# US 10,766,698 B2 · Robotic parking device and handling method

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- Number: US 10,766,698 B2
- Document ID: US10766698B2
- Status: Granted
- Kind: B2
- Application number: 15/566,535
- Filed: 2016-04-15
- Published: 2018-03-29
- Granted: 2020-09-08
- Earliest claimed: 2015-04-15
- Assignees: Ocado Innovation Limited
- Applicants: Ocado Innovation Limited
- Inventors: Lars Sverker Ture Lindbo; Andrew John Ingram-Tedd; Pawel Karolinczak; Matthew Whelan
- Web page: https://patentgrep.com/patent/US10766698B2

## CPC

- B65G 1/0464: {with access from above}
- A62C 2/247: {electric}
- A62C 3/002: {for warehouses, storage areas or other installations for storing goods}
- A62C 35/68: Details, e.g. of pipes or valve systems (valves in general F16K)
- A62C 99/0018: {using gases or vapours that do not support combustion, e.g. steam, carbon dioxide}
- E04B 1/94: against fire ({fire protection of partitions E04B2/7403, E04B2/7409; supporting constructions for ceilings having the capability of expansion in case of fire E04B9/08}; fire-fighting A62C, {e.g. fire prevention or containment A62C2/00}; impregnation of wood or similar materials B27K; {fireproof paints C09D5/18; fireproofing materials C09K21/00; flame-resistant papers D21H5/0002; coverings or linings, e.g. for walls or ceilings, in general E04F13/00}; fireproof doors E06B5/16; {firebreak devices for pipes or the like passing through walls F16L5/04; protection of pipes by means of non-inflammable material F16L57/04})
- E04B 2/7403: {with special measures for sound or thermal insulation including fire protection}
- E04B 2/7409: {special measures for sound or thermal insulation, including fire protection}
- A01G 9/022: {Pots for vertical horticulture}
- A01G 9/16: Dismountable or portable greenhouses {; Greenhouses with sliding roofs}
- A01G 9/18: Greenhouses for treating plants with carbon dioxide or the like
- A01G 31/06: Hydroponic culture on racks or in stacked containers
- A47L 7/0047: {Furniture or stationary devices with suction openings (built-in suction cleaners A47L5/38)}
- B62D 33/02: Platforms; Open load compartments {(flat wagons including posts or standards B61D3/08)}
- B62D 33/0207: {Connections of movable or detachable racks or stanchions to platforms}
- B65D 21/0212: {Containers presenting local stacking elements protruding from the upper or lower edge of a side wall, e.g. handles, lugs, ribs, grooves (B65D21/0211, B65D21/0215, B65D21/023 take precedence)}
- B65G 1/0407: {using stacker cranes (constructional features of stacker cranes B66F9/06)}
- B65G 1/0478: {for matrix-arrangements}
- B65G 1/065: {with self propelled cars}
- B65G 1/137: with arrangements or automatic control means for selecting which articles are to be removed
- B65G 57/03: from above
- B65G 63/004: {for containers}
- B65G 67/02: Loading or unloading land vehicles
- B65G 2207/22: Heat or fire protection
- B65G 2207/40: Safety features of loads, equipment or persons
- E04B 1/34807: {Elements integrated in a skeleton}
- E04H 6/18: with means for transport in vertical direction only or independently in vertical and horizontal directions (E04H6/14 takes precedence)
- E06B 9/68: Operating devices or mechanisms, e.g. with electric drive
- E06B 2009/6818: {using sensors}
- Y02A 40/25: Greenhouse technology, e.g. cooling systems therefor
- Y02P 60/14: Measures for saving energy, e.g. in green houses
- Y02P 60/21: Dinitrogen oxide [N2O], e.g. using aquaponics, hydroponics or efficiency measures
- Y10S 901/01: Mobile robot
- 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)
- A62C: FIRE-FIGHTING (fire-extinguishing compositions, use of chemical substances in extinguishing fires A62D1/00; spraying, applying liquids or other fluent materials to surfaces in general B05; alarm arrangements G08B, e.g. fire alarms actuated by smoke or gases G08B17/10)
- E04B: GENERAL BUILDING CONSTRUCTIONS; WALLS, e.g. PARTITIONS; ROOFS; FLOORS; CEILINGS; INSULATION OR OTHER PROTECTION OF BUILDINGS (border constructions of opening in walls, floors or ceilings E06B1/00; {electromagnetic shielding H05K9/0001})
- A01G: HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING (picking of fruits, vegetables, hops or the like A01D46/00; propagating unicellular algae C12N1/12)
- A47L: DOMESTIC WASHING OR CLEANING (brushes A46B; cleaning quantities of bottles or of other hollow articles of one kind B08B9/00; laundry D06F); SUCTION CLEANERS IN GENERAL (cleaning in general B08)
- B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M)
- 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
- E04H: BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL (foundations E02D)
- E06B: FIXED OR MOVABLE CLOSURES FOR OPENINGS IN BUILDINGS, VEHICLES, FENCES OR LIKE ENCLOSURES IN GENERAL, e.g. DOORS, WINDOWS, BLINDS, GATES (shades or blinds for greenhouses A01G9/22; curtains A47H; lids for car boots or bonnets B62D25/10; skylights E04B7/18; sunshades, awnings E04F10/00)
- Y02A: TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02P: CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A robotic parking device is described. The device includes a number of stacks of containers as shown in FIG. 3, the stacks being positioned within a frame structure including uprights and a horizontal grid disposed above the stacks, the grid having substantially perpendicular rails on which load handling devices can run. Cars or vehicles are positioned in containers that are moved in to and out of the stacks by the robotic handling devices running on the grid. The cars are put in to the grid at entry points that may be positioned at points under the stacks.

## Claims

### Claim 1

A robotic parking system comprising:
a frame work structure;
a plurality of vehicle holding containers, the containers being disposed in stacks within the frame work structure, the frame work structure having a series of substantially vertical uprights; and
a substantially horizontal grid mounted on the vertical uprights and including two substantially perpendicular sets of rails on which at least one load handling device is operable, the load handling device having a body mounted on wheels, a first set of the wheels being arranged to engage with at least two rails of the first set of rails, a second set of the wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails in which the containers include a vehicle carrying platform and column supports, the column supports being positioned and sized such that each container supports a container immediately above in the stack,
wherein each container includes a box-like structure for positioning over a vehicle, the box-like structure incorporating the column supports.

### Claim 2 (depends on 1)

A robotic parking system according to claim 1, in which the column supports form the corners of the container and are movable from a first position where a vehicle can be moved on to the platform and a second position where the container can be positioned in the stack.

### Claim 3 (depends on 1)

A robotic parking system according to claim 1, in which the platform comprises:
foldable sides that form ramps to enable vehicles to be moved on and off the platform.

### Claim 4 (depends on 1)

A robotic parking system according to claim 1, in which the system comprises:
more than one load handling device, at least one of the load handling devices being sized so as to accommodate vehicles which vehicles includes one or more of vans, 4×4s or trucks, at least one of the load handling devices being sized so as to only accommodate a passenger car.

### Claim 5

A robotic parking system comprising:
a frame work structure;
a plurality of vehicle holding containers, the containers being disposed in stacks within the frame work structure, the frame work structure having a series of substantially vertical uprights;
a substantially horizontal grid mounted on the vertical uprights and including two substantially perpendicular sets of rails on which at least one load handling device is operable, the load handling device having a body mounted on wheels, a first set of the wheels being arranged to engage with at least two rails of the first set of rails, a second set of the wheels being arranged to engage with at least two rails of the second set of rails, the first set of wheels being independently moveable and driveable with respect to the second set of wheels such that when in motion only one set of wheels is engaged with the grid at any one time thereby enabling movement of the load handling device along the rails to any point on the grid by driving only the set of wheels engaged with the rails in which the containers include a vehicle carrying platform and column supports, the column supports being positioned and sized such that each container supports a container immediately above in the stack; and
a control system configured to identify a vehicle to be parked, associate a vehicle with a container, and locate the container within the stack to enable a load handling device to retrieve a given container on demand.

### Claim 6 (depends on 1)

A robotic parking system according to claim 1, in which a plurality of stacks comprise:
only containers sized so as to accommodate large vehicles, vans, 4×4s and trucks, and a plurality of stacks comprise:
containers sized only to accommodate passenger cars, each set of stacks being provided with at least one load handling device configured for moving containers within the plurality of stacks.

### Claim 7 (depends on 1)

The robotic parking system of claim 1, wherein the wheels are arranged partially external to the body.

### Claim 8 (depends on 1)

The robotic parking system of claim 1, wherein the wheels are arranged external to the body.

### Claim 9 (depends on 5)

A robotic parking system according to claim 5, in which the column supports form the corners of the container and are movable from a first position where a vehicle can be moved on to the platform and a second position where the container can be positioned in the stack.

### Claim 10 (depends on 5)

A robotic parking system according to claim 5, in which the platform comprises:
foldable sides that form ramps to enable vehicles to be moved on and off the platform.

### Claim 11 (depends on 5)

A robotic parking system according to claim 5, in which the system comprises:
more than one load handling device, at least one of the load handling devices being sized so as to accommodate vehicles which vehicles includes one or more of vans, 4×4s or trucks, at least one of the load handling devices being sized so as to only accommodate a passenger car.

### Claim 12 (depends on 5)

A robotic parking system according to claim 5, in which a plurality of stacks comprise:
only containers sized so as to accommodate large vehicles, vans, 4×4s and trucks, and a plurality of stacks comprise:
containers sized only to accommodate passenger cars, each set of stacks being provided with at least one load handling device configured for moving containers within the plurality of stacks.

### Claim 13 (depends on 5)

The robotic parking system according to claim 5, wherein the wheels are arranged partially external to the body.

### Claim 14 (depends on 5)

The robotic parking system according to claim 5, wherein the wheels are arranged external to the body.

### Claim 15 (depends on 5)

The robotic parking system of according to claim 5, wherein each container includes a box-like structure for positioning over a vehicle, the box-like structure incorporating the column supports.

### Claim 16 (depends on 1)

The robotic parking system according to claim 1, comprising:
a control system configured to identify a vehicle to be parked, associate a vehicle with a container, and locate the container within the stack to enable a load handling device to retrieve a given container on demand.