WO2026024741A1 - Chariots de prélèvement à vitesse variable destinés à être utilisés dans des installations de stockage de produits - Google Patents

Chariots de prélèvement à vitesse variable destinés à être utilisés dans des installations de stockage de produits

Info

Publication number
WO2026024741A1
WO2026024741A1 PCT/US2025/038696 US2025038696W WO2026024741A1 WO 2026024741 A1 WO2026024741 A1 WO 2026024741A1 US 2025038696 W US2025038696 W US 2025038696W WO 2026024741 A1 WO2026024741 A1 WO 2026024741A1
Authority
WO
WIPO (PCT)
Prior art keywords
cart
transport unit
robotic transport
product storage
storage facility
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/US2025/038696
Other languages
English (en)
Inventor
J. William FOSNIGHT
W. Devin ROCHELLE
J. Alan GRANT
D. Julian WARHURST
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Symbotic Inc
Original Assignee
Symbotic Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Symbotic Inc filed Critical Symbotic Inc
Publication of WO2026024741A1 publication Critical patent/WO2026024741A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B65G1/10—Storage devices mechanical with relatively movable racks to facilitate insertion or removal of articles
    • 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

Definitions

  • This disclosure relates generally to transporting products at a product storage facility, and more specifically, to product-transporting carts configured for traveling at variable speeds.
  • FIG. 1 is a schematic perspective view illustration of an exemplary cart for transporting products in a product storage facility in accordance with the present disclosure
  • FIG. 2 is a schematic side view illustration of a portion of the exemplary cart of Fig. 1 in accordance with the present disclosure
  • FIG. 3 is a schematic perspective view illustration of an exemplary cart for transporting products in a product storage facility in accordance with the present disclosure
  • FIG. 4 is a schematic side view illustration of a portion of the exemplary cart of Fig. 3 in accordance with the present disclosure
  • Fig. 5 is a schematic diagram of a system that may be implemented in whole or in part at the product storage facility of Figs. 1 and 3 in accordance with the present disclosure
  • FIG. 6 is a schematic block diagram of a computer system configured for employment with the systems and methods described herein in accordance with the present disclosure
  • Fig. 13 is a flow diagram of an exemplary method in accordance with the present disclosure.
  • carts also referred to herein as “pick carts” for transporting products (e.g., bagged or unbagged products), which may be used with an automatic storage and retrieval system.
  • the carts described herein may enable efficient automated product transportation at a product storage facility and/or a retail store.
  • each refers to a single object (i.e., the object) in the case of a single object or each object in the case of multiple objects.
  • the words “a,” “an,” and “the” as used herein are inclusive of “at least one” and “one or more” so as not to limit the object being referred to as being in its “singular” form.
  • the terms “top” and “bottom,” “upper” and “lower” and “vertical” and “horizontal” as may be used herein are by way of example and illustrative purposes only and are not meant to limit the description of the aspects inasmuch as the referenced item can be exchanged in position and orientation.
  • a connection may be a direct connection or an indirect connection (e.g., via one or more other parts).
  • first and second elements may be directly connected, affixed or coupled to each other or indirectly connected, affixed, or coupled to each other.
  • first element When a first element is referred to as being directly connected, affixed, or coupled to a second element, then there are no intervening elements between the first and second elements (other than possibly an adhesive or weld used to connect, affix, or couple the first and second elements).
  • Fig. 1 shows an exemplary cart 100 (which may be also referred to herein as a “pick cart’) for transporting (bagged or bagless) products at a product storage facility.
  • the cart 100 includes a frame 102 and wheels 104a-104d mounted to and supporting the frame 102.
  • the cart 100 includes support members 106a-106c (e.g., a top support member 106a, a middle support member 106b, and a bottom support member 106c as shown in Fig. 1) mounted relative to the frame 102.
  • the support members 106a- 106c may be shelves, trays, compartments, or the like having a support surface that supports various items (which may be bagged or not bagged) thereon.
  • a support member 106a-106c may be sized and shaped to support one or more (e.g., two, three, four, etc.) vertically oriented bags 320 containing one or more items therein (see, e.g., Figs. 8-9).
  • Each tray of shelf 106a- 106c may be sized and shaped to support more or less than four bags 320 and/or bagless products thereon.
  • the cart 100 may include at least one temperature-controlled storage compartment (e.g., refrigerator, cooler, freezer, etc.), which enables the cart 100 to transport products that require an ambient, chilled, refrigerated, and/or frozen storage temperatures. Examples of such carts are disclosed in co-pending U.S. App. No. 63/671,437, filed July 15, 2024 and entitled “Multi-Purpose Pick Carts for Use at Product Storage Facilities,” incorporated herein by reference in its entirety.
  • the cart 100 may include less than three (e.g., one or two) or more than three (four, five, six, etc.) support members 106a-106c.
  • the support members 106a-106c may be movably (e.g., pivotally) coupled relative to the frame 102, such that each of the support members 106a-106c is permitted to independently pivot upwardly and/or downwardly relative to the frame 102 of the cart 100.
  • each of the support members 106a-106c may be permitted to fold up relative to the frame 102 from a horizontal position shown in Fig. 1 to a vertical position, and to fold back down relative to the frame 102 from the vertical position back to the horizontal position shown in Fig. 1.
  • Such shelf configurations of pick carts are described, for example, in U.S. Provisional Patent App. No. 63/602,225, filed November 22, 2023, and entitled “Direct to Bag Pick Carts for Use at Product Storage Facilities,” which is hereby incorporated by reference in its entirety.
  • the support members 106a- 106c may be fixedly coupled relative to the frame 102, such that the support members 106a- 106c are not permitted to move relative to the frame 102.
  • the pick cart 100 has four wheels 104a-104d although, the cart 100 may have more or fewer than four wheels.
  • the two rear wheels 104a and 104b may be swivel casters that permit the cart 100 to complete a full 360-degree rotation of the rear wheels 104a-104b.
  • the cart 100 may include one or more indicators 131 (illustrated as one or more lights in Fig. 1 for exemplary purposes although, any suitable aural and/or visual indicators may be provided) coupled to the frame 102 of the cart 100 and configured to turn on to indicate various types of information.
  • the light 131 of the cart 100 may turn on (e.g., in a red color) to indicate a problem with one or more of the bags 320 or the items on the cart 100.
  • the light 131 of the cart 100 may turn on (e.g., in a yellow color) to instruct a worker to place a bag 320 or an item onto this cart 100 (instead of onto another cart 100 not having a yellow light 131 on at that time).
  • the light 131 of the cart 100 may light up (e.g., in a green color) to instruct a worker (or a customer who came to the product storage facility 300 to pick up an order) to remove a bag 320 or an item from this cart 100 (as opposed to another cart 100 not having a green light 131 on at that time).
  • a worker or a customer who came to the product storage facility 300 to pick up an order
  • any lights having any suitable colors may be employed.
  • the cart 100 does not have to include one or more lights 131 to instruct the worker as to which of the carts 100 to place a bag 320 of items thereon.
  • each of the carts 100 may have a unique identifier (e.g., a number, a color, etc.), and the worker may be instructed (e.g., via an audible or visible instruction) to place a bag 320 (or remove the bag 320 from) a cart 100 associated with a specific unique identifier.
  • the unique identifier may be employed with the lights or in lieu of the indicator(s) 131.
  • the cart 100 may include indicators (e.g., lights) 133a-133c, with light 133a being positioned adjacent a first support member 106a (i.e., top shelf), light 133b being positioned adjacent the second support member 106b (i.e., the middle shelf), and light 133c being positioned adjacent the third support member 106c (i.e., the bottom shelf).
  • These lights 133a-133c may be configured to be independently and selectively turned on (e.g., by a control signal via a local or remote-control circuit) to indicate to a worker of the product storage facility 300 a specific location on the cart 100 where to place a bag 320.
  • the cart 100 may include additional indicators (e.g., lights) 135 positioned along each of the support members 106a-106c adjacent to each physical location where a bag 320 may be placed.
  • the support members 106a-106c may include four lights 135, each of which is located adjacent to (e.g., below) the physical location where each one of the four bags 320 may be placed on a support member 106a- 106c.
  • the right-most light 135 on the top shelf 106a lights up, that may serve as an instruction to a worker to place a bag 320 onto the top shelf 106a in a location (i.e., right-most position) indicated by the illuminated light 135.
  • shelf 106a lights up, that may serve as an instruction to a worker (or a customer who came to pick up an order) to remove a bag 320 located on the top shelf 106a adjacent to the illuminated light 135.
  • Fig. 10 shows an initial engagement of the wheels 267a-267c of the robotic transport unit 260 of the cart 200 (only a portion of which is shown in Fig. 10) with the top and bottom rails 172a- 172b of an exemplary guide member 170.
  • the top and bottom rails 172a- 172b of the guide member 170 are arranged relative to each other such that the middle sections 174a- 174b of the top and bottom rails 172a- 172b are oriented in parallel to each other and include substantially parallel portions 175a-175b, while the end sections 176a-176b of the top and bottom rails 172a-172b are arranged in a diverging orientation to each other and include non-parallel portions 177a-177b.
  • the system 500 further includes a computer system 540 in two- way communication with the robotic transport units 560, a database 570, and a network 525. It will be understood that the system 500 is shown in Fig. 5 by way of example only, and that more or fewer of such components may be included in the system 500.
  • the system 500 may include a location detection system 520 configured to detect the physical location of each cart 599 at the product storage facility 300 at any given time.
  • the product storage facility 300 may be any facility (e.g., warehouse, stock room of a store, product sorting facility, product distribution facility, or the like) where products are stored and/or sold. While the present disclosure refers to bags 320 in the context of the objects being moved around on the carts 599, it will be appreciated that the objects moved on the carts 599 do not necessarily have to be in bags 320 and may be moved around on a cart 599 while in containers other than bags 320 (e.g., boxes, bins, packages, or the like) or while bagless. The carts 599 may be moved around the product storage facility 300 for general order fulfillment purposes, and/or loading/unloading purposes.
  • a facility e.g., warehouse, stock room of a store, product sorting facility, product distribution facility, or the like
  • the robotic transport units 560 are located at the product storage facility 300 and are configured to move throughout the space of the product storage facility 300 while engaged to the carts 599 and while not engaged to (i.e., independently of) the carts 599.
  • a robotic transport unit 560 may be configured to selectively and detachably couple to a cart 599 that is configured to support one or more bags 320 thereon.
  • the robotic transport units 560 may not require the presence of, or physical operation by, a human operator and wirelessly communicate with, and are wholly or largely controlled by, the computer system 540.
  • the computer system 540 may be configured to control the movement of the robotic transport units 560 through the product storage facility 300 (e g., toward or away from a workstation 315, toward or away from a car 390 of a customer, etc.) based on a variety of inputs, control signals, etc.
  • the computer system 540 configured for use with exemplary systems and methods described herein may include a control circuit 610 including a processor (e.g., a microprocessor or a microcontroller or any other suitable controller) electrically coupled via a connection 615 to a memory 620 and via a connection 625 to a power supply 630.
  • the control circuit 610 can comprise a fixed-purpose hard-wired platform or can comprise a partially or wholly programmable platform, such as a microcontroller, an application specification integrated circuit, a field programmable gate array, and so on.
  • This control circuit 610 can be configured (for example, by using corresponding programming stored in the memory 620 as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein.
  • the memory 620 may be integral to the processor-based control circuit 610 or can be physically discrete (in whole or in part) from the control circuit 610 and is configured to non-transitorily store the computer instructions that, when executed by the control circuit 610, cause the control circuit 610 to behave as described herein.
  • Such a signal sent by the computer system 540 may instruct the robotic transport unit 560 to one or more of: move toward and adjacent to a specific cart 599 selected by the computer system 540 and to couple to the cart 599; uncouple from and move away from a pick cart 599; and control movement of a cart 599 by virtue of controlling the movement of a robotic transport unit 560 (detachably or non-detachably) coupled to the cart 599 to cause the cart 599 to move toward a specific physical location (e.g., see Fig. 3, workstation 315, car 390 of a customer, etc.) and/or toward a specific worker at the product storage facility 300.
  • a specific physical location e.g., see Fig. 3, workstation 315, car 390 of a customer, etc.
  • Such a signal sent by the computer system 540 may control movement of a pick cart 599 that is not coupled to a detachable robotic transport unit 560 (i.e., a cart 599 which may have its own wireless transceiver, processor-based control circuit, and built-in locomotion system). It will be appreciated that the performance of such functions by the processor-based control circuit 610 of the computer system 540 is not dependent on actions of a human operator, and that the control circuit 610 may be programmed to perform such functions without being actively controlled by a human operator.
  • the user interface 650 may include a speaker 680.
  • the display screen 660 of the computer system 540 is configured to display various graphical interface-based menus, options, and/or alerts that may be transmitted from and/or to the computer system 540 in connection with various aspects of moving the carts 599 around the product storage facility 300.
  • the inputs 670 of the computer system 540 may be configured to permit an operator to navigate through the on-screen menus on the computer system 540 and make changes and/or updates to the routes and destinations of the robotic transport units 560 and/or carts 599 at the product storage facility 300.
  • the display screen 660 may be configured as both a display screen and an input 670 (e.g., a touch-screen that permits an operator to press on the display screen 660 to enter text and/or execute commands).
  • the exemplary database 570 of Fig. 5 is configured to store electronic data including, but not limited to: data associated with the products stored at the product storage facility 300, for example, location of origin of a product, destination of the product, storage requirements for the product (e.g., an indication whether a product is a product that requires storage at ambient, refrigerated/cooled, or freezer temperature), special instructions for the product, orders associated with the product, etc.; data associated with the pick carts 599 being used to store and/or move the products (e.g., location of a pick cart 599, destination of the pick cart 599, destination of a robotic transport unit 560 coupled to, moving toward, or moving away from a pick cart 599, identification of bags 320 and/or products on pick cart 599, etc.); data associated with the robotic transport units 560 being used to control movement of the pick carts 599 (e.g., location of each robotic transport unit 560, identification of the cart 599 being controlled by the robotic transport unit 560, route assigned to the robotic transport unit
  • light sensors (or light receivers) on the robotic transport unit 560 and/or on the pick cart 599 being transported by the robotic transport unit 560 may receive the light and can decode the data.
  • This data may be sent back to the computer system 540, which can determine the position of the robotic transport unit 560 and/or of the pick cart 599 by the data it receives in real-time, since the computer system 540 is able to relate the light data to a mapping of the light sources to known locations at the product storage facility 300.
  • the optional location detection system 520 may include a series of radio beacons (e.g., Bluetooth low energy beacons) at known positions throughout the space of the product storage facility 300 that encode data in the emitted radio signal that identifies the beacon (and thus, the location of the beacon).
  • radio beacons e.g., Bluetooth low energy beacons
  • the robotic transport unit 560 and/or pick cart 599 move through the space of the product storage facility 300
  • low energy receivers of the robotic transport unit 560 and/or of the pick cart 500 being transported by the robotic transport unit 560 receive the radio signal and decode the data.
  • This data is sent back to the computer system 540 which determines the position of the robotic transport unit 560 and/or pick cart 599 by the location encoded in this radio signal, since the computer system 540 is able to relate the received location data to a mapping of the radio beacons to locations at the product storage facility 300.
  • the optional location detection system 520 may include a series of audio beacons at known positions throughout the space of the product storage facility 300 that encode data in the emitted audio signal that identifies the beacon (and thus, the location of the beacon). As a given robotic transport unit 560 and/or pick cart 599 moves through the space, microphones on the robotic transport unit 560 and/or pick cart 599 being transported by the robotic transport unit 560 receive the audio signal and can decode the data.
  • This data is sent back to the computer system 540, which can determine the position of the robotic transport unit 560 and/or pick cart 599 by the location encoded in the audio signal it receives in real-time, since the computer system 540 can relate the location data to a mapping of the audio beacons to known locations at the product storage facility 300.
  • Each of the robotic transport units 560 and/or the pick carts 599 may include a global positioning system (GPS) tracking devices that permit a GPS-based identification of the location of the robotic transport units 560 and/or the pick carts 599 in real-time by the computer system 540.
  • the optional location detection system 520 of the system 500 may include one or more video cameras, and video imagery captured by the video cameras may be provided to the computer system 540. This information may serve, for example, to help the computer system 540 determine the present location of one or more of the robotic transport units 560 and/or determine issues or concerns regarding the movement of the robotic transport units 560 at the product storage facility 300. For example, such information may permit the computer system 540 to detect an object in a path of movement of a robotic transport unit 560.
  • Fig. 7 presents a detailed schematic example of an exemplary robotic transport unit 560 of Fig. 5 (which may be, for example, a robotic transport unit 160 configured to detachably attach to and detach from the cart 100, or a robotic transport unit 260 configured to be non-detachably attached (e.g., integrated as a single unitary structure) to the cart 200).
  • the robotic transport unit 560 has a housing 702 that contains (partially or fully) or at least supports and carries a number of components. These components include, but may not be limited to, a control circuit 704 that includes a processor 706 that, like the control circuit 610 of the computer system 540, may control the general operations of the robotic transport unit 560.
  • the control circuit 704 may include a memory 708 coupled to the processor 706 and that stores, for example, operating instructions and/or useful data.
  • the control circuit 704 is operably coupled to a motorized wheel system 710.
  • This motorized wheel system 710 functions as a locomotion system to permit the robotic transport unit 560 to move within the product storage facility 300 (thus, the motorized wheel system 710 may more generically be referred to as a locomotion system).
  • this motorized wheel system 710 will include at least one drive wheel (i.e., a wheel that rotates (around a horizontal axis) under power to thereby cause the robotic transport unit 560 to move through interaction with, for example, the floor of the product storage facility 300).
  • the motorized wheel system 710 can include any number of rotating wheels and/or other floor-contacting mechanisms as may be desired and/or appropriate to the application setting.
  • the motorized wheel system 710 may include a steering mechanism of choice.
  • One simple example may include one or more wheels that can swivel about a vertical axis to thereby cause the moving robotic transport unit 560 to turn as well.
  • Various examples of motorized wheel systems are known in the art. Further elaboration in these regards is not provided here for the sake of brevity save to note that the aforementioned control circuit 704 is configured to control the various operating states of the motorized wheel system 710 to thereby control when and how the motorized wheel system 710 operates.
  • the control circuit 704 is operably coupled to at least one wireless transceiver 712 that operates according to any known wireless protocol.
  • This wireless transceiver 712 can comprise, for example, a Wi-Fi-compatible and/or Bluetooth-compatible transceiver that can wirelessly communicate with the computer system 540 via the network 525 as shown in Fig. 5. So configured, the control circuit 704 of the robotic transport unit 560 can provide information to the computer system 540 (e.g., via the network 525) and can receive information and/or movement instructions from the computer system 540.
  • control circuit 704 can receive instructions from the computer system 540 regarding directional movement (e.g., specific predetermined routes of movement) of the robotic transport unit 560 when coupled (or not coupled) to a pick cart 599 throughout the space of the product storage facility 300.
  • directional movement e.g., specific predetermined routes of movement
  • the control circuit 704 can receive instructions from the computer system 540 regarding directional movement (e.g., specific predetermined routes of movement) of the robotic transport unit 560 when coupled (or not coupled) to a pick cart 599 throughout the space of the product storage facility 300.
  • the control circuit 704 may be coupled to one or more on-board sensors 714.
  • sensors 714 can comprise a light sensor or light receiver.
  • the optional location detection system 520 mentioned above comprises a plurality of light emitters disposed at particular locations within the product storage facility 300
  • a light sensor 714 can provide information that the control circuit 704 and/or the computer system 540 may employ to determine a present location and/or orientation of the robotic transport unit 560 within the space of the product storage facility 300.
  • such a sensor 714 can comprise a distance measurement unit configured to detect a distance between the robotic transport unit 560 and one or more objects or surfaces around the robotic transport unit 560 (such as an object that lies in a projected path of movement for the robotic transport unit 560 through the product storage facility 300).
  • a sensor 714 comprises a laser distance sensor device that determines a distance to objects in proximity to the sensor.
  • a sensor 714 comprises an optical scanning device to sense/read optical patterns in proximity to the sensor 714.
  • the sensor 714 may comprise a radio frequency identification (RFID) tag reader capable of reading RFID tags in proximity to the sensor.
  • RFID radio frequency identification
  • Such sensors may be useful to determine proximity to nearby objects, avoid collisions, orient the robotic transport unit 560 at a proper alignment orientation to engage, for example, a pick cart 599 or the like.
  • RFID radio frequency identification
  • the foregoing examples are intended to be illustrative and are not intended to convey an exhaustive listing of all possible sensors. Instead, it will be understood that these teachings will accommodate sensing any of a wide variety of circumstances or phenomena to support the operating functionality of the robotic transport unit 560 in a given application setting.
  • the sensor(s) 714 may include any one or more of the sensors noted above.
  • the robotic transport unit 560 may detect objects along its path of travel using, for example, sensors mounted on robotic transport unit 560 and/or video cameras or other sensors/readers installed at the product storage facility 300, and/or sensors installed on the robotic transport unit 560, and/or via communications with the computer system 540.
  • the robotic transport unit 560 may attempt to avoid obstacles, and if unable to avoid, the robotic transport unit 560 will notify the computer system 540 of such a condition.
  • sensors 714 e.g., distance measurement unit such as laser or other optical-based distance measurement sensors
  • the robotic transport unit 560 may detect and avoid obstacle(s) in its path, move around the obstacle(s), or stop until the obstacle(s) is clear.
  • an audio input 716 (such as a microphone) and/or an audio output 718 (such as a speaker) may be operably couple to the control circuit 704.
  • the control circuit 704 can provide a variety of audible sounds to thereby communicate with a worker or a customer at the product storage facility 300, or with other robotic transport units 560 at the product storage facility 300.
  • These audible sounds can include any of a variety of tones and other non-verbal sounds.
  • Such audible sounds can also include, in lieu of the foregoing or in combination therewith, pre-recorded or synthesized speech.
  • the audio input 716 provides a mechanism whereby, for example, a worker and/or a customer may provide verbal input to the control circuit 704.
  • That verbal input can comprise, for example, instructions, inquiries, or information.
  • a worker may direct an instruction and/or query to the robotic transport unit 560.
  • the control circuit 704 can cause the verbalized question to be transmitted to the computer system 640 via the wireless transceiver 712 of the robotic transport unit 560.
  • the computer system 540 can process the verbal input to recognize the speech content and then determine an appropriate response.
  • Such a response may comprise, for example, transmitting back to the robotic transport unit 560 specific instructions regarding how to move (i.e., a specific route calculated by the computer system 540) to the location in the product storage facility 300 where a given pick cart 599 is located.
  • the robotic transport unit 560 includes a rechargeable power source 720 such as one or more batteries.
  • the power provided by the rechargeable power source 720 can be made available to whichever components of the robotic transport unit 560 require electrical energy.
  • the power provided by the rechargeable power source 720 can be made available to the pick cart 599 (e.g., a refrigerator compartment, a freezer compartment, etc. of the pick cart 599).
  • the robotic transport unit 560 may include a plug or other electrically conductive interface that the control circuit 704 can utilize to automatically connect to an external source of electrical energy to thereby recharge the rechargeable power source 720.
  • the robotic transport unit 560 may include a pick cart coupling structure 722 configured to operably couple to a pick cart 599 such that the robotic transport unit 560 is enabled to control directional movements of the pick cart 599 while operably coupled to the pick cart 599 via the pick cart coupling structure 722.
  • the robotic transport unit 560 may be non-detachably attached to the pick cart 599 and comprise an integral part of the pick cart 599 that is not meant to be detached.
  • this reference to “integral” will be understood to refer to a non-temporary combination and joinder that is sufficiently complete so as to consider the combined elements to be as one.
  • Such a joinder can be made in a number of ways including by securing the robotic transport unit housing 702 to the pick cart 599 using bolts or other threaded fasteners as versus, for example, a clip (see, e.g., Fig. 3).
  • the robotic transport unit 560 may include a guide member (e g., rail) coupling structure 725 configured to permit a pick cart 599 to couple to and move along a guide member 170 such as a rail.
  • a guide member e g., rail
  • a guide member coupling structure 725 including a top wheel 167a/267a and bottom wheels 167b-167c/267b-267c is optional and may not be included in all aspects of the robotic transport unit 560, since, as mentioned above, the robotic transport unit 560 may be configured to freely move about the product storage facility 300 while not being coupled to a guide member 170.
  • the robotic transport unit 560 may include an input/output (I/O) device 730 that is coupled to the control circuit 704.
  • the I/O device 730 may provide for an external device to couple to the control circuit 704.
  • the function and purpose of connecting devices will depend on the application. In some examples, devices connecting to the I/O device 730 may add functionality to the control circuit 704, allow the exporting of data from the control circuit 704, allow the diagnosing of the robotic transport unit 560, and so on.
  • the robotic transport unit 560 includes a user interface 724 including, for example, user inputs and/or user outputs or displays depending on the intended interaction with the user (e.g., worker at product storage facility 300).
  • user inputs could include any input device such as buttons, knobs, switches, touch-sensitive surfaces or display screens, and so on.
  • Example user outputs include lights, display screens, and so on.
  • the user interface 724 may work together with or separate from any user interface implemented at a user interface unit (e.g., smartphone, tablet, etc.) used by a worker at the product storage facility 300.
  • the robotic transport unit 560 may be controlled by a user on-site, off-site, or anywhere in the world. This is due to the architecture of some aspects where the computer system 540 outputs the control signals to the robotic transport unit 560. These controls signals can originate at any electronic device in communication with the computer system 540.
  • the movement signals sent to the robotic transport unit 560 may be movement instructions determined by the computer system 540; commands received at a user interface unit (in communication with the control circuit 704) from a user; and commands received at the computer system 540 from a remote user not located at the product storage facility 300.
  • the control circuit 704 includes a memory 708 coupled to the processor 706 and storing, for example, operating instructions and/or useful data.
  • the control circuit 704 can comprise a fixed-purpose hard-wired platform or can comprise a partially or wholly programmable platform. These architectural options are well known and understood in the art and require no further description here.
  • This processor 706 is configured (for example, by using corresponding programming stored in the memory 708 as will be well understood by those skilled in the art) to carry out one or more of the steps, actions, and/or functions described herein.
  • the memory 708 may be integral to the control circuit 704 or can be physically discrete (in whole or in part) from the control circuit 704 as desired. This memory 708 can also be local with respect to the control circuit 704 (where, for example, both share a common circuit board, chassis, power supply, and/or housing) or can be partially or wholly remote with respect to the control circuit 704. This memory 708 can serve, for example, to non-transitorily store the computer instructions that, when executed by the processor 706 of the control circuit 704, cause the control circuit 704 to behave as described herein.
  • not all components illustrated in Fig. 7 may be included in all aspects of the robotic transport unit 560. In other words, some components illustrated in Fig. 7 (for example, the guide member coupling structure 725) may be optional depending on the implementation of the robotic transport unit 560.
  • Fig.8 shows an exemplary perspective view of the automated product storage facility 300 including a product storage structure 302, mobile robots 335, and a workstation 315.
  • the exemplary workstation 315 is an order processing station, where products are picked (by the hand of a human operator or an arm of a robot) from totes 332 and placed into containers or bags 320 and/or onto one or more pick carts 599 according to some aspects described herein.
  • two carts 100 each including a robotic transport unit 160 detachably coupled thereto are shown positioned adjacent the human operator 325 at the workstation 315.
  • These carts 100 may b wirelessly directed and/or guided by the robotic transport unit 160 and/or a computer system 540 (see Fig. 5) from an initial location (e.g., a workstation area 375, cart storing corral 370, product pick up area 380, etc.) to move toward the workstation 315 and into the positions shown in Figs. 8 and 9.
  • the carts 100 may be wirelessly directed and/or guided by a computer system 540 (see Fig.
  • a cart storage area also referred to herein as a corral
  • a product pick up area 380 adjacent a car 390 of a customer, as shown in Fig. 9.
  • the robotic transport unit 560 may be programmed to move (when attached to the cart 100 and when moving independently of the cart 100) about the product storage facility 300 at a first (faster) speed in a first area 301a of the product storage facility 300 accessible only by carts 100, and to move about the product storage facility 300 at a second (slower) speed in a second area 301b, 301c of the product storage facility 201 accessible by both carts 100 and workers or customers of the product storage facility 300.
  • the robotic transport unit 160 (and more generally robotic transport unit 560) is programmed to detect the area of the product storage facility 300 it is located in, and to autonomously control its speed of movement (independently of the cart 100 or together with the cart 100, or more generally cart 599) based on the area where it is located. For example, when the robotic transport unit 560 detects (e.g., via a sensor 162) that it is located in the first (cart-only) area 301a of the product storage facility 300, the robotic transport unit 560 is programmed to move through the first area 301a at a higher rate of speed (e.g., at least 2 meters/second).
  • a higher rate of speed e.g., at least 2 meters/second
  • the robotic transport unit 560 detects (e.g., via a sensor 162) that it is located in the second (cart-and-human access) area 301b or 301c of the product storage facility 300, the robotic transport unit 560 is programmed to move through the second area 301b or 301c at a lower rate of speed (e.g., 0.5-1.5 meters/second).
  • a lower rate of speed e.g., 0.5-1.5 meters/second.
  • Eaches may be sequentially picked by the operator 325 from product tote(s) 332 on either or both picking areas 316, 318, after which the picked eaches are placed by the operator 325 into one or more bags 320 that are located at the bagging station 324 of the workstation 315.
  • the operator 325 of the workstation 315 may be free to arbitrarily pick eaches from the product tote(s) 332 and/or to keep adding the eaches picked from the product tote(s) 332 to the container(s)/bag(s) 320 at the bagging station 324 in conjunction with order fulfillment until the operator 325 deems the container(s)/bag(s) 320 to be full.
  • the operator 325 may remove the container(s)/bag(s) 320 from the bagging station 324 and transfer such contained s)/bag(s) 320 onto a cart 100 arbitrarily chosen by the operator 325.
  • Fig. 13 shows an exemplary method 800 of transporting a plurality of items at a product storage facility 300 via a cart 100 or 200 (and more generally cart 599) that includes wheels 104a- 104d or 204a-204d mounted to and supporting a frame 102 or 202.
  • the method includes supporting, on at least one storage member (e g., shelf, tray, compartment, etc.) 106a- 106c of a cart 100 or 200, one or more ambient-temperature items, which, as mentioned above, may be placed directly onto the shelf or tray 106a- 106c or 206a-206c or into bags 320 that are then placed directly on to the shelf or tray (step 810).
  • a storage member e g., shelf, tray, compartment, etc.
  • a system for transporting a plurality of items at a product storage facility comprises a cart that includes: a frame; wheels mounted to and supporting the frame; and at least one storage member configured to store at least one of the items.
  • the cart is configured to: move about the product storage facility at a first speed in a first area of the product storage facility accessible only by the cart and other carts; and move about the product storage facility at a second speed in a second area of the product storage facility accessible by both the cart and the other carts and workers or customers of the product storage facility, the second speed being slower than the first speed.
  • the method includes: supporting, on at least one storage member, at least one of the items; causing the cart to transport the at least one of the items by moving about the product storage facility at a first speed in a first area of the product storage facility accessible only by the cart and other carts; and causing the cart to transport the at least one of the items by moving about the product storage facility at a second speed in a second area of the product storage facility accessible by both the cart and the other carts and workers or customers of the product storage facility, the second speed being slower than the first speed.
  • the method may include one or more of the following, individually or in any combination thereof: the at least one storage member comprises at least one of a tray, a shelf, a refrigerator compartment, and a freezer compartment; coupling a robotic transport unit to the cart, wherein the robotic transport unit is detachably coupled to the cart or non-detachably coupled to the cart, and causing the cart to move about the product storage facility when the robotic transport unit is coupled to the cart; providing the robotic transport unit with at least one sensor and, by the at least one sensor: detecting the first area of the product storage facility when the robotic transport unit enters the first area or is located in the first area, and detecting the second area of the product storage facility when the robotic transport unit enters the second area or is located in the second area; providing at least one guide member extending along the first area of the product storage facility and, by the robotic transport unit: causing the cart to move at the first speed along the at least one guide member when the cart is mechanically engaged to the at least one guide member, and causing the cart to move at the

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)

Abstract

L'invention concerne un système de transport d'une pluralité d'articles dans une installation de stockage de produits. Le système comprend : un chariot pourvu d'un châssis, de roues montées sur le châssis et supportant ce dernier, et au moins un élément de stockage conçu pour stocker au moins l'un des articles. Le chariot est conçu pour : se déplacer dans l'installation de stockage de produits à une première vitesse dans une première zone de l'installation de stockage de produits accessible uniquement par le chariot et d'autres chariots; et se déplacer dans l'installation de stockage de produits à une seconde vitesse dans une seconde zone de l'installation de stockage de produits accessible à la fois par le chariot et par les autres chariots, et par le personnel ou les clients de l'installation de stockage de produits, la seconde vitesse étant inférieure à la première vitesse.
PCT/US2025/038696 2024-07-24 2025-07-22 Chariots de prélèvement à vitesse variable destinés à être utilisés dans des installations de stockage de produits Pending WO2026024741A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US202463674968P 2024-07-24 2024-07-24
US63/674,968 2024-07-24

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WO2026024741A1 true WO2026024741A1 (fr) 2026-01-29

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US20220332508A1 (en) * 2019-08-22 2022-10-20 Tgw Logistics Group Gmbh Transport and manipulation system and method for transporting load carriers
US20240059145A1 (en) * 2018-08-01 2024-02-22 Crown Equipment Corporation Systems and methods for warehouse environment speed zone management

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Publication number Priority date Publication date Assignee Title
US20160185526A1 (en) * 2009-04-10 2016-06-30 Symbotic, LLC Storage and retrieval system
US20210284446A1 (en) * 2018-04-10 2021-09-16 Fetch Robotics, Inc. System and Method for Robot-Assisted, Cart-Based Workflows
US20240059145A1 (en) * 2018-08-01 2024-02-22 Crown Equipment Corporation Systems and methods for warehouse environment speed zone management
US20210191376A1 (en) * 2019-04-10 2021-06-24 Fetch Robotics, Inc. Robotic Cart Configured for Effective Navigation and Multi-Orientation Docking
US20220332508A1 (en) * 2019-08-22 2022-10-20 Tgw Logistics Group Gmbh Transport and manipulation system and method for transporting load carriers
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