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    STORAGE SYSTEM
    11.
    发明申请
    STORAGE SYSTEM 有权

    公开(公告)号：US20220267094A1

    公开(公告)日：2022-08-25

    申请号：US17596367

    申请日：2020-05-07

    Applicant: Autostore Technology AS

    Inventor： Ingvar Fagerland

    IPC: B65G1/137 ,  B65G1/04 ,  B65G1/06

    Abstract: A storage system includes at least one consolidation vehicle, a transfer rail grid, an item picking area, and an item delivery station. The consolidation vehicle includes a wheel arrangement for moving the consolidation vehicle in two perpendicular directions upon the transfer rail grid. The consolidation vehicle may be positioned upon the item picking area to receive multiple items picked from at least one storage container, and an item picker is arranged to pick items from the storage container and transfer them to the consolidation vehicle. The consolidation vehicle may be positioned upon the item delivery station to deliver items received from the storage container to a packaging/processing assembly. The consolidation vehicle includes an item carrier arranged such that items may be emptied from the item carrier when the consolidation vehicle is positioned at the item delivery station.

    AUTOMATED STORAGE AND RETRIEVAL SYSTEM
    12.
    发明申请
    AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权

    公开(公告)号：US20220260982A1

    公开(公告)日：2022-08-18

    申请号：US17661844

    申请日：2022-05-03

    Applicant: Autostore Technology AS

    Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

    IPC: G05B19/418 ,  B65G1/04 ,  B65G1/137 ,  B66F9/06

    Abstract: An automated storage and retrieval system includes a track system including 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 orthogonal to the first direction, forming a grid pattern in the horizontal plane comprising a plurality of adjacent grid cells. Each grid cell includes a grid opening. A plurality of stacks of storage containers are arranged in storage columns located beneath the track system. Each storage column is located vertically below the grid opening. A plurality of container handling vehicles for lifting and moving storage containers stacked in the stacks are configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. Each container handling vehicle includes a protruding section which extends horizontally beyond a footprint of the container handling vehicle and, when the container handling vehicle is positioned at a grid cell, into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle when operating over a neighbouring grid cell.

    A METHOD AND SYSTEM FOR AUTONOMOUS CONTROLLING OF MOVEMENTS OF CONTAINER HANDLING VEHICLES OPERATING IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
    13.
    发明申请
    A METHOD AND SYSTEM FOR AUTONOMOUS CONTROLLING OF MOVEMENTS OF CONTAINER HANDLING VEHICLES OPERATING IN AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权

    公开(公告)号：US20220258978A1

    公开(公告)日：2022-08-18

    申请号：US17625945

    申请日：2020-05-29

    Applicant: Autostore Technology AS

    Inventor： Ingvar Fagerland

    IPC: B65G1/137 ,  B65G1/04 ,  G05D1/02

    Abstract: A storage and retrieval system includes a grid structure with storage columns and a corresponding rail system above the storage columns for guiding movements of the vehicles adapted for transferring storage containers to and from the storage columns. Each vehicle includes a vehicle controller connected to driving unit and sensors for controlling movements of the vehicle along the rail system relative to movements of other vehicles, A method for autonomous controlling movements of the vehicles, performed in the vehicle controller of each vehicle, includes: a) using a map defining rail layout and traffic rules for where and when vehicles can move on the rail system, and wherein the map is the same for all vehicles operating in the storage and retrieval system; b) synchronizing the vehicle controller to a clock common for all vehicles; c) receiving an instruction from a master controller instructing the vehicle to move to a specified destination on the rail system relative to the map; d) letting the vehicle controller determine a route to follow on the rail system from a current position of the vehicle to the specified destination based on the map, the traffic rules, distance to other vehicles and movements of the other vehicles; e) controlling the movements of the vehicle along the rails system from the current position of the vehicle to the specified destination according to the determined route; and f) repeating steps d) and e) until the vehicle has reached the specified destination.

    A METHOD AND SYSTEM FOR CONTROLLING THE OPERATION OF CONTAINER HANDLING VEHICLES AND DRONES SERVING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM
    14.
    发明申请
    A METHOD AND SYSTEM FOR CONTROLLING THE OPERATION OF CONTAINER HANDLING VEHICLES AND DRONES SERVING AN AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权

    公开(公告)号：US20210130090A1

    公开(公告)日：2021-05-06

    申请号：US17251760

    申请日：2019-06-11

    Applicant: Autostore Technology AS

    Inventor： Ragnar Stuhaug ,  Karl Hatteland ,  Ingvar Fagerland ,  Øystein Gjerdevik ,  Trond Austrheim ,  Synnøve Matre

    IPC: B65G1/04

    Abstract: The operation of container handling vehicles and remotely operated specialized container handling vehicles are controlled by a method such that total elapsed time or waiting time cost for transferring specified storage containers between them is minimal or optimal. The specialized container handling vehicles are operating at a level below an automated storage and retrieval system having a framework structure defining a storage grid for storing storage containers in grid cells. The storage containers are stored and retrieved by container handling vehicles running on top of the storage grid. At least one operational controller, which is in communication with a first type of controller in each container handling vehicle and a second type of controller in each specialized container handling vehicle, performs the followings steps: when a specified storage container is to be transferred from a storage column and its corresponding grid cell to a specialized container handling vehicle: assigning and instructing a container handling vehicle to pick up the storage container from the grid cell and lower it to a selected port, located at the lower end of an identified free delivery column by transmitting instructions to the first type of controller of the assigned container handling vehicle, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle and the specialized container handling vehicle having the best matching travel time to the port; moving the container handling vehicle to the grid cell, picking up the storage container and transporting it to a grid cell of the delivery column where the port is; transmitting a signal to the specialized container handling vehicles comprising information of the selected port at a first location and when the storage container will be available at the port; based on responses from the specialized container handling vehicles, assigning and instructing a specialized container handling vehicle to retrieve the specified storage container at the selected port; moving the assigned specialized container handling vehicle to the selected port at the first location, picking up the storage container and bringing it to a second location; and/or, when a specified storage container is to be transferred to a grid cell, for storage in its corresponding storage column, by a specialized container handling vehicle: determining which port at a first location that is to be used, where the port selected is included as a variable in a weighting function together with time and waiting cost to derive a trade-off of the container handling vehicle and the specialized container handling vehicle having the best matching travel time to the port; transmitting instructions to the second type of controller of the specialized container handling vehicle, to transport the storage container from its current location representing the second location, to said determined port at the first location; moving the specialized container handling vehicle from the second location to the determined port at the first location; transmitting a signal to the container handling vehicles comprising information of the determined port to retrieve the storage container from; based on responses from the container handling vehicles, assigning and instructing a container handling vehicle to lift and retrieve the specified storage container from the determined port to be used at the first location; lifting the storage container from the determined port through the delivery column and moving the container handling vehicle for transporting the storage container to a grid cell corresponding to the storage column the specified storage container is to be transferred to.

    STORAGE GRID FOR VERTICAL FARMING
    15.
    发明申请
    STORAGE GRID FOR VERTICAL FARMING 有权

    公开(公告)号：US20250127099A1

    公开(公告)日：2025-04-24

    申请号：US18693061

    申请日：2022-09-12

    Applicant: Autostore Technology AS

    Inventor： Trond Austrheim ,  Ingvar Fagerland

    IPC: A01G9/14 ,  A01G9/02 ,  A01G9/24 ,  B65G1/04

    Abstract: An illuminable storage grid is for storing and cultivating crops within containers. The illuminable storage grid includes a plurality of horizontally extending container supporting frameworks distributed vertically with vertical offsets. Each container supporting framework includes a container support for supporting a plurality of containers and a support displacement system for displacing the container support horizontally. Each container support is arranged above a lowermost container supporting framework display(s) at least one hole with an opening of at least a maximum horizontal cross section of the containers to be stored. At least one of the container supports above the lowermost container supporting framework is an illuminable container support enabling illumination.

    AUTOMATED STORAGE AND RETRIEVAL SYSTEM
    16.
    发明申请
    AUTOMATED STORAGE AND RETRIEVAL SYSTEM 有权

    公开(公告)号：US20250110490A1

    公开(公告)日：2025-04-03

    申请号：US18981041

    申请日：2024-12-13

    Applicant: AutoStore Technology AS

    Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

    IPC: G05B19/418 ,  B65G1/04 ,  B65G1/137 ,  B66F9/06

    Abstract: A charging system for performing battery charging, battery exchange or battery replacement of a container handling vehicle operating in an automated storage and retrieval system includes a charging station including a vertical charging station column, a charging connector arranged at or near an upper end of the vertical charging station column, and guiding pins for activating a battery release mechanism of the container handling vehicle when the container handling vehicle is aligned with and in contact with the charging station.

    AUTOMATED STORAGE AND RETRIEVAL SYSTEM
    18.
    发明公开
    AUTOMATED STORAGE AND RETRIEVAL SYSTEM 审中-公开

    公开(公告)号：US20240166440A1

    公开(公告)日：2024-05-23

    申请号：US18421382

    申请日：2024-01-24

    Applicant: Autostore Technology AS

    Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

    IPC: B65G1/06 ,  B61B5/02 ,  B65G1/04 ,  B66C13/00 ,  B66C19/00

    CPC classification number: B65G1/065 ,  B61B5/02 ,  B65G1/0464 ,  B66C13/00 ,  B66C19/00 ,  B60L50/64

    Abstract: A container handling vehicle includes a lower part and an upper part. The lower part includes a width and a length that form a vehicle footprint of the container handling vehicle; and a storage space configured to accommodate a storage container. The lower part includes a first set of wheels oriented in a first vertical plane and a second set of wheels oriented in a second vertical plane orthogonal to the first vertical plane. The lower part includes a first set of vertical side walls that are co-planar to the first vertical plane, and a second set of vertical side walls that are co-planar to the second vertical plane. The first set of wheels, the second set of wheels, the first set of vertical side walls, and the second set of vertical side walls are arranged such that the lower part of the container handling vehicle has a cuboid shape. The upper part is disposed vertically above the lower part, and includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part. The recessed section has a shape complimentary to the protruding section such that the recessed section is configured to receive other protruding sections of other container handling vehicles.

    Automated storage and retrieval system
    19.
    发明授权
    Automated storage and retrieval system 有权

    公开(公告)号：US11912501B2

    公开(公告)日：2024-02-27

    申请号：US18163535

    申请日：2023-02-02

    Applicant: Autostore Technology AS

    Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

    IPC: B65G1/04 ,  B61B5/02 ,  B65G1/06 ,  B66C13/00 ,  B66C19/00 ,  B60L50/64 ,  B60L53/16 ,  B60L53/18

    CPC classification number: B65G1/065 ,  B61B5/02 ,  B65G1/0464 ,  B66C13/00 ,  B66C19/00 ,  B60L50/64 ,  B60L53/16 ,  B60L53/18

    Abstract: An automated storage and retrieval system includes a track system including a first set of tracks arranged in a horizontal plane and extending in a first direction, and a second set of tracks arranged in the horizontal plane and extending in a second direction that is orthogonal to the first direction. The first set of tracks and the second set of tracks form a grid pattern in the horizontal plane including a plurality of adjacent grid cells. Each grid cell includes an opening defined by the first set of tracks and the second set of tracks such that the track system includes a plurality of openings. A plurality of storage containers are arranged in columns beneath the track system such that the storage containers are located vertically below the openings. A plurality of container handling vehicles for lifting and moving the storage containers are configured to move on the track system and access the storage containers via the openings. Each container handling vehicle of the container handling vehicles includes a lower part in contact with the track system and an upper part. The lower part has a width and a length that form a vehicle footprint. The vehicle footprint of the lower part has dimensions smaller than the opening such that a contact area of the container handling vehicle does not extend into an adjacent grid cell. The upper part, which is disposed vertically above the lower part, includes a protruding section and a recessed section. The protruding section is configured to extend beyond the lower part into the adjacent grid cell. The recessed section is of a complimentary shape to the protruding section such that the recessed section is configured to receive other protruding sections of other vehicles of the container handling vehicles. The lower part further includes a storage space configured to accommodate a storage container of the storage containers.

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