MLchartDataset catalogue

Patent · US12246757B2 · B2 · US

Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system

(11) Publication number
US12246757B2
(21) Application number
17/059,222
(22) Filing date
2019-06-11
(30) Priority date
2018-06-12
(43) Publication date
2025-03-11
(45) Date of grant
2025-03-11
(51) IPC
B60W 50/00; B61B 13/00; B65G 1/04; B65G 1/06; B65G 1/137; B65G 43/00; B65G 47/06; B65G 47/52; B65G 57/03; B65G 63/00; B65G 63/06; B65G 65/23; B65G 67/24; B66F 9/06; B66F 9/19; G05D 1/00
(52) CPC
  • B61B Railway systems; equipment therefor not otherwise provided for: 13/00
  • B60W Conjoint control of vehicle sub-units of different type or different function; control systems specially adapted for hybrid vehicles; road vehicle drive control systems for purposes not related to the control of a particular sub-unit: 2710/06, 2720/10, 2720/24, 50/0098
  • B65G Transport or storage devices, e.g. conveyors for loading or tipping, shop conveyor systems or pneumatic tube conveyors: 1/0407, 1/0414, 1/0457, 1/0464, 1/0471, 1/0478, 1/0485, 1/0492, 1/065, 1/1375, 1/1378, 2201/0235, 2201/0258, 2203/0283, 2203/042, 43/00, 47/06, 47/52, 57/03, 63/004, 63/06, 65/23, 67/24
  • B66F Hoisting, lifting, hauling or pushing, not otherwise provided for, e.g. devices which apply a lifting or pushing force directly to the surface of a load: 9/063, 9/19
  • G05D Systems for controlling or regulating non-electric variables: 1/0011, 1/02, 1/021, 1/0229, 1/0231, 1/0259, 1/0289, 1/0291, 1/221, 1/43, 1/69, 2111/10
(73) Assignee
Autostore Technology AS
(72) Inventors
Trond Austrheim
(54) Title
Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system
(57) Abstract

A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator. The remotely operated delivery vehicle comprising; - a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; - a control unit for controlling the remotely operated delivery vehicle; and - a container carrier (35) provided above the motorized vehicle body for carrying a storage container. The remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in the event that a collision is detected. The collision is caused by a force (F) acting on the remotely operated delivery vehicle (30) and is detected by a collision mechanism (60) of the safety device and the collision mechanism is a container carrier displacement device (60) arranged such that it trips the safety device upon displacement of the container carrier (35) relative to the motorized vehicle body (31), which first position is the undisplaced position and the second position is the displaced position.

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Claims (10)

  1. A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator, the remotely operated delivery vehicle comprising: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier displaceably mounted to the motorized vehicle body, wherein the container carrier is configured to receive a storage container within the container carrier; wherein the remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in an event that a collision is detected, wherein the collision is caused by a force acting on the container carrier of the remotely operated delivery vehicle and is detected by a collision mechanism of the safety device, and wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body.
  2. The remotely operated delivery vehicle according to claim 1, wherein the action of operating the remotely operated delivery vehicle is at least one of shutting off the motor, reversing a moving direction of the rolling devices, or reducing a speed of the rolling devices.
  3. The remotely operated delivery vehicle according to claim 1, wherein the collision mechanism is a pressure sensor.
  4. The remotely operated delivery vehicle according to claim 1, wherein the collision mechanism is a sliding device connected to the container carrier which sliding device trips the safety device when sliding from a first position to a second position.
  5. The remotely operated delivery vehicle according to claim 1, wherein the container carrier displacement device comprises a first sliding part moveable in a first direction, and a second sliding part moveable in a second direction which is orthogonal to the first direction.
  6. The remotely operated delivery vehicle according to claim 5, wherein the second sliding part is arranged on a second track provided on the motorized vehicle body for movement in the second direction, and a first plate is arranged on a first track provided on the second sliding part, for movement in the first direction.
  7. An automated storage and retrieval system comprising an automated storage and retrieval grid for storage of storage containers, and a delivery system for transport of said storage containers between the automated storage and retrieval grid and a container accessing station of the delivery system, wherein the automated storage and retrieval grid comprises a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising at least a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, wherein the delivery system comprises a delivery rail system for guiding a plurality of remotely operated delivery vehicles, the delivery rail system being arranged on a level below the container handling vehicle rail system and extends to the container accessing station, wherein the remotely operated delivery vehicle comprises: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier displaceably mounted to the motorized vehicle body, wherein the container carrier is configured to receive a storage container within the container carrier, wherein the remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in an event that a collision is detected, wherein the collision is caused by a force acting on the container carrier of the remotely operated delivery vehicle and is detected by a collision mechanism of the safety device, and wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body.
  8. The automated storage and retrieval system according to claim 7, wherein the action of operating the remotely operated delivery vehicle is at least one of shutting down the motor, reversing a moving direction of the rolling devices or reducing a speed of the rolling devices.
  9. The automated storage and retrieval system according to claim 7, wherein the delivery system further comprises a delivery rail system the delivery rail system comprises at least a first set of parallel rails arranged in the horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent delivery vehicle grid cells.
  10. Method of improving operational safety of a delivery grid system, wherein the delivery system comprises a remotely operated delivery vehicle comprising: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; a container carrier displaceably mounted to the motorized vehicle body wherein the container carrier is configured to receive a storage container within the container carrier, and a safety device which activates in an event that a collision is detected, wherein the method comprises: a) operating the remotely operated delivery vehicle on the delivery grid system, b) detecting a collision, which is caused by a force acting on the container carrier of the remotely operated delivery vehicle, by means of a collision mechanism of the safety device, wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body, c) activating a safety device to transmit a signal to the control unit, d) performing an action of operating the remotely operated delivery vehicle, said action being at least one of shutting down the motor, reversing a moving direction of the rolling devices or reducing a speed of the rolling devices.

Description

The present invention relates to a safety device for a delivery vehicle adapted for transport of storage containers between a storage grid for storage of storage containers, and a second predetermined location adapted for handling of the storage container.

More specific, the invention is directed to a remotely operated delivery vehicle comprising a safety device which transmits a signal to a control unit such that it performs an action of operating the remotely operated vehicle, in the event that a collision is detected.

FIGS. 1 A and 2 A disclose a typical prior art automated storage and retrieval system 1 with a framework structure 100. FIGS. 2 A and 2 B disclose a prior art container handling vehicle 101 operating the system 1 disclosed in FIGS. 1 A and 2 A, respectively.

The framework structure 100 comprises a plurality of upright members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. The members 102, 103 may typically be made of metal, e.g. extruded aluminum profiles.

The framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, in which storage columns 105 storage containers 106, also known as bins, are stacked one on top of another to form stacks 107.

Each storage container 106 may typically hold a plurality of product items (not shown), and the product items within a storage container 106 may be identical or may be of different product types depending on the application.

Citations (123)

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Record as JSON 
{
  "publication_number": "US12246757B2",
  "country": "US",
  "kind": "B2",
  "title": "Safety device for a remotely operated vehicle, a system and a method of improving the operational safety of a grid system",
  "abstract": "A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator. The remotely operated delivery vehicle comprising; - a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; - a control unit for controlling the remotely operated delivery vehicle; and - a container carrier (35) provided above the motorized vehicle body for carrying a storage container. The remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in the event that a collision is detected. The collision is caused by a force (F) acting on the remotely operated delivery vehicle (30) and is detected by a collision mechanism (60) of the safety device and the collision mechanism is a container carrier displacement device (60) arranged such that it trips the safety device upon displacement of the container carrier (35) relative to the motorized vehicle body (31), which first position is the undisplaced position and the second position is the displaced position.",
  "claims": [
    "1. A remotely operated delivery vehicle for transport of a storage container between an automated storage and retrieval grid, which is configured to store a plurality of stacks of storage containers, and an access station for handling of the storage container by at least one of a robotic operator and human operator, the remotely operated delivery vehicle comprising: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier displaceably mounted to the motorized vehicle body, wherein the container carrier is configured to receive a storage container within the container carrier; wherein the remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in an event that a collision is detected, wherein the collision is caused by a force acting on the container carrier of the remotely operated delivery vehicle and is detected by a collision mechanism of the safety device, and wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body.",
    "2. The remotely operated delivery vehicle according to claim 1, wherein the action of operating the remotely operated delivery vehicle is at least one of shutting off the motor, reversing a moving direction of the rolling devices, or reducing a speed of the rolling devices.",
    "3. The remotely operated delivery vehicle according to claim 1, wherein the collision mechanism is a pressure sensor.",
    "4. The remotely operated delivery vehicle according to claim 1, wherein the collision mechanism is a sliding device connected to the container carrier which sliding device trips the safety device when sliding from a first position to a second position.",
    "5. The remotely operated delivery vehicle according to claim 1, wherein the container carrier displacement device comprises a first sliding part moveable in a first direction, and a second sliding part moveable in a second direction which is orthogonal to the first direction.",
    "6. The remotely operated delivery vehicle according to claim 5, wherein the second sliding part is arranged on a second track provided on the motorized vehicle body for movement in the second direction, and a first plate is arranged on a first track provided on the second sliding part, for movement in the first direction.",
    "7. An automated storage and retrieval system comprising an automated storage and retrieval grid for storage of storage containers, and a delivery system for transport of said storage containers between the automated storage and retrieval grid and a container accessing station of the delivery system, wherein the automated storage and retrieval grid comprises a container handling vehicle rail system for guiding a plurality of container handling vehicles, the container handling vehicle rail system comprising at least a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent container handling vehicle grid cells, wherein the delivery system comprises a delivery rail system for guiding a plurality of remotely operated delivery vehicles, the delivery rail system being arranged on a level below the container handling vehicle rail system and extends to the container accessing station, wherein the remotely operated delivery vehicle comprises: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; and a container carrier displaceably mounted to the motorized vehicle body, wherein the container carrier is configured to receive a storage container within the container carrier, wherein the remotely operated delivery vehicle comprises a safety device which transmits a signal to the control unit such that it performs an action of operating the remotely operated delivery vehicle, in an event that a collision is detected, wherein the collision is caused by a force acting on the container carrier of the remotely operated delivery vehicle and is detected by a collision mechanism of the safety device, and wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body.",
    "8. The automated storage and retrieval system according to claim 7, wherein the action of operating the remotely operated delivery vehicle is at least one of shutting down the motor, reversing a moving direction of the rolling devices or reducing a speed of the rolling devices.",
    "9. The automated storage and retrieval system according to claim 7, wherein the delivery system further comprises a delivery rail system the delivery rail system comprises at least a first set of parallel rails arranged in the horizontal plane and extending in a first direction, and at least a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane comprising a plurality of adjacent delivery vehicle grid cells.",
    "10. Method of improving operational safety of a delivery grid system, wherein the delivery system comprises a remotely operated delivery vehicle comprising: a vehicle body comprising a motor for driving a plurality of rolling devices for moving the remotely operated delivery vehicle in a horizontal plane; a control unit for controlling the remotely operated delivery vehicle; a container carrier displaceably mounted to the motorized vehicle body wherein the container carrier is configured to receive a storage container within the container carrier, and a safety device which activates in an event that a collision is detected, wherein the method comprises: a) operating the remotely operated delivery vehicle on the delivery grid system, b) detecting a collision, which is caused by a force acting on the container carrier of the remotely operated delivery vehicle, by means of a collision mechanism of the safety device, wherein the collision mechanism is a container carrier displacement device arranged such that it trips the safety device upon sensing displacement of the container carrier, relative to the motorized vehicle body, from an undisplaced position relative to the motorized vehicle body to a displaced position relative to the motorized vehicle body, c) activating a safety device to transmit a signal to the control unit, d) performing an action of operating the remotely operated delivery vehicle, said action being at least one of shutting down the motor, reversing a moving direction of the rolling devices or reducing a speed of the rolling devices."
  ],
  "description_excerpt": "The present invention relates to a safety device for a delivery vehicle adapted for transport of storage containers between a storage grid for storage of storage containers, and a second predetermined location adapted for handling of the storage container.\n\nMore specific, the invention is directed to a remotely operated delivery vehicle comprising a safety device which transmits a signal to a control unit such that it performs an action of operating the remotely operated vehicle, in the event that a collision is detected.\n\nFIGS. 1 A and 2 A disclose a typical prior art automated storage and retrieval system 1 with a framework structure 100. FIGS. 2 A and 2 B disclose a prior art container handling vehicle 101 operating the system 1 disclosed in FIGS. 1 A and 2 A, respectively.\n\nThe framework structure 100 comprises a plurality of upright members 102 and optionally a plurality of horizontal members 103 supporting the upright members 102. The members 102, 103 may typically be made of metal, e.g. extruded aluminum profiles.\n\nThe framework structure 100 defines a storage grid 104 comprising storage columns 105 arranged in rows, in which storage columns 105 storage containers 106, also known as bins, are stacked one on top of another to form stacks 107.\n\nEach storage container 106 may typically hold a plurality of product items (not shown), and the product items within a storage container 106 may be identical or may be of different product types depending on the application.",
  "cpc": [
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    "B60W 2720/10",
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    "G05D 1/0011",
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  "ipc": [
    "B60W 50/00",
    "B61B 13/00",
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  ],
  "assignees": [
    "Autostore Technology AS"
  ],
  "inventors": [
    "Trond Austrheim"
  ],
  "filing_date": "2019-06-11",
  "publication_date": "2025-03-11",
  "grant_date": "2025-03-11",
  "priority_date": "2018-06-12",
  "application_number": "US-201917059222-A",
  "family_id": "87554179",
  "cited_by_count": 2,
  "citations": [
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    "US5538809A",
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  ]
}

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