Systems, methods, and storage units for article transport and storage

Abstract

Provided are systems, methods, and devices for storing and transporting articles with a multi-shelf storage unit. A system for article handling includes a multi-shelf storage unit and a robotic unit. The multi-shelf storage unit includes a plurality of shelves disposed on a frame, the plurality of shelves including at least one vertically moveable shelf configured to move in first and second vertical directions relative to the frame, and a lift mechanism configured to automatically drive, in response to receiving a drive input, the at least one vertically moveable shelf in the first or second vertical direction. The robotic unit includes an end effector disposed on a robotic manipulator for engaging an article and a lift mechanism actuator that is connectable to the lift mechanism and configured to provide the drive input to actuate the lift mechanism.

1 - 97 . (canceled) 
     
     
         98 . A method of article handling comprising:
 automatically driving a lift mechanism of a multi-shelf storage unit via a lift mechanism actuator disposed on a robotic unit to vertically collapse a plurality of shelves of the multi-shelf storage unit so that a first shelf, which is the highest shelf having an available storage area, is at a loading height, wherein the loading height is accessible to a robotic manipulator of the robotic unit;   driving the robotic manipulator and a loading end effector of the robotic manipulator to engage with a first article and transporting the first article to the first shelf; and   determining, automatically via a processing unit, whether the first shelf has adequate storage area for a second article;   if the first shelf has adequate storage area, driving the robotic manipulator and the loading end effector to engage with a second article and transporting the second article to the first shelf; and   if the first shelf does not have adequate storage area, automatically driving the lift mechanism via the lift mechanism actuator to vertically raise the first shelf and provide access to a second shelf, wherein the second shelf has an available storage area for the second article.   
     
     
         99 . The method of  claim 98 , further comprising:
 automatically reading, via the robotic unit, an identifier tag on the first shelf; and   updating a warehouse management system by sending data from the robotic unit to the warehouse management system, the data generated in response to reading the identifier tag.   
     
     
         100 . The method of  claim 98 , wherein the automatically driving the lift mechanism is performed in response to receiving a command signal, the command signal received from an external device via a Wi-Fi module disposed on the multi-shelf storage unit. 
     
     
         101 . The method of  claim 98 , wherein the determining step is performed via a processing unit of the robotic unit. 
     
     
         102 . The method of  claim 98 , wherein the lift mechanism actuator comprises a second end effector configured to engage with the lift mechanism to facilitate the driving of the lift mechanism. 
     
     
         103 . The method of  claim 98 , wherein the first shelf includes a slidable tray, and wherein the method further comprises engaging the slidable tray with the loading end effector, causing slidable movement of the slidable tray. 
     
     
         104 . The method of  claim 98 , wherein the automatically driving the lift mechanism is performed is response to receiving a command signal, the command signal generated onboard the multi-shelf storage unit. 
     
     
         105 . The method of  claim 100 , wherein the command signal is generated by a warehouse management system or a cloud-based server. 
     
     
         106 . The method of  claim 100 , wherein the determining step is performed by a warehouse management system or a cloud-based server. 
     
     
         107 . A method of article handling comprising:
 driving a robotic manipulator of a robotic unit and an unloading end effector of the robotic manipulator to engage with a first article on a first shelf of a multi-shelf storage unit, the first shelf being the lowest article-occupying shelf of the multi-shelf storage unit, and transport the first article off the first shelf;   determining, automatically, whether the first shelf is storing a second article;   if the first shelf is storing a second article, driving the robotic manipulator and the unloading end effector to engage with the second article on the first shelf and transport the second article off the first shelf; and   if the first shelf is not storing a second article, automatically driving the lift mechanism via a lift mechanism actuator disposed on the robotic unit to vertically lower a second shelf of the multi-shelf storage unit, the second shelf having at least one article stored thereon, to provide access to the second shelf.   
     
     
         108 . The method of  claim 107 , wherein the determining step is performed via a processing unit of the robotic unit. 
     
     
         109 . The method of  claim 107 , wherein the lift mechanism actuator includes a second end effector configured to engage with the lift mechanism to facilitate the driving of the lift mechanism. 
     
     
         110 . The method of  claim 107 , further comprising automatically reading, via the robotic unit, an identifier tag on the first shelf. 
     
     
         111 . The method of  claim 110 , further comprising updating a warehouse management system by sending data from the robotic unit to the warehouse management system, the data generated in response to reading the identifier tag. 
     
     
         112 . The method of claim  10 , wherein the first shelf includes a slidable tray, and wherein the method further comprises engaging the slidable tray with the loading end effector, causing slidable movement of the slidable tray. 
     
     
         113 . The method of  claim 107 , wherein the automatically driving the lift mechanism is performed is response to receiving a command signal, the command signal generated onboard the multi-shelf storage unit. 
     
     
         114 . The method of  claim 107 , wherein the automatically driving the lift mechanism is performed in response to receiving a command signal, the command signal generated external to the multi-shelf storage unit. 
     
     
         115 . The method of  claim 114 , wherein the command signal is generated by a warehouse management system or a cloud-based server. 
     
     
         116 . The method of  claim 107 , wherein the automatically driving the lift mechanism is performed is response to receiving a command signal, the command signal received from a remote device via a Wi-Fi module disposed on the multi-shelf storage unit. 
     
     
         117 . A method of autonomously loading a plurality of articles onto a mobile storage unit, the method comprising:
 detecting, via at least one sensor on the mobile storage unit, a plurality of articles at a pick-up location;   sending a signal from the at least one sensor to a processing unit on the mobile storage unit;   navigating, via the processing unit, the mobile storage unit to a loading location;   sending a drive signal from the processing unit to a lift mechanism actuator of the mobile storage unit;   in response to receiving the drive signal, causing a lift mechanism of the mobile storage unit to vertically collapse shelves on the mobile storage unit so that a first shelf is accessible for article loading; and   loading, by a robotic arm of the mobile storage unit, a first article from the plurality of articles onto the first shelf.