US20080281717A1 - Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages - Google Patents

Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages Download PDF

Info

Publication number
US20080281717A1
US20080281717A1 US11/908,218 US90821806A US2008281717A1 US 20080281717 A1 US20080281717 A1 US 20080281717A1 US 90821806 A US90821806 A US 90821806A US 2008281717 A1 US2008281717 A1 US 2008281717A1
Authority
US
United States
Prior art keywords
package
rack
data
warehouse
packages
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.)
Abandoned
Application number
US11/908,218
Inventor
Sami Kortelainen
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.)
Individual
Original Assignee
Individual
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
Priority claimed from FI20050251A external-priority patent/FI20050251A0/en
Application filed by Individual filed Critical Individual
Publication of US20080281717A1 publication Critical patent/US20080281717A1/en
Abandoned legal-status Critical Current

Links

Images

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
    • B65G1/0407—Storage devices mechanical using stacker cranes
    • B65G1/0435—Storage devices mechanical using stacker cranes with pulling or pushing means on either stacking crane or stacking area
    • 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
    • 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
    • B65G1/0485—Check-in, check-out devices
    • 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR 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
    • G06Q30/00—Commerce
    • G06Q30/06—Buying, selling or leasing transactions
    • G06Q30/0601—Electronic shopping [e-shopping]
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/041—Camera

Definitions

  • the invention relates to a method to stack palletless and as to their size variable goods packages into the warehouse rack and to retrieve them from said rack and to control the logistics of packages, in which method the said warehouse rack is furnished with an automatic packages stacking and retrieving robot, and in the method the control of warehouse data and logistics takes place by means of a data system, and to equipment that carries out the method.
  • Previously known is a palletless storing system of goods, among others from U.S. Pat. No. 6,129,497, where palletless goods crates stacked, one on top of another, are retrieved from the warehouse rack and stacked on the rack.
  • a collecting apparatus is moving on rails in the warehouse, which apparatus is adjusted to take and stack goods crates on different rack levels.
  • On a rack there can be many stacks of crates side by side.
  • the stack retrieved from the rack so that the lifting means of the stacking apparatus catches the bottom-edge of he lower crate in the stack, whereby the whole stack can be lifted on and removed together with the apparatus.
  • the crates are on the rack so that the lifting means can be placed under their edges. This has been resolved so that the crates on the rack are on a smaller base than their bottom part.
  • a new method of stacking and retrieving pallet free packages from the rack is developed and a method to control the logistics of packages, whereby the method is characterised in that the equipment of the method receives the package, for instance, onto a conveyor belt, the equipment carries out weighing of package, determination of space requirement, reading of remote code connected to the package, as reading of RFID code onto the package in order to choose the rack space determined on basis of former stages and the package is retrieved from the rack controlled either by the order of the user or the data system and that data of above mentioned stackings and retrieving are transmitted to the data system.
  • Characteristic for the equipment that carries out the method is that the tracking and retrieving robot has at least an encapsulated upper part so that possible encapsulations of the lower part together with the upper part encapsulation essentially close the lower part package space, at least the sides and the bottom, when the lower part is lifted into contact with the upper part, furthermore the lower part has a transport platform to facilitate moving of package, and detectors in said lower part at least for observation of package.
  • the advantage of the method according to the invention is that the data base of the system remains up to date in real time and to the to its contents, since the packages travel through weighing and photography into the racks. Keeping the data base updated results in plenty of other advantages, such as possibility, in connection with completion storage, of automatic delivery of orders and for instance follow-up of the age of goods. From the reception of goods a photograph and weight data arrives to the data base, which can be checked later on.
  • the robot stacking and retrieving packages is so arranged that it can take and move packages regardless of their form and outer dimensions provided that they do not exceed the top limit.
  • FIG. 1 shows the reception and delivery station in a stacking and retrieving warehouse and the automatic stacking and retrieving robot moving in the warehouse.
  • FIG. 2 shows from the side a goods package getting stacked, into the rack.
  • FIG. 3 shows a part of the warehouse rack from the direction of goods retrieval.
  • FIG. 4 shows the stacking and retrieving robot travelling on overhead rails.
  • FIG. 5 shows schematically a rail of the warehouse rail system from above.
  • FIG. 1 shows the receiving and delivery station 5 , which includes a conveyor belt 2 onto which the brought goods package is placed
  • the package is whatever article packed or unpacked, which stays put not rolling off its base.
  • the one who brings the package or the user of the storage is identified with a code that can be fed for instance into computer 22 connected to the station.
  • conveyor belt 2 gets started and moves package 1 to the tunnel in the station, which tunnel comprises the means for control of package.
  • the bar code on package side, RFID code or any other series of characters are read, belt scale 4 weighs the package and camera takes photos of it.
  • the data are taken to the warehouse system as data concerning the said package. If the package weight given in RFID code does not correspond to the weighing result, the reception is rejected.
  • the pattern recognition program determines from the camera picture also the external dimensions of the package. There can also be more cameras taking pictures in different directions. Then the system seeks from the warehouse a place for package 1 and moves it by means of belt 2 to belt 6 of the package collecting robot 19 .
  • Belt 6 of collecting robot 11 , 12 , 19 pulls the package between transfer plates 7 of package. In this stage it is also possible by means of transfer plates 7 to pull the package.
  • the robot comprises a rail base 12 with wheels.
  • the robot has also high vertical guides 14 , resting on which equipment platform 11 is arranged to rise to the height needed. For instance, there are in guides 14 toothed bars, whereby equipment platform 11 comprises rotatable cogwheels, by means of which the equipment platform gets up and down in the guides.
  • the robot transfer gear part so fixed that it can turn on the equipment platform at least 90° sideways, most suitably to both sides.
  • the robot moving along rails between the racks collects and delivers goods to the racks on both sides of the fairway.
  • transfer gear part there are driving gears of transfer plates 7 , by means of which plates 7 can be brought closer to and farther away from each other.
  • Vertical arms 8 are by means of articulated arm 9 fixed to horizontal beam 18 , whereby change of distance between plates is possible. Whereas horizontal beam 18 is moved with regard to another fixed beam on the transfer gear part, whereby to transfer plates necessary horizontal motion is achieved.
  • the force of cylinder 10 is so adjusted that it does not squeeze the goods too much.
  • FIG. 1 shows a robot ravelling only on one pair of rails.
  • a more recommendable embodiment is of such kind that robot 19 moves by means of its wheels on a smooth base and its control system drives the robot accurately between right racks and in there to right position and further, the unit lifts belt 6 to proper height.
  • FIG. 2 shows from one side the bringing of package 1 to rack space 23 .
  • the horizontal motion is formed in FIG. 2 by means of beam 18 furnished with toothed bar 16 , which moves in control beam 24 rotated by toothed bar 17 .
  • the rack units are chosen for the part of the height of the goods space according to the maximum package size. For instance, a system can be chosen, where the maximum package size is 400 ⁇ 600 ⁇ 600 3 and weight 50 kg.
  • bearings 25 Between the platform of equipment 11 and transfer gear part there are bearings 25 so that it is possible to go around upper part 19 , including its transfer gears, at least to both sides.
  • FIG. 3 shows the front of a rack, whereby rack spaces 23 are visible from their width.
  • control of band distribution is recorded, whereby rack spaces 23 comprise for different widths chosen bands a-d according to the width of packages 1 a - 1 d .
  • the system is programmed to fit the packages according to the width so that package 1 can be placed in a free band corresponding well to its width.
  • FIG. 4 shows a stacking and retrieving robot 26 travelling along a overhead rail 30 by means of wagon 31 .
  • the robot comprises a protective casing, into which, by means of cables 28 , the goods transporting lower part can be lifted.
  • the lower part can be let down to different levels for stacking and retrieving packages 1 , when at first the robot in overhead rail 30 is stopped in the right point.
  • overhead rail 30 there is glued in the inner surface a readable location code band, whereby the control circuit of the unit receives all the time data of location on rail 30 .
  • rail 30 also power cables, from which the wagon 32 motor gets its motive force.
  • rail 30 possibly comprises also an aerial band for data transmission.
  • a rechargeable battery and driving motors of means 7 , 6 For moving gripping plates 7 of the lower part and conveyor belt 6 there is in the lower part a rechargeable battery and driving motors of means 7 , 6 .
  • the battery is charged from overhead conductor rails 32 , when the lower part is lifted up into the upper part casing.
  • Packages 1 stay in the robot ride, when the lower part is lifted up into the casing of the upper part.
  • Encapsulation between lower part and upper part is arranged so that together their encapsulations close at least the package into a casing comprising bottom and sides.
  • Control of wagon 30 contains blocking of movement if the lower part is not lifted up. Transportation of packages is safe, if they move on an manned area.
  • supports 29 locking the lower part and which by means power units are pushed against the frames of racks 15 , so that the lower part is locked to its place, when packages are moved from lower part to the rack and vice versa.
  • Supports 29 work also as lower part power source, as by means of a battery placed in the rack frame
  • the lower part has a rack location detector, so that lower part can be steered just to the right height.
  • the detector is, for instance by means of ultra sound, detecting the location of the rack frame.
  • the front edges of gripping plates 7 are in their both directions furnished with a collision sensor 34 , which is for instance a pietzo film.
  • the sensor informs if the front edge of plate 7 hits the package.
  • the front edges of gripping plates 7 can have light cells 34 which indicate arriving of package between the gripping plates or leaving of package from between the gripping plates.
  • the lower part can be furnished with a horizontal net curtain between vertical beams 33 .
  • the net curtain indicates when a package or other obstacle is in immediate closeness of the lower part side, so that lifting of lower part does not necessarily work in the space between the rack.
  • the net curtain is needed mainly on the lower part sides, via which loading of package is running.
  • the lower part includes also a battery 36 as power source of lower part equipment. Naturally, the above mentioned equipment and properties can be adapted to gripping plates 7 of robot 19 of FIG. 1 and to the transfer opening and side parts of the package.
  • FIG. 5 is a schematic view of overhead track-laying 30 , along which robots 26 can be steered to move to or to get stored to depot area 33 .
  • one rack area one depot area 33 and three reception and delivery stations 5 are presented.
  • Rack units 15 are most suitably under overhead rail 30 so much that the track of collecting robot can cross the rack units,
  • Several robots 26 are programmed to move at the same time on rails 30 and the program takes care every moment of the location of the robots and seeks the best routes.
  • the data system reception and delivery stations 5 transmits and receives over computer 22 electric data together with central server 21 physically in a different place. Whereas the central server continuously communicates electrically with suppliers and with the operation system of the customer. Naturally, computer 22 in connection with the unit, can also be communicating directly with suppliers or buyers
  • the supplier furnishes the package with RFID remote code and sends electrically the data of RFID code 20 to the warehouse data system.
  • the RFID remote code is usually a stick-on label and contains order data, quantity data, ID number and possibly also other data, as for instance data of the cargo destination.
  • the data system included in the method controls the logistics of package 1 , by which communication electronic mail address is used and by means of which access to the web sides received, whereby by means of communication, as an electrical form, the goods (package) are ordered from the supplier, the system types the carriage note and orders freight and transport and invoices the transportation.
  • the system informs the supplier of arrival of the goods, transmits the chosen location of the goods (package) in the warehouse rack to the data system, updates the warehouse situation, forms invoice data and also of collection and sending of goods (package) from warehouse rack 15 to the customer according to the order received from customer in using correspondingly the above presented necessary functions.
  • the control of logistics updates the content of stock, gives, if necessary, an order impulse, due to the reduction of the goods in question, and points the reduced goods to charge the work number or corresponding identified in the collection order.

Abstract

A method to stack palletless and as to their size variable packages (1) on warehouse rack (15) and to retrieve them from said rack and to control the logistics of packages, in which method the said warehouse rack is furnished with an automatic packages stacking and retrieving robot, and in the method the control of warehouse data and logistics takes place by means of a data system. Equipment (5) included in the method receives package (1), for instance, onto conveyor belt (2), equipment (5) carries out weighing of package (1), determination for it necessary space requirement, reading of remote code connected to package (1), as RFID code (20) in order to choose the rack space determined for it on basis of previous functions, and package (1) is retrieved from the rack steered either by the order of the user or of the data system, and the data from above mentioned stacking and retrieving functions are transmitted to the data system.

Description

  • The invention relates to a method to stack palletless and as to their size variable goods packages into the warehouse rack and to retrieve them from said rack and to control the logistics of packages, in which method the said warehouse rack is furnished with an automatic packages stacking and retrieving robot, and in the method the control of warehouse data and logistics takes place by means of a data system, and to equipment that carries out the method.
  • Previously known is a palletless storing system of goods, among others from U.S. Pat. No. 6,129,497, where palletless goods crates stacked, one on top of another, are retrieved from the warehouse rack and stacked on the rack. A collecting apparatus is moving on rails in the warehouse, which apparatus is adjusted to take and stack goods crates on different rack levels. On a rack there can be many stacks of crates side by side. The stack retrieved from the rack so that the lifting means of the stacking apparatus catches the bottom-edge of he lower crate in the stack, whereby the whole stack can be lifted on and removed together with the apparatus. The crates are on the rack so that the lifting means can be placed under their edges. This has been resolved so that the crates on the rack are on a smaller base than their bottom part.
  • With the apparatus it is possible to handle other than crates of a certain size, which are stacked one on top of another, a certain quantity at the most. Anyway, no bearing pallets are needed. Steering of the apparatus takes place from the control centre in the lifting carrier. In the system the content of crates is not identified.
  • In order to eliminate the disadvantages of the above presented wagon moving and working in a high warehouse collecting and removing palletless goods packages, a new method of stacking and retrieving pallet free packages from the rack is developed and a method to control the logistics of packages, whereby the method is characterised in that the equipment of the method receives the package, for instance, onto a conveyor belt, the equipment carries out weighing of package, determination of space requirement, reading of remote code connected to the package, as reading of RFID code onto the package in order to choose the rack space determined on basis of former stages and the package is retrieved from the rack controlled either by the order of the user or the data system and that data of above mentioned stackings and retrieving are transmitted to the data system.
  • Characteristic for the equipment that carries out the method is that the tracking and retrieving robot has at least an encapsulated upper part so that possible encapsulations of the lower part together with the upper part encapsulation essentially close the lower part package space, at least the sides and the bottom, when the lower part is lifted into contact with the upper part, furthermore the lower part has a transport platform to facilitate moving of package, and detectors in said lower part at least for observation of package.
  • The advantage of the method according to the invention is that the data base of the system remains up to date in real time and to the to its contents, since the packages travel through weighing and photography into the racks. Keeping the data base updated results in plenty of other advantages, such as possibility, in connection with completion storage, of automatic delivery of orders and for instance follow-up of the age of goods. From the reception of goods a photograph and weight data arrives to the data base, which can be checked later on. The robot stacking and retrieving packages is so arranged that it can take and move packages regardless of their form and outer dimensions provided that they do not exceed the top limit.
  • In the following the invention is disclosed with reference to the enclosed drawing, where
  • FIG. 1 shows the reception and delivery station in a stacking and retrieving warehouse and the automatic stacking and retrieving robot moving in the warehouse.
  • FIG. 2 shows from the side a goods package getting stacked, into the rack.
  • FIG. 3 shows a part of the warehouse rack from the direction of goods retrieval.
  • FIG. 4 shows the stacking and retrieving robot travelling on overhead rails.
  • FIG. 5 shows schematically a rail of the warehouse rail system from above.
    •
  • FIG. 1 shows the receiving and delivery station 5, which includes a conveyor belt 2 onto which the brought goods package is placed The package is whatever article packed or unpacked, which stays put not rolling off its base. The one who brings the package or the user of the storage is identified with a code that can be fed for instance into computer 22 connected to the station. When the user is identified conveyor belt 2 gets started and moves package 1 to the tunnel in the station, which tunnel comprises the means for control of package. The bar code on package side, RFID code or any other series of characters are read, belt scale 4 weighs the package and camera takes photos of it. The data are taken to the warehouse system as data concerning the said package. If the package weight given in RFID code does not correspond to the weighing result, the reception is rejected. The pattern recognition program determines from the camera picture also the external dimensions of the package. There can also be more cameras taking pictures in different directions. Then the system seeks from the warehouse a place for package 1 and moves it by means of belt 2 to belt 6 of the package collecting robot 19.
  • Belt 6 of collecting robot 11,12,19, pulls the package between transfer plates 7 of package. In this stage it is also possible by means of transfer plates 7 to pull the package. When package 1 is on belt 6 between transfer plates 7 robot 11,12,19 starts moving along rails 13 in the warehouse. The robot comprises a rail base 12 with wheels. The robot has also high vertical guides 14, resting on which equipment platform 11 is arranged to rise to the height needed. For instance, there are in guides 14 toothed bars, whereby equipment platform 11 comprises rotatable cogwheels, by means of which the equipment platform gets up and down in the guides.
  • On equipment platform 11 there is still the robot transfer gear part so fixed that it can turn on the equipment platform at least 90° sideways, most suitably to both sides. Thus the robot moving along rails between the racks collects and delivers goods to the racks on both sides of the fairway.
  • In transfer gear part there are driving gears of transfer plates 7, by means of which plates 7 can be brought closer to and farther away from each other. As equipment there are arms 8 upwards from plates 7, which by means of cylinder 10 are brought closer and farther. Vertical arms 8 are by means of articulated arm 9 fixed to horizontal beam 18, whereby change of distance between plates is possible. Whereas horizontal beam 18 is moved with regard to another fixed beam on the transfer gear part, whereby to transfer plates necessary horizontal motion is achieved. The force of cylinder 10 is so adjusted that it does not squeeze the goods too much. FIG. 1 shows a robot ravelling only on one pair of rails. When in the practise the robot has to work between many possible racks in a rack unit addressed to it, there is in connection with rails 13 a transversal transfer system in the end of the rack row, for instance so that the robot is transferred with another robot to the rails between proper racks. For instance, rails 13 are cut off immediately after the robot, whereby the track-laying under the robot is mounted on a platform movable in crosswise direction.
  • However, a more recommendable embodiment is of such kind that robot 19 moves by means of its wheels on a smooth base and its control system drives the robot accurately between right racks and in there to right position and further, the unit lifts belt 6 to proper height. By means of this solution the advantage is achieved that for the robot upper part 19 no separate turning means are needed, since the whole robot turns between the racks by means of its wheels.
  • FIG. 2 shows from one side the bringing of package 1 to rack space 23. With belt 6 it is not possible to accompany the package to the rack, but the final placing into rack must be carried out by means of transfer plates 7. The horizontal motion is formed in FIG. 2 by means of beam 18 furnished with toothed bar 16, which moves in control beam 24 rotated by toothed bar 17. The rack units are chosen for the part of the height of the goods space according to the maximum package size. For instance, a system can be chosen, where the maximum package size is 400×600×6003 and weight 50 kg. Between the platform of equipment 11 and transfer gear part there are bearings 25 so that it is possible to go around upper part 19, including its transfer gears, at least to both sides.
  • FIG. 3 shows the front of a rack, whereby rack spaces 23 are visible from their width. In the warehouse system control of band distribution is recorded, whereby rack spaces 23 comprise for different widths chosen bands a-d according to the width of packages 1 a-1 d. The system is programmed to fit the packages according to the width so that package 1 can be placed in a free band corresponding well to its width.
  • FIG. 4 shows a stacking and retrieving robot 26 travelling along a overhead rail 30 by means of wagon 31. The robot comprises a protective casing, into which, by means of cables 28, the goods transporting lower part can be lifted. The lower part can be let down to different levels for stacking and retrieving packages 1, when at first the robot in overhead rail 30 is stopped in the right point. For instance, in overhead rail 30 there is glued in the inner surface a readable location code band, whereby the control circuit of the unit receives all the time data of location on rail 30. There area in rail 30 also power cables, from which the wagon 32 motor gets its motive force. Furthermore, rail 30 possibly comprises also an aerial band for data transmission. For moving gripping plates 7 of the lower part and conveyor belt 6 there is in the lower part a rechargeable battery and driving motors of means 7, 6. The battery is charged from overhead conductor rails 32, when the lower part is lifted up into the upper part casing. Packages 1 stay in the robot ride, when the lower part is lifted up into the casing of the upper part. Encapsulation between lower part and upper part is arranged so that together their encapsulations close at least the package into a casing comprising bottom and sides. Control of wagon 30 contains blocking of movement if the lower part is not lifted up. Transportation of packages is safe, if they move on an manned area.
  • When the lower part is let down to wanted rack, for instance determined by control codes, as a solution there are supports 29 locking the lower part and which by means power units are pushed against the frames of racks 15, so that the lower part is locked to its place, when packages are moved from lower part to the rack and vice versa. Supports 29 work also as lower part power source, as by means of a battery placed in the rack frame For instance, in order to secure working, the lower part has a rack location detector, so that lower part can be steered just to the right height. The detector is, for instance by means of ultra sound, detecting the location of the rack frame. The front edges of gripping plates 7 are in their both directions furnished with a collision sensor 34, which is for instance a pietzo film. The sensor informs if the front edge of plate 7 hits the package. Furthermore, the front edges of gripping plates 7 can have light cells 34 which indicate arriving of package between the gripping plates or leaving of package from between the gripping plates. Furthermore, in one embodiment the lower part can be furnished with a horizontal net curtain between vertical beams 33. The net curtain indicates when a package or other obstacle is in immediate closeness of the lower part side, so that lifting of lower part does not necessarily work in the space between the rack. The net curtain is needed mainly on the lower part sides, via which loading of package is running. The lower part includes also a battery 36 as power source of lower part equipment. Naturally, the above mentioned equipment and properties can be adapted to gripping plates 7 of robot 19 of FIG. 1 and to the transfer opening and side parts of the package.
  • FIG. 5 is a schematic view of overhead track-laying 30, along which robots 26 can be steered to move to or to get stored to depot area 33. As example in the scheme one rack area, one depot area 33 and three reception and delivery stations 5 are presented. Rack units 15 are most suitably under overhead rail 30 so much that the track of collecting robot can cross the rack units, Several robots 26 are programmed to move at the same time on rails 30 and the program takes care every moment of the location of the robots and seeks the best routes.
  • The data system reception and delivery stations 5 transmits and receives over computer 22 electric data together with central server 21 physically in a different place. Whereas the central server continuously communicates electrically with suppliers and with the operation system of the customer. Naturally, computer 22 in connection with the unit, can also be communicating directly with suppliers or buyers
  • By supply of goods the supplier furnishes the package with RFID remote code and sends electrically the data of RFID code 20 to the warehouse data system. The RFID remote code is usually a stick-on label and contains order data, quantity data, ID number and possibly also other data, as for instance data of the cargo destination. When the package arrives at the warehouse rack station, choosing of package location in rack 15 is effected by the weight of the package and possibly also the demand of quick collection of package.
  • The data system included in the method controls the logistics of package 1, by which communication electronic mail address is used and by means of which access to the web sides received, whereby by means of communication, as an electrical form, the goods (package) are ordered from the supplier, the system types the carriage note and orders freight and transport and invoices the transportation. The system informs the supplier of arrival of the goods, transmits the chosen location of the goods (package) in the warehouse rack to the data system, updates the warehouse situation, forms invoice data and also of collection and sending of goods (package) from warehouse rack 15 to the customer according to the order received from customer in using correspondingly the above presented necessary functions.
  • If the goods (package) are collected from rack 15 for own use on the basis of a collection order, the control of logistics updates the content of stock, gives, if necessary, an order impulse, due to the reduction of the goods in question, and points the reduced goods to charge the work number or corresponding identified in the collection order.

Claims (13)

1. A method to stack palletless and as to their size variable packages (1) on warehouse rack (15) and to retrieve them from said rack and to control the logistics of packages, in which method the said warehouse rack is furnished with an automatic packages stacking and retrieving robot (19),(26), and in the method the control of warehouse data and logistics takes place by means of a data system, characterized in that equipment (5) included in the method receives package (1), for instance, onto conveyor belt (2), the equipment (5) carries out weighing of package (1), determination for it necessary space requirement, reading of remote code connected to package (1), as RFID code (20) in order to choose the rack space determined for it on basis of previous functions, and package (1) is retrieved from the rack steered either by the order of the user or of the data system, and the data from above mentioned stacking and retrieving functions are transmitted to the data system.
2. A method according to claim 1 characterized in that the packages are stacked as to their positions in transverse direction identified as band spaces (a . . . d), of the rack, the band width of which is determined according to the external dimensions package (1 a . . . 1 d).
3. A method according to claim 1 characterized in that the supplier furnishes the package with RFID remote code and electrically the sends data of package to the warehouse data system or the data follow along with the RFID remote code.
4. A method according to claim 1 characterized in that the user is identified in manners known per se, as with the RFID code, fingerprint code or PIN code.
5. A method according to claim 1 characterized in that the space requirement of package is determined by identifications of the package external dimensions.
6. A method according to claim 1 characterized in that choosing of position of package 1 in rack (15) is effected by the weight of package and also by the demand of quick package collection.
7. A method according to claim 1 characterized in that the data system controls the logistics of package (1) by means of electric communication, in which communication the e-mail address is used and by means of it access to the web sides, whereat by means of the communication the goods (package) are ordered from the supplier, the carriage note typed, freight ordered and transport carried out, the transportation invoiced, arrival of goods confirmed, chosen location of the goods (package) in the warehouse rack is transmitted to the data system, the content of stock is updated, invoice data are formed and also of collection and sending of goods (package) from warehouse rack (15) to the customer according to the order received from customer in using correspondingly the above presented necessary functions.
8. A method according to claim 1 characterized in that on collecting goods (package 1) on the basis of from rack (15) for own use, for instance a bearing from the rack to assembly, the control of logistics updates the content of stock, gives, if needed, an order impulse, because of the reduction of the goods in question, and indicates the reduced goods to charge the work number or corresponding identified in the collection order
9. A method according to claim 1 characterized in that in the warehouse system a separate central server (21) is used, which receives and sends data together with the warehouse system of the supplier and customer, who has ordered the goods.
10. A method according to claim 1 characterized in that the data system compares the data of received package (1) with the data of the data system, as for instance the size, weight and/or the photographer makes a possible report of deviation.
11. Equipment to realise the method according to the invention and which comprises rack unit (15), at least one reception and delivery station (5), which includes detectors (4),(5) of package (1) and a communication arrangement to the data system (22), overhead rail system (30) of warehouse for moving robot (26) that stacks and retrieves packages by means of the arrangement, whereby the stacking and retrieving robot comprises equipment (31) for movement on rail (31), equipment to locate said robot on rail (30), equipment, as lifting cables (28), and the goods transporting part of said robot of the lifting motor, as for letting down the lower part on different rack levels, and transfer means (7) in said lower part for moving packages to the lower part and away from there, characterized in that stacking and retrieving robot (26) comprises at least an encapsulated upper part, that possible encapsulations of the lower part together with the encapsulation of the upper part locks at least the bottom and the sides of the lower part package space, when the lower part is lifted in connection with upper the part, furthermore, the lower part comprises a transfer platform (6) in order to facilitate the transfer of package and detectors in said lower part least for observation of the package.
12. A method according to claim 11, characterized in that there is in the lower part a net curtain for detection of obstacle outside the lower part loading sides in immediate closeness of the side line and for identification of package height and assurance of lifting, collision sensors, as pietzo films in the front edge of movable plates (7) gripping package (1), sensors of rack frame, as ultrasound means and package sensors, as light cells in the front edge of said plates (7) for identification of the existence and transition of package.
13. A method according to claim 11 characterized in that the lower part has as power source a charged battery and a wireless data transmission arrangement in the upper part of the robot.
US11/908,218 2005-03-09 2006-03-08 Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages Abandoned US20080281717A1 (en)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
FI20050251 2005-03-09
FI20050251A FI20050251A0 (en) 2005-03-09 2005-03-09 Procedure for placing and dispensing from a warehouse shelf a goods package without a pallet and for checking the package logistics
FI20050844 2005-08-22
FI20050844A FI126245B (en) 2005-03-09 2005-08-22 Procedure for placing a palletless goods package on a warehouse shelf and handing it over therefrom and administering the package logistics and equipment for carrying out the procedure
PCT/FI2006/000078 WO2006095047A1 (en) 2005-03-09 2006-03-08 A method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
PCT/FI2006/000078 A-371-Of-International WO2006095047A1 (en) 2005-03-09 2006-03-08 A method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US13/074,444 Division US8554643B2 (en) 2005-03-09 2011-03-29 Method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages

Publications (1)

Publication Number Publication Date
US20080281717A1 true US20080281717A1 (en) 2008-11-13

Family

ID=34913541

Family Applications (2)

Application Number Title Priority Date Filing Date
US11/908,218 Abandoned US20080281717A1 (en) 2005-03-09 2006-03-08 Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages
US13/074,444 Active US8554643B2 (en) 2005-03-09 2011-03-29 Method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages

Family Applications After (1)

Application Number Title Priority Date Filing Date
US13/074,444 Active US8554643B2 (en) 2005-03-09 2011-03-29 Method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages

Country Status (14)

Country Link
US (2) US20080281717A1 (en)
EP (2) EP1896346A4 (en)
JP (1) JP5599971B2 (en)
CN (1) CN101184680B (en)
AU (1) AU2006221918B2 (en)
CA (1) CA2600659C (en)
DK (1) DK2662318T3 (en)
ES (1) ES2563053T3 (en)
FI (1) FI126245B (en)
HU (1) HUE027673T2 (en)
NO (1) NO340173B1 (en)
PL (1) PL2662318T3 (en)
RU (1) RU2562087C2 (en)
WO (1) WO2006095047A1 (en)

Cited By (32)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080094179A1 (en) * 2006-10-20 2008-04-24 Datamars Sa Identification device for objects with a transponder and a corresponding method
US20110176895A1 (en) * 2005-03-09 2011-07-21 Sami Kortelainen Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages
US20120306626A1 (en) * 2009-12-07 2012-12-06 Daifuku Co., Ltd. Article Storage Equipment and Method of Operating Same
US20130186999A1 (en) * 2011-07-29 2013-07-25 Telair International Gmbh Cargo Compartment with Robot, Aircraft, Freight Storage Device
US8694152B2 (en) 2010-12-15 2014-04-08 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US8831772B2 (en) 2012-07-25 2014-09-09 International Business Machines Corporation Lift apparatus for stable placement of components into a rack
US8919801B2 (en) 2010-12-15 2014-12-30 Symbotic, LLC Suspension system for autonomous transports
US8965619B2 (en) 2010-12-15 2015-02-24 Symbotic, LLC Bot having high speed stability
US9008884B2 (en) 2010-12-15 2015-04-14 Symbotic Llc Bot position sensing
US9051120B2 (en) 2009-04-10 2015-06-09 Symbotic Llc Control system for storage and retrieval systems
US9187244B2 (en) 2010-12-15 2015-11-17 Symbotic, LLC BOT payload alignment and sensing
US9242800B2 (en) 2011-09-09 2016-01-26 Symbotic, LLC Storage and retrieval system case unit detection
US9321591B2 (en) 2009-04-10 2016-04-26 Symbotic, LLC Autonomous transports for storage and retrieval systems
US9378607B1 (en) * 2013-05-14 2016-06-28 IVP Holdings III LLC Dynamic product presentation system and commerce platform
US9475649B2 (en) 2010-12-15 2016-10-25 Symbolic, LLC Pickface builder for storage and retrieval systems
US9499338B2 (en) 2010-12-15 2016-11-22 Symbotic, LLC Automated bot transfer arm drive system
US9561905B2 (en) 2010-12-15 2017-02-07 Symbotic, LLC Autonomous transport vehicle
US9802761B2 (en) 2013-03-15 2017-10-31 Symbotic, LLC Automated storage and retrieval system
US20180162639A1 (en) * 2015-06-08 2018-06-14 Ocado Innovation Limited Object storage, handling, and retrieving system and method
US10359777B2 (en) 2013-03-15 2019-07-23 Symbotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
TWI688244B (en) * 2017-04-10 2020-03-11 茂德科技股份有限公司 Wireless communication management system and wireless communication management methods
US10822168B2 (en) 2010-12-15 2020-11-03 Symbotic Llc Warehousing scalable storage structure
US10894663B2 (en) 2013-09-13 2021-01-19 Symbotic Llc Automated storage and retrieval system
US10913602B2 (en) 2013-08-09 2021-02-09 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11078017B2 (en) 2010-12-15 2021-08-03 Symbotic Llc Automated bot with transfer arm
WO2021158977A1 (en) * 2020-02-07 2021-08-12 Packsize Llc Dynamic conveyor system for custom sized packaging
US11426862B2 (en) * 2017-06-09 2022-08-30 Hangzhou Yameilijia Technology Co., Ltd Guiderail for underslung robot, underslung robot and operating system thereof
US11478825B2 (en) 2007-01-12 2022-10-25 Opex Corporation Material handling apparatus for delivering or retrieving items
US11492197B2 (en) * 2018-04-25 2022-11-08 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
WO2023025875A1 (en) * 2021-08-27 2023-03-02 Autostore Technology AS A gripper assembly
US11661274B1 (en) * 2020-11-16 2023-05-30 Amazon Technologies, Inc. Container transporters
US11858738B2 (en) 2013-08-09 2024-01-02 Ocado Innovation Limited Apparatus for retrieving units from a storage system

Families Citing this family (56)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITMO20080036A1 (en) * 2008-02-04 2009-08-05 S I T I Di Basso S R L LOADING AND UNLOADING DEVICE FOR A TRASLOELEVATORE APPARATUS
DE102008057630A1 (en) * 2008-11-10 2010-05-27 Langen, Manfred Picking system and method for operating the same with a picking trolley
WO2010104499A1 (en) * 2009-03-09 2010-09-16 Hewlett-Packard Development Company, L.P. Determining identifying information of a cooling fan
ITTO20110377A1 (en) * 2011-04-29 2012-10-30 Syco S A S Di Haberl & C AUTOMATED WAREHOUSE SYSTEM FOR PARALLELEPIPED FORM, IN SPECIAL PACKAGING OF MEDICINAL PRODUCTS OR SIMILAR, OPERATING IN A NON-STRUCTURED ENVIRONMENT
CN102424228B (en) * 2011-08-11 2014-04-02 上海雅朴网络科技有限公司 Universal cargo counting device based on radio frequency identification (RFID) technology
EP2780263B1 (en) 2011-11-20 2016-08-03 Illinois Tool Works Inc. Storage system and methods
CN102826316B (en) * 2012-08-31 2015-06-17 深圳市华星光电技术有限公司 Storage system of glass substrate and storage method of glass substrate
US9725240B2 (en) 2013-03-14 2017-08-08 Signode Industrial Group Llc Storage system and methods
US9733638B2 (en) 2013-04-05 2017-08-15 Symbotic, LLC Automated storage and retrieval system and control system thereof
FR3007310B1 (en) * 2013-06-21 2016-07-01 Jean Pierre Solignac PRODUCTION UNIT FOR MANUFACTURED PRODUCTS COMPRISING A AUTOMOTIVE STORE SUITABLE TO BE ASSOCIATED WITH THE EXECUTION OF TASKS OF A MANUFACTURING PROCESS
CN103364058B (en) * 2013-07-09 2015-12-23 英利集团有限公司 Automatic weighing device, automatic weighing system and automatic weighing method
US8876100B1 (en) 2013-09-04 2014-11-04 Xerox Corporation Robotic belt finishing system for high speed multiple card pick to sequenced stack
GB2527543A (en) 2014-06-25 2015-12-30 Ocado Innovation Ltd System and method for managing shipping containers
JP6539961B2 (en) * 2014-09-01 2019-07-10 村田機械株式会社 Carrier system and control method of carrier system
US9884719B2 (en) 2014-12-12 2018-02-06 Symbotic, LLC Storage and retrieval system
US10102496B2 (en) 2015-01-16 2018-10-16 Symbotic, LLC Storage and retrieval system
US11893533B2 (en) 2015-01-16 2024-02-06 Symbotic Llc Storage and retrieval system
US10521767B2 (en) 2015-01-16 2019-12-31 Symbotic, LLC Storage and retrieval system
US11254502B2 (en) 2015-01-16 2022-02-22 Symbotic Llc Storage and retrieval system
US10214355B2 (en) 2015-01-16 2019-02-26 Symbotic, LLC Storage and retrieval system
US10974897B2 (en) 2015-01-16 2021-04-13 Symbotic Llc Storage and retrieval system
US9856083B2 (en) 2015-01-16 2018-01-02 Symbotic, LLC Storage and retrieval system
US9850079B2 (en) 2015-01-23 2017-12-26 Symbotic, LLC Storage and retrieval system transport vehicle
DK178352B1 (en) * 2015-02-27 2016-01-04 Intelligent Systems As Transport and storage system for servicing a number of treatment and care areas in a hospital, as well as methods for operating them.
KR101609338B1 (en) * 2015-03-16 2016-04-05 크린팩토메이션 주식회사 Apparatus for storing and handling wafer carrier at ceiling
CN104729586A (en) * 2015-03-23 2015-06-24 中国民航大学 Device for automatically measuring volume and weight of luggage at airport safety detection machine end
CN104713482A (en) * 2015-03-23 2015-06-17 中国民航大学 Device for self-service measurement of volume and weight of luggage in airport
US9617075B2 (en) 2015-03-24 2017-04-11 Joseph Porat System and method for overhead warehousing
CN104986493B (en) * 2015-04-30 2017-12-26 韦涛 Logistic rack and its application method
CN104973377A (en) * 2015-07-06 2015-10-14 苏州华拓信息技术有限公司 Novel things-of-internet warehouse system
CN108430892B (en) * 2015-12-24 2020-03-03 Ckd株式会社 Method and system for delivering goods
CN105600253B (en) * 2016-01-29 2018-05-29 安徽工程大学 A kind of self-service express delivery, which is posted, takes device
CN105844312B (en) * 2016-04-11 2018-12-14 北京志恒达科技有限公司 A kind of active read-write equipment based on RFID
CN105679175B (en) * 2016-04-11 2018-06-19 浙江天煌科技实业有限公司 A kind of intelligence manufacture production line information integration and control Practice Platform
CN106395231A (en) * 2016-10-25 2017-02-15 曾鸣 Order picking method of mobile order picking platform adopting strain weighing
US11608227B2 (en) 2017-02-21 2023-03-21 Get Fabric Ltd. Motion-mode switching module for lift robots
CN109065488B (en) * 2017-04-19 2021-05-14 苏州迈为科技股份有限公司 Carrying mechanism suitable for solar cell piece online weighing system
CN107352207B (en) * 2017-08-10 2023-01-03 徐州德坤电气科技有限公司 Logistics code-fetching system suitable for freight container
JP6965646B2 (en) * 2017-09-06 2021-11-10 株式会社ダイフク Transport vehicle and transport equipment
EP3453646A1 (en) * 2017-09-11 2019-03-13 Nekos Oy System for storing storage units
CN109867077A (en) * 2017-12-04 2019-06-11 北京京东尚科信息技术有限公司 For the system for picking of storing in a warehouse, method, apparatus, order-picking trucks and shuttle
CN108706261A (en) * 2018-05-16 2018-10-26 合肥亿福自动化科技有限公司 A kind of collaborative robot intelligent warehousing system
CN110577048B (en) * 2018-06-07 2022-04-12 北京京东乾石科技有限公司 Method and system for warehousing scheduling
CN109649915B (en) * 2018-11-27 2021-01-19 上海京东到家元信信息技术有限公司 Intelligent container cargo identification method and device
CN109649916B (en) * 2018-11-27 2021-01-26 上海京东到家元信信息技术有限公司 Intelligent container cargo identification method and device
US11505403B2 (en) * 2019-05-03 2022-11-22 Oshkosh Corporation Carry can for refuse vehicle
US20200346547A1 (en) 2019-05-03 2020-11-05 Oshkosh Corporation Auxiliary power system for electric refuse vehicle
CN110271970A (en) * 2019-06-06 2019-09-24 重庆宏双达机械工程有限公司 A kind of automated handling system
DE102019208324A1 (en) * 2019-06-07 2020-12-10 Krones Ag Device and method for picking pallets with beverage containers
US11007863B2 (en) 2019-07-31 2021-05-18 Oshkosh Corporation Refuse vehicle with independently operational accessory system
JP7388871B2 (en) 2019-10-18 2023-11-29 株式会社キッツ Judgment device, judgment method and judgment program
EP3854731B1 (en) * 2020-01-24 2024-03-20 Becton Dickinson Rowa Germany GmbH Device and method for separated piece goods
US11040836B1 (en) 2020-01-24 2021-06-22 Becton Dickinson Rowa Germany Gmbh Device and method for separating piece goods
WO2021209337A1 (en) * 2020-04-16 2021-10-21 Autostore Technology AS Container handling vehicle comprising a container carrying position, associated system and methods
US11458636B2 (en) * 2020-05-19 2022-10-04 Dong Ouyang Wirelessly powered and controlled robotic apparatus
CN111588197B (en) * 2020-05-26 2021-07-30 山东银保智能科技有限公司 Full-automatic proof storage system

Citations (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4060957A (en) * 1976-04-03 1977-12-06 Firma E. Mollers Method and apparatus for forming palletless packages
US5623808A (en) * 1996-01-19 1997-04-29 Hk Systems, Inc. Apparatus and method for palletizing and wrapping a load
US6129497A (en) * 1997-11-26 2000-10-10 Woodson Incorporated Stacker/retriever with overhead rack entry vehicle for palletless storage
US6148291A (en) * 1998-01-26 2000-11-14 K & T Of Lorain, Ltd. Container and inventory monitoring methods and systems
US6335685B1 (en) * 2000-03-09 2002-01-01 International Business Machines Corporation Apparatus and method for locating containers and contents of containers using radio frequency tags
US20030158857A1 (en) * 2002-02-01 2003-08-21 Jie Weng Communications in an item tracking system
US20030210978A1 (en) * 2002-05-10 2003-11-13 Smets John S. Pallet handling apparatus and method
US20040193641A1 (en) * 2002-01-11 2004-09-30 Tao Lin Providing selective access to tracking information
US6853294B1 (en) * 2000-07-26 2005-02-08 Intermec Ip Corp. Networking applications for automated data collection
US20050251431A1 (en) * 2004-04-22 2005-11-10 Schmidtberg Rupert A Pedigree and integrity evaluation of packages
US20060255950A1 (en) * 2005-05-13 2006-11-16 Ems Technologies, Inc. Tine-mounted antenna for a RFID
US20070135961A1 (en) * 2004-09-03 2007-06-14 Murata Kikai Kabushiki Kaisha Automated warehouse system

Family Cites Families (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3094225A (en) * 1959-06-17 1963-06-18 Greensburg Concrete Block Co Block handling apparatus
SU373225A1 (en) * 1970-11-30 1973-03-12 CARGO SUSPENSION MONORAL ROAD
US3700128A (en) * 1970-12-23 1972-10-24 Gen Electric Intermodal transfer system
BE795279A (en) * 1972-02-11 1973-05-29 Magnusson Gustav G LOAD OF GOODS CONTAINING A PLURALITY OF LAYERS, AND PROCESS AND MACHINE FOR CARRYING OUT THE SAID LOAD
US4030618A (en) * 1975-05-01 1977-06-21 Aircraft Mechanics, Inc. Semi-automatic palletizer
SU663549A1 (en) * 1976-11-03 1979-05-25 Предприятие П/Я Г-4585 Conveying arrangement for automatic machining lines
SU1131778A1 (en) * 1983-07-06 1984-12-30 Предприятие П/Я Г-4733 Storage for piecemeal cargo
US4573305A (en) * 1984-07-30 1986-03-04 Bemis Company, Inc. Unit load wrapping with uniform wrap tension along the periphery of the wrapped load
JPH0611618B2 (en) * 1984-12-01 1994-02-16 村田機械株式会社 Article palletizing device
SU1265039A1 (en) * 1985-04-30 1986-10-23 Украинский Филиал Государственного Проектного И Конструкторского Института "Союзпроммеханизация" Manipulator
JP2520702B2 (en) * 1988-08-10 1996-07-31 株式会社ダイフク How to load and unload warehouse equipment and shelves
DE4142703A1 (en) * 1991-12-21 1993-06-24 Deutsche Aerospace Catalogue purchasing system with automatic handling - has goods stored in central warehouse with selections made by customers using terminals
US5379229A (en) * 1992-06-18 1995-01-03 Communications Test Design, Inc. Automated storage and retrieval system
JP2532820B2 (en) * 1993-07-20 1996-09-11 日本ファイリング株式会社 Book storage management device
JPH0930614A (en) * 1995-07-14 1997-02-04 Toyota Autom Loom Works Ltd Automated warehouse
US5793637A (en) * 1996-03-04 1998-08-11 Asarco Incorporated Method and apparatus for banding copper cathodes
NO972004D0 (en) * 1997-04-30 1997-04-30 Hatteland Electronic As Jacob Method for organizing flow of goods for a horizontally layered and deep-stacked inventory with disparate components, as well as transfer equipment for standardized containers for the purpose
US6622854B2 (en) * 1998-06-08 2003-09-23 Stevedoring Services Of America, Inc. Method and apparatus for loading stacks of cartons of frozen animal products onto vessels using a carrier
JP3484104B2 (en) * 1998-12-25 2004-01-06 平田機工株式会社 Automatic warehouse and automatic warehouse management method
US6079939A (en) * 1999-04-06 2000-06-27 Smetco, Inc. Pallet handling apparatus
US6714121B1 (en) * 1999-08-09 2004-03-30 Micron Technology, Inc. RFID material tracking method and apparatus
WO2001045063A1 (en) * 1999-12-15 2001-06-21 Eident Limited Tag
US7277866B1 (en) * 2000-03-13 2007-10-02 Zvi Or-Bach System and method for consolidated shipping and receiving using reusable containers
DE60106989T2 (en) * 2000-02-01 2005-12-01 Johnson & Johnson Vision Care, Inc., Jacksonville Device and method for automated warehouse
JP2001290989A (en) * 2000-04-07 2001-10-19 Suntory Ltd Logistic system
EP1273531A1 (en) * 2001-07-02 2003-01-08 Crisplant A/S A storage system for storing items to be distributed
CN1396100A (en) * 2001-07-12 2003-02-12 英业达股份有限公司 Working method and system for automatic warehouse
WO2003019425A1 (en) * 2001-08-23 2003-03-06 Tgw Transportgeräte Gmbh & Co.Kg Interim storage system for identified goods and method for transferring ordered goods
JP4907024B2 (en) * 2001-09-28 2012-03-28 サトーホールディングス株式会社 Logistics management system
ZA200209144B (en) * 2001-11-30 2003-05-27 Inventio Ag Method, system and computer program product for computer-assisted furnishing of materials in lift construction.
US7969306B2 (en) * 2002-01-11 2011-06-28 Sap Aktiengesellschaft Context-aware and real-time item tracking system architecture and scenarios
US20030171962A1 (en) * 2002-03-06 2003-09-11 Jochen Hirth Supply chain fulfillment coordination
DE10238344A1 (en) * 2002-08-16 2004-03-04 Deutsche Post Ag Method and system for data transmission between a parcel compartment system and at least one central data processing unit of a logistics system
KR100452858B1 (en) * 2002-09-13 2004-10-20 이완영 Palletless rack type car parking system with staker crane
JP3991852B2 (en) * 2002-12-09 2007-10-17 村田機械株式会社 Ceiling carrier system
JP2005047696A (en) * 2003-07-31 2005-02-24 Toyota Industries Corp Automated storage and retrieval warehouse
JP2005138949A (en) * 2003-11-06 2005-06-02 Murata Mach Ltd Transfer device
US8606723B2 (en) * 2004-06-04 2013-12-10 Sap Ag Consistent set of interfaces derived from a business object model
EP1915726A4 (en) * 2004-06-18 2009-10-28 Sap Ag Consistent set of interfaces derived from a business object model
US8744937B2 (en) * 2005-02-25 2014-06-03 Sap Ag Consistent set of interfaces derived from a business object model
FI126245B (en) * 2005-03-09 2016-08-31 Konecranes Finland Oy Procedure for placing a palletless goods package on a warehouse shelf and handing it over therefrom and administering the package logistics and equipment for carrying out the procedure
US7378940B2 (en) * 2005-09-22 2008-05-27 International Business Machines Corporation Pallet content identification mechanism that converts RFID information to corresponding barcode information

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4060957A (en) * 1976-04-03 1977-12-06 Firma E. Mollers Method and apparatus for forming palletless packages
US5623808A (en) * 1996-01-19 1997-04-29 Hk Systems, Inc. Apparatus and method for palletizing and wrapping a load
US6129497A (en) * 1997-11-26 2000-10-10 Woodson Incorporated Stacker/retriever with overhead rack entry vehicle for palletless storage
US6148291A (en) * 1998-01-26 2000-11-14 K & T Of Lorain, Ltd. Container and inventory monitoring methods and systems
US6335685B1 (en) * 2000-03-09 2002-01-01 International Business Machines Corporation Apparatus and method for locating containers and contents of containers using radio frequency tags
US6853294B1 (en) * 2000-07-26 2005-02-08 Intermec Ip Corp. Networking applications for automated data collection
US7149753B2 (en) * 2002-01-11 2006-12-12 Sap Aktiengesellschaft Providing selective access to tracking information
US20040193641A1 (en) * 2002-01-11 2004-09-30 Tao Lin Providing selective access to tracking information
US20030158857A1 (en) * 2002-02-01 2003-08-21 Jie Weng Communications in an item tracking system
US20030210978A1 (en) * 2002-05-10 2003-11-13 Smets John S. Pallet handling apparatus and method
US20050251431A1 (en) * 2004-04-22 2005-11-10 Schmidtberg Rupert A Pedigree and integrity evaluation of packages
US20070135961A1 (en) * 2004-09-03 2007-06-14 Murata Kikai Kabushiki Kaisha Automated warehouse system
US20060255950A1 (en) * 2005-05-13 2006-11-16 Ems Technologies, Inc. Tine-mounted antenna for a RFID

Cited By (94)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8554643B2 (en) * 2005-03-09 2013-10-08 Suomen Teollisuusosa Oy Method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages
US20110176895A1 (en) * 2005-03-09 2011-07-21 Sami Kortelainen Method for Placing a Palletless Goods Package in a Stock Shelf and Delivering Therefrom and for Controlling Logistics of Packages
US20080094179A1 (en) * 2006-10-20 2008-04-24 Datamars Sa Identification device for objects with a transponder and a corresponding method
US11491513B1 (en) 2007-01-12 2022-11-08 Opex Corporation Material handling apparatus for delivering or retrieving items
US11565283B1 (en) 2007-01-12 2023-01-31 Opex Corporation Material handling apparatus for delivering or retrieving items
US11938517B2 (en) 2007-01-12 2024-03-26 Opex Corporation Material handling apparatus for delivering or retrieving items
US11478825B2 (en) 2007-01-12 2022-10-25 Opex Corporation Material handling apparatus for delivering or retrieving items
US9771217B2 (en) 2009-04-10 2017-09-26 Symbotic, LLC Control system for storage and retrieval systems
US11939158B2 (en) 2009-04-10 2024-03-26 Symbotic Llc Storage and retrieval system
US11661279B2 (en) 2009-04-10 2023-05-30 Symbotic Llc Autonomous transports for storage and retrieval systems
US10239691B2 (en) 2009-04-10 2019-03-26 Symbotic, LLC Storage and retrieval system
US9051120B2 (en) 2009-04-10 2015-06-09 Symbotic Llc Control system for storage and retrieval systems
US11858740B2 (en) 2009-04-10 2024-01-02 Symbotic Llc Storage and retrieval system
US11254501B2 (en) 2009-04-10 2022-02-22 Symbotic Llc Storage and retrieval system
US11124361B2 (en) 2009-04-10 2021-09-21 Symbotic Llc Storage and retrieval system
US10759600B2 (en) 2009-04-10 2020-09-01 Symbotic Llc Autonomous transports for storage and retrieval systems
US10207870B2 (en) 2009-04-10 2019-02-19 Symbotic, LLC Autonomous transports for storage and retrieval systems
US9321591B2 (en) 2009-04-10 2016-04-26 Symbotic, LLC Autonomous transports for storage and retrieval systems
US8928481B2 (en) * 2009-12-07 2015-01-06 Daifuku Co., Ltd. Article storage equipment and method of operating same
US20120306626A1 (en) * 2009-12-07 2012-12-06 Daifuku Co., Ltd. Article Storage Equipment and Method of Operating Same
US10683169B2 (en) 2010-12-15 2020-06-16 Symbotic, LLC Automated bot transfer arm drive system
US8919801B2 (en) 2010-12-15 2014-12-30 Symbotic, LLC Suspension system for autonomous transports
US9499338B2 (en) 2010-12-15 2016-11-22 Symbotic, LLC Automated bot transfer arm drive system
US11952214B2 (en) 2010-12-15 2024-04-09 Symbotic Llc Automated bot transfer arm drive system
US9550225B2 (en) 2010-12-15 2017-01-24 Symbotic Llc Bot having high speed stability
US9561905B2 (en) 2010-12-15 2017-02-07 Symbotic, LLC Autonomous transport vehicle
US9676551B2 (en) 2010-12-15 2017-06-13 Symbotic, LLC Bot payload alignment and sensing
US9463925B2 (en) 2010-12-15 2016-10-11 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US8694152B2 (en) 2010-12-15 2014-04-08 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US11884487B2 (en) 2010-12-15 2024-01-30 Symbotic Llc Autonomous transport vehicle with position determining system and method therefor
US9862543B2 (en) 2010-12-15 2018-01-09 Symbiotic, LLC Bot payload alignment and sensing
US9981808B2 (en) 2010-12-15 2018-05-29 Symbotic, LLC Pickface builder for storage and retrieval systems
US11724890B2 (en) 2010-12-15 2023-08-15 Symbotic Llc Pickface builder for storage and retrieval systems
US9475649B2 (en) 2010-12-15 2016-10-25 Symbolic, LLC Pickface builder for storage and retrieval systems
US8965619B2 (en) 2010-12-15 2015-02-24 Symbotic, LLC Bot having high speed stability
US10053286B2 (en) 2010-12-15 2018-08-21 Symbotic, LLC Bot position sensing
US10106322B2 (en) 2010-12-15 2018-10-23 Symbotic, LLC Bot payload alignment and sensing
US9423796B2 (en) 2010-12-15 2016-08-23 Symbotic Llc Bot having high speed stability
US10221014B2 (en) 2010-12-15 2019-03-05 Symbotic, LLC Bot position sensing
US10227177B2 (en) 2010-12-15 2019-03-12 Symbotic, LLC Automated bot transfer arm drive system
US10233037B2 (en) 2010-12-15 2019-03-19 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US9008884B2 (en) 2010-12-15 2015-04-14 Symbotic Llc Bot position sensing
US11286118B2 (en) 2010-12-15 2022-03-29 Symbotic Llc Pickface builder for storage and retrieval systems
US11279557B2 (en) 2010-12-15 2022-03-22 Symbotic Llc Bot position sensing
US11273981B2 (en) 2010-12-15 2022-03-15 Symbolic Llc Automated bot transfer arm drive system
US10507988B2 (en) 2010-12-15 2019-12-17 Symbotic, LLC Maintenance access zones for storage and retrieval systems
US9156394B2 (en) 2010-12-15 2015-10-13 Symbotic, LLC Suspension system for autonomous transports
US9309050B2 (en) 2010-12-15 2016-04-12 Symbotic, LLC Bot position sensing
US9187244B2 (en) 2010-12-15 2015-11-17 Symbotic, LLC BOT payload alignment and sensing
US10696479B2 (en) 2010-12-15 2020-06-30 Symbotic, LLC Bot position sensing
US11078017B2 (en) 2010-12-15 2021-08-03 Symbotic Llc Automated bot with transfer arm
US10974910B2 (en) 2010-12-15 2021-04-13 Symbolic Llc Maintenance access zones for storage and retrieval systems
US10875722B2 (en) 2010-12-15 2020-12-29 Symbotic Llc Pickface builder for storage and retrieval systems
US10822168B2 (en) 2010-12-15 2020-11-03 Symbotic Llc Warehousing scalable storage structure
US20130186999A1 (en) * 2011-07-29 2013-07-25 Telair International Gmbh Cargo Compartment with Robot, Aircraft, Freight Storage Device
US9096317B2 (en) * 2011-07-29 2015-08-04 Telair International Gmbh Cargo compartment with robot, aircraft, freight storage device
US11279558B2 (en) 2011-09-09 2022-03-22 Symbotic Llc Storage and retrieval system case unit detection
US9242800B2 (en) 2011-09-09 2016-01-26 Symbotic, LLC Storage and retrieval system case unit detection
US9517885B2 (en) 2011-09-09 2016-12-13 Symbotic Llc Storage and retrieval system case unit detection
US9776794B2 (en) 2011-09-09 2017-10-03 Symbotic, LLC Storage and retrieval system case unit detection
US10029850B2 (en) 2011-09-09 2018-07-24 Symbotic, LLC Storage and retrieval system case unit detection
US10710804B2 (en) 2011-09-09 2020-07-14 Symbotic, LLC Storage and retrieval system case unit detection
US11767167B2 (en) 2011-09-09 2023-09-26 Symbotic Llc Storage and retrieval system case unit detection
US10252859B2 (en) 2011-09-09 2019-04-09 Symbotic, LLC Storage and retrieval system case unit detection
US8831772B2 (en) 2012-07-25 2014-09-09 International Business Machines Corporation Lift apparatus for stable placement of components into a rack
US10739766B2 (en) 2013-03-15 2020-08-11 Symbiotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
US10457484B2 (en) 2013-03-15 2019-10-29 Symbotic, LLC Automated storage and retrieval system
US10359777B2 (en) 2013-03-15 2019-07-23 Symbotic, LLC Automated storage and retrieval system with integral secured personnel access zones and remote rover shutdown
US10683170B2 (en) 2013-03-15 2020-06-16 Symbotic, LLC Automated storage and retrieval system
US11414271B2 (en) 2013-03-15 2022-08-16 Symbotic Llc Automated storage and retrieval system
US9802761B2 (en) 2013-03-15 2017-10-31 Symbotic, LLC Automated storage and retrieval system
US11939161B2 (en) 2013-03-15 2024-03-26 Symbotic Llc Automated storage and retrieval system
US9988213B2 (en) 2013-03-15 2018-06-05 Symbotic, LLC Automated storage and retrieval system
US9378607B1 (en) * 2013-05-14 2016-06-28 IVP Holdings III LLC Dynamic product presentation system and commerce platform
US11858738B2 (en) 2013-08-09 2024-01-02 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11851275B2 (en) 2013-08-09 2023-12-26 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US10913602B2 (en) 2013-08-09 2021-02-09 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US10961051B1 (en) 2013-08-09 2021-03-30 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11939157B2 (en) 2013-08-09 2024-03-26 Ocado Innovation Limited Robotic service device and handling method
US11066237B2 (en) 2013-08-09 2021-07-20 Ocado Innovation Limited Apparatus for retrieving units from a storage system
US11708218B2 (en) 2013-09-13 2023-07-25 Symbolic Llc Automated storage and retrieval system
US10894663B2 (en) 2013-09-13 2021-01-19 Symbotic Llc Automated storage and retrieval system
US20180162639A1 (en) * 2015-06-08 2018-06-14 Ocado Innovation Limited Object storage, handling, and retrieving system and method
US11807453B2 (en) 2015-06-08 2023-11-07 Ocado Innovation Limited Object storage, handling, and retrieving system and method
US10822166B2 (en) * 2015-06-08 2020-11-03 Ocado Innovation Limited Object storage, handling, and retrieving system and method
TWI688244B (en) * 2017-04-10 2020-03-11 茂德科技股份有限公司 Wireless communication management system and wireless communication management methods
US11426862B2 (en) * 2017-06-09 2022-08-30 Hangzhou Yameilijia Technology Co., Ltd Guiderail for underslung robot, underslung robot and operating system thereof
US11492197B2 (en) * 2018-04-25 2022-11-08 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
US11919711B2 (en) 2018-04-25 2024-03-05 Autostore Technology AS Automated storage and retrieval system comprising a relay module and a method of operating such a system
WO2021158977A1 (en) * 2020-02-07 2021-08-12 Packsize Llc Dynamic conveyor system for custom sized packaging
US11697556B2 (en) * 2020-02-07 2023-07-11 Packsize Llc Dynamic conveyor system for custom sized packaging
US11878871B2 (en) 2020-02-07 2024-01-23 Packsize Llc Dynamic conveyor system for custom sized packaging
US11661274B1 (en) * 2020-11-16 2023-05-30 Amazon Technologies, Inc. Container transporters
WO2023025875A1 (en) * 2021-08-27 2023-03-02 Autostore Technology AS A gripper assembly

Also Published As

Publication number Publication date
EP1896346A4 (en) 2012-01-11
RU2562087C2 (en) 2015-09-10
FI126245B (en) 2016-08-31
EP1896346A1 (en) 2008-03-12
RU2007137129A (en) 2009-04-20
EP2662318B1 (en) 2015-11-18
HUE027673T2 (en) 2016-11-28
NO20075028L (en) 2007-12-07
FI20050844A (en) 2007-02-23
FI20050844A0 (en) 2005-08-22
AU2006221918A1 (en) 2006-09-14
NO340173B1 (en) 2017-03-20
US8554643B2 (en) 2013-10-08
CN101184680A (en) 2008-05-21
AU2006221918B2 (en) 2012-04-26
JP5599971B2 (en) 2014-10-01
DK2662318T3 (en) 2016-02-22
CN101184680B (en) 2012-12-05
JP2008532883A (en) 2008-08-21
CA2600659A1 (en) 2006-09-14
US20110176895A1 (en) 2011-07-21
EP2662318A1 (en) 2013-11-13
WO2006095047A1 (en) 2006-09-14
PL2662318T3 (en) 2016-06-30
CA2600659C (en) 2014-07-22
ES2563053T3 (en) 2016-03-10

Similar Documents

Publication Publication Date Title
US8554643B2 (en) Method for placing a palletless goods package in a stock shelf and delivering therefrom and for controlling logistics of packages
CN111278750B (en) System and method for processing objects comprising a moving matrix carrier system
CN112469647A (en) Transfer station configured to handle goods and goods container sorting method
US20190177086A1 (en) A picking system having a transport robot for moving underneath individualshelves and transporting vehicle
JP6637346B2 (en) Logistics system and temporary storage system
US20210276796A1 (en) Systems and methods for providing order fulfillment using a shuttle takeaway system
CN109606831B (en) Method for filling package of articles
US20220288645A1 (en) System and method for automatically sorting items in a plurality of bins using robots
CN215709078U (en) Stacker, transportation system and storage system
US20210276797A1 (en) Systems and methods for providing order fulfillment using a conveyor takeaway system
EP4091969A1 (en) Mechanical handling apparatus
FI89699B (en) ANORDING FOR PAPER ROLLERS AND ENCLOSURES, SAOSOM TRYCKERI
FI125043B (en) Device for placing palletless and varying size packages on a shelf
CN113800160A (en) Large-batch picking type finished product stereoscopic warehouse and delivery equipment
CN116629298A (en) Consumer product information identification reading device based on internet of things
JP2023080796A (en) Automatic warehouse system and control method of automatic waterhouse
WO2024049831A1 (en) End-to-end automated fulfillment center systems and methods
JP2001206517A (en) Movable loader in commodity shipping system
AU2022278594A1 (en) Mechanical handling apparatus
CN116605563A (en) Work station, container handling system and container handling method

Legal Events

Date Code Title Description
STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION