# US 10,246,255 B2 · High density automated storage and retrieval system

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- Number: US 10,246,255 B2
- Document ID: US10246255B2
- Status: Granted
- Kind: B2
- Application number: 15/787,597
- Filed: 2017-10-18
- Published: 2018-05-17
- Granted: 2019-04-02
- Earliest claimed: 2015-09-29
- Assignees: Amazon Technologies, Inc.
- Applicants: Amazon Technologies, Inc.
- Inventors: Christopher Vincent Kaukl; Xiaoshan Cai; Avinash Shripathy Bhat; Margaux Eng
- Web page: https://patentgrep.com/patent/US10246255B2

## CPC

- B65G 1/0492: {with cars adapted to travel in storage aisles}
- B65D 25/20: External fittings (of containers made by folding or erecting blanks made of paper B65D5/44)
- B65G 1/0478: {for matrix-arrangements}
- B65G 1/1371: {with data records}
- B65G 1/1373: {for fulfilling orders in warehouses}
- B65G: TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS (packaging B65B; handling thin or filamentary materials, e.g. paper sheets or thread, B65H; cranes B66C; portable mobile or lifting or hauling appliances, e.g. hoists, B66D; devices for lifting or lowering goods for loading or unloading purposes, e.g. fork-lift trucks, B66F9/00; emptying bottles, jars, casks, barrels or similar containers, not otherwise provided for, B67C9/00; delivering or transferring liquids B67D; filling or discharging vessels for liquefied, solidified or compressed gases F17C; pipe-line systems for fluids F17D)
- B65D: CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES

## Abstract

A multi-dimensional automated storage and retrieval system is provided herein that enables the space-efficient storage of containers within a three-dimensional lattice structure. Each container includes one or more drivers to engage with rails of the three-dimensional lattice structure, enabling the container to slide along the rails based on a propulsion system. A control device is provided to selectively engage each container to a desired rail of the lattice structure, and to provide power to the propulsion system, thereby moving the container to a desired location within the lattice structure. Due to the high storage efficiency of the disclosed automated storage and retrieval system, the system may be utilized in space-sensitive applications, such as vending machines for physical goods or in cargo vehicles such as trailers.

## Claims

### Claim 1

A container comprising:
a first surface;
a first driver disposed on the first surface, the first driver including an engagement portion extendable from the first driver to engage a first support member of a support structure enabling movement in a first direction;
a second surface perpendicular to the first surface;
a second driver disposed on the second surface, the second driver including an engagement portion extendable from the second driver to engage a second support member of the support structure enabling movement in a second direction perpendicular to the first direction;
a third surface perpendicular to the second surface and either perpendicular or parallel to the first surface; and
a third driver disposed on the third surface of the container, the third driver including an engagement portion extendable from the third driver to engage a third support member of the support structure enabling movement in a third direction perpendicular to both the first and second directions.

### Claim 2 (depends on 1)

The container of claim 1, wherein the first driver further includes:
an engagement plate dimensioned to pass through an engagement slot of the first support member while the engagement plate is in a first orientation; and
an extension arm configured to extend the engagement plate from the container and pass the engagement plate through the engagement slot of the first support member; and
wherein the engagement portion of the first driver comprises an engagement pin.

### Claim 3 (depends on 2)

The container of claim 2, wherein the engagement plate is configured to rotate to a second orientation with respect to the engagement slot to engage the container with the first support member.

### Claim 4 (depends on 1)

The container of claim 1, wherein the container further comprises one or more stabilizers, and wherein the one or more stabilizers are extendable from the container to the support structure while the container is engaged with support structure.

### Claim 5 (depends on 4)

The container of claim 4, wherein the one or more stabilizers are compressible into the container to enable movement along the support structure while the container is engaged with the support structure.

### Claim 6 (depends on 1)

The container of claim 1, wherein the container further comprises a battery providing electrical power to the first, second and third drivers.

### Claim 7 (depends on 1)

The container of claim 1, wherein the container further comprises a computing device configured to utilize the first, second and third drivers to selectively engage the container to the support structure to move to a desired position within the support structure.

### Claim 8 (depends on 7)

The container of claim 7, wherein the desired position is specified by a control system external to the container.

### Claim 9 (depends on 8)

The container of claim 8, wherein the container further comprises a wireless communication device enabling communication between the computing device and the control system.

### Claim 10 (depends on 8)

The container of claim 8, wherein the container further comprises a power-line communication device enabling communication between the computing device and the control system via a power line included within the support structure.

### Claim 11 (depends on 1)

A system comprising the container of claim 1 and the support structure, wherein the support structure is a lattice structure.

### Claim 12 (depends on 11)

The system of claim 11, wherein the lattice structure comprises:
a first series of support members, including the first support member, spaced at regular intervals and aligned to the first direction;
a second series of support members, including the second support member, spaced at regular intervals and aligned to the second direction perpendicular to the first direction;
a third series of support members, including the third support member, spaced at regular intervals and aligned to the third direction perpendicular to the first and second directions.

### Claim 13 (depends on 1)

The container of claim 1, wherein the engagement portion extendable from the first driver is configured to engage a propulsion device within the first support member.

### Claim 14 (depends on 13)

A system comprising the container of claim 13 and the support structure comprising the first support member, wherein the propulsion device is at least one of a drive chain or a drive belt.

### Claim 15 (depends on 1)

The container of claim 1, wherein each of the first, second, and third drivers is connected to the container via a linear actuator enabling the respective first, second, or third driver to be extended from and retracted into the container.