# US 2019/0168392 A1 · Storage system, use and method with robotic parcel retrieval and loading onto a delivery vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168392 A1 - Document ID: US20190168392A1 - Status: Published application - Kind: A1 - Application number: 15/828,722 - Filed: 2017-12-01 - Published: 2019-06-06 - Earliest claimed: 2017-12-01 - Assignees: Starship Technologies Oü - Applicants: Starship Technologies OU - Inventors: LAURI VÄIN; Viljar Valdek; Märt Liivik; Henri Lend; Tiit Liivik; Henrik Herranen; Ahti Heinla; Veigo Evard; Tommy Biene - Web page: https://patentgrep.com/patent/US20190168392A1 ## CPC - B25J 11/008: {Manipulators for service tasks} - B25J 11/00: Manipulators not otherwise provided for - B65G 1/0407: {using stacker cranes (constructional features of stacker cranes B66F9/06)} - G06Q 10/00: Administration; Management - G06Q 10/08: Logistics, e.g. warehousing, loading or distribution; Inventory or stock management - G06Q 10/08355: {Routing methods} - G06Q 10/087: Inventory or stock management, e.g. order filling, procurement or balancing against orders - G06Q 10/08741: {by picking of items from inventory for fulfillment} - G06Q 50/40: Business processes related to the transportation industry (shipping G06Q10/083) - B65G 1/04: mechanical - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - 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) - G06Q: INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR ## Abstract A storage system (100) is adapted to store a plurality of items and to load a delivery robot (2) with an item. The storage system (100) includes a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, and a loading robot (130) adapted to grip the items and to load the items from a storage level (112, 114, 116, 118) to a delivery robot (2) located on the delivery robot level (110). The storage system (100) is adapted to move the items within a storage level (112, 114, 116, 118). The storage system may be provided with wheels and thus be mobile. It may be loaded onto a vehicle for transport from a loading area where the storage system is loaded with items for delivery, to a delivery area where the items are to be delivered by one or more delivery robots. ## Claims ### Claim 1 A storage system (100) adapted to store a plurality of items and to load a delivery robot (2) with any one of said plurality of items for delivery to a destination, wherein the storage system (100) comprises: a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, the at least one storage level being different from the delivery robot level (110), and a loading robot (130) adapted to retrieve a given item from a storage level (112, 114, 116, 118) and then load the retrieved item to a delivery robot (2) located on the delivery robot level (110), wherein the storage system (100) is adapted to move the given item within said storage level (112, 114, 116, 118) towards a pre-loading location in which the given item is accessible to the loading robot (130); wherein the loading robot (130) comprises a base (130a), a vertically extending body (130b) connected to the base (130a), and a gripping mechanism (140) extending outwardly from the vertically extending body and having at least two orthogonal axes of movement; wherein the delivery robot (2) is a mobile delivery robot comprising a motion component (320); and wherein the delivery robot (2) is configured to operate in an outdoor environment and deliver the retrieved item to a delivery recipient at a delivery address. ### Claim 2 (depends on 1) The storage system (100) according to claim 1, wherein the storage system (100) comprises a plurality of storage levels (112, 114, 116, 118) for storing items. ### Claim 3 (depends on 1) The storage system (100) according to claim 1, further comprising at least one port (104) through which the delivery robot (2) enters and/or exits the storage system (100). ### Claim 4 (depends on 3) The storage system (100) according to claim 3, comprising: an entry port (104) through which the delivery robot (2) enters the storage system (100) to be loaded with an item for delivery; and an exit port (104) through which the delivery robot (2) exits the storage system (100) after being loaded with said item for delivery, the exit port (104) being separate from the entry port (104). ### Claim 5 (depends on 1) The storage system (100) according to claim 1, wherein the loading robot (130) comprises three axes of movement (132, 134, 136). ### Claim 6 (depends on 5) The storage system (100) according to claim 5, wherein: the storage system (100) comprises a sensor (170) for sensing a location of an object to be gripped by the gripping mechanism (140), and the sensor (170) is mounted on the loading robot (130). ### Claim 7 (depends on 1) The storage system (100) according to claim 1, wherein: the loading robot (130) is adapted to grip the given item and load the gripped item to the delivery robot (2). ### Claim 8 (depends on 1) The storage system (100) according to claim 1, wherein: the items are stored in boxes (120); the loading robot (130) is adapted to grip a box (120) and load the gripped box (120) to the delivery robot (2); and the storage system (100) is adapted to move any one of the boxes (120) within a storage level (112, 114, 116, 118) towards said pre-loading location, such that said box is accessible to the loading robot (130). ### Claim 9 (depends on 1) The storage system (100) according to claim 1, further comprising at least one shuffle robot (150) adapted to move an object within a storage level (112, 114, 116, 118) to said pre-loading location, such that the object is accessible to the loading robot (130). ### Claim 10 A storage system (100) adapted to store a plurality of items and to load a delivery robot (2) with any one of said plurality of items for delivery to a destination, wherein the storage system (100) comprises: a delivery robot level (110); at least one storage level (112, 114, 116, 118) for storing the items, the at least one storage level being different from the delivery robot level (110); and a loading robot (130) adapted to retrieve a given item from a storage level (112, 114, 116, 118) and then load the retrieved item to a delivery robot (2) located on the delivery robot level (110); wherein the storage system (100) is adapted to move the given item within said storage level (112, 114, 116, 118) towards a pre-loading location in which the given item is accessible to the loading robot (130); wherein the delivery robot (2) is a mobile delivery robot comprising a motion component (320); wherein the delivery robot (2) is configured to operate in an outdoor environment and deliver the retrieved item to a delivery recipient at a delivery address; wherein the system further comprises at least one shuffle robot (150) adapted to move an object within a storage level (112, 114, 116, 118) to said pre-loading location, such that the object is accessible to the loading robot (130); and the loading robot (130) is configured to grip and release the shuffle robot (150) to bring the shuffle robot (150) from one storage level to another, when the shuffle robot initially is in the pre-loading location of said one storage level. ### Claim 11 (depends on 9) The storage system (100) according to claim 9, wherein: the items are stored in boxes (120); the at least one storage level (112, 114, 116, 118) comprises a plurality of supports (160) for supporting the boxes (120); the shuffle robot (150) comprises an actuator (154) that is adapted to assume a retracted configuration and an extended configuration for lifting a box (120); and the shuffle robot (150) has a first height in the retracted configuration and a second height in the extended configuration, the first height being smaller than a height of the supports (160) and the second height being greater than the height of the supports (160), and a difference between the second height and the first height is in the range of 5 mm to 100 mm. ### Claim 12 (depends on 1) The storage system (100) according to claim 1, comprising: a plurality of storage levels (112, 114, 116, 118) for storing items; at least one shuffle robot (150) adapted to move an object within a storage level (112, 114, 116, 118) to said pre-loading location; an entry port (104) through which the delivery robot (2) enters the storage system (100) to be loaded with an item for delivery; and an exit port (104) through which the delivery robot (2) exits the storage system (100) after being loaded with said item for delivery, the exit port (104) being separate from the entry port (104). ### Claim 13 (depends on 12) The storage system (100) according to claim 12, wherein the loading robot (130) comprises: three axes of movement (132, 134, 136); and a sensor (170) for sensing a location of an object to be gripped by the gripping mechanism (140). ### Claim 14 (depends on 13) The storage system (100) according to claim 13, wherein: the items are stored in boxes (120); the loading robot (130) is adapted to grip a box (120) and load the gripped box (120) to the delivery robot (2). ### Claim 15 (depends on 14) The storage system (100) according to claim 14, wherein: the loading robot (130) is configured to grip and release the shuffle robot (150) to bring the shuffle robot (150) from one storage level to another, when the shuffle robot initially is in the pre-loading location of said one storage level. ### Claim 16 (depends on 1) The storage system (100) according to claim 1, further comprising wheels to facilitate transporting the storage system from a loading area where the storage system is loaded with items for delivery, to a delivery area where the items are to be delivered. ### Claim 17 (depends on 16) A storage and transport system comprising, in combination: the storage system (100) according to claim 16; a vehicle into which said storage system is loaded for transport to a delivery area; and at least one additional delivery robot (2) also loaded onto the vehicle, for performing deliveries when the vehicle arrives at the delivery area. ### Claim 18 (depends on 1) A method of loading an item to a delivery robot (2), the item being located on a storage level of a storage system according to claim 1, the method comprising: the delivery robot (2) entering the storage system (100) and traveling to a designated location on the delivery robot level where the delivery robot is positioned to be loaded by the loading robot (130); moving the item within the storage level, to a pre-loading location in which the item is accessible to the loading robot (130); retrieving the item from said pre-loading location with the loading robot (130) and loading the delivery robot (2) with the retrieved item; and the delivery robot (2) leaving the designated location and exiting the storage system (100). ### Claim 19 (depends on 18) The method according to claim 18, wherein: the item is located in a box which is supported by supports; and moving the item within the storage level comprises lifting the box off of the supports, and transporting the lifted box to the pre-loading location. ### Claim 20 (depends on 19) The method according to claim 19, comprising: bringing a shuffle robot underneath the box prior to lifting the box, the shuffle robot having a retracted configuration and an extended configuration; wherein: the shuffle robot is brought underneath the box, when the shuffle robot is in the retracted configuration, and the shuffle robot transports the box to the pre-loading position, when the shuffle robot is in the extended position. ### Claim 21 (depends on 1) The storage system (100) according to claim 1, wherein: the delivery robot level (110) is a ground level; and the at least one storage level (112, 114, 116) is above the delivery robot level. ### Claim 22 (depends on 21) The storage system (100) according to claim 21, comprising only a single delivery robot level (110). ### Claim 23 (depends on 2) The storage system (100) according to claim 2, wherein: the delivery robot level (110) is a ground level; and all of said plurality of storage levels (112, 114, 116) are above the delivery robot level. ### Claim 24 (depends on 23) The storage system (100) according to claim 23, comprising only a single delivery robot level (110). ### Claim 25 (depends on 3) The storage system (100) according to claim 3, wherein, after entering through the port (104), the delivery robot is located within a footprint of the storage system (100). ### Claim 26 (depends on 17) The storage and transport system according to claim 17, wherein: the plurality of delivery robots (2) are also loaded onto the vehicle and are located within a footprint of the storage system (100). ### Claim 27 (depends on 1) The storage system according to claim 1, wherein: the delivery robot level (110) and the at least one storage level (112, 114, 116) are located within a housing (102), with the delivery robot level (110) being below the at least one storage level (112, 114, 116, 118); the housing has at least one port (104) through which the delivery robot (2) is configured to enter within a footprint of the housing (102) at the delivery robot level (110) to be loaded with the retrieved item by the loading robot (130); and the delivery robot (12) is configured to leave the footprint of the housing to deliver the retrieved item to the delivery recipient at the delivery address. ### Claim 28 (depends on 27) The storage system according to claim 27, wherein: a plurality of delivery robots (2) are housed on the delivery robot level (110), under the at least one storage level (112, 114, 116, 118). ### Claim 29 (depends on 27) The storage system according to claim 27, wherein: the loading robot (130) is a vertical loading robot configured to move items vertically; and the loading robot (130) remains in position relative to the housing (102). ### Claim 30 (depends on 1) The storage system according to claim 1, wherein the delivery robot (2) comprises: a body (200) having an item compartment into which the retrieved item is loaded; a flagpole (330) to increase the visibility of the delivery robot (2); and a plurality of cameras, including front stereo cameras (220, 230), side stereo cameras (240, 250), and back stereo cameras (290) that are generally backward facing. ### Claim 31 A storage system (100) adapted to store a plurality of items and to load a delivery robot (2) with any one of said plurality of items for delivery to a destination, wherein the storage system (100) comprises: a delivery robot level (110), at least one storage level (112, 114, 116, 118) for storing the items, the at least one storage level being different from the delivery robot level (110), and a loading robot (130) adapted to retrieve a given item from a storage level (112, 114, 116, 118) and then load the retrieved item to a delivery robot (2) located on the delivery robot level (110), wherein the storage system (100) is adapted to move the given item within said storage level (112, 114, 116, 118) towards a pre-loading location in which the given item is accessible to the loading robot (130); wherein the delivery robot (2) is a mobile delivery robot comprising: a motion component (320); a body (200) having an item compartment into which the retrieved item is loaded; a flagpole (330) to increase the visibility of the delivery robot (2); and a plurality of cameras, including front stereo cameras (220, 230), side stereo cameras (240, 250), and back stereo cameras (290) that are generally backward facing; and wherein the delivery robot (2) is configured to operate in an outdoor environment and deliver the retrieved item to a delivery recipient at a delivery address. ### Claim 32 (depends on 17) The storage and transport system according to claim 17, wherein the vehicle is a truck allowed on roads.