DK2928794T3 - Robot til transport af opbevaringsbeholdere - Google Patents

Robot til transport af opbevaringsbeholdere Download PDF

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DK2928794T3
DK2928794T3 DK13807954.6T DK13807954T DK2928794T3 DK 2928794 T3 DK2928794 T3 DK 2928794T3 DK 13807954 T DK13807954 T DK 13807954T DK 2928794 T3 DK2928794 T3 DK 2928794T3
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vehicle
storage
carrier
section
storage system
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DK13807954.6T
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DK2928794T4 (da
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Ingvar Hognaland
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Autostore Tech As
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0464—Storage devices mechanical with access from above
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/0478—Storage devices mechanical for matrix-arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/06—Storage devices mechanical with means for presenting articles for removal at predetermined position or level
    • B65G1/065—Storage devices mechanical with means for presenting articles for removal at predetermined position or level with self propelled cars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1371—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed with data records
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—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
    • B66F9/07—Floor-to-roof stacking devices, e.g. "stacker cranes", "retrievers"
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—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]
    • G05B19/4189—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] characterised by the transport system
    • G05B19/41895—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] characterised by the transport system using automatic guided vehicles [AGV]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0022—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the communication link
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/22—Command input arrangements
    • G05D1/221—Remote-control arrangements
    • G05D1/226—Communication links with the remote-control arrangements
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/025—Boxes
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Business, Economics & Management (AREA)
  • Physics & Mathematics (AREA)
  • Economics (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • General Physics & Mathematics (AREA)
  • Quality & Reliability (AREA)
  • Human Resources & Organizations (AREA)
  • Operations Research (AREA)
  • Theoretical Computer Science (AREA)
  • General Business, Economics & Management (AREA)
  • Development Economics (AREA)
  • Tourism & Hospitality (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Strategic Management (AREA)
  • Marketing (AREA)
  • Geology (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Mathematical Physics (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Robotics (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Platform Screen Doors And Railroad Systems (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Manipulator (AREA)

Claims (14)

1. Fjernstyret køretøj (1) til opsamling af opbevaringsbeholdere (2) fra et opbevaringssystem (3), der omfatter et køretøjslegeme (4), der omfatter en første sektion (5, 5a, 5b) til opbevaring af køretøjsdrivmidler (6) og en anden sektion (7) til modtagelse af en hvilken som helst opbevaringsbeholder (2) opbevaret i en opbevaringssøjle (8, 8a, 8b) inde i opbevarings systemet (3), en køretøjsløfteanordning (9) mindst indirekte forbundet med køretøjslegemet (4) til løft af opbevaringsbeholderen (2) ind i den anden sektion (7), et første sæt af køretøjsrullemidler (10) forbundet med køretøjslegemet (4), der muliggør bevægelse af køretøjet (1) langs en første retning (X) inde i opbevaringssystemet (3) under anvendelse og et andet sæt af køretøjsrullemidler (11) forbundet med køretøjslegemet (4), der muliggør bevægelse af køretøjet (1) langs en anden retning (Y) i opbevaringssystemet (3) under anvendelse, hvor den anden retning (Y) er vinkelret på den første retning (X), kendetegnet ved, at den anden sektion (7) omfatter et centralt anbragt hulrum (7) inde i køretøjslegemet (4), hvilket hulrum (7) har mindst én beholdermodtagelsesåbning (12), der vender ind mod opbevaringssøjleme (8, 8a, 8b) under anvendelse, og mindst ét af sættene af køretøjsrullemidler (11) er anbragt helt inde i køretøjslegemet (4).
2. Fjernstyret køretøj (1) ifølge krav 1, kendetegnet ved, at køretøjet endvidere omfatter midler til reversibelt og selektivt at flytte enten det første sæt af køretøjsrullemidler eller det andet køretøjsrullemiddel væk fra en underliggende køretøjsbærer (14) inde i opbevaringssystemet (3) under en ændring af køretøjsretning mellem den første retning (X) og den anden retning (Y).
3. Fjernstyret køretøj (1) ifølge krav 1 eller 2, kendetegnet ved, at køretøjslegemet (4) dækker maksimalt det laterale tværsnit af én central opbevaring s s øj le (8a) i den første retning (X) og dækker det laterale tværsnit af mere end én central opbevaring s s øj le (8a, 8b) i den anden retning (Y) under anvendelse.
4. Fjernstyret køretøj (1) ifølge krav 3, kendetegnet ved, at køretøjslegemet (4) strækker sig ud over det laterale tværsnit af den centrale opbevaringssøjle (8a, 8b) i begge sider i den anden retning (Y).
5. Fjernstyret køretøj (1) ifølge krav 4, kendetegnet ved, at forlængelsen ud over det laterale tværsnit af den centrale opbevaringssøjle (8a, 8b) er ens på begge sider i den anden retning (Y).
6. Fjernstyret køretøj (1) ifølge et af de foregående krav, kendetegnet ved, at begge sæt af køretøjsrullemidler (10, 11) er symmetrisk fordelt omkring det centralt anbragte hulrum (7).
7. Fjernstyret køretøj (1) ifølge et af de foregående krav, kendetegnet ved, at mindst ét sæt af køretøjsrullemidler (10, 11) omfatter mindst fire hjul.
8. Fjernstyret køretøj (1) ifølge et af de foregående krav, kendetegnet ved, at begge sæt af køretøjsrullemidler (10, 11) har et ydre design, der matcher et tilsvarende ydre design på bæreskinner (13), der udgør køretøjsbæreren (14) for at tilvejebringe øget lateral stabilitet ved forbindelse med hinanden, hvor bæreskinnerne (13) er anbragt i en todimensional matrix oven på en beholderopbevaring s struktur (15), hvor hovedretningen for matrixen og beholderopbevaring s strukturen (15) er sammenfaldende med køretøjets (1) første retning (X) og anden retning (Y).
9. Fjernstyret køretøj (1) ifølge et af de foregående krav, kendetegnet ved, at køretøjet (1) omfatter positionsdetekteringsmidler (16) til at muliggøre målinger af køretøjspositionen inden i opbevarings systemet (3) under anvendelse.
10. Fjernstyret køretøj (1) ifølge krav 9, kendetegnet ved, at positionsdetekteringsmidlet (16) omfatter en flerhed af sensorer anbragt i mindst nogle af positionerne på køretøjslegemet (4) der, under anvendelse, krydser positionerne for køretøjsbærer (14), hvor bæreskinnerne (13) krydser hinanden.
11. Opbevaringssystem (3), kendetegnet ved at omfatte et fjernstyret køretøj (1) ifølge et af kravene 1-10, en køretøjsbærer (14), der omfatter en flerhed af bæreskinner (13), der danner en todimensional matrix af føringsfelter, hvor køretøjsbæreren (14) er konfigureret til at føre køretøjets (1) bevægelser i den første retning (X) og den anden retning (Y) under anvendelse, en beholderopbevarings struktur (15), der bærer køretøjsbæreren (14), hvilken struktur (15) omfatter en flerhed af opbevaringssøjler (8, 8a, 8b), hvori hver opbevaringssøjle (8, 8a, 8b) er anbragt til at rumme en vertikal stak af opbevaringsbeholdere (2), og hoveddelen af beholderopbevaringsstrukturen (15) falder sammen med positioner på køretøjsbæreren (14), hvor bæreskinnerne (13) krydser hinanden, og - en beholderløfteanordning (50) anbragt til at transportere en køretøjsleveret opbevaringsbeholder (2) i en retning vinkelret på køretøjsbærerens (14) laterale plan mellem køretøjsbæreren (14) og en afleveringsstation (60).
12. Opbevaringssystem (3) ifølge krav 11, kendetegnet ved, at mindst nogle af bæreskinneme (13) anbragt ved det ydre grænseområder (17, 18) af køretøjsbæreren (14) danner ydre føringsnet med reduceret middeltværsnit sammenlignet med middeltværsnittet af de resterende føringsnet i køretøjsbæreren (14).
13. Opbevaringssystem (3) ifølge krav 12, kendetegnet ved, at det reducerede middeltværsnit af de ydre føringsnet er ca. det halve af middeltværsnittet af de resterende føringsnet i køretøjsbæreren (14).
14. Opbevaringssystem (3) ifølge krav 12 eller 13, kendetegnet ved, at størrelsen af de ydre føringsnet kun er reduceret langs den anden retning (Y) af køretøjsbæreren (14).
DK13807954.6T 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere DK2928794T4 (da)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
NO20121488A NO335839B1 (no) 2012-12-10 2012-12-10 Robot for transport av lagringsbeholdere
PCT/EP2013/075671 WO2014090684A1 (en) 2012-12-10 2013-12-05 Robot for transporting storage bins

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DK2928794T3 true DK2928794T3 (da) 2019-04-15
DK2928794T4 DK2928794T4 (da) 2024-08-05

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DK21187560.4T DK3922581T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere
DK18163439.5T DK3372534T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere
DK13807954.6T DK2928794T4 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere
DK15172286.5T DK2962962T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere
DK16166677.1T DK3070027T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere

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DK18163439.5T DK3372534T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere

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DK16166677.1T DK3070027T3 (da) 2012-12-10 2013-12-05 Robot til transport af opbevaringsbeholdere

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US (11) US9422108B2 (da)
EP (11) EP3617098A1 (da)
JP (3) JP6454645B2 (da)
KR (6) KR102638712B1 (da)
CN (3) CN104837747B (da)
AU (3) AU2013357548B2 (da)
CA (1) CA2890843C (da)
CZ (1) CZ37166U1 (da)
DK (5) DK3922581T3 (da)
EA (3) EA028798B1 (da)
ES (6) ES2985817T3 (da)
HK (1) HK1219260A1 (da)
NO (1) NO335839B1 (da)
PL (6) PL3070027T3 (da)
TW (3) TWI583612B (da)
WO (1) WO2014090684A1 (da)

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Publication number Priority date Publication date Assignee Title
ES2890505T5 (en) 2012-05-11 2025-03-11 Ocado Innovation Ltd Storage systems and methods for retrieving units from a storage system
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