A track system for a storage and retrieval system comprising one or more load handling devices operable on the track system is provided. The track system comprises a plurality of tracks arranged in a grid pattern and a plurality of track supports arranged in a grid pattern comprising a first set of track supports extending in a first direction and a second set of track supports extending in a second direction being substantially perpendicular to the first direction. Each of the plurality of track supports being formed from a sheet metal blank folded along a plurality of bend lines. The first set of track supports intersects the second set of track supports by the second set of track supports being received within one or more cut-outs in the first set of track supports at one or more nodes in the track system.
A load handling device for lifting and moving containers stacked in stacks in a grid storage structure including a track system, the load handling device being configured to travel on the track system, the load handling device including a transmitter configured to transmit data and a receiver configured to receive the data from the transmitter; wherein the load handling device is assigned a code, such that the transmitter is configured to transmit the code along with the data and the receiver is configured to discard received data not including the code.
The present disclosure relates to a power source exchange system and a method for exchanging a power source. The power source exchange system comprises a compartment configured to removably receive a power source, a rotatable end effector, and a locking assembly. Rotation of the end effector can move the locking member from the locked position to the unlocked position. A load handling device is provided for lifting and moving containers arranged in stacks in a storage structure. The load handling device comprises the compartment, and a power source received into the compartment is configured to deliver electrical power to the load handling device. A storage and retrieval system is provided, comprising the storage structure, load handling device, and power source exchange system. Methods are provided of inserting a power source into the compartment of the power source exchange system, removing a power source, and exchanging a power source.
A storage and fulfilment system in which stacks of storage containers are arranged within a grid storage structure is known. The containers are accessed from above by load-handling devices operative on rails or tracks located on the top of the grid storage structure. There is a method and system for detecting defects on a track or rail on which a load-handling device moves.
A load-handling device is provided for lifting and moving containers stacked in stacks in a storage system. The load-handling device includes a body; a wheel assembly arranged to support the body; a container-lifting mechanism configured to lift a container into or out of the body; and a wheel-positioning mechanism with wheel-engaging functionality for selectively engaging either a first set of wheels of the wheel assembly with a first set of rails or tracks of the storage system, or a second set of wheels of the wheel assembly with a second set of rails or tracks of the storage system. A wheel-engaging device can include at least one non-vertically-orientated linear actuator and/or at least one eccentric-rotation-based wheel-engaging device.
A multitemperature storage system is provided. The system includes a storage structure having a plurality of upright members, a plurality of horizontal members supported by the upright members and forming a grid pattern defining a plurality of grid cells and allowing containers to be arranged in stacks beneath the grid cells defined by the grid pattern, and a track structure on top of the horizontal members, the track structure being configured to allow a load-handling device to move across the storage structure to retrieve a container from a stack; and temperature-control means configured to maintain a first-temperature region within the storage structure at a first temperature and a second-temperature region within the storage structure at a second temperature.
F25D 17/02 - Arrangements for circulating cooling fluidsArrangements for circulating gas, e.g. air, within refrigerated spaces for circulating liquids, e.g. brine
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
F25D 17/00 - Arrangements for circulating cooling fluidsArrangements for circulating gas, e.g. air, within refrigerated spaces
F25D 25/00 - Charging, supporting, or discharging the articles to be cooled
F25D 25/04 - Charging, supporting, or discharging the articles to be cooled by conveyors
F25D 29/00 - Arrangement or mounting of control or safety devices
A method of assembling a frame structure (244) comprising a plurality of connecting blocks (46) connectable together by a plurality of connecting elements (48), each of the plurality of connecting blocks (46) comprising a connecting portion (50) for connecting to a connecting element (48), said connecting portion (50) of the at least one of the plurality of connecting blocks is connected to said at least one of the plurality of connecting blocks by a moveable portion (70), the method comprising the steps of: i) connecting the connecting element (48) to the connecting portion (70), the connecting element (48) extends in a longitudinal direction along an axis; ii) moving the connecting element (48) relative to the at least one of the plurality of connecting blocks by the moveable portion (70) to change the angle of the connecting element with respect to the axis to define a setting angle with respect to the axis; iii) setting the moveable portion to maintain the angle at the setting angle.
A control unit is disclosed to control an imaging unit to perform imaging of a tray/container. The control unit can cause the performance of actions on the container using automated machines and/or directing humans to perform an action. For example, the presence of contamination in a container can be detected based on an image of the container captured by an imaging unit. The control unit can receive an image of the container from the imaging unit, determine whether the container is contaminated, and direct the container to a cleaning unit. Moreover, the control unit can detect a product based on an image of the product, determine an identity of the product based on the received image, and command an indicating unit to indicate a failure to determine the identity of the product.
A method for manufacturing components is disclosed. Each component of a batch of components is assigned a respective unique identifier. The batch of components is manufactured using a powder bed fusion additive manufacturing, powder bed fusion additive manufacturing, system, wherein each component of the batch of components comprises a respective unique identifier. Each unique identifier can be used to provide a comprehensive understanding of the component.
A connector for connecting to at least three support elements of a three dimensional modular structure is disclosed. The connector includes a single body having a first connector portion for connecting a support element extending in a first direction; a second connector portion for connecting a support element extending in a second direction; a third connector portion for connecting a support element extending in a third direction, the first, second and third directions being substantially perpendicular to each other; and mounting projections each having a substantially flat mating face for mating with a corresponding mounting projection of an adjacent connector. Each connecting portion includes a key that is profiled for controlling the orientation of the support elements.
A power bank is provided for charging a load handing device, the power bank including: an auxiliary rechargeable power source; and at least one power transfer device electrically coupled to the auxiliary rechargeable power source; wherein the at least one power transfer device is configured to electrically couple to a load handling device so as to transfer electrical power from the auxiliary rechargeable power source to the load handing device.
A power bank is provided for charging a load handing device, the power bank including: an auxiliary rechargeable power source; and at least one power transfer device electrically coupled to the auxiliary rechargeable power source; wherein the at least one power transfer device is configured to electrically couple to a load handling device so as to transfer electrical power from the auxiliary rechargeable power source to the load handing device.
Buchanan
H02J 7/34 - Parallel operation in networks using both storage and other DC sources, e.g. providing buffering
H02J 9/06 - Circuit arrangements for emergency or stand-by power supply, e.g. for emergency lighting in which the distribution system is disconnected from the normal source and connected to a standby source with automatic change-over
A cabling system, an electromechanical device, a load handling device and a system using the cabling system are disclosed. A cabling system for use with an electromechanical device, the electromechanical device comprising a first component and a second component, the second component being moveable with respect to the first component, wherein a cable extends between the first component and the second component, wherein the cabling system comprises: a cable, the cable being resiliently biased for decreasing the separation between the first component and the second component, and wherein the cable is extendable for increasing the separation between the first component and the second component; and a seat, the seat being moveable with respect to the first component to allow the cable to rest within the seat on extension and retraction of the cable, and wherein the seat is configured such that the cable rests within the seat wherein the seat comprises a second guide for directing the cable in a direction from the seat to the second component.
A method of automatically verifying source code is disclosed. The materials required to build source code are assembled at a first computing device. The materials are sent to a third computing device. If the materials are sent to a second computing device from the third computing device, the second computing device can automatically build the source from the materials.
A gripper apparatus, and automated storage and retrieval system and related methods of use are provided. The gripper apparatus can be used for combining and separating carriers and storage container, the carrier having an open top and being able to be contained within the storage container. The apparatus can include first and second gripper arms, and a lifting device; wherein the gripper arms are configured and arranged to engage with opposing sidewalls of a carrier by exerting a clamping pressure on an interior of the opposing sidewalls of the carrier thereby gripping the carrier to enable the lifting device to lift the carrier and combine/separate the carrier with a storage container.
A grid interface assembly (100) for receiving one or more containers (2) from a storage and retrieval system comprising a grid, a plurality of containers located in stacks beneath the grid; and a plurality of load handling devices operable to move along the grid and configured to retrieve the one or more containers from the stacks, the grid interface assembly comprises: i) a transfer position (101, 102) for receiving one or more containers from the one or more of the plurality of load handling devices operable on the grid, ii) a conveyor apparatus (103, 104) for conveying the one or more containers beneath the grid, said transfer position (101, 102) being laterally disposed from the conveyor apparatus (103, 104); iii) a transfer mechanism (103c, 104c) configured to convey containers between the transfer position (101, 102) and the conveyor apparatus (103, 104).
A storage and retrieval system comprising: a grid; a plurality of containers located in stacks beneath the grid; and a container lift (101) disposed beneath the grid, the container lift (101) comprising a lifting platform (104) and a lift mechanism (105) arranged to move the lifting platform (104) vertically, the lifting platform comprising a plurality of lifting positions that are each arranged to receive a container; a lower lift interface assembly (102) arranged to provide containers to and receive containers from the lifting platform (104); an upper lift interface assembly (103) arranged to provide containers to and receive containers from the lifting platform (104); and a plurality of load handling devices arranged to move along the grid and configured to move the containers between the stacks and the upper lift interface assembly (103); wherein the upper lift interface assembly (103) is arranged to receive containers from a first side of the lifting platform (104) and to provide containers to a second side of the lifting platform (104).
A track system for a grid framework structure (14) configured to guide a load handling device (30) operative to move one or more containers (10), the grid framework structure comprising a supporting framework structure comprising a plurality of storage columns, each of the plurality of storage columns being arranged to accommodate a stack of storage containers; said track system comprising:- a plurality of tracks arranged to form a grid pattern comprising a plurality of grid cells, each of the plurality of tracks comprising a plastic material, said track system is configured to be mounted on the supporting framework structure such that each stack of storage containers is arranged below a respective grid cell of the plurality of grid cells; characterised in that each of the plurality of tracks has a surface resistance less than or equal to 1 x 1010ohms (Ω) or a surface resistivity less than or equal to 1 x 1010 (Ω.m) and a light reflectance value (LRV) greater than 30%.
Controlling a Robotic Manipulator for Packing an Object Provided is a computer-implemented method of controlling a robotic manipulator for packing an object, involving obtaining an image of an object grasped by an end effector of the robotic manipulator and determining a major axis of the object in the image. A first object pose is determined wherein the major axis of the object is aligned with an axis of a receiving space. The robotic manipulator is controlled to manipulate the object to the first object pose above the receiving space and move the object from the first object pose down into the receiving space. In response to detecting by a force sensor a contact force above a predetermined force threshold at the end effector, the robotic manipulator is controlled to manipulate the object to a second object pose, above the receiving space, for initiating a further attempt to place the object in the receiving space.
A method for detecting contamination on an end effector of a robotic manipulator arranged to manipulate items The method involves obtaining image data representative of an image of the end effector captured by a camera after a pick-and-place operation by the robotic manipulator. The image data is processed with a neural network to determine whether the end effector is contaminated. In response to a determination that the end effector is contaminated, a signal indicative of the end effector being in a contaminated state is generated.
A power unit for providing power to a load handling device operative on a grid framework structure is provided. A load handling device is provided for moving storage containers on a grid framework structure. The power unit is configured to transfer power to the load handling device, and to receive power from a power supply. The power unit can be lifted into the load handling device so that power is transferred from the power supply to the load handling device via the power unit. The load handling device comprises one or more critical components that are required to be operational at all times while the load handling device is on the grid framework structure, for example communications and safety systems. An exchange station is provided for exchanging power sources in a load handling device. The exchange station comprises a transfer mechanism for removing/inserting a power source from/into the load handling device, and a power unit. When the power unit is received in the load handling device, the power unit provides sufficient power to operate the one or more critical components of the load handling device while the power source is being exchanged. A storage and retrieval system is provided, comprising a grid framework structure, one or more load handling devices, and one or more exchange stations. A method is provided of providing power to a power source in a load handling device.
A storage system and a load handling device for lifting and moving containers stacked in the storage system are described. The storage system includes a plurality of rails or tracks arranged in a grid pattern above the stacks of containers. The grid pattern can include a plurality of grid spaces and each stack is located within a footprint of only a single grid space. The load handling device is configured to move laterally on the rails or tracks above the stacks. The load-handling device includes a container-receiving space located above the rails or tracks in use and a lifting device arranged to lift a container from a stack into the container-receiving space. The load handling device has a footprint that, in use, occupies only a single grid space in the storage system.
To determine an intensity of emission to be emitted by each of a plurality of emitters in a wireless communication system based on a measured angle of rotation of tilt of the plurality of emitters, a controller is provided which can allow the intensity of emissions of each of the plurality of emitters to be varied in dependence upon the angle of tilt or rotation. This allows for the steering of the emissions from the plurality of emitters to maintain communications within the wireless communication system.
H04B 10/00 - Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
H04B 10/11 - Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
A grid framework structure for supporting one or more robotic load handling devices operative on the grid framework structure, each of said one or more robotic load handling devices comprising a) a wheel assembly for guiding the load handling device on the track system; b) a container-receiving space located above the track system; and c) a lifting device arranged to lift a storage container from a stack into the container-receiving space, said lifting device comprises a set of lifting tethers and a grabber device for releasable connection to a storage container, the grid framework structure comprising: a supporting framework structure comprising a plurality of storage columns, each of the plurality of storage columns being arranged to accommodate a stack of storage containers; a track system comprising a plurality of tracks arranged to form a grid pattern comprising a plurality of grid cells, said track system is mounted on the supporting framework structure such that each stack of storage containers is arranged below a grid cell; wherein each of the plurality of storage columns comprises at least one tote guide for guiding the grabber device in a substantially vertical direction through a grid cell, said at least one tote guide being arranged such that, in use, the grabber device is guided through the grid cell along at least one sidewall of the grabber device.
A grid framework structure for supporting one or more robotic load handling devices operative on the grid framework structure, the grid framework structure comprising: i) a supporting framework structure comprising a plurality of prefabricated frames arranged in a three dimensional grid pattern comprising a plurality of modular storage cells for the storage of a plurality of stacks of containers such that adjacent modular storage cells share a common prefabricated frame, each of the plurality of prefabricated frames lying in a vertical plane and comprising a plurality of vertical members braced by one or more horizontal bracing members; ii) a track system for guiding movement of the one or more robotic load handling devices on the grid framework structure, the track system being mounted to the supporting framework structure and comprising a plurality of tracks arranged in a grid pattern comprising a plurality of grid cells extending across the plurality of modular storage cells such that each of the plurality of modular storage cells supports a sub-group of two or more grid cells of the track system; wherein the grid framework structure comprises one or more adjustment mechanisms (480) interposed between the one or more horizontal bracing members (72A) of the supporting framework structure and the track system for adjusting the level of the track system on the supporting framework structure.
The present disclosure provides a storage and retrieval system which can be operated to efficiently deliver goods, for example groceries, using two different methods. Capacity within one or more delivery vehicles may be assigned to orders placed in advance for later delivery and also for rapid orders for quick delivery.
A system and method for controlling movement of transporting devices arranged to transport containers, the containers being stored in stacks arranged in a facility. A facility having pathways arranged in a grid-like structure above stacks, the transporting devices being configured to operate on the grid-like structure. A control unit configured to determine at least one task to be performed by at least one transporting device, wherein the at least one task is determined based on at least one of: transporting device battery condition, transporting device damage, transporting device maintenance issues, and transporting device service issues.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B60L 58/12 - Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
B65G 1/137 - Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
G05B 19/418 - Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
G05D 1/223 - Command input arrangements on the remote controller, e.g. joysticks or touch screens
G05D 1/247 - Arrangements for determining position or orientation using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
G05D 1/693 - Coordinated control of the position or course of two or more vehicles for avoiding collisions between vehicles
G06Q 10/04 - Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
G06Q 10/08 - Logistics, e.g. warehousing, loading or distributionInventory or stock management
G06Q 10/087 - Inventory or stock management, e.g. order filling, procurement or balancing against orders
33.
DETERMINING A KINEMATIC STATE OF A LOAD HANDLING DEVICE IN A STORAGE SYSTEM
A method of determining a kinematic state of a load handling device in a storage system. Wheel state data, representative of a state of a wheel of the load handling device, from one or more sensors communicatively coupled to the wheel is obtained. A creep value for the load handling device is determined based on the wheel state data and using a trained model. The kinematic state of the load handling device is determined based on the creep value and kinematic data, representative of the kinematic state of the load handling device, is outputted. A positioning system to employ the method for the load handling device is also provided.
G05D 1/244 - Arrangements for determining position or orientation using passive navigation aids external to the vehicle, e.g. markers, reflectors or magnetic means
G05D 101/00 - Details of software or hardware architectures used for the control of position
G05D 105/28 - Specific applications of the controlled vehicles for transportation of freight
G07C 5/02 - Registering or indicating driving, working, idle, or waiting time only
A single part hinge, method of manufacturing and load handling device are provided. The single part hinge comprises: a first portion and a second portion; a flexural arrangement, connecting a first end of the first portion to a first end of the second portion; wherein the single part hinge is rotationally movable about a pivot point at the first end of the first portion, and moveable between a first position and a second position, wherein in the first position, rotation is limited by a first support region and in the second position, rotation is limited by a second support region.
A gripping device for being suspended from a load handling device for lifting and moving containers stacked in stacks in a grid storage structure. A frame includes upper and lower frame members being vertically spaced and horizontally extending, the upper frame member being coupled to the lower frame member such that the upper and lower frame members are moveable vertically towards and away from each other. A gripper assembly is mounted to the frame and configured to releasably grip a container from the stacks, the gripper assembly being moveable between a gripping configuration for gripping the container and a release configuration for releasing the container; wherein relative movement of the upper and lower frame members vertically towards or away from each other is configured to move the gripper assembly between the gripping configuration and the release configuration.
A load handling device, system and method of sortation are disclosed. A load handling device comprises: a body mounted on movement means; a tray arranged to carry one or more items, the tray being mounted to the body by one or more support arms, the one or more support arms being arranged to move the tray between a retracted position and an extended position; wherein in the retracted position the tray is disposed at least partially within a footprint of the body and in the extended position the tray is disposed away from the body; and wherein the load handling device is arranged to allow the tray to be tipped when extended beyond the retracted position.
06 - Common metals and ores; objects made of metal
07 - Machines and machine tools
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
45 - Legal and security services; personal services for individuals.
Goods & Services
Grids, frameworks and structures of metal or predominantly
made of metal, including rail structures for conveying
machines and roller conveyors for conveying goods for
storage and retrieval, including but not limited to being
for use in warehousing, storage systems, shops, greenhouses
and car parks; bins, boxes and containers of metal or
predominantly made of metal for storage and transportation
of goods; greenhouses; parts and fittings for all the
aforementioned goods. Conveyor installations, machines for commissioning storage
system and conveyor installations; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for the storage of goods; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for agricultural and horticultural use; mechanical
storage systems, robotic storage systems, conveyor
installations and machines for shipping, freight and cargo
handling; components for the aforesaid systems and
installations, included in this class; conveying machines,
apparatus and installations; conveying machines, apparatus
and installations, namely conveyors and roller conveyors for
conveying goods for storage and retrieval; conveying
machines, apparatus and installations, namely conveyors and
roller conveyors for conveying goods for storage and
retrieval, being for use in warehousing, storage systems,
shops, greenhouses and car parks; electronically controlled
machines and apparatus for use for storage and retrieval of
goods; packing machines; sorting machines; sorting machines
for mail, parcels and packages; industrial robots;
autonomous industrial robots; production robots; autonomous
production robots; robotic handling apparatus; robotic
apparatus for product selection and handling; robotic
packing machines; robotic arms for industrial purposes;
control mechanisms for robotic machines; robotic mechanisms
for conveying; robotic mechanisms for lifting; materials
handling machines, apparatus, structures and equipment;
boxes and containers adapted for use with the aforementioned
machines and apparatus; machine coupling and transmission
components (except for land vehicles); motors and engines
(except for land vehicles); electronic controlled machines
for storing of goods; conveyor installations and machines
for commissioning storage system and conveyor installations;
electronically controlled materials handling machines,
apparatus, structures and equipment; computerised materials
handling machines, apparatus, structures and equipment;
parts and fittings for all the aforementioned goods. Computer software; network software; computer operating
programs; computer software and hardware for use in
connection with programming and operating robots; computer
software using artificial intelligence for machine learning,
deep learning, computer vision, precise spatial location
coordination, image processing including shape and character
recognition, and robotics; mobile apps; mobile and online
applications; downloadable applications for use with mobile
devices; downloadable computer software applications;
application software for mobile phones; firmware; measuring,
signalling, regulating and control devices, and security
devices for storage systems; conveyor installations and
machines for commissioning storage system and conveyor
installations; software for use in storage systems,
conveyors and commissioning installations; data processing
equipment, computers and other computer hardware for use in
storage systems, conveyors and commissioning installations;
electric, electronic and apparatus and instruments and
apparatus and instruments for measuring, checking
(supervision) and cleaning; data processing equipment and
computers; data processing apparatus and appliances for
management of stocks; recorded computer programmes for
management of stocks; electronically controlled apparatus
and instruments, namely, computerised storage and retrieval
apparatus and instruments, being for use in the warehousing
of goods, storage systems, shops, greenhouses and car parks;
scanners; boxes and containers adapted for use with the
aforementioned goods; electronically controlled apparatus
and instruments, namely, computerised electronic apparatus
and instruments for observation, management and/or operation
of storage and retrieval machines and systems, being for use
in the warehousing of goods, storage systems, shops,
greenhouses and car parks; data processing apparatus and
appliances for management of storage depots and warehouses;
recorded computer programs and software for management of
storage depots and warehouses; electric, electronic and
optical apparatus and instruments for measuring, monitoring,
checking (supervision) and cleaning excluding eyewear,
safety eyewear and accessories thereof; parts and fittings
for all the aforementioned goods. Machinery installation and maintenance services;
installation and maintenance of computer hardware;
installation and maintenance of communications apparatus;
installation and maintenance services in the field of
electric and electronic apparatus and systems; installation,
maintenance and repair of mechanical grids, frameworks and
structures of metal or predominantly made of metal, rail
structures for conveying machines, roller conveyors for
conveying goods for storage and retrieval, greenhouses,
storage systems, storing depots, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, storage
systems for freight and cargo handling, conveyor
installations and machines for the storage of goods,
conveyor installations and machines for agricultural and
horticultural use, conveyor installations and machines for
shipping, conveyor installations and machines for freight
and cargo handling, conveying machines, conveying apparatus
and conveying installations, conveyors and roller conveyors
for conveying goods for storage and retrieval,
electronically controlled machines and apparatus for use for
storage and retrieval of goods, packing machines, sorting
machines, sorting machines for mail, sorting machines for
parcels and packages, industrial robots, robotic vehicles,
robotic cars, robotic handling apparatus, robotic apparatus
for product selection and handling, materials handling
machines and apparatus, materials handling structures and
equipment, boxes and containers adapted for use with
conveying machines and apparatus, boxes and containers
adapted for use with sorting and handling machines and
apparatus, machine coupling and transmission components
(except for land vehicles), machines, motors and engines
(except for land vehicles), electronic controlled machines
for storing of goods, containers, bins, pallets, boxes,
refrigerated containers, refrigerated units, refrigerated
bins, refrigerated pallets, refrigerated boxes and storage
systems, freezer containers, freezer units, freezer bins,
freezer pallets, freezer boxes and storage systems;
installation, maintenance and repair of conveying machines,
apparatus and installations, including conveyors, roller
conveyors and conveyor grids for conveying goods for storage
and retrieval, for use in warehousing, storage systems,
greenhouses and car parks; installation, maintenance and
repair of electronic apparatus and instruments for
observation, management and operation of storage and
retrieval machines and systems, including but not limited to
being for use in warehousing, storage systems, shops,
greenhouses and car parks; installation, maintenance and
repair of industrial and production robots; rental and
leasing of conveying machines, apparatus and installations,
including conveyors, roller conveyors and conveyor grids for
conveying goods for storage and retrieval, for use in
warehousing, storage systems, greenhouses and car parks;
rental and leasing of industrial and production robots;
rental and leasing of electronic apparatus and instruments
for observation, management and operation of storage and
retrieval machines and systems, including but not limited to
being for use in warehousing, storage systems, shops,
greenhouses and car parks; rental of robotic handling
apparatus; rental of robotic apparatus for product selection
and handling; rental of electronically controlled machines
and apparatus for use for storage and retrieval of goods;
rental of conveying machines, apparatus and installations;
information, advisory and consultancy services relating to
the aforesaid services including the provision of such
services on line from a computer database or via the
Internet or extranets. Delivery of goods; transportation of goods; transportation
logistics; distribution of goods; packaging and storage of
goods; information about journeys, tariffs, timetables and
methods of transport; tracking services relating to
transportation and delivery of goods; reservation and
arrangement services relating to the transportation of goods
and merchandise; packaging of goods and arranging the
collection of goods; click and collect services for the
collection of goods; provision of car parks and car parking
services; vehicle rental; rental of warehouses; rental of
containers and pallets; rental of packing machines; rental
of storage systems; rental of refrigeration and freezer
storage systems; rental of boxes and containers;
information, advisory and consultancy services relating to
he aforesaid services including the provision of such
services on line from a computer database or via the
Internet or extranets. Writing, design and development of computer software;
development, design, management, hosting and maintenance of
websites; website search engine services; creating,
managing, developing, designing, maintaining and hosting of
websites; providing customised online web pages featuring
user-defined information; providing a commercial platform
for the dispatch, promotion, sale and resale of items via a
global computer network; computer services, namely remote
hosting of operating systems and computer applications;
hosting operating systems and computer applications through
the Internet; development, design, management and
maintenance of mobile apps; development, design, management
and maintenance of computer software for logistics, supply
chain management and e-business portals; development,
design, management and maintenance of computer software for
delivery route optimisation, vehicle tracking, industrial
automation and robotics; database development services;
computer programming services; application service provider,
namely, providing, hosting, managing, developing and
maintaining applications, software, websites and databases
in the fields of e-commerce, on-line payments, order
queuing, website design and data storage; leasing, hire and
rental of computer software and computer programmes;
electronic data storage; graphic design services; remote
monitoring of computer systems and computer networks;
updating of computer software; scientific and technological
services and research and design relating thereto;
industrial analysis and research services; research and
design relating to robotics; engineering services,
engineering consultancy services; engineering services
relating to robotics; research and design relating to
robotics; research and design relating to artificial
intelligence; writing, design and development of computer
software relating to robotics; writing design and
development of computer software relating to artificial
intelligence; leasing, hire and rental of computer software
and computer programmes; preparation, design, updating,
maintenance and rental of computer programs and software for
operating robots; engineering testing services; mechanical
engineering services; electromechanical engineering
services; optoelectronic engineering services; mechanical
engineering research, design and development services;
electromechanical engineering research, development and
design services; optoelectronic engineering research,
development and design services; technological engineering
services; technological engineering research, development
and design services; research, design and development
relating to mechanical grids, frameworks and structures of
metal or predominantly made of metal, rail structures for
conveying machines, roller conveyors for conveying goods for
storage and retrieval, including but not limited to,
greenhouses, storage systems, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, freight and
cargo handling, conveyor installations and machines for the
storage of goods, conveyor installations and machines for
agricultural and horticultural use, conveyor installations
and machines for shipping, freight and cargo handling,
conveying machines, apparatus and installations, conveying
machines, conveying apparatus and installations, conveyors
and roller conveyors for conveying goods for storage and
retrieval, electronically controlled machines and apparatus
for use for storage and retrieval of goods, packing
machines, sorting machines, sorting machines for mail,
sorting machines for parcels and packages, industrial
robots, robotic vehicles, robotic cars, robotic handling
apparatus, robotic apparatus for product selection and
handling, materials handling machines and apparatus,
materials handling structures and equipment, boxes and
containers adapted for use with conveying machines and
apparatus, boxes and containers adapted for use with sorting
and handling machines and apparatus, machine coupling and
transmission components (except for land vehicles),
machines, motors and engines (except for land vehicles),
electronic controlled machines for storing of goods,
containers, bins, pallets, boxes, refrigerated containers,
refrigerated units, refrigerated bins, refrigerated pallets,
refrigerated boxes and storage systems, freezer containers,
freezer units, freezer bins, freezer pallets, freezer boxes
and storage systems; software research, research projects
and studies; technical research, research projects and
studies; research and design relating to mechanical,
electromechanical and optoelectronic apparatus and
instruments; research and design relating to the automation
of industrial processes; preparation, updating, maintenance
and rental of computers, computer programmes and software
designed for management of stocks; preparation, design,
updating, maintenance and rental of computer programs and
software for the management of storage depots and
warehouses; preparation, design, updating, maintenance and
rental of computer programs and software for operating
conveying machines, apparatus and systems for storage and
retrieval of goods; preparation, design, updating,
maintenance, repair and rental of computer programs and
software; preparation, design, updating, maintenance and
rental of computer programs and software for operating
materials handling machines, apparatus, structures and
equipment; rental of computers and computer peripherals;
providing a web-based system and online portals in the field
of consumer-to-business commerce; storage of data and
information by electronic means; information, advisory and
consultancy services relating to the aforesaid services
including the provision of such services on line from a
computer database or via the Internet or extranets. Licensing of technology; licensing of computer software;
licensing of intellectual property; information, advisory
and consultancy services relating to the aforesaid services
including the provision of such services online from a
computer database or via the Internet or extranets.
A system and method of order fulfilment is described. The system comprises a storage and retrieval system, a transfer system and at least one pick station. The transfer system further comprises conveyance means disposed between the storage and retrieval system and the pick station such that items delivered to the transfer system from the storage and retrieval system may be conveyed to the pick stations independently of the normal operation of the pick station.
A storage system is disclosed which includes a series of fire detection, suppression and extinguishing capability. The system can include containers formed as structural composites. The containers can have multiple portions of a structural or storage nature. The system can use the containers and the system itself to reduce a likelihood of fire spreading through large grid based systems.
The present disclosure relates to a robotic picking station for a storage system having a framework structure, the robotic picking station comprises a robotic manipulator mountable on the framework structure, a supply line configured to provide a service to the robotic manipulator and a supply line management system. The supply line management system comprises a guide element configured to hold the supply line clear of the framework structure as the robotic manipulator moves.
B25J 5/02 - Manipulators mounted on wheels or on carriages travelling along a guideway
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B65G 1/00 - Storing articles, individually or in orderly arrangement, in warehouses or magazines
B65G 47/90 - Devices for picking-up and depositing articles or materials
41.
METHOD AND SYSTEM FOR DYNAMICALLY ALLOCATING RESOURCES IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
Method and system for dynamically allocating resources in an automated storage and retrieval system A computer-implemented method and system for dynamically allocating resources in an automated storage and retrieval system (ASRS) with a plurality of load handling devices is disclosed. The plurality of load-handling devices are apportioned between picking tasks and outbound tasks based on a difference between a target number of filled containers and the real-time number of the filled containers. This results in efficient use of the ASRS when fulfilling orders.
An apparatus (2) for unloading or loading one or more containers of a plurality of containers stacked up in multiple layers on a pallet, each of the plurality of containers comprising a bottom wall and upwardly standing sidewalls, the apparatus comprising: a) a pivot member (6) for supporting a container, b) a guide rail (8) arranged above the pivot member (6), the guide rail (8) supporting an engagement feature (4) for engaging with a sidewall of a target container (34), the engagement feature (4) is moveable in a substantially horizontal direction along the guide rail (8) relative to the pivot member (6); wherein the engagement feature (4) is configured such that there is relative vertical movement between the engagement feature (4) and the pivot member (6) such that when the engagement feature (4) is engaged with the sidewall of the target container (34), movement of the engagement feature (4) in the vertical direction relative to the pivot member (6) causes the target container (34) to tilt on a container in a layer immediately below the target container or on the pallet and relative movement between the engagement feature and the pivot member in the substantially horizontal direction causes the target container to pivot about the pivot member as it is moved onto or removed from the pivot member.
The present disclosure relates to a robotic picking station for a storage system having a framework structure. The robotic picking station comprises a robotic manipulator mountable on the framework structure, a supply line arranged to be routed through the framework structure to the robotic manipulator, the supply line being configured to provide a service to the robotic manipulator, and a supply line management system. The supply line management system comprises a spool element defining a bending radius for the supply line about the robotic manipulator.
B25J 5/02 - Manipulators mounted on wheels or on carriages travelling along a guideway
B25J 19/00 - Accessories fitted to manipulators, e.g. for monitoring, for viewingSafety devices combined with or specially adapted for use in connection with manipulators
B65G 1/00 - Storing articles, individually or in orderly arrangement, in warehouses or magazines
B65G 47/90 - Devices for picking-up and depositing articles or materials
44.
TAKE-UP ARM, LOAD HANDLING DEVICE AND RELATED STORAGE AND RETRIEVAL SYSTEM
A take-up arm (160) is provided for a load handling device (100) comprising a body mounted on a first set of wheels (112) being arranged to engage with a first set of parallel tracks and a second set of wheels (114) being arranged to engage with a second set of parallel tracks; a direction-change assembly (130) arranged to raise or lower the first set of wheels (112) and or lower or raise the second set of wheels (114) for engaging and disengaging the wheels with the parallel tracks; and a plurality of drive belt (110) assemblies each comprising a drive belt (116), a drive wheel (118), and a take-up arm (160), wherein the drive belt is routed around a respective set of wheels, and the first set of wheels (112) and the second set of wheels (114) are driven by respective drive belt assemblies, the first set of wheels and the second set of wheels being driven wheels. The take- up arm (160) comprises a limb (162) extending from one side of the direction-change assembly (130), the limb (162) being horizontally displaceable relative to the drive wheel and the driven wheels when the direction-change assembly moves to raise or lower the set of wheels, and the drive belt is further routed around the limb, the drive belt having a drive belt route, wherein the limb is extendable, movable between a retracted position and an extended position, and wherein the limb is arranged to be in the retracted position when the wheels are lowered, and the limb is arranged to be in the extended position when the wheels are raised thereby extending the route of the drive belt and take-up slack in the drive belt when the wheels are in the raised position.
F16H 7/02 - Gearings for conveying rotary motion by endless flexible members with beltsGearings for conveying rotary motion by endless flexible members with V-belts
F16H 7/08 - Means for varying tension of belts, ropes, or chains
F16H 7/12 - Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
45 - Legal and security services; personal services for individuals.
Goods & Services
Conveyor installations, machines for commissioning storage
system and conveyor installations; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for the storage of goods; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for agricultural and horticultural use; mechanical
storage systems, robotic storage systems, conveyor
installations and machines for shipping, freight and cargo
handling; components for the aforesaid systems and
installations, included in this class; conveying machines,
apparatus and installations; conveying machines, apparatus
and installations, namely conveyors and roller conveyors for
conveying goods for storage and retrieval; conveying
machines, apparatus and installations, namely conveyors and
roller conveyors for conveying goods for storage and
retrieval, being for use in warehousing, storage systems,
shops, greenhouses and car parks; electronically controlled
machines and apparatus for use for storage and retrieval of
goods; packing machines; sorting machines; sorting machines
for mail, parcels and packages; industrial robots;
autonomous industrial robots; production robots; autonomous
production robots; robotic handling apparatus; robotic
apparatus for product selection and handling; robotic
packing machines; robotic arms for industrial purposes;
control mechanisms for robotic machines; robotic mechanisms
for conveying; robotic mechanisms for lifting; materials
handling machines, apparatus, structures and equipment;
boxes and containers adapted for use with the aforementioned
machines and apparatus; machine coupling and transmission
components (except for land vehicles); motors and engines
(except for land vehicles); electronic controlled machines
for storing of goods; conveyor installations and machines
for commissioning storage system and conveyor installations;
electronically controlled materials handling machines,
apparatus, structures and equipment; computerised materials
handling machines, apparatus, structures and equipment;
electric and electronic apparatus and instruments for
cleaning; parts and fittings for all the aforementioned
goods. Computer software; network software; computer operating
programs; computer software and hardware for use in
connection with programming and operating robots; computer
software using artificial intelligence for machine learning,
deep learning, computer vision, precise spatial location
coordination, image processing including shape and character
recognition, and robotics; mobile apps; mobile and online
applications; downloadable applications for use with mobile
devices; downloadable computer software applications;
application software for mobile phones; firmware; measuring,
signalling, regulating and control devices, and security
devices for storage systems; conveyor installations and
machines for commissioning storage system and conveyor
installations; software for use in storage systems,
conveyors and commissioning installations; data processing
equipment, computers and other computer hardware for use in
storage systems, conveyors and commissioning installations;
electric, electronic and optical apparatus and instruments
for measuring, checking (supervision); data processing
equipment and computers; data processing apparatus and
appliances for management of stocks; recorded computer
programmes for management of stocks; electronic controllers
for computerised storage and retrieval apparatus and
instruments, being for use in the warehousing of goods,
storage systems, shops, greenhouses and car parks; scanners;
boxes and containers adapted for use with the aforementioned
goods; electronically controlled apparatus and instruments,
namely, computerised data processing and communications
apparatus and instruments for observation, management and/or
operation of storage and retrieval machines and systems,
being for use in the warehousing of goods, storage systems,
shops, greenhouses and car parks; data processing apparatus
and appliances for management of storage depots and
warehouses; recorded computer programs and software for
management of storage depots and warehouses; electric,
electronic and optical apparatus and instruments for
measuring, monitoring, checking (supervision); parts and
fittings for all the aforementioned goods. Maintenance services; machinery installation and maintenance
services; installation and maintenance of computer hardware;
installation and maintenance of communications apparatus;
installation and maintenance services in the field of
electric and electronic apparatus and systems; installation,
maintenance and repair of mechanical grids, frameworks and
structures of metal or predominantly made of metal, rail
structures for conveying machines, roller conveyors for
conveying goods for storage and retrieval, greenhouses,
storage systems, storing depots, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, storage
systems for freight and cargo handling, conveyor
installations and machines for the storage of goods,
conveyor installations and machines for agricultural and
horticultural use, conveyor installations and machines for
shipping, conveyor installations and machines for freight
and cargo handling, conveying machines, conveying apparatus
and conveying installations, conveyors and roller conveyors
for conveying goods for storage and retrieval,
electronically controlled machines and apparatus for use for
storage and retrieval of goods, packing machines, sorting
machines, sorting machines for mail, sorting machines for
parcels and packages, industrial robots, robotic vehicles,
robotic cars, robotic handling apparatus, robotic apparatus
for product selection and handling, materials handling
machines and apparatus, materials handling structures and
equipment, boxes and containers adapted for use with
conveying machines and apparatus, boxes and containers
adapted for use with sorting and handling machines and
apparatus, machine coupling and transmission components
(except for land vehicles), machines, motors and engines
(except for land vehicles), electronic controlled machines
for storing of goods, containers, bins, pallets, boxes,
refrigerated containers, refrigerated units, refrigerated
bins, refrigerated pallets, refrigerated boxes and storage
systems, freezer containers, freezer units, freezer bins,
freezer pallets, freezer boxes and storage systems;
installation, maintenance and repair of conveying machines,
apparatus and installations, including conveyors, roller
conveyors and conveyor grids for conveying goods for storage
and retrieval, for use in warehousing, storage systems,
greenhouses and car parks; installation, maintenance and
repair of electronic apparatus and instruments for
observation, management and operation of storage and
retrieval machines and systems, including but not limited to
being for use in warehousing, storage systems, shops,
greenhouses and car parks; installation, maintenance and
repair of industrial and production robots; information,
advisory and consultancy services relating to the aforesaid
services including the provision of such services on line
from a computer database or via the Internet or extranets. Rental and leasing of storage and transport machines,
apparatus and installations, namely conveyors, roller
conveyors and conveyor grids for conveying goods for storage
and retrieval, for use in warehousing, storage systems,
greenhouses and car parks; rental and leasing of electronic
storage apparatus and instruments for tracking, locating and
monitoring of storage and retrieval machines and systems,
including but not limited to being for use in warehousing,
storage systems, shops, greenhouses and car parks; rental of
robotic handling apparatus; rental of robotic handling
apparatus for product selection and handling of goods;
rental of electronically controlled machines and apparatus
for the storage and retrieval of goods in storage; rental
and leasing of industrial transportation and handling robots
for use in warehousing, storage systems, greenhouses and car
parks; rental of conveying machines, apparatus and
installations for use in the warehousing of goods, storage
systems, shops, greenhouses and car parks. Writing, design and development of computer software;
development, design, management, hosting and maintenance of
websites; website search engine services; creating,
managing, developing, designing, maintaining and hosting of
websites; providing customised online web pages featuring
user-defined information; designing and hosting a commercial
platform for the dispatch, promotion, sale and resale of
items via a global computer network; computer services,
namely remote hosting of operating systems and computer
applications; hosting operating systems and computer
applications through the Internet; development, design,
management and maintenance of mobile apps; development,
design, management and maintenance of computer software for
logistics, supply chain management and e-business portals;
development, design, management and maintenance of computer
software for delivery route optimisation, vehicle tracking,
industrial automation and robotics; database development
services; computer programming services; application service
provider, namely, providing, hosting, managing, developing
and maintaining applications, software, websites and
databases in the fields of e-commerce, on-line payments,
order queuing, website design and data storage; leasing,
hire and rental of computer software and computer
programmes; electronic data storage; graphic design
services; remote monitoring of computer systems and computer
networks; updating of computer software; scientific and
technological services and research and design relating
thereto; industrial analysis and research services; research
and design relating to robotics; engineering services,
engineering consultancy services; engineering services
relating to robotics; research and design relating to
robotics; research and design relating to artificial
intelligence; writing, design and development of computer
software relating to robotics; writing design and
development of computer software relating to artificial
intelligence; leasing, hire and rental of computer software
and computer programmes; preparation, design, updating,
maintenance and rental of computer programs and software for
operating robots; engineering testing services; mechanical
engineering services; electromechanical engineering
services; optoelectronic engineering services; mechanical
engineering research, design and development services;
electromechanical engineering research, development and
design services; optoelectronic engineering research,
development and design services; technological engineering
services; technological engineering research, development
and design services; research, design and development
relating to mechanical grids, frameworks and structures of
metal or predominantly made of metal, rail structures for
conveying machines, roller conveyors for conveying goods for
storage and retrieval, including but not limited to,
greenhouses, storage systems, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, freight and
cargo handling, conveyor installations and machines for the
storage of goods, conveyor installations and machines for
agricultural and horticultural use, conveyor installations
and machines for shipping, freight and cargo handling,
conveying machines, apparatus and installations, conveying
machines, conveying apparatus and installations, conveyors
and roller conveyors for conveying goods for storage and
retrieval, electronically controlled machines and apparatus
for use for storage and retrieval of goods, packing
machines, sorting machines, sorting machines for mail,
sorting machines for parcels and packages, industrial
robots, robotic vehicles, robotic cars, robotic handling
apparatus, robotic apparatus for product selection and
handling, materials handling machines and apparatus,
materials handling structures and equipment, boxes and
containers adapted for use with conveying machines and
apparatus, boxes and containers adapted for use with sorting
and handling machines and apparatus, machine coupling and
transmission components (except for land vehicles),
machines, motors and engines (except for land vehicles),
electronic controlled machines for storing of goods,
containers, bins, pallets, boxes, refrigerated containers,
refrigerated units, refrigerated bins, refrigerated pallets,
refrigerated boxes and storage systems, freezer containers,
freezer units, freezer bins, freezer pallets, freezer boxes
and storage systems; software research, research projects
and studies; technical research, research projects and
studies; research and design relating to mechanical,
electromechanical and optoelectronic apparatus and
instruments; research and design relating to the automation
of industrial processes; preparation, updating, maintenance
and rental of computers, computer programmes and software
designed for management of stocks; preparation, design,
updating, maintenance and rental of computer programs and
software for the management of storage depots and
warehouses; preparation, design, updating, maintenance and
rental of computer programs and software for operating
conveying machines, apparatus and systems for storage and
retrieval of goods; preparation, design, updating,
maintenance, repair and rental of computer programs and
software; preparation, design, updating, maintenance and
rental of computer programs and software for operating
materials handling machines, apparatus, structures and
equipment; rental of computers and computer peripherals;
designing and hosting a web-based system and online portals
in the field of consumer-to-business commerce; storage of
data and information by electronic means; information,
advisory and consultancy services relating to the aforesaid
services including the provision of such services on line
from a computer database or via the Internet or extranets. Licensing of technology; licensing of computer software;
licensing of intellectual property; information, advisory
and consultancy services relating to the aforesaid services
including the provision of such services on line from a
computer database or via the Internet or extranets.
A take-up arm is provided for a load handling device. The load handling device comprises a body mounted on a first set of wheels being arranged to engage with a first set of parallel tracks and a second set of wheels being arranged to engage with a second set of parallel tracks, wherein the first set of wheel and second set of wheels are arranged on respective wheel mounts; a direction-change assembly comprising at least one direction-change mechanism arranged to raise or lower the first set of wheels and or lower or raise the second set of wheels for engaging and disengaging the wheels with the parallel tracks; and a plurality of drive belt assemblies each comprising a drive belt, a drive wheel, and a take-up arm, wherein the drive belt is routed around the drive wheel and a respective first or second set of wheels, wherein the first set of wheels and the second set of wheels are driven by respective drive belt assemblies, the first set of wheels and the second set of wheels being driven wheels, wherein each of the at least one direction-change mechanism is horizontally displaceable relative to the drive wheel and the driven wheels to raise or lower a respective set of driven wheels; and wherein each of the wheel mounts is vertically displaceable relative to the drive wheel to raise or lower the set of wheels. The take-up arm comprises a linkage arrangement having a first portion pivotally attached to one side of a respective direction-change mechanism, to move horizontally with the direction-change mechanism, and a second portion pivotally attached to a respective wheel mount, to move vertically with the wheel mount, wherein the first portion and second portion are attached at an elbow joint, and wherein the drive belt is further routed around the linkage arrangement, and the linkage arrangement is arranged to take-up slack in the drive belt. A load handling device is provided, comprising a take-up arm as defined herein. A grid-based automated storage and retrieval system is provided, comprising a grid framework structure comprising a first set of parallel rails or tracks and a second set of parallel rails or tracks extending substantially perpendicularly to the first set of rails or tracks in a substantially horizontal plane to form a grid pattern comprising a plurality of grid spaces, wherein the grid is supported by a set of uprights to form a plurality of vertical storage locations beneath the grid for containers to be stacked between and be guided by the uprights in a vertical direction through the plurality of grid spaces; at least one load handling device operating on the grid framework structure; and a centralised control utility for controlling the at least one load handling device.
A method for exchanging a power source in a load handling device operative on a grid framework structure, the grid framework structure including a track system extending in a substantially horizontal plane and forming a grid pattern containing a plurality of grid cells; a plurality of upright columns supporting the track system; and a plurality of stacks of storage containers arranged in a plurality of storage columns located below the track system. The method includes removing a first power source from the load handling device; inserting the first power source into a first storage container in a first grid cell; removing a second power source from a second storage container in a second grid cell; and inserting the second power source into the load handling device.
This disclosure provides a measuring unit, load handling device, storage and retrieval system, and a method of determining alignment of a grid framework structure in a storage and retrieval system. The grid framework structure comprises a supporting framework structure upon which is mounted a track system that supports remotely operated load handling devices for handling storage containers stacked in storage columns the grid framework structure, and a plurality of guides for guiding storage containers in a storage column when lifted or lowered by the load handling device. In one aspect, a measuring unit is provided, comprising at least one distance sensor mounted to the measuring unit configured to measure the distance(s) between the sensor and a vertical surface of a guide. In another aspect, a load handling device is provided, configured to lift and lower a measuring unit. In another aspect, a storage and retrieval system is provided, comprising a grid framework structure, one or more load handling devices, and one or more measuring units. In another aspect, a method of determining the alignment of a grid framework structure is provided. The method comprises moving a measuring unit within a storage column in a vertical direction, guided by a set of guides. Each of the at least one distance sensor is used to measure the distance between the distance sensor and one guide of the set of guides, and the measured distance(s) are used to determine whether the set of guides is misaligned.
A grid framework structure configured to support one or more robotic load handling devices includes: a grid structure having a first set of parallel grid members extending in a first direction and a second set of parallel grid members extending in a second direction to form a grid pattern of grid cells; a track system; and a supporting framework structure for supporting the grid structure above ground to create a storage space for containers such that load handling devices can lift containers through a grid cell; wherein: the supporting framework structure includes a plurality of prefabricated modular panels.
A storage system is disclosed where goods can be stored in containers and the containers are stored in stacks. Above the stacks runs a grid network of rails (e.g., tracks) on which load handling devices can run. To take containers from the stacks and deposit then at alternative locations in the stacks or deposit then at stations where goods may be picked. The framework may be provided with one or more of the following exemplary services: power, power control, heating, lighting, cooling, sensors, and data logging devices. The provision of these services within the framework rather than across the system as a whole, can allow for flexibility in storage whilst reducing cost and inefficiency.
A01G 9/18 - Greenhouses for treating plants with carbon dioxide or the like
A01G 31/06 - Hydroponic culture on racks or in stacked containers
A47L 7/00 - Suction cleaners adapted for additional purposesTables with suction openings for cleaning purposesContainers for cleaning articles by suctionSuction cleaners adapted to cleaning of brushesSuction cleaners adapted to taking-up liquids
E04B 1/348 - Structures composed of units comprising at least considerable parts of two sides of a room, e.g. box-like or cell-like units closed or in skeleton form
E04B 1/94 - Protection against other undesired influences or dangers against fire
E04B 2/74 - Removable non-load-bearing partitionsPartitions with a free upper edge
E04H 6/18 - Garages for many vehicles with mechanical means for shifting or lifting vehicles with means for transport in vertical direction only or independently in vertical and horizontal directions
E06B 9/68 - Operating devices or mechanisms, e.g. with electric drive
A storage and retrieval system comprising: a) a grid framework structure comprising a plurality of storage columns for the storage of a plurality of stacks of storage containers, a track system comprising a plurality of tracks arranged in a grid pattern comprising a plurality of grid cells arranged above the plurality of storage columns; b) a plurality of stacks of storage containers, each stack occupying a single storage column, wherein each storage container comprises a bottom wall, upwardly standing sidewalls and an opening for receiving one or more items to define a box-like structure, each storage container further comprising a rim portion extending around at least a portion of the periphery of the opening of the box-like structure for supporting the bottom wall of an adjacent storage container above in a stack, and wherein a portion of the box-like structure is formed from a cellulose material; c) a plurality of robotic load handling devices moveable on the track system for lifting and moving storage containers stacked in the storage columns.
B65D 5/00 - Rigid or semi-rigid containers of polygonal cross-section, e.g. boxes, cartons or trays, formed by folding or erecting one or more blanks made of paper
B65D 21/00 - Nestable, stackable or joinable containersContainers of variable capacity
A warehouse automation system adapted to improve warehouse operating productivity includes a plurality of carts for transporting products within a warehouse and a controller. The controller is adapted to associate a first one of the plurality of carts with a first person and to control the first cart to lead the first person around the warehouse. According to one advantage, the time the first person spends restocking, picking, counting, sorting, moving, and packing product into customer orders and shipments, for example, is reduced.
A method for detecting seismic events, the method including acquiring acceleration data over a given period of time from one or more accelerometers located on a grid framework structure; comparing the acquired acceleration data to ground acceleration data from one or more accelerometers located on the ground; determining a differential acceleration between the acceleration data and the ground acceleration data; determining displacement data from the differential acceleration; and determining whether a seismic event has taken place over the given period of time based on the displacement data.
An adjustable spacer for adjusting the spacing between two bodies includes a first rotatable indexing mechanism configured to rotate in a first rotational direction; and/or a second rotatable indexing mechanism configured to rotate in a second rotational direction opposite the first rotational direction; wherein rotation of the first rotatable indexing mechanism by a given angular rotation in the first rotational direction changes a length of the adjustable spacer along the rotational axis by a first length, and rotation of the second rotatable indexing mechanism in the second direction by the same given angular rotation about the rotational axis changes the length of the adjustable spacer along the rotational axis by a second length.
A load handling device designed to operate on the top of a cubic automated storage and retrieval system (ASRS). The load handling device comprises two wireless network interfaces which can be bonded into a single wireless connection with a wireless access point. In use, one of the wireless network interfaces can be used to connect to a further wireless access point. Data may then flow from the ASRS to the load handling device via the further wireless access point. The bonded connection may then be re-configured to connect via the further wireless access point.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
A load handling device designed to operate on the top of a cubic automated storage and retrieval system (ASRS). The load handling device comprises two wireless network interfaces, with one or more antennae being connected to each of the wireless network interfaces. The load handling device can establish two concurrent wireless communication links to different wireless access points. One of the links is used as a primary link, which is used in the control of the load handling device, and the other link is used as a secondary link.
H04L 67/12 - Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
An adaptor (74) for coupling a rotational drive mechanism (76) to a container lifting assembly (42) of a robotic load handling device, said container lifting assembly comprising (i) a grabber device configured to engage with a storage container; (ii) a plurality of timing pulleys and; (iii) a lifting drive mechanism comprising a drive shaft coupled to the plurality of timing pulleys for raising and lowering the grabber device, the adaptor (74) comprising; a) a body comprising a first portion configured to engage with the robotic load handling device and a second portion having an opening for receiving the rotational drive mechanism; b) a shaft having a first end extending through the body to define a drive bit, said drive bit being configured to releasably couple with the container lifting assembly (42) and a second end configured to releasably couple with the rotational drive mechanism (76) such that in use, when the drive bit is coupled to the container lifting assembly, the rotational drive mechanism (76) overrides the lifting drive mechanism (48) of the container lifting assembly (42) to raise the grabber device in a first rotational direction of the rotational drive mechanism and lower the grabber device in a second rotational direction of the rotational drive mechanism, c) a releasable brake mechanism coupled to the shaft and configured to brake rotation of the shaft in the second rotational direction.
06 - Common metals and ores; objects made of metal
07 - Machines and machine tools
09 - Scientific and electric apparatus and instruments
11 - Environmental control apparatus
20 - Furniture and decorative products
37 - Construction and mining; installation and repair services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
45 - Legal and security services; personal services for individuals.
Goods & Services
Grids, frameworks and structures of metal or predominantly
made of metal, including rail structures for conveying
machines and roller conveyors for conveying goods for
storage and retrieval, including but not limited to being
for use in warehousing, storage systems, shops, greenhouses
and car parks; bins, boxes and containers of metal or
predominantly made of metal for storage and transportation
of goods; greenhouses of metal; parts and fittings for all
the aforementioned goods. Conveyor installations, machines for commissioning storage
system and conveyor installations; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for the storage of goods; mechanical storage
systems, robotic storage systems, conveyor installations and
machines for agricultural and horticultural use; mechanical
storage systems, robotic storage systems, conveyor
installations and machines for shipping, freight and cargo
handling; components for the aforesaid systems and
installations, included in this class; conveying machines,
apparatus and installations; conveying machines, apparatus
and installations, namely conveyors and roller conveyors for
conveying goods for storage and retrieval; conveying
machines, apparatus and installations, namely conveyors and
roller conveyors for conveying goods for storage and
retrieval, being for use in warehousing, storage systems,
shops, greenhouses and car parks; electronically controlled
machines and apparatus for use for storage and retrieval of
goods; packing machines; sorting machines; sorting machines
for mail, parcels and packages; industrial robots;
autonomous industrial robots; production robots; autonomous
production robots; robotic handling apparatus; robotic
apparatus for product selection and handling; robotic
packing machines; robotic arms for industrial purposes;
control mechanisms for robotic machines; robotic mechanisms
for conveying; robotic mechanisms for lifting; materials
handling machines, apparatus, structures and equipment;
boxes and containers adapted for use with the aforementioned
machines and apparatus; machine coupling and transmission
components (except for land vehicles); motors and engines
(except for land vehicles); electronic controlled machines
for storing of goods; conveyor installations and machines
for commissioning storage system and conveyor installations;
electronically controlled materials handling machines,
apparatus, structures and equipment; computerised materials
handling machines, apparatus, structures and equipment;
parts and fittings for all the aforementioned goods. Computer software; network software; computer operating
programs; computer software and hardware for use in
connection with programming and operating robots; computer
software using artificial intelligence for machine learning,
deep learning, computer vision, precise spatial location
coordination, image processing including shape and character
recognition, and robotics; mobile apps; mobile and online
applications; downloadable applications for use with mobile
devices; downloadable computer software applications;
application software for mobile phones; firmware; measuring,
signalling, regulating and control devices, and security
devices for storage systems; conveyor installations and
machines for commissioning storage system and conveyor
installations; software for use in storage systems,
conveyors and commissioning installations; data processing
equipment, computers and other computer hardware for use in
storage systems, conveyors and commissioning installations;
electric and electronic apparatus and instruments for
measuring, checking (supervision) and cleaning; data
processing equipment and computers; data processing
apparatus and appliances for management of stocks; recorded
computer programmes for management of stocks; electronically
controlled apparatus and instruments, namely, computerised
storage and retrieval apparatus and instruments, being for
use in the warehousing of goods, storage systems, shops,
greenhouses and car parks; scanners; boxes and containers
adapted for use with the aforementioned goods;
electronically controlled apparatus and instruments, namely,
computerised electronic apparatus and instruments for
observation, management and/or operation of storage and
retrieval machines and systems, being for use in the
warehousing of goods, storage systems, shops, greenhouses
and car parks; data processing apparatus and appliances for
management of storage depots and warehouses; recorded
computer programs and software for management of storage
depots and warehouses; electric, electronic and optical
apparatus and instruments for measuring, monitoring,
checking (supervision) and cleaning excluding eyewear,
safety eyewear and accessories thereof; parts and fittings
for all the aforementioned goods. Refrigerated containers, units, bins, pallets, boxes and
storage systems; freezer containers, units, bins, pallets,
boxes and storage systems; parts and fittings for all the
aforementioned goods. Bins, boxes and containers made of plastic or predominantly
made of plastic; bins, boxes and containers made of plastic
or predominantly made of plastic for storage and retrieval
by conveying machines in warehousing; parts and fittings for
all the aforementioned goods. Maintenance services; machinery installation and maintenance
services; installation and maintenance of computer hardware;
installation and maintenance of communications apparatus;
installation and maintenance services in the field of
electric and electronic apparatus and systems; installation,
maintenance and repair of mechanical grids, frameworks and
structures of metal or predominantly made of metal, rail
structures for conveying machines, roller conveyors for
conveying goods for storage and retrieval, greenhouses,
storage systems, storing depots, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, storage
systems for freight and cargo handling, conveyor
installations and machines for the storage of goods,
conveyor installations and machines for agricultural and
horticultural use, conveyor installations and machines for
shipping, conveyor installations and machines for freight
and cargo handling, conveying machines, conveying apparatus
and conveying installations, conveyors and roller conveyors
for conveying goods for storage and retrieval,
electronically controlled machines and apparatus for use for
storage and retrieval of goods, packing machines, sorting
machines, sorting machines for mail, sorting machines for
parcels and packages, industrial robots, robotic vehicles,
robotic cars, robotic handling apparatus, robotic apparatus
for product selection and handling, materials handling
machines and apparatus, materials handling structures and
equipment, boxes and containers adapted for use with
conveying machines and apparatus, boxes and containers
adapted for use with sorting and handling machines and
apparatus, machine coupling and transmission components
(except for land vehicles), machines, motors and engines
(except for land vehicles), electronic controlled machines
for storing of goods, containers, bins, pallets, boxes,
refrigerated containers, refrigerated units, refrigerated
bins, refrigerated pallets, refrigerated boxes and storage
systems, freezer containers, freezer units, freezer bins,
freezer pallets, freezer boxes and storage systems;
installation, maintenance and repair of conveying machines,
apparatus and installations, including conveyors, roller
conveyors and conveyor grids for conveying goods for storage
and retrieval, for use in warehousing, storage systems,
greenhouses and car parks; installation, maintenance and
repair of electronic apparatus and instruments for
observation, management and operation of storage and
retrieval machines and systems, including but not limited to
being for use in warehousing, storage systems, shops,
greenhouses and car parks; installation, maintenance and
repair of industrial and production robots; rental and
leasing of conveying machines, apparatus and installations,
including conveyors, roller conveyors and conveyor grids for
conveying goods for storage and retrieval, for use in
warehousing, storage systems, greenhouses and car parks;
rental and leasing of industrial and production robots;
rental and leasing of electronic apparatus and instruments
for observation, management and operation of storage and
retrieval machines and systems, including but not limited to
being for use in warehousing, storage systems, shops,
greenhouses and car parks; rental of robotic handling
apparatus; rental of robotic apparatus for product selection
and handling; rental of electronically controlled machines
and apparatus for use for storage and retrieval of goods;
rental of conveying machines, apparatus and installations;
information, advisory and consultancy services relating to
the aforesaid services including the provision of such
services on line from a computer database or via the
Internet or extranets. Delivery of goods; transportation of goods; transportation
logistics; distribution of goods; packaging and storage of
goods; information about journeys, tariffs, timetables and
methods of transport; tracking services relating to
transportation and delivery of goods; reservation and
arrangement services relating to the transportation of goods
and merchandise; packaging of goods and arranging the
collection of goods; click and collect services for the
collection of goods; provision of car parks and car parking
services; vehicle rental; rental of warehouses; rental of
containers and pallets; rental of packing machines; rental
of storage systems; rental of refrigeration and freezer
storage systems; rental of boxes and containers;
information, advisory and consultancy services relating to
he aforesaid services including the provision of such
services on line from a computer database or via the
Internet or extranets. Writing, design and development of computer software;
development, design, management, hosting and maintenance of
websites; website search engine services; creating,
managing, developing, designing, maintaining and hosting of
websites; providing customised online web pages featuring
user-defined information; providing a commercial platform
for the dispatch, promotion, sale and resale of items via a
global computer network; computer services, namely remote
hosting of operating systems and computer applications;
hosting operating systems and computer applications through
the Internet; development, design, management and
maintenance of mobile apps; development, design, management
and maintenance of computer software for logistics, supply
chain management and e-business portals; development,
design, management and maintenance of computer software for
delivery route optimisation, vehicle tracking, industrial
automation and robotics; database development services;
computer programming services; application service provider,
namely, providing, hosting, managing, developing and
maintaining applications, software, websites and databases
in the fields of e-commerce, on-line payments, order
queuing, website design and data storage; leasing, hire and
rental of computer software and computer programmes;
electronic data storage; graphic design services; remote
monitoring of computer systems and computer networks;
updating of computer software; scientific and technological
services and research and design relating thereto;
industrial analysis and research services; research and
design relating to robotics; engineering services,
engineering consultancy services; engineering services
relating to robotics; research and design relating to
robotics; research and design relating to artificial
intelligence; writing, design and development of computer
software relating to robotics; writing design and
development of computer software relating to artificial
intelligence; leasing, hire and rental of computer software
and computer programmes; preparation, design, updating,
maintenance and rental of computer programs and software for
operating robots; engineering testing services; mechanical
engineering services; electromechanical engineering
services; optoelectronic engineering services; mechanical
engineering research, design and development services;
electromechanical engineering research, development and
design services; optoelectronic engineering research,
development and design services; technological engineering
services; technological engineering research, development
and design services; research, design and development
relating to mechanical grids, frameworks and structures of
metal or predominantly made of metal, rail structures for
conveying machines, roller conveyors for conveying goods for
storage and retrieval, including but not limited to,
greenhouses, storage systems, storage systems for the
storage of goods, storage systems for agricultural and
horticultural use, storage systems for shipping, freight and
cargo handling, conveyor installations and machines for the
storage of goods, conveyor installations and machines for
agricultural and horticultural use, conveyor installations
and machines for shipping, freight and cargo handling,
conveying machines, apparatus and installations, conveying
machines, conveying apparatus and installations, conveyors
and roller conveyors for conveying goods for storage and
retrieval, electronically controlled machines and apparatus
for use for storage and retrieval of goods, packing
machines, sorting machines, sorting machines for mail,
sorting machines for parcels and packages, industrial
robots, robotic vehicles, robotic cars, robotic handling
apparatus, robotic apparatus for product selection and
handling, materials handling machines and apparatus,
materials handling structures and equipment, boxes and
containers adapted for use with conveying machines and
apparatus, boxes and containers adapted for use with sorting
and handling machines and apparatus, machine coupling and
transmission components (except for land vehicles),
machines, motors and engines (except for land vehicles),
electronic controlled machines for storing of goods,
containers, bins, pallets, boxes, refrigerated containers,
refrigerated units, refrigerated bins, refrigerated pallets,
refrigerated boxes and storage systems, freezer containers,
freezer units, freezer bins, freezer pallets, freezer boxes
and storage systems; software research, research projects
and studies; technical research, research projects and
studies; research and design relating to mechanical,
electromechanical and optoelectronic apparatus and
instruments; research and design relating to the automation
of industrial processes; preparation, updating, maintenance
and rental of computers, computer programmes and software
designed for management of stocks; preparation, design,
updating, maintenance and rental of computer programs and
software for the management of storage depots and
warehouses; preparation, design, updating, maintenance and
rental of computer programs and software for operating
conveying machines, apparatus and systems for storage and
retrieval of goods; preparation, design, updating,
maintenance, repair and rental of computer programs and
software; preparation, design, updating, maintenance and
rental of computer programs and software for operating
materials handling machines, apparatus, structures and
equipment; rental of computers and computer peripherals;
providing a web-based system and online portals in the field
of consumer-to-business commerce; storage of data and
information by electronic means; information, advisory and
consultancy services relating to the aforesaid services
including the provision of such services on line from a
computer database or via the Internet or extranets. Licensing of technology; licensing of computer software;
licensing of intellectual property; information, advisory
and consultancy services relating to the aforesaid services
including the provision of such services on line from a
computer database or via the Internet or extranets.
The present disclosure relates to a finger sub-assembly for the gripper assembly of a robotic manipulator. The finger sub-assembly includes a base unit connectable to the gripper assembly by a mount and a high-friction pad for contacting an article during its manipulation, with the high-friction pad being mechanically secured to the base unit.
An automated container loader for loading a smaller storage container into a larger storage container. The loader includes a container support for receiving a larger storage container and a container loading assembly configured to receive a smaller storage container above the larger storage container and release the smaller storage container to allow the smaller storage container to descend under gravity into the larger storage container. The container loading assembly also includes a plurality of engagement surfaces configured to engage the smaller storage container during at least a portion of the descent of the smaller storage container to control the descent velocity of the smaller storage container under gravity.
A method and system for calibrating a wide-angle or ultra wide-angle camera disposed above a grid of a storage system. An image of a grid section and initial values of a plurality of parameters corresponding to the camera are obtained. The image is processed, using a neural network trained to detect/predict sets of parallel tracks in images of grid sections captured by wide-angle or ultra wide-angle cameras, to generate a model of the sets of parallel tracks as captured in the image. Selected pixels in the model are mapped to corresponding points on the grid using a mapping based on the plurality of parameters, with the initial values used as inputs to the mapping. An error function is determined based on a discrepancy between mapped grid coordinates of the points and known grid coordinates. The initial values of the parameters are updated based on the error function and the updated values are stored for mapping pixels in images of the grid section captured by the camera to corresponding points on the grid of the storage system.
A method and system for detecting a transport device in a workspace comprising a grid, the grid comprising a plurality of grid spaces. One or more transport devices are arranged to selectively move in at least one of the X-direction or Y-direction on the tracks, and to handle a container stacked beneath the tracks within a footprint of a single grid space. Image data, representative of an image of at least part of the workspace, is obtained and processed with an object detection model trained to detect instances of transport devices on the grid. It is determined, based on the processing, whether the image includes a transport device of the one or more transport devices. In response to determining that the image includes the transport device, annotation data indicating the transport device in the image is outputted.
An end effector connector arranged to connect a robotic arm and an end effector comprising a suction device. The end effector connector comprises a suction assembly having an integrated vacuum source configured to generate vacuum pressure for releasably engaging an item with the suction device when connected to the end effector connector in use.
An end effector connector arranged to connect a robotic arm and an end effector comprising a suction device to releasably engage an item, in use, with vacuum pressure generated by a vacuum source. The end effector connector comprises an integrated filter assembly for the vacuum source.
An end effector for a robotic arm, the end effector comprising a suction cup and an inline filter assembly in fluid communication with the suction cup.
Systems and methods for managing consolidated orders in a fulfillment center are described herein. The example systems can be configured to receive an exception when an item associated with a consolidated order cannot be collected. Subsequently, when the example systems determine that the item can be collected, the example systems can consider different factors in creating a job to collect the item. The different factors can include a shipping cutoff time, a size of the item, a capacity of a storage container used in collecting the item, and the size, location, and availability of other items to be collected for the consolidated order.
An end effector connector for a robotic arm, the end effector connector comprising a structural frame and a suction assembly mounted to the structural frame. The suction assembly is configured to generate vacuum pressure for releasably engaging an item. The structural frame comprises one of a male or female end of a twist-lock connection system configured to form a connection with the other of a male or female end of the twist-lock connection system connected to the robotic arm to secure the end effector connector to the robotic arm.
An end effector connector for a robotic arm, the end effector connector comprising a suction assembly configured to generate vacuum pressure for releasably engaging an item. The suction assembly comprises a manifold comprising a chamber and a vacuum generator housed within the chamber, the vacuum generator comprising a venturi restriction in fluid communication with the chamber. The suction assembly also comprises a first channel connectable to a pressure source, the first channel being configured to direct a pressurised fluid through the venturi restriction in order to generate the vacuum pressure within the chamber. The suction assembly further comprises a second channel opening into the chamber, wherein the second channel is alternately connectable to i) a vacuum measuring unit for measuring the vacuum pressure within the chamber when a pressurised fluid is directed through the venturi restriction; or, ii) the pressure source for delivering a pressurised fluid to the chamber in order to generate a positive pressure therein when the first channel is disconnected from the pressure source.
A storage and retrieval system comprising an enclosure in which the air temperature is regulated. The enclosure houses a storage structure comprising a track system arranged in a grid pattern, a plurality of storage columns for storing stacks of storage containers and a plurality or port columns, including a drop-off column and a pick-up column. A portion of the enclosure houses an access station for accessing the contents of a storage container. The access station is located below the track structure and between the drop-off column and the pick-up column to define a passage between the drop-off column and the pick-up column. The access station comprises a conveying device configured to convey a storage container along the passage. The portion of the enclosure comprises an external opening for allowing access to a storage container at the access station from outside the enclosure.
F25D 13/00 - Stationary devices associated with refrigerating machinery, e.g. cold rooms
F25D 13/06 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with conveyors carrying articles to be cooled through the cooling space
An end effector connector for a robotic arm, the end effector connector comprising a suction assembly configured to generate vacuum pressure for releasably engaging an item. The suction assembly comprises a manifold comprising a chamber and a vacuum generator housed within the chamber, the vacuum generator comprising a venturi restriction in fluid communication with the chamber. The suction assembly also comprises a first channel connectable to a pressure source, the first channel being configured to direct a pressurized fluid through the venturi restriction in order to generate the vacuum pressure within the chamber. The suction assembly further comprises a second channel opening into the chamber, wherein the second channel is alternately connectable to i) a vacuum measuring unit for measuring the vacuum pressure within the chamber when a pressurized fluid is directed through the venturi restriction; or, ii) the pressure source for delivering a pressurized fluid to the chamber in order to generate a positive pressure therein when the first channel is disconnected from the pressure source.
A container lifting assembly for raising and/or lowering containers stacked in stacks in a grid storage structure, includes a gripping device configured to releasably grip a container; a raising and lowering mechanism configured to raise and lower the gripping device; and a gearing mechanism configured to wind and/or unwind at least one tether. A motor is configured to actuate the gearing mechanism to wind and/or unwind the at least one tether. The at least one tether is connected to the gripping device such that winding and unwinding of the at least one tether is configured to raise and lower the gripping device.
A camera unit is provided for use with a cubic automated storage and retrieval system. The camera unit is configured to operate on a grid of the storage and retrieval system such that is received within a single grid cell of the storage and retrieval system. The camera unit is mounted to the framework of the storage and retrieval system and includes a camera array having one or more cameras. The camera unit is arranged such that the camera array may view one or more picking station located on the grid of the storage and retrieval system.
An automatic destacking device for loading and unloading containers from a rack, the destacking device including an unloading/loading unit including: a vertical frame having a pair of laterally spaced upright supports; a plurality of shelves vertically spaced between the upright supports, each shelf being configured to support a container thereon, wherein each shelf provides a storage level for the containers such that the shelves provide an array of vertically stacked storage levels for the containers, each shelf being vertically moveable to a different height position along the frame so as to move a container supported on the shelf up or down the storage levels.
A storage systems comprising a plurality of freestanding stacks of storage containers and load handling devices for depositing storage containers in and retrieving storage containers from the stacks, is disclosed.
An end effector connector for a robotic arm, the end effector connector comprising a structural frame and a suction assembly mounted to the structural frame. The suction assembly is configured to generate vacuum pressure for releasably engaging an item. The structural frame comprises one of a male or female end of a twist-lock connection system configured to form a connection with the other of a male or female end of the twist-lock connection system connected to the robotic arm to secure the end effector connector to the robotic arm.
An end effector connector arranged to connect a robotic arm and an end effector comprising a suction device. The end effector connector comprises a suction assembly having an integrated vacuum source configured to generate vacuum pressure for releasably engaging an item with the suction device when connected to the end effector connector in use.
An end effector connector arranged to connect a robotic arm and an end effector comprising a suction device to releasably engage an item, in use, with vacuum pressure generated by a vacuum source. The end effector connector comprises an integrated filter assembly for the vacuum source.
An end effector for a robotic arm, the end effector comprising a suction cup and an inline filter assembly in fluid communication with the suction cup.
A method and system for assisting the controlling of movement of one or more transport devices operating in a workspace. The method involves obtaining an image representation of the workspace captured by one or more image sensors and a target image portion of the image representation of the workspace. The target image portion is mapped to a target location in the workspace. An exclusion zone in the workspace, comprising the target location, is determined based on the mapping. The exclusion zone in the workspace is to prohibit the one or more transport devices from entering. Exclusion zone data, representative of the exclusion zone, is outputted to a control system for implementing the exclusion zone in the workspace.
06 - Common metals and ores; objects made of metal
07 - Machines and machine tools
45 - Legal and security services; personal services for individuals.
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
Goods & Services
Grids, frameworks and structures of metal or predominantly made of metal, including rail structures for conveying machines and roller conveyors for conveying goods for storage and retrieval, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; bins, boxes and containers of metal or predominantly made of metal for storage and transportation of goods; greenhouses; parts and fittings for all the aforementioned goods. Conveyor installations, machines for commissioning storage system and conveyor installations; mechanical storage systems, robotic storage systems, conveyor installations and machines for the storage of goods; mechanical storage systems, robotic storage systems, conveyor installations and machines for agricultural and horticultural use; mechanical storage systems, robotic storage systems, conveyor installations and machines for shipping, freight and cargo handling; components for the aforesaid systems and installations, included in this class; conveying machines, apparatus and installations; conveying machines, apparatus and installations, namely conveyors and roller conveyors for conveying goods for storage and retrieval; conveying machines, apparatus and installations, namely conveyors and roller conveyors for conveying goods for storage and retrieval, being for use in warehousing, storage systems, shops, greenhouses and car parks; electronically controlled machines and apparatus for use for storage and retrieval of goods; packing machines; sorting machines; sorting machines for mail, parcels and packages; industrial robots; autonomous industrial robots; production robots; autonomous production robots; robotic handling apparatus; robotic apparatus for product selection and handling; robotic packing machines; robotic arms for industrial purposes; control mechanisms for robotic machines; robotic mechanisms for conveying; robotic mechanisms for lifting; materials handling machines, apparatus, structures and equipment; boxes and containers adapted for use with the aforementioned machines and apparatus; machine coupling and transmission components (except for land vehicles); motors and engines (except for land vehicles); electronic controlled machines for storing of goods; conveyor installations and machines for commissioning storage system and conveyor installations; electronically controlled materials handling machines, apparatus, structures and equipment; computerised materials handling machines, apparatus, structures and equipment; parts and fittings for all the aforementioned goods. Licensing of technology; licensing of computer software; licensing of intellectual property; information, advisory and consultancy services relating to the aforesaid services including the provision of such services online from a computer database or via the Internet or extranets. Computer software; network software; computer operating programs; computer software and hardware for use in connection with programming and operating robots; computer software using artificial intelligence for machine learning, deep learning, computer vision, precise spatial location coordination, image processing including shape and character recognition, and robotics; mobile apps; mobile and online applications; downloadable applications for use with mobile devices; downloadable computer software applications; application software for mobile phones; firmware; measuring, signalling, regulating and control devices, and security devices for storage systems; conveyor installations and machines for commissioning storage system and conveyor installations; software for use in storage systems, conveyors and commissioning installations; data processing equipment, computers and other computer hardware for use in storage systems, conveyors and commissioning installations; electric, electronic and apparatus and instruments and apparatus and instruments for measuring, checking (supervision) and cleaning; data processing equipment and computers; data processing apparatus and appliances for management of stocks; recorded computer programmes for management of stocks; electronically controlled apparatus and instruments, namely, computerised storage and retrieval apparatus and instruments, being for use in the warehousing of goods, storage systems, shops, greenhouses and car parks; scanners; boxes and containers adapted for use with the aforementioned goods; electronically controlled apparatus and instruments, namely, computerised electronic apparatus and instruments for observation, management and/or operation of storage and retrieval machines and systems, being for use in the warehousing of goods, storage systems, shops, greenhouses and car parks; data processing apparatus and appliances for management of storage depots and warehouses; recorded computer programs and software for management of storage depots and warehouses; electric, electronic and optical apparatus and instruments for measuring, monitoring, checking (supervision) and cleaning excluding eyewear, safety eyewear and accessories thereof; parts and fittings for all the aforementioned goods. Machinery installation and maintenance services; installation and maintenance of computer hardware; installation and maintenance of communications apparatus; installation and maintenance services in the field of electric and electronic apparatus and systems; installation, maintenance and repair of mechanical grids, frameworks and structures of metal or predominantly made of metal, rail structures for conveying machines, roller conveyors for conveying goods for storage and retrieval, greenhouses, storage systems, storing depots, storage systems for the storage of goods, storage systems for agricultural and horticultural use, storage systems for shipping, storage systems for freight and cargo handling, conveyor installations and machines for the storage of goods, conveyor installations and machines for agricultural and horticultural use, conveyor installations and machines for shipping, conveyor installations and machines for freight and cargo handling, conveying machines, conveying apparatus and conveying installations, conveyors and roller conveyors for conveying goods for storage and retrieval, electronically controlled machines and apparatus for use for storage and retrieval of goods, packing machines, sorting machines, sorting machines for mail, sorting machines for parcels and packages, industrial robots, robotic vehicles, robotic cars, robotic handling apparatus, robotic apparatus for product selection and handling, materials handling machines and apparatus, materials handling structures and equipment, boxes and containers adapted for use with conveying machines and apparatus, boxes and containers adapted for use with sorting and handling machines and apparatus, machine coupling and transmission components (except for land vehicles), machines, motors and engines (except for land vehicles), electronic controlled machines for storing of goods, containers, bins, pallets, boxes, refrigerated containers, refrigerated units, refrigerated bins, refrigerated pallets, refrigerated boxes and storage systems, freezer containers, freezer units, freezer bins, freezer pallets, freezer boxes and storage systems; installation, maintenance and repair of conveying machines, apparatus and installations, including conveyors, roller conveyors and conveyor grids for conveying goods for storage and retrieval, for use in warehousing, storage systems, greenhouses and car parks; installation, maintenance and repair of electronic apparatus and instruments for observation, management and operation of storage and retrieval machines and systems, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; installation, maintenance and repair of industrial and production robots; rental and leasing of conveying machines, apparatus and installations, including conveyors, roller conveyors and conveyor grids for conveying goods for storage and retrieval, for use in warehousing, storage systems, greenhouses and car parks; rental and leasing of industrial and production robots; rental and leasing of electronic apparatus and instruments for observation, management and operation of storage and retrieval machines and systems, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; rental of robotic handling apparatus; rental of robotic apparatus for product selection and handling; rental of electronically controlled machines and apparatus for use for storage and retrieval of goods; rental of conveying machines, apparatus and installations; information, advisory and consultancy services relating to the aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets. Delivery of goods; transportation of goods; transportation logistics; distribution of goods; packaging and storage of goods; information about journeys, tariffs, timetables and methods of transport; tracking services relating to transportation and delivery of goods; reservation and arrangement services relating to the transportation of goods and merchandise; packaging of goods and arranging the collection of goods; click and collect services for the collection of goods; provision of car parks and car parking services; vehicle rental; rental of warehouses; rental of containers and pallets; rental of packing machines; rental of storage systems; rental of refrigeration and freezer storage systems; rental of boxes and containers; information, advisory and consultancy services relating to he aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets. Writing, design and development of computer software; development, design, management, hosting and maintenance of websites; website search engine services; creating, managing, developing, designing, maintaining and hosting of websites; providing customised online web pages featuring user-defined information; providing a commercial platform for the dispatch, promotion, sale and resale of items via a global computer network; computer services, namely remote hosting of operating systems and computer applications; hosting operating systems and computer applications through the Internet; development, design, management and maintenance of mobile apps; development, design, management and maintenance of computer software for logistics, supply chain management and e-business portals; development, design, management and maintenance of computer software for delivery route optimisation, vehicle tracking, industrial automation and robotics; database development services; computer programming services; application service provider, namely, providing, hosting, managing, developing and maintaining applications, software, websites and databases in the fields of e-commerce, on-line payments, order queuing, website design and data storage; leasing, hire and rental of computer software and computer programmes; electronic data storage; graphic design services; remote monitoring of computer systems and computer networks; updating of computer software; scientific and technological services and research and design relating thereto; industrial analysis and research services; research and design relating to robotics; engineering services, engineering consultancy services; engineering services relating to robotics; research and design relating to robotics; research and design relating to artificial intelligence; writing, design and development of computer software relating to robotics; writing design and development of computer software relating to artificial intelligence; leasing, hire and rental of computer software and computer programmes; preparation, design, updating, maintenance and rental of computer programs and software for operating robots; engineering testing services; mechanical engineering services; electromechanical engineering services; optoelectronic engineering services; mechanical engineering research, design and development services; electromechanical engineering research, development and design services; optoelectronic engineering research, development and design services; technological engineering services; technological engineering research, development and design services; research, design and development relating to mechanical grids, frameworks and structures of metal or predominantly made of metal, rail structures for conveying machines, roller conveyors for conveying goods for storage and retrieval, including but not limited to, greenhouses, storage systems, storage systems for the storage of goods, storage systems for agricultural and horticultural use, storage systems for shipping, freight and cargo handling, conveyor installations and machines for the storage of goods, conveyor installations and machines for agricultural and horticultural use, conveyor installations and machines for shipping, freight and cargo handling, conveying machines, apparatus and installations, conveying machines, conveying apparatus and installations, conveyors and roller conveyors for conveying goods for storage and retrieval, electronically controlled machines and apparatus for use for storage and retrieval of goods, packing machines, sorting machines, sorting machines for mail, sorting machines for parcels and packages, industrial robots, robotic vehicles, robotic cars, robotic handling apparatus, robotic apparatus for product selection and handling, materials handling machines and apparatus, materials handling structures and equipment, boxes and containers adapted for use with conveying machines and apparatus, boxes and containers adapted for use with sorting and handling machines and apparatus, machine coupling and transmission components (except for land vehicles), machines, motors and engines (except for land vehicles), electronic controlled machines for storing of goods, containers, bins, pallets, boxes, refrigerated containers, refrigerated units, refrigerated bins, refrigerated pallets, refrigerated boxes and storage systems, freezer containers, freezer units, freezer bins, freezer pallets, freezer boxes and storage systems; software research, research projects and studies; technical research, research projects and studies; research and design relating to mechanical, electromechanical and optoelectronic apparatus and instruments; research and design relating to the automation of industrial processes; preparation, updating, maintenance and rental of computers, computer programmes and software designed for management of stocks; preparation, design, updating, maintenance and rental of computer programs and software for the management of storage depots and warehouses; preparation, design, updating, maintenance and rental of computer programs and software for operating conveying machines, apparatus and systems for storage and retrieval of goods; preparation, design, updating, maintenance, repair and rental of computer programs and software; preparation, design, updating, maintenance and rental of computer programs and software for operating materials handling machines, apparatus, structures and equipment; rental of computers and computer peripherals; providing a web-based system and online portals in the field of consumer-to-business commerce; storage of data and information by electronic means; information, advisory and consultancy services relating to the aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets.
06 - Common metals and ores; objects made of metal
07 - Machines and machine tools
09 - Scientific and electric apparatus and instruments
37 - Construction and mining; installation and repair services
39 - Transport, packaging, storage and travel services
42 - Scientific, technological and industrial services, research and design
45 - Legal and security services; personal services for individuals.
Goods & Services
(1) Grids, frameworks and structures of metal or predominantly made of metal, including rail structures for conveying machines and roller conveyors for conveying goods for storage and retrieval, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; bins, boxes and containers of metal or predominantly made of metal for storage and transportation of goods; greenhouses; parts and fittings for all the aforementioned goods.
(2) Conveyor installations, machines for commissioning storage system and conveyor installations; mechanical storage systems, robotic storage systems, conveyor installations and machines for the storage of goods; mechanical storage systems, robotic storage systems, conveyor installations and machines for agricultural and horticultural use; mechanical storage systems, robotic storage systems, conveyor installations and machines for shipping, freight and cargo handling; components for the aforesaid systems and installations, included in this class; conveying machines, apparatus and installations; conveying machines, apparatus and installations, namely conveyors and roller conveyors for conveying goods for storage and retrieval; conveying machines, apparatus and installations, namely conveyors and roller conveyors for conveying goods for storage and retrieval, being for use in warehousing, storage systems, shops, greenhouses and car parks; electronically controlled machines and apparatus for use for storage and retrieval of goods; packing machines; sorting machines; sorting machines for mail, parcels and packages; industrial robots; autonomous industrial robots; production robots; autonomous production robots; robotic handling apparatus; robotic apparatus for product selection and handling; robotic packing machines; robotic arms for industrial purposes; control mechanisms for robotic machines; robotic mechanisms for conveying; robotic mechanisms for lifting; materials handling machines, apparatus, structures and equipment; boxes and containers adapted for use with the aforementioned machines and apparatus; machine coupling and transmission components (except for land vehicles); motors and engines (except for land vehicles); electronic controlled machines for storing of goods; conveyor installations and machines for commissioning storage system and conveyor installations; electronically controlled materials handling machines, apparatus, structures and equipment; computerised materials handling machines, apparatus, structures and equipment; parts and fittings for all the aforementioned goods.
(3) Computer software; network software; computer operating programs; computer software and hardware for use in connection with programming and operating robots; computer software using artificial intelligence for machine learning, deep learning, computer vision, precise spatial location coordination, image processing including shape and character recognition, and robotics; mobile apps; mobile and online applications; downloadable applications for use with mobile devices; downloadable computer software applications; application software for mobile phones; firmware; measuring, signalling, regulating and control devices, and security devices for storage systems; conveyor installations and machines for commissioning storage system and conveyor installations; software for use in storage systems, conveyors and commissioning installations; data processing equipment, computers and other computer hardware for use in storage systems, conveyors and commissioning installations; electric, electronic and apparatus and instruments and apparatus and instruments for measuring, checking (supervision) and cleaning; data processing equipment and computers; data processing apparatus and appliances for management of stocks; recorded computer programmes for management of stocks; electronically controlled apparatus and instruments, namely, computerised storage and retrieval apparatus and instruments, being for use in the warehousing of goods, storage systems, shops, greenhouses and car parks; scanners; boxes and containers adapted for use with the aforementioned goods; electronically controlled apparatus and instruments, namely, computerised electronic apparatus and instruments for observation, management and/or operation of storage and retrieval machines and systems, being for use in the warehousing of goods, storage systems, shops, greenhouses and car parks; data processing apparatus and appliances for management of storage depots and warehouses; recorded computer programs and software for management of storage depots and warehouses; electric, electronic and optical apparatus and instruments for measuring, monitoring, checking (supervision) and cleaning excluding eyewear, safety eyewear and accessories thereof; parts and fittings for all the aforementioned goods. (1) Machinery installation and maintenance services; installation and maintenance of computer hardware; installation and maintenance of communications apparatus; installation and maintenance services in the field of electric and electronic apparatus and systems; installation, maintenance and repair of mechanical grids, frameworks and structures of metal or predominantly made of metal, rail structures for conveying machines, roller conveyors for conveying goods for storage and retrieval, greenhouses, storage systems, storing depots, storage systems for the storage of goods, storage systems for agricultural and horticultural use, storage systems for shipping, storage systems for freight and cargo handling, conveyor installations and machines for the storage of goods, conveyor installations and machines for agricultural and horticultural use, conveyor installations and machines for shipping, conveyor installations and machines for freight and cargo handling, conveying machines, conveying apparatus and conveying installations, conveyors and roller conveyors for conveying goods for storage and retrieval, electronically controlled machines and apparatus for use for storage and retrieval of goods, packing machines, sorting machines, sorting machines for mail, sorting machines for parcels and packages, industrial robots, robotic vehicles, robotic cars, robotic handling apparatus, robotic apparatus for product selection and handling, materials handling machines and apparatus, materials handling structures and equipment, boxes and containers adapted for use with conveying machines and apparatus, boxes and containers adapted for use with sorting and handling machines and apparatus, machine coupling and transmission components (except for land vehicles), machines, motors and engines (except for land vehicles), electronic controlled machines for storing of goods, containers, bins, pallets, boxes, refrigerated containers, refrigerated units, refrigerated bins, refrigerated pallets, refrigerated boxes and storage systems, freezer containers, freezer units, freezer bins, freezer pallets, freezer boxes and storage systems; installation, maintenance and repair of conveying machines, apparatus and installations, including conveyors, roller conveyors and conveyor grids for conveying goods for storage and retrieval, for use in warehousing, storage systems, greenhouses and car parks; installation, maintenance and repair of electronic apparatus and instruments for observation, management and operation of storage and retrieval machines and systems, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; installation, maintenance and repair of industrial and production robots; rental and leasing of conveying machines, apparatus and installations, including conveyors, roller conveyors and conveyor grids for conveying goods for storage and retrieval, for use in warehousing, storage systems, greenhouses and car parks; rental and leasing of industrial and production robots; rental and leasing of electronic apparatus and instruments for observation, management and operation of storage and retrieval machines and systems, including but not limited to being for use in warehousing, storage systems, shops, greenhouses and car parks; rental of robotic handling apparatus; rental of robotic apparatus for product selection and handling; rental of electronically controlled machines and apparatus for use for storage and retrieval of goods; rental of conveying machines, apparatus and installations; information, advisory and consultancy services relating to the aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets.
(2) Delivery of goods; transportation of goods; transportation logistics; distribution of goods; packaging and storage of goods; information about journeys, tariffs, timetables and methods of transport; tracking services relating to transportation and delivery of goods; reservation and arrangement services relating to the transportation of goods and merchandise; packaging of goods and arranging the collection of goods; click and collect services for the collection of goods; provision of car parks and car parking services; vehicle rental; rental of warehouses; rental of containers and pallets; rental of packing machines; rental of storage systems; rental of refrigeration and freezer storage systems; rental of boxes and containers; information, advisory and consultancy services relating to he aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets.
(3) Writing, design and development of computer software; development, design, management, hosting and maintenance of websites; website search engine services; creating, managing, developing, designing, maintaining and hosting of websites; providing customised online web pages featuring user-defined information; providing a commercial platform for the dispatch, promotion, sale and resale of items via a global computer network; computer services, namely remote hosting of operating systems and computer applications; hosting operating systems and computer applications through the Internet; development, design, management and maintenance of mobile apps; development, design, management and maintenance of computer software for logistics, supply chain management and e-business portals; development, design, management and maintenance of computer software for delivery route optimisation, vehicle tracking, industrial automation and robotics; database development services; computer programming services; application service provider, namely, providing, hosting, managing, developing and maintaining applications, software, websites and databases in the fields of e-commerce, on-line payments, order queuing, website design and data storage; leasing, hire and rental of computer software and computer programmes; electronic data storage; graphic design services; remote monitoring of computer systems and computer networks; updating of computer software; scientific and technological services and research and design relating thereto; industrial analysis and research services; research and design relating to robotics; engineering services, engineering consultancy services; engineering services relating to robotics; research and design relating to robotics; research and design relating to artificial intelligence; writing, design and development of computer software relating to robotics; writing design and development of computer software relating to artificial intelligence; leasing, hire and rental of computer software and computer programmes; preparation, design, updating, maintenance and rental of computer programs and software for operating robots; engineering testing services; mechanical engineering services; electromechanical engineering services; optoelectronic engineering services; mechanical engineering research, design and development services; electromechanical engineering research, development and design services; optoelectronic engineering research, development and design services; technological engineering services; technological engineering research, development and design services; research, design and development relating to mechanical grids, frameworks and structures of metal or predominantly made of metal, rail structures for conveying machines, roller conveyors for conveying goods for storage and retrieval, including but not limited to, greenhouses, storage systems, storage systems for the storage of goods, storage systems for agricultural and horticultural use, storage systems for shipping, freight and cargo handling, conveyor installations and machines for the storage of goods, conveyor installations and machines for agricultural and horticultural use, conveyor installations and machines for shipping, freight and cargo handling, conveying machines, apparatus and installations, conveying machines, conveying apparatus and installations, conveyors and roller conveyors for conveying goods for storage and retrieval, electronically controlled machines and apparatus for use for storage and retrieval of goods, packing machines, sorting machines, sorting machines for mail, sorting machines for parcels and packages, industrial robots, robotic vehicles, robotic cars, robotic handling apparatus, robotic apparatus for product selection and handling, materials handling machines and apparatus, materials handling structures and equipment, boxes and containers adapted for use with conveying machines and apparatus, boxes and containers adapted for use with sorting and handling machines and apparatus, machine coupling and transmission components (except for land vehicles), machines, motors and engines (except for land vehicles), electronic controlled machines for storing of goods, containers, bins, pallets, boxes, refrigerated containers, refrigerated units, refrigerated bins, refrigerated pallets, refrigerated boxes and storage systems, freezer containers, freezer units, freezer bins, freezer pallets, freezer boxes and storage systems; software research, research projects and studies; technical research, research projects and studies; research and design relating to mechanical, electromechanical and optoelectronic apparatus and instruments; research and design relating to the automation of industrial processes; preparation, updating, maintenance and rental of computers, computer programmes and software designed for management of stocks; preparation, design, updating, maintenance and rental of computer programs and software for the management of storage depots and warehouses; preparation, design, updating, maintenance and rental of computer programs and software for operating conveying machines, apparatus and systems for storage and retrieval of goods; preparation, design, updating, maintenance, repair and rental of computer programs and software; preparation, design, updating, maintenance and rental of computer programs and software for operating materials handling machines, apparatus, structures and equipment; rental of computers and computer peripherals; providing a web-based system and online portals in the field of consumer-to-business commerce; storage of data and information by electronic means; information, advisory and consultancy services relating to the aforesaid services including the provision of such services on line from a computer database or via the Internet or extranets.
(4) Licensing of technology; licensing of computer software; licensing of intellectual property; information, advisory and consultancy services relating to the aforesaid services including the provision of such services online from a computer database or via the Internet or extranets.
84.
CONTAINER LIFTING MECHANISM FOR A STORAGE AND RETRIEVAL SYSTEM
A container lifting mechanism for combining and/or separating an insert (58) and a storage container (10), said insert comprising an insert base and opposing insert sidewalls extending upwardly from the insert base, the insert being configured to nest within the storage container to define a container unit, the container lifting mechanism comprising: - a grabber device (139) comprising a first gripper assembly (144) configured to releasably engage the storage container (10) and a second gripper assembly (146) configured to releasably engage the insert (58) nested within the storage container (10), - at least one actuating mechanism configured to actuate the second gripper assembly (146) independently of the first gripper assembly (144) to separately engage the insert (58) nested within the storage container (10), - a drive mechanism configured to raise and lower the grabber device (139) to vertically move the insert (58) out of the storage container (10) to a raised position at which the insert base (216) is above the storage container (10) and to a lowered position at which the insert (58) is nested within the storage container (10) when the second gripper assembly (146) is engaged with the insert (58).
A load handling device for lifting and moving containers arranged in stacks in a storage structure. The storage structure includes a track structure arranged in a grid pattern which defines a plurality of grid cells above the stacks of containers. The load handling device includes: a driving assembly configured to horizontally move the load handling device on the track structure; a lifting mechanism configured to lift a container from a stack; a power source; and an externally accessible power source compartment configured to electrically couple to the power source. The power source compartment is configured to removably receive the power source in a vertical direction.
A combination and separation apparatus for combining and separating a delivery container and a storage container, the delivery container being containable within the storage container, the apparatus including a clamping device configured for clamping the delivery container through at a least one cut-out extending through the storage container; a lifting device configured for combining and separating the storage container and the delivery container; and an alignment mechanism configured for aligning the delivery container and the clamping device relative to each other so as to enable the clamping device to clamp the delivery container when the delivery container is nested within the storage container.
A combination and separation apparatus for combining and separating a delivery container and a storage container. The apparatus incudes a storage container station, a delivery container station, a combined station, and a merge/separation station. The merge/separation station is configured to combine the storage container and the delivery container, and or the merge/separation station is configured for separating the storage container and the delivery container.
A system and method for picking items is disclosed. The system includes a grid-based storage area and an order assembly area. The system includes an array of presentation positions, the presentation positions being configured and adapted so as to present storage containers delivered to the presentation positions so as to enable picking of items contained therein.
This disclosure relates to a gripper assembly (122for a robotic manipulator (121. The gripper assembly (122includes two finger assemblies (132, 146and a ball screw assembly comprising a first ball screw nut (136connected to the first finger assembly (132and a ball screw shaft (138comprising a first section (140upon which the first ball screw nut (136is movably mounted. An actuator (154is directly connected to the ball screw shaft (138and configured to rotate the ball screw shaft (138about its longitudinal axis to move the first finger assembly (132in a direction of the second finger assembly (146when the ball screw shaft (138is rotated in one of a clockwise or anticlockwise direction and to move the first finger assembly (132in a direction away from the second finger assembly (146when the ball screw shaft (138is rotated in the other of the clockwise or anticlockwise directions.
B25J 9/04 - Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian co-ordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical co-ordinate type or polar co-ordinate type
B65G 61/00 - Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
The present disclosure relates to a computer-implemented method of synthesising a training dataset for training a comparison function of a machine learning service in the detection of a multi-pick event in which a robotic manipulator erroneously picks two or more items concurrently, the method comprising: selecting first image data representative of an image of a plurality of items to be picked by the robotic manipulator; selecting intermediate image data representative of an image of the plurality of items following the removal, by the robotic manipulator, of an item from the plurality of items; selecting final image data representative of an image of the plurality of items following the removal, by the robotic manipulator, of another item from the plurality of items; and, generating the training dataset representative of a notional multi-pick event based on a sequence of unlabelled image data consisting of the first and final image data.
The present disclosure relates to a computer-implemented method of synthesising a training dataset for training a comparison function of a machine learning service in the detection of a multi-pick event in which a robotic manipulator erroneously picks two or more items concurrently, the method comprising: selecting first image data representative of an image of a plurality of items to be picked by the robotic manipulator; selecting intermediate image data representative of an image of the plurality of items following the removal, by the robotic manipulator, of an item from the plurality of items; selecting final image data representative of an image of the plurality of items following the removal, by the robotic manipulator, of another item from the plurality of items; and, generating the training dataset representative of a notional multi-pick event based on a sequence of unlabelled image data consisting of the first and final image data.
A conveying system, the conveying system comprising: a conveyor arranged for conveying a storage container; a body shaped to comprise a ramp to enable the storage container to move along a first path and a substantially vertical face forming a stopping surface for stopping the storage container from moving along a second path; wherein the body is moveable between a retracted position to permit movement of the storage container along the first path of the conveyor and a raised position to prevent movement of the storage container along the second path of the conveyor; the second path being directionally opposite to the first path; wherein the body is resiliently biased in the raised position and the bias is overcome by the storage container riding over the ramp.
B65G 47/54 - Devices for transferring articles or materials between conveyors, i.e. discharging or feeding devices between conveyors which cross one another at least one of which is a roller-way
B65G 47/88 - Separating or stopping elements, e.g. fingers
A system and method of order fulfilment is described. The system comprises a storage and retrieval system, a transfer system and at least one pick station. The transfer system further comprises conveyance means disposed between the storage and retrieval system and the pick station such that items delivered to the transfer system from the storage and retrieval system may be conveyed to the pick stations independently of the normal operation of the pick station.
B65G 1/06 - Storage devices mechanical with means for presenting articles for removal at predetermined position or level
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
A grid framework structure for supporting a load handling device operative to move containers, includes: a plurality of upright members, interconnected to define nodes at their top ends by a plurality of grid members arranged in a grid pattern, and forming a grid structure including grid cells and a track system having a plurality of tracks arranged in the grid pattern, the grid structure including a first region, a second region, and a bridging joint assembly arranged as one or more connections between the first region and the second region, the bridging joint assembly including at least one mechanical fuse that is arranged to break under an applied load greater than or equal to a predetermined load so as to allow the first region of the grid structure to separate from the second region of the grid structure when the applied load exceeds the predetermined load.
A multi-temperature storage system (57), comprising:- A) a grid framework structure (42), said grid framework structure (42) comprising:- a) a supporting framework structure (44) comprising a plurality of storage columns (24), each of the plurality of storage columns (24) being arranged to accommodate a stack of storage containers (10), said supporting framework structure (44) comprising a load bearing assembly of supporting walls (48), (58) arranged in a three dimensional grid pattern comprising a plurality of modular storage cells (50) for the storage of a plurality of stacks of storage containers, said at least one of the supporting walls is a thermally insulating panel (58) being arranged to separate the plurality of storage columns into a first group of storage columns to define a first temperature storage zone (60) and a second group of storage columns to define a second temperature storage zone (62); b) a track system (46) for guiding the movement of one or more robotic load handling devices (30) on the grid framework structure (42), the track system (46) being mounted to the supporting framework structure (44) and comprising a plurality of tracks arranged in a grid pattern comprising a plurality of grid cells (66) extending across the plurality of modular storage cells (50) such that each of the plurality of modular storage cells (50) supports a sub-group of two or more grid cells (66) of the track system (46); B) a radiant cooling system (72) comprising a cooling unit (76) and a closed network of tubing (74) in fluid communication with the cooling unit (76), the closed network of tubing (76) extending in the first temperature storage zone (60) for circulating a heat transfer fluid to exchange heat with at least a portion of the first temperature storage zone (60) such that the first temperature storage zone is at a lower temperature than the second temperature storage zone (62).
F25D 13/04 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with several cooling compartments, e.g. refrigerated locker systems the compartments being at different temperatures
F25D 13/06 - Stationary devices associated with refrigerating machinery, e.g. cold rooms with conveyors carrying articles to be cooled through the cooling space
F25D 17/02 - Arrangements for circulating cooling fluidsArrangements for circulating gas, e.g. air, within refrigerated spaces for circulating liquids, e.g. brine
97.
ROBOTIC VEHICLE WITH LIFT FORK AND METHOD OF LIFTING
A robotic vehicle includes a body defining a platform support area; a lift shuttle moveable relative to the body, the lift shuttle including a first fork and a second fork; machine-readable instructions; and processor circuitry to execute the machine-readable instructions to cause the lift shuttle to move from a first position to a second position relative to the body to cause the first fork and the second fork to protrude relative to the body; cause the first fork and the second fork to lift a platform; and cause the body of the vehicle to move toward the platform when the first fork and the second fork are protruded to position the platform support area under the platform.
B66F 9/06 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
B66F 9/12 - PlatformsForksOther load-supporting or load-gripping members
B66F 9/065 - Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
This disclosure concerns ascertaining a force applied to a finger element of a gripper assembly of a robotic manipulator during the manipulation of an object. In one aspect, it discloses a gripper assembly including a finger element, an actuator, a linkage assembly including a plurality of arms connecting the finger element to the actuator, and a sensor assembly configured to output signals indicative of force components applied to the plurality of arms as a result of a force being applied to the finger element.
An autonomous vehicle is provided which can display to a user a visual indication of either, or both, the location on the autonomous vehicle for items to be loaded to, or from, and a storage location within a storage facility for items to be loaded to, or from. The visual indication may be projected over the autonomous vehicle location and/or the storage location. The visual indication may convey information using colour, pulses of colour, graphical symbols, etc.
Apparatus, systems, and methods for operating robots in an assisted drive mode are disclosed. An example robot includes a body; at least one motor carried by the body; a handle; at least one strain sensor coupled to the handle; and circuitry to determine a measure of force applied to the handle based on one or more outputs of the at least one strain sensor; and cause the at least one motor to generate an output during the application of force to the handle to cause the robot to move responsive to the force applied to the handle based on the measure.
