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公开(公告)号：US20220348406A1
公开(公告)日：2022-11-03
申请号：US17812637
申请日：2022-07-14
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
Abstract: A container handling vehicle for picking up storage containers from a three-dimensional grid of an underlying storage system includes: a first set of wheels arranged at opposite portions of a vehicle body of the container handling vehicle, for moving the vehicle along a first direction on a rail system of the grid; and a second set of wheels arranged at opposite portions of the vehicle body, for moving the vehicle along a second direction on the rail system of the grid, the second direction being perpendicular to the first direction. The vehicle body includes walls on all sides forming a footprint defined by horizontal peripheries in the X and Y directions of the vehicle body. The container handling vehicle further includes: a first section and a second section arranged side-by-side such that a centre point of a footprint of the first section is arranged off centre relative a centre point of the footprint of the vehicle body, wherein a size ratio of the footprint F1 of the first section relative a footprint of the second section is at least 2:1, the first section is configured to accommodate a storage container, and the second section includes an assembly of motors for driving at least one wheel of each of the sets of wheels.
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公开(公告)号：US11262765B2
公开(公告)日：2022-03-01
申请号：US16347138
申请日：2017-10-24
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Jørgen Djuve Heggebø
IPC: G05D1/02
Abstract: Method and vehicle for tracking the position of a remotely operated vehicle following a set route relative to tracks laid out on a frame structure forming a grid, the vehicle having first and second sets of wheels connected to drives for moving the vehicle in corresponding x- and y-directions on the grid, the method comprising: receiving information of the number of track crossings to pass between start and stop positions in x- and y-directions according to the set route; directing sensors attached to the vehicle at the tracks along the route of the vehicle; detecting and monitoring track crossings passed when moving the vehicle in the x- and y-directions according to the set route, and transmitting a signal to a controller, controlling the drives of the wheels of the vehicle, when the number of track crossings passed is close to the total number of track crossings to pass between the start and stop positions in respective x- and y-directions along the set route.
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公开(公告)号：US20210213311A1
公开(公告)日：2021-07-15
申请号：US17059272
申请日：2019-05-20
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim
Abstract: The invention concerns a service vehicle (2) for extinguishing fire on and within an automated storage and retrieval system (1) and a method for operating such a service vehicle (2). The service vehicle comprises caterpillar tracks (6, 7) allowing movement of the service vehicle across a rail system (108) and a fire extinguisher compartment (8) for containing firefighting equipment (3a).
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公开(公告)号：US20210155407A1
公开(公告)日：2021-05-27
申请号：US16614121
申请日：2018-05-15
Applicant: Autostore Technology AS
Inventor： Trond Austrheim , Ivar Fjeldheim , Ingvar Fagerland
Abstract: The present invention relates to automated storage and retrieval system comprising: a track system comprising a first set of parallel tracks arranged in a horizontal plane and extending in a first direction, and a second set of parallel tracks arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of tracks form a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells, each comprising a grid opening defined by a pair of adjacent tracks of the first set of tracks and a pair of adjacent tracks of the second set of tracks; a plurality of stacks of storage containers arranged in storage columns located beneath the track system, wherein each storage column is located vertically below a grid opening; a plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks, the container handling vehicles being configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings, wherein each of the plurality of container handling vehicles comprises: a wheel assembly for guiding the container handling vehicle along the track system; wherein the container handling vehicle has a footprint with a horizontal extension which is equal to or less than the horizontal extension of a grid cell. Each container handling vehicle comprises: a protruding section which extends horizontally beyond the footprint of the load handling vehicle and, when the container handling vehicle is positioned above a grid cell, into a neighbouring grid cell; and a recessed section arranged to accommodate the protruding sections of other container handling vehicles when it operates over a neighbouring grid cell. The present invention also relates to a container handling vehicle for such an automated storage and retrieval system and a method of operating such an automated storage and retrieval system.
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公开(公告)号：US20210016966A1
公开(公告)日：2021-01-21
申请号：US16981109
申请日：2019-03-13
Applicant: Autostore Technology AS
Inventor： Jørgen Djuve Heggebø , Ivar Fjeldheim , Trond Austrheim
Abstract: An automated storage and retrieval system includes a guiding assembly and a vehicle. The guiding assembly includes a first guiding system arranged in a first horizontal plane and extending in a first direction, and a second guiding system arranged in a second horizontal plane and extending in a second direction which is orthogonal to the first direction, and a plurality of storage containers stacked on top of one another to form stacks of storage containers arranged in storage columns below the first and second guiding systems. Each storage column is located vertically below a grid opening of a plurality of adjacent grid cells, the grid cells forming a grid pattern in the horizontal plane. The vehicle includes a lifting device for picking up storage containers from the storage columns to a position above the highest level of the storage columns. The lifting device includes a lifting frame connectable to a storage container via lifting bands including powering and control cables for controlling a gripping device on the lifting frame. The vehicle includes a transport mechanism for transporting the vehicle along the first and second guiding systems in the first and second directions. The vehicle includes at least one reader and the system further includes a storage container with at least one label. The at least one label includes storage container information. The at least one reader is configured to read the at least one label such as to identify the storage container. The at least one reader is arranged on the lifting frame of the vehicle and is power and signally connected to onboard controls and communications systems of the vehicle via cables arranged in the lifting bands.
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Patent Agency Ranking
公开(公告)号：US20200290804A1
公开(公告)日：2020-09-17
申请号：US16765482
申请日：2018-11-20
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
Abstract: The invention concerns an automated storage and retrieval system (1), a storage container handling vehicle (3) and a method for operating such a system. The system (1) comprises one or more vehicle (3) configured to lift and move storage containers (106) stacked in the system (1). Each vehicle (3) comprises a storage container lifting device (16), a drive system (18) with a wheel arrangement (19, 20) configured to drive and maneuver the vehicle (3) along the track system (108), abase (31) onto which the wheel arrangement (19, 20) is connected, a rotational part (30) rotationally connected via a swivel device (32) to the base (31) and a rotational drive system (34) for rotating the rotational part (30) relative to the base (31).
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公开(公告)号：US20200283239A1
公开(公告)日：2020-09-10
申请号：US16844696
申请日：2020-04-09
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim
Abstract: A vehicle operated cleaning bin for cleaning a storage grid of a storage system, wherein the cleaning bin includes a connector for attaching the cleaning bin to a lifting device of a remotely operating vehicle being configured to vertically convey the cleaning bin inside a column of the storage grid by aid of the lifting device, and a plurality of cleaners for removing foreign debris from the storage grid. The plurality of cleaners are arranged on at least one lateral wall of the cleaning bin.
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公开(公告)号：US20200216263A1
公开(公告)日：2020-07-09
申请号：US16648548
申请日：2018-08-27
Applicant: Autostore Technology AS
Inventor： Ivar Fjeldheim , Trond Austrheim
IPC: B65G1/04
Abstract: A container handling vehicle for an automated storage and retrieval system includes a three-dimensional grid having multiple storage columns, in which containers are stored one on top of another in vertical stacks. The container handling vehicle is arrangeable above a top level of the grid for retrieving a container from, and storing a container in, at least some of the storage columns, and/or for transporting a container horizontally across the top level of the grid. The container handling vehicle has a lifting device including a lifting frame for releasable connection to a container, and lifting bands arranged to lower and raise the lifting frame relative to the storage columns. The lifting device includes a container centring device arranged to extend around portions of the lifting frame. The container centring device having a lower open end including at least one edge element for interaction with a peripheral part of the upper end of a storage column. The edge element is arranged such that a container connected to the lifting frame is centred relative said upper end when the edge element interacts with the peripheral part.
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公开(公告)号：US10660438B2
公开(公告)日：2020-05-26
申请号：US16300063
申请日：2017-05-18
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim , Borge Bekken
Abstract: A leveling foot having a base section with a raised, hollow column. A spring is arranged in the hollow column. A moveable top piece engages the column, and is movable in the vertical direction against the force of the spring. The top piece is slightly larger than the column, such that side walls of the top piece overlap the sides of the column when the spring is compressed. The bottom edges of the side walls of the top piece are angled. A generally U-shaped wedge device is provided that may be pressed into engagement with the base section, whereby a leg of the U engages each side of the column. The top surfaces of the legs of the U-shaped device are angled in the form of wedges, the angles of the top surfaces of the legs corresponding to the angles of the side walls of the movable top piece, such that the side walls of the top piece will rest upon the angled top surfaces of the legs of the wedge device when the top piece is under load.
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公开(公告)号：US20190300286A1
公开(公告)日：2019-10-03
申请号：US16307396
申请日：2017-05-31
Applicant: Autostore Technology AS
Inventor： Ingvar Hognaland , Ivar Fjeldheim , Trond Austrheim , Øystein Gjerdevik
Abstract: A storage system for storing product items includes a grid structure, a number of storage bins configured to be stored in vertical compartments in the grid structure, and a picking and/or supply station. Each storage bin is configured to contain at least one product item. The storage system further includes a conveyor system configured to convey a storage bin from a first position to a second position and further to a third position, where the conveyor system includes a first, tillable conveyor configured to convey the storage bin from the first position to the third position via the second position.
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