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EP-4114767-B1 - SYSTEMS AND METHODS FOR PROVIDING ORDER FULFILLMENT USING A SHUTTLE TAKEAWAY SYSTEM

EP4114767B1EP 4114767 B1EP4114767 B1EP 4114767B1EP-4114767-B1

Inventors

  • LONG, GUOMING ALEX

Dates

Publication Date
20260513
Application Date
20210305

Claims (15)

  1. A storage, retrieval and processing system for processing objects, said storage, retrieval and processing system comprising: a plurality of bins (12) including objects to be distributed, said plurality of bins being provided on an input conveyance system (16); a programmable motion device (24) that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins (12) in an input area (14) of the input conveyance system (16); and wherein the storage, retrieval and processing system is characterized by further comprising: a routing conveyance system (20) including an object conveyor (37) for receiving the selected object, and for moving the selected object from the input area in each of routing horizontal and vertical directions toward a destination container using one of at least two grid conveyances (38A, 38B), said grid conveyances being adapted to travel along the horizontal and vertical directions and to avoid colliding with one another by generally traveling in similar circuits, one of which is time delayed with respect to the other.
  2. The storage, retrieval and processing system as claimed in claim 1, wherein the destination container is provided among a plurality of destination containers (46) that are provided in a vertically stacked array (44A, 44B).
  3. The storage, retrieval and processing system as claimed in claim 1, wherein the destination container is provided among a plurality of destination containers that are provided in at least two vertically stacked arrays (44A, 44B).
  4. The storage, retrieval and processing system as claimed in claim 3, wherein the object conveyor (37) is disposed between the at least two vertically stacked arrays of destination containers (44A, 44B), optionally wherein the object conveyor (37) is adapted to move an object into a destination container in either of the two vertically stacked arrays (44A, 44B).
  5. The storage, retrieval and processing system as claimed in any of claims 1-4, wherein the object conveyor (37) is mounted to a routing vertical rail system (43).
  6. The storage, retrieval and processing system as claimed in claim 5, wherein the routing vertical rail system (43) is mounted on a routing horizontal rail system (45).
  7. The storage, retrieval and processing system as claimed in claim 5, wherein the storage, retrieval and processing system further includes a perception system (26) for providing perception data regarding a selected object that is presented to the perception system by the programmable motion device (24), and further includes a container conveyance system (90) that moves completed destination containers (52) in each of removal horizontal and vertical directions toward an output conveyor (34, 36) responsive to the perception data.
  8. The storage, retrieval and processing system as claimed in any of claims 1-4, wherein the container conveyance system (90) includes a container conveyor (82) that is mounted to a container movement vertical rail system (96), optionally wherein the container movement vertical rail system (96) is mounted on a container movement horizontal rail system (98).
  9. A method of providing storage, retrieval and processing of objects, said method comprising: providing on a conveyance system (16) a plurality of bins (12) including objects to be distributed; grasping and moving objects within at least one of the plurality of bins in an input area (14) of the conveyance system (16) using a programmable motion device (24) that includes an end effector for grasping and moving any of the objects, said programmable motion device being capable of reaching any of the objects within at least one of the plurality of bins (12) in the input area (14) of the conveyance system (16); providing perception data regarding a selected object that is presented to the perception system (26) by the programmable motion device (24); wherein the method is characterized by further comprising: routing the selected object from the input area (14) in each of horizontal and vertical directions toward a selected destination container responsive to the perception data using a first object conveyor (37) included in one of at least two grid conveyances (38A, 38B); and urging the selected object on the first object conveyor toward the selected destination container in a third direction that is generally orthogonal to the horizontal and vertical directions, wherein said grid conveyances are adapted to travel along the horizontal and vertical directions and to avoid colliding with one another by traveling in circuits, one of which is time delayed with respect to the other.
  10. The method as claimed in claim 9, wherein the method further comprises providing the selected destination container among a plurality of destination containers that are provided in a vertically stacked array (44A, 44B).
  11. The method as claimed in claim 10, wherein the method further comprises providing the selected destination container among a plurality of destination containers that are provided in at least two vertically stacked arrays (44A, 44B).
  12. The method as claimed in claim 11, wherein the method further includes positioning the first object conveyor (37) between a destination container in each of the at least two vertically stacked arrays (44A, 44B), optionally wherein the urging the selected object toward the selected container involves moving the first object conveyor (37) in either of opposing directions.
  13. The method as claimed in claim 11, wherein the first object conveyor (37) moves between the at least two vertically stacked arrays (44A, 44B).
  14. The method as claimed in claim 9, wherein the method further includes routing a further selected object in each of the horizontal and vertical directions toward a further selected destination container responsive to the perception data using a second object conveyor included in another of the at least two grid conveyances (38A, 38B).
  15. The method as claimed in any of claims 9-14, wherein the method further includes removing completed destination containers (52) using a container conveyance system (90) for moving completed destination containers in each of removal horizontal and vertical directions toward an output conveyor (34, 36).

Description

PRIORITY The present application claims priority to U.S. Provisional Patent Application No. 62/986,406 filed March 6, 20020. BACKGROUND The present invention relates to order fulfillment systems, and relates in particular to systems for providing aggregation of objects (e.g., products, packages, bags, items, goods etc.) for preparation for shipment to destination locations, such as in Automated Storage and Retrieval Systems. Order fulfillment systems typically involve the processing of a wide variety of objects for distribution to a large number of distribution locations, such as intermediate distribution stations, mail order stations, geographic group locations and address specific locations. Automated storage and retrieval systems (AS/RS) generally include computer controlled systems of automatically storing (placing) and retrieving items from defined storage locations. Traditional AS/RS typically employ totes (or bins), which are the smallest unit of load for the system. In these systems, the totes are brought to people who pick individual items out of the totes. When a person has picked the required number of items out of the tote, the tote is then re-inducted back into the AS/RS. In these traditional systems, the totes are brought to a person, and the person may either remove an item from the tote or add an item to the tote. The tote is then returned to the storage location. Such systems, for example, may be used in libraries and warehouse storage facilities. The AS/RS involves no processing of the items in the tote, as a person processes the objects when the tote is brought to the person. This separation of jobs allows any automated transport system to do what it is good at - moving totes - and the person to do what the person is better at - picking items out of cluttered totes. It also means the person may stand in one place while the transport system brings the person totes, which increases the rate at which the person can pick goods. There are limits however, on such conventional systems in terms of the time and resources required to move totes toward and then away from each person, as well as how quickly a person can process totes in this fashion in applications where each person may be required to process a large number of totes. There remains a need therefore, for an AS/RS that stores and retrieves objects more efficiently and cost effectively, yet also assists in the processing of a wide variety of objects. SUMMARY The invention provides a storage, retrieval and processing system for processing objects according to claim 1. The invention further provides a method of providing storage, retrieval and processing of objects according to claim 9. WO 2018/175466 A1 discloses systems and methods for processing objects including transport vehicles. BRIEF DESCRIPTION OF THE DRAWINGS The following description may be further understood with reference to the accompanying drawings in which; Figure 1 shows an illustrative diagrammatic front isometric view of a storage, retrieval and processing system in accordance with an aspect of the present invention;Figure 2 shows an illustrative diagrammatic enlarged view of an intake portion of the systemFigure 3 shows an illustrative diagrammatic underside view of the bin perception unit of Figures 1 and 2;Figure 4 shows an illustrative diagrammatic view from the bin perception unit of Figure 3 directed a bin and its contents;Figure 5 shows an illustrative diagrammatic enlarged view of the object perception unit of the system of Figure 1;Figure 6 shows an illustrative diagrammatic front elevated view of the object perception unit of Figures 1 and 5;Figure 7 shows an illustrative diagrammatic rear elevated view of the object perception unit of Figures 1 and 5;Figures 8A - 8D show illustrative diagrammatic views of an object being moved in the object routing conveyance system of Figure 1;Figures 9A - 9C show illustrative diagrammatic views of movement of object conveyors in the object routing conveyance system of Figure 1;Figures 10A - 10C show illustrative diagrammatic views of an object being moved to a destination container in the system of Figure 1;Figures 11A and 11B show illustrative diagrammatic views of a completed destination container being removed from a container array to a destination container movement system;Figures 12A and 12B show illustrative diagrammatic views of the completed destination container of Figures 11A and 11B being moved from the destination container movement system to an output conveyor;Figures 13A - 13C show illustrative diagrammatic views of an empty container being provided to the destination container movement system;Figure 14 shows an illustrative diagrammatic view of an empty container being provided from destination container movement system to the container array of Figures 11A and 11B; andFigure 15 shows an illustrative diagrammatic rear isometric view of the storage, retrieval and processing system of Figure 1. The drawings are