers in a multi-level storage structure with a vertical and horizontal array of storage spaces. The automated order fulfillment system further includes mobile robots which move horizontally and vertically within the storage structure to transfer containers to and from the storage spaces within the structure. It is known to power these mobile robots with onboard energy storage devices which require periodic recharging. The most common solution is to employ discrete charging stations, generally located at a variety of locations through the structure. When a robot needs recharging, the Material Control System (MCS) directs the robot to a charge station to recharge. While there may be several charge station, this method of recharge diverts the robots from their order fulfillment tasks.\n\nAnother approach, such as disclosed in U.S. Pat. No. 9,815,625 assigned to Opex Corporation, supplies a voltage to a charge rail along which the robot moves during it order fulfillment operations. Thus, a robot can recharge as it performs its tasks by connection to the charge rail. Such systems have been configured so that a DC power supply or battery charger is located between the power source (such as a wall outlet) and the charge rail. These conventional charge rail systems provide enough power to quickly charge a single mobile robot, or several at a lower charge rate.",
  "cpc": [
    "H02J 7/50",
    "B65G 1/0492",
    "B65G 1/065",
    "B65G 1/1373",
    "H02J 7/0013",
    "H02J 7/0042",
    "H02J 7/0044",
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    "H02J 7/04",
    "H02J 7/70",
    "H02J 7/731",
    "H02J 7/751",
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  "ipc": [
    "B65G 1/04",
    "B65G 1/06",
    "B65G 1/137",
    "H02J 7/00",
    "H02J 7/04"
  ],
  "assignees": [
    "WALMART APOLLO LLC"
  ],
  "inventors": [
    "COADY MATTHEW W",
    "FOSNIGHT WILLIAM J",
    "LACHANCE DAVID A",
    "EISELEN DAVID"
  ],
  "filing_date": "2019-02-07",
  "publication_date": "2024-06-11",
  "grant_date": "2024-06-11",
  "priority_date": "2018-02-08",
  "application_number": "US-201916269900-A",
  "family_id": "65520426",
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}