Patents Assigned to OCADO INNOVATION LIMITED
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Publication number: 20230356984Abstract: A gripper for latching to a storage container is disclosed which includes: a gripper housing; a pair of gripper arms held in the gripper housing, wherein the gripper arms have cooperating shapes; and a movable rotatable actuator held in a channel between the pair of gripper arms for moving the gripper arms between closed and open positions. A load handling device for lifting and moving storage containers can include one or more grippers. A method of using a gripper, and a grid-based storage and retrieval system which can include at least one load handling device containing one or more grippers are also disclosed.Type: ApplicationFiled: August 2, 2021Publication date: November 9, 2023Applicant: Ocado Innovation LimitedInventors: Wilhelm JOHANNISSON, Andrew INGRAM-TEDD, Lars Sverker Ture LINDBO, Xuan SUN, Paul TURNER
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Publication number: 20230356944Abstract: A load handling device is disclosed for retrieving, transporting, and delivering containers in a storage system having a grid structure formed of two substantially perpendicular sets of rails or tracks located above stacks of containers. An exemplary load handling device can include a wheel assembly, a container receiving space, and a plurality of vehicle modules. The wheel assembly can include a first set of wheels to guide movement of the load handing device in a first direction and a second set of wheels to guide movement of the load handing device in a second direction. Each of the vehicle modules can include a container lifting means arranged to lift a container into the container receiving space and each of the vehicle modules can be moveable to adjust the spacing of the containers in the load handling device.Type: ApplicationFiled: July 14, 2023Publication date: November 9, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture LINDBO, Andrew John INGRAM-TEDD, Pawel KAROLINCZAK
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Publication number: 20230356403Abstract: A retrieval controller is disclosed for identifying an item to be retrieved from a flat storage surface by a robot for identifying one item, amongst items stored on a common surface that can be retrieved by a robot equipped with a lateral-motion gripper. The retrieval controller includes: a depth map computing unit configured to establish a global coordinate system, and establish an orthonormal set of basis vectors u, v and w defined in the global coordinate system, where w is approximately orthogonal to the surface that the items are stored on; a vector determination unit; an item selection unit; and a robot instructing unit configured to instruct the robot to retrieve the item based on uv coordinates of one or more w-aligned edges having associated quadrilateral-based, right prisms which do not have interiors that intersect any right, enclosing prisms selected by the item selection unit.Type: ApplicationFiled: August 9, 2021Publication date: November 9, 2023Applicant: Ocado Innovation LimitedInventor: Osemwaro Jeremiah Oghenetega PEDRO
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Patent number: 11807453Abstract: An object handling and retrieving system and method are described. A storage system is described suitable for storing multiple product lines in an automated warehouse environment. The storage system includes a plurality of load handling devices disposed above a frame and independently moveable to access different stacks. The load handling device can retrieve and transport a target container to a sequencing and temporary storage portion having a sorting frame for taking delivery of the target container and moving it to an output port of the sorting frame.Type: GrantFiled: September 16, 2020Date of Patent: November 7, 2023Assignee: OCADO INNOVATION LIMITEDInventors: Andrew John Ingram-Tedd, Lars Sverker Ture Lindbo, Pawel Karolinczak
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Patent number: 11807419Abstract: The present invention relates to containers which can be stacked one on top of another whilst still permitting easy access to the contents of any container within the stack without the need for de-stacking. The contents of the containers remain secured within the container.Type: GrantFiled: March 9, 2021Date of Patent: November 7, 2023Assignee: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture Lindbo, Paul Stewart, Andrew John Ingram-Tedd
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Publication number: 20230347770Abstract: A load handling device is disclosed for lifting and moving containers stacked in a storage system having a grid framework structure supporting a pathway arranged in a grid pattern above the stacks of containers. The load handling device includes a vehicle body housing a driving mechanism, the driving mechanism being powered by a rechargeable power source electrically coupled to an electrical charge point for electrically coupling with a charge head of a charge station; and a lifting device having a lifting drive assembly and a grabber device, wherein the lifting device includes the electrical charge point such that charging of the rechargeable power source occurs by the lifting device engaging with the charge head.Type: ApplicationFiled: January 26, 2021Publication date: November 2, 2023Applicant: Ocado Innovation LimitedInventors: James BENFOLD, Robert STADIE
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Publication number: 20230339681Abstract: A load handling device for operating in a storage system, a floor of the storage system including a network of tracks, or track network, based on a grid system, the tracks including a first set of track members extending in a first (x-) direction, and a second set of track members extending in a second (y-) direction, the second set of track members running transversely to the first set of track members in a substantially horizontal plane. The load handling device includes: a first set of wheels and a second set of wheels; and a support pad for receiving a storage container which support pad can be raised and or lowered in a vertical (z-) direction.Type: ApplicationFiled: July 28, 2021Publication date: October 26, 2023Applicant: Ocado Innovation LimitedInventor: Robert STADIE
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Publication number: 20230339680Abstract: A robotic object handling system and robotic load handling device for operation thereon is disclosed. The object handling system includes a number of robotic load handling devices operational on a grid-like structure, the structure having sets of parallel tracks, disposed above a hive of stacked bins. The bins contain inventory items to be picked by the system. Load handling devices capable of carrying multiple bins of a single grid-spacing size or single bins of a multiple grid spacings are operational on the grid and retrieve and transport bins under the control of a computerised order picking utility.Type: ApplicationFiled: June 7, 2023Publication date: October 26, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Sverker LINDBO, Andrew John INGRAM-TEDD
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Publication number: 20230339679Abstract: A grid framework structure for supporting a load handling device operative to move one or more containers includes: plural upright columns arranged to form vertical storage locations for containers to be stacked and be guided by the upright columns in a vertical direction. The upright columns are interconnected at their top ends by a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, the second set running transversely to the first set in a substantially horizontal plane to form a grid structure having grid cells. The first and second sets of grid members are sub-divided into plural grid elements such that adjacent grid elements extending in the first direction or the second direction are offset with respect to each other in the horizontal plane by at least one grid cell.Type: ApplicationFiled: March 2, 2021Publication date: October 26, 2023Applicant: Ocado Innovation LimitedInventors: Martyn BATES, Felix FABER
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Patent number: 11794994Abstract: A system and method for picking items is disclosed. The system includes a grid-based storage area and an order assembly area. The system includes an array of presentation positions, the presentation positions being configured and adapted so as to present storage containers delivered to the presentation positions so as to enable picking of items contained therein.Type: GrantFiled: January 22, 2019Date of Patent: October 24, 2023Assignee: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture Lindbo, Andrew John Ingram-Tedd
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Publication number: 20230331479Abstract: A vehicle for use with an object handling system, the object handling system including two substantially perpendicular sets of rails forming a first grid, a plurality of first uprights supporting the first grid, a plurality of containers arranged in stacks, each stack being located underneath the first grid, one or more robotic load handling devices configured to drive on top of the rails of the first grid, the one or more load handling devices including means for removing or replacing at least one container from the stacks. The vehicle includes two substantially perpendicular sets of rails forming a second grid substantially at the top of the vehicle above a storage space for carrying containers. The second grid interfaces with the first grid to allow the one or more load handling devices to drive from the rails of the first grid onto the rails of the second grid.Type: ApplicationFiled: June 21, 2023Publication date: October 19, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture LINDBO, Andrew John INGRAM-TEDD
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Patent number: 11787631Abstract: A control device is provided to reliably locate objects and calculate appropriate grasp points for each object to thereby effectively control a robot system. grasp point calculation is based on, at least, properties of a surface of the object to be grasped by the robot system to more effectively calculate a grasp point for the surface of the object. An organised point cloud generator and a robot system having a suction cup end are arranged to generate an organised point cloud of a storage. The robot system can grasp the object from the storage means. Normals of the organised point cloud and principal curvatures of the organised point cloud can be calculated. A grasp point can be calculated for the suction cup end effector of the robot system to grasp an object based on the organised point cloud, the calculated normal, the calculated principal curvatures, and a normal of a lower surface of the storage.Type: GrantFiled: November 16, 2018Date of Patent: October 17, 2023Assignee: OCADO INNOVATION LIMITEDInventors: Graham Deacon, Osemwaro Pedro
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Publication number: 20230322485Abstract: A system for picking items from a containerised storage system is described. The items are stored in storage bins in stacks within a framework comprising a grid system disposed above the stacks of bins. Robotic devices are disposed on the grid, the devices acting so as to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.Type: ApplicationFiled: June 16, 2023Publication date: October 12, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture LINDBO, Andrew John INGRAM-TEDD
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Publication number: 20230321844Abstract: This disclosure presents a manipulator for lifting objects and an upwards open container within which the objects are at least partly arranged. The manipulator includes a first object engaging device for engaging a first object, a second object engaging device for engaging a second object. The manipulation is configured for forcing the first and second objects apart when engaged by the first and second object engaging devices, such that the objects exert an internal force on the container. The disclosure also presents a method for lifting objects and an upwards open container.Type: ApplicationFiled: August 24, 2021Publication date: October 12, 2023Applicant: OCADO INNOVATION LIMITEDInventor: Per Henrik LJUNGGREN
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Publication number: 20230321469Abstract: A fire extinguishing robotic service device is described for use on a robotic picking system grid. The fire extinguishing robotic service device is capable of driving to any location on the grid in order to extinguish a fire. The service device may also be provided with a camera or a sensor to locate the fire.Type: ApplicationFiled: June 1, 2023Publication date: October 12, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Paul CLARKE, Andrew John INGRAM-TEDD, Matthew WHELAN, Pawel KAROLINCZAK
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Publication number: 20230312244Abstract: A robotic picking device for picking items from a containerised storage system wherein items are stored in storage bins in stacks within a framework having a grid system disposed above the stacks of bins. Robotic picking devices are disposed on the grid, the devices acting to pick containers from the stacks of bins. The storage system is provided with at least one picking device for picking items from bins and depositing them directly in delivery containers DT.Type: ApplicationFiled: June 2, 2023Publication date: October 5, 2023Applicant: OCADO INNOVATION LIMITEDInventors: Lars Sverker Ture LINDBO, Andrew John INGRAM-TEDD, Alexander James Badenoch HARVEY
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Publication number: 20230312309Abstract: A grid framework structure configured to support one or more load handling devices thereupon includes i) a grid structure including a plurality of grid cells; and ii) a load bearing framework, wherein the grid structure is suspended from the load bearing framework by three or more tension elements connected to a respective number of suspension points on the grid structure, each of the three or more tension elements having a length configured to suspend the grid structure in a substantially horizontal plane.Type: ApplicationFiled: August 25, 2021Publication date: October 5, 2023Applicant: Ocado Innovation Limited,Inventors: Andrew INGRAM-TEDD, Stephen MILLWARD
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Patent number: 11772266Abstract: Robotic systems, methods of operation of robotic systems, and storage media including processor-executable instructions are disclosed herein. The system may include a robot, at least one processor in communication with the robot, and an operator interface in communication with the robot and the at least one processor. The method may include executing a first set of autonomous robot control instructions which causes a robot to autonomously perform the at least one task in an autonomous mode, and generating a second set of autonomous robot control instructions from the first set of autonomous robot control instructions and a first set of environmental sensor data received from a senor. Execution of the second set of autonomous robot control instructions causes the robot to autonomously perform the at least one task. The method may include producing at least one signal that represents the second set of autonomous robot control instructions.Type: GrantFiled: February 23, 2022Date of Patent: October 3, 2023Assignee: Ocado Innovation LimitedInventors: Weiguang Ding, Jan Stanislaw Rudy, Olivia S. Norton, George Samuel Rose, James Sterling Bergstra, Oswin Rodrigues
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Publication number: 20230303325Abstract: A grid framework structure configured to support one or more load handling devices includes a grid structure including a first set of grid members extending in a first direction and a second set of grid members extending in a second direction, the second set of grid members running transversely to the first set of grid members in a substantially horizontal plane in a grid pattern containing plural grid cells; plural vertical uprights supporting the grid structure; and an adjustable grid levelling mechanism for adjusting the level of the grid structure.Type: ApplicationFiled: August 12, 2021Publication date: September 28, 2023Applicant: Ocado Innovation LimitedInventors: Oliver KIRBY, Benjamin Arthur Portnoy NOAR, Andrew INGRAM-TEDD, Stephen MILLWARD, Leslie WYNN
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Publication number: 20230303323Abstract: A system for guiding the movement of one or more load handling devices in operation includes: a) a first set of parallel tracks and a second set of parallel tracks, the first and second sets of parallel tracks sharing a common track, each track of the first and second set of parallel tracks providing a track surface; and b) a first load handling device and a second load handling device, each having a wheel assembly engaging with the track surface and with the track surface of the common track; wherein each track of the first and second sets of parallel tracks include only two guide surfaces extending from the track surface for guiding the first and second load handing devices along their respective first and second sets of parallel tracks.Type: ApplicationFiled: August 12, 2021Publication date: September 28, 2023Applicant: Ocado Innovation LimitedInventors: Stephen MILLWARD, Jaroslaw MALINOWSKI, Pawel KAROLINCZAK, Martyn BATES, Andrew INGRAM-TEDD