# US 12,009,678 B2 · Opportunistic charging system for an automated storage and retrieval system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,009,678 B2 - Document ID: US12009678B2 - Status: Granted - Kind: B2 - Application number: 16/269,900 - Filed: 2019-02-07 - Published: 2019-08-08 - Granted: 2024-06-11 - Earliest claimed: 2018-02-08 - Assignees: Walmart Apollo, LLC - Applicants: Walmart Apollo, LLC - Inventors: Matthew W. Coady; William J. Fosnight; David A. Lachance; David Eiselen - Web page: https://patentgrep.com/patent/US12009678B2 ## CPC - H02J 7/50: acting upon multiple batteries simultaneously or sequentially - B65G 1/0492: {with cars adapted to travel in storage aisles} - B65G 1/065: {with self propelled cars} - B65G 1/1373: {for fulfilling orders in warehouses} - H02J 7/04: Regulation of charging current or voltage - H02J 7/70: characterised by the mechanical construction - H02J 7/731: {specially adapted for holding portable devices containing batteries (H02J7/751 takes precedence)} - H02J 7/751: {concerning the insertion or the connection of the batteries} - Y02T 10/70: Energy storage systems for electromobility, e.g. batteries - H02J: ELECTRIC POWER NETWORKS; CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY - 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) - Y02T: CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION ## Abstract An opportunistic rail charging system is disclosed for recharging power supplies on mobile robots transporting goods within an automated order fulfillment system. Individual chargers may be incorporated into each mobile robot for converting a facility line voltage from the charge rail to a voltage for which the rechargeable power supplies on each mobile robot are rated. ## Claims ### Claim 1 A power supply system for a plurality of mobile robots in a facility, comprising: a charge rail mounted in a vertical track along which the plurality of mobile robots travel, the vertical track further comprising a gear rack to enable vertical travel of the plurality of mobile robots while charging on the charge rail; the charge rail configured to receive an alternating current (AC) charging voltage from the facility; a plurality of coupling mechanisms comprising a coupling mechanism on each of the plurality of mobile robots, the coupling mechanism on a mobile robot of the plurality of mobile robots configured to be biased horizontally against the charge rail mounted on the vertical track to contact the charge rail and transfer the AC charging voltage from the charge rail to the mobile robot; a plurality of chargers comprising a charger on each of the plurality of mobile robots, the charger on each of the plurality of mobile robots receiving the AC charging voltage and converting the AC charging voltage from the charge rail to a second voltage smaller than the AC charging voltage; and a plurality of rechargeable energy storage devices comprising a rechargeable energy storage device on each mobile robot of the plurality of mobile robots, the rechargeable energy storage device on each of the plurality of mobile robots receiving the second voltage from the charger on the mobile robot and being charged using the second voltage. ### Claim 2 (depends on 1) The power supply system of claim 1, wherein the plurality of mobile robots are charged by being connected to the charge rail simultaneously. ### Claim 3 (depends on 1) The power supply system of claim 1, further comprising a controller configured to implement a hibernate function in a mobile robot of the plurality of mobile robots, the hibernate function disconnecting power loads from the rechargeable energy storage device when the mobile robot is forced to wait for an extended period away from the charge rail. ### Claim 4 (depends on 1) The power supply system of claim 1, wherein the rechargeable energy storage device is a super capacitor. ### Claim 5 (depends on 4) The power supply system of claim 4, wherein the super capacitor is one of a regular electric double layer capacitor, a lithium super capacitor and an ultra-low impedance capacitor. ### Claim 6 (depends on 1) The power supply system of claim 1, wherein at least five mobile robots of the plurality of mobile robots may simultaneously charge their rechargeable energy storage devices at a maximum rate for which the chargers and/or rechargeable energy storage devices of the at least five mobile robots are rated. ### Claim 7 (depends on 1) The power supply system of claim 1, wherein the coupling mechanism is biased to maintain contact with the charge rail while the mobile robot is traveling vertically on the vertical track. ### Claim 8 (depends on 7) The power supply system of claim 7, wherein the mobile robot maintains a horizontal position while the mobile robot is vertically traveling on the vertical track. ### Claim 9 (depends on 1) The power supply system of claim 1, wherein the coupling mechanism comprises a spring positioned to horizontally bias the coupling mechanism against the charge rail. ### Claim 10 (depends on 1) The power supply system of claim 1, wherein the mobile robot further comprises: a guide bearing for engaging the gear rack; and a counter bearing configured to rest against a surface of the vertical track to maintain the mobile robot in a generally horizontal position during vertical travel; wherein the coupling mechanism is positioned between the guide bearing and the counter bearing. ### Claim 11 A power supply system for a plurality of mobile robots in a facility, the mobile robots configured to travel on a track system to transport containers to and from storage locations within the facility, the power supply system comprising: a charge rail vertically mounted in a vertical rail of a vertical portion of the track system, the charge rail configured to provide a first voltage, the vertical rail further comprising a gear rack to enable vertical travel of the plurality of mobile robots while charging on the charge rail; a plurality of chargers comprising a charger on each of the plurality of mobile robots, the charger on each of the plurality of mobile robots converting the first voltage from the charge rail to a second voltage smaller than the first voltage; a plurality of rechargeable energy storage devices comprising a rechargeable energy storage device on each of the plurality of mobile robots, the rechargeable energy storage device on each of the plurality of mobile robots being opportunistically charged using the second voltage as each mobile robot of the plurality of mobile robots travels on the track system to transport containers to and from storage locations within the facility; and a plurality of coupling mechanisms comprising a coupling mechanism on each of the plurality of mobile robots, the coupling mechanism on a mobile robot of the plurality of mobile robots configured to be biased horizontally against the charge rail mounted on the vertical rail to contact the charge rail and transfer the first voltage from the charge rail to the mobile robot. ### Claim 12 (depends on 11) The power supply system of claim 11, wherein a predefined maximum number of mobile robots of the plurality of mobile robots travel within the vertical portion of the track system at a given time during transport of the containers to and from storage locations within the facility, wherein the predefined maximum number of mobile robots may charge at their maximum rate while each is traveling in the vertical portion of the track system. ### Claim 13 (depends on 11) The power supply system of claim 11, further comprising a material control system (MCS) executing instructions to control the navigation of the plurality of mobile robots and to divert a mobile robot from transferring containers to and from storage locations to connection with the charge rail where it is determined by the MCS that the mobile robot requires more charge to continue transferring containers to and from storage locations. ### Claim 14 (depends on 13) The power supply system of claim 13, wherein the MC S communicates with the charger on each of the plurality of mobile robots to independently control the charging of each of the plurality of mobile robots. ### Claim 15 (depends on 13) The power supply system of claim 13, wherein the MCS controls a number of mobile robots in the vertical portion of the track system at a given time so that all mobile robots in the vertical portion may charge at a maximum rate of the mobile robots. ### Claim 16 (depends on 13) The power supply system of claim 13, wherein the MCS positions the plurality of mobile robots on the vertical portion of the track system to charge at a rate slower than a maximum charge rate of the mobile robots at idle periods of the facility. ### Claim 17 (depends on 11) The power supply system of claim 11, wherein the first voltage is the line voltage from the facility. ### Claim 18 A method of charging rechargeable energy storage devices of a plurality of mobile robots in an automated storage and retrieval system (ASRS) facility, comprising: (a) delivering an AC line voltage for the (ASRS) facility to a charge rail; (b) propelling a mobile robot of the plurality of mobile robots along a vertical track comprising the charge rail, the mobile robot comprising a coupling mechanism configured to be biased horizontally against the charge rail mounted on the vertical track to contact the charge rail; (c) upon connection of the mobile robot with the charge rail, converting the AC line voltage from the (ASRS) facility to a lower voltage usable to charge a rechargeable energy storage device of the mobile robot via a charger on the mobile robot; and (d) charging the rechargeable energy storage device of the mobile robot with the lower voltage converted in said step (c) while the mobile robot is propelled along the vertical track in said step (b). ### Claim 19 (depends on 18) The method of claim 18, wherein said step (b) of propelling a mobile robot of the plurality of mobile robots along a vertical track is performed for a purpose independent of charging the mobile robot. ### Claim 20 (depends on 18) The method of claim 18, wherein said step (d) of charging the rechargeable energy storage device of the mobile robot comprising the step of charging the rechargeable energy storage device of the mobile robot at a maximum rate for which the charger and/or the rechargeable energy storage device are rated where a plurality of mobile robots are connected to the charge rail.