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    TRACK SENSORS FOR DETECTING POSITION OF VEHICLE RELATIVE TO TRACKS
    22.
    发明申请
    TRACK SENSORS FOR DETECTING POSITION OF VEHICLE RELATIVE TO TRACKS 审中-公开

    公开(公告)号：US20200064854A1

    公开(公告)日：2020-02-27

    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.

    STORAGE SYSTEM WITH ROBOT DEVICE
    23.
    发明申请
    STORAGE SYSTEM WITH ROBOT DEVICE 审中-公开

    公开(公告)号：US20200031575A1

    公开(公告)日：2020-01-30

    申请号：US15580881

    申请日：2016-06-10

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland

    IPC: B65G1/04 ,  B65G1/137

    Abstract: A storage system for storing product items includes a grid structure and a number of first storage bins configured to be stored in vertical stacks in the grid structure. Each first storage bin is configured to contain at least one product item. A vehicle is arranged to move horizontally at the top level of the grid structure, and further arranged to pick up, carry, and place the first storage bins at desired locations within the grid structure. The storage system further comprises a robot device comprising a movable arm with a picking mechanism in one end thereof. The robot device is configured to move a storage item between a first location and a second location by means of its picking mechanism. The first location is the location of a first storage bin stored in the storage grid.

    A STORAGE SYSTEM FOR STORING AND TRANSPORTING BINS
    25.
    发明申请
    A STORAGE SYSTEM FOR STORING AND TRANSPORTING BINS 审中-公开

    公开(公告)号：US20190009984A1

    公开(公告)日：2019-01-10

    申请号：US16069620

    申请日：2016-11-15

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Trond Austrheim ,  Øystein Gjerdevik

    IPC: B65G1/04 ,  B65G43/10 ,  B65G47/57

    Abstract: Method and systems for storing and transporting a plurality of storage bins to and from an upper and a lower location of a three dimensional storage grid, which is constructed by columns interconnected by top rails. The system includes a movable continuous chain running from the upper location to the lower location of said storage grid. The chain may have compartments fitted for holding the bins. Robot vehicles are running on the upper location of the storage grid. These are adapted for loading and unloading bins 4 from the compartments in the chain. A control system is configured for controlling loading and unloading of the bins from the compartments in the chain.

    ROBOT FOR TRANSPORTING STORAGE BINS
    26.
    发明申请
    ROBOT FOR TRANSPORTING STORAGE BINS 审中-公开

    公开(公告)号：US20180244468A1

    公开(公告)日：2018-08-30

    申请号：US15964084

    申请日：2018-04-27

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Trond Austrheim ,  Borge Bekken

    IPC: B65G1/04

    Abstract: The invention concerns a remotely operated vehicle assembly for picking up storage bins from a storage system and a method for change of vehicle direction. The vehicle assembly comprises a vehicle body displaying a cavity being suitable for receiving a storage bin stored within the storage system, a vehicle lifting device being connected at least indirectly to the vehicle body and suitable for lifting the storage bin into the cavity, a displacement arrangement comprising inter alia a displacement motor situated above the cavity which is configured to at least provide the power that is necessary in order to displace one or both of the first set of vehicle rolling means and the second set of vehicle rolling means between a displaced state where the relevant vehicle rolling means is displaced away from the underlying storage system during use, and a non-displaced state where the relevant vehicle rolling means is in contact with the underlying storage system during use, and driving means coupled to the displacement arrangement. The driving means further comprises a first set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a first direction (X) within the storage system during use and a second set of vehicle rolling means connected to the vehicle body allowing movement of the vehicle along a second direction (Y) in the storage system during use, wherein the second direction (Y) is perpendicular to the first direction (X).

    Method and system for detecting position of a vehicle relative to tracks the vehicle is running on
    27.
    发明授权
    Method and system for detecting position of a vehicle relative to tracks the vehicle is running on 有权

    公开(公告)号：US12189396B2

    公开(公告)日：2025-01-07

    申请号：US17489355

    申请日：2021-09-29

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

    IPC: G05D1/00

    Abstract: A vehicle for an automated storage and retrieval system is configured to follow a set route on a track being laid out in the automated storage and retrieval system and having one or more track features. The vehicle includes a first set of wheels capable of moving the vehicle in a first direction; a second set of wheels capable of moving the vehicle in a second direction perpendicular to the first direction; and a plurality of sensors attached to the vehicle and configured to detect track features and to measure a distance to a track feature while the vehicle is moving in the first direction or the second direction.

    Method for operating a bin storage system and robot vehicle for transporting storage bins
    28.
    发明授权
    Method for operating a bin storage system and robot vehicle for transporting storage bins 有权

    公开(公告)号：US12168571B2

    公开(公告)日：2024-12-17

    申请号：US18462102

    申请日：2023-09-06

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland

    IPC: B65G1/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B66F9/04 ,  B66F9/06 ,  B66F9/07 ,  G05B19/418 ,  G05D1/00 ,  G06Q10/00 ,  G06Q10/08 ,  G06Q10/087 ,  G06K17/00

    Abstract: A method of operating a bin storage system includes a plurality of storage columns for storage of a plurality of vertically-stacked storage bins and a plurality of robot vehicles for transporting storage bins. A plurality of supporting rails are arranged in a two-dimensional matrix at the top of the columns. The supporting rails are arranged in a first direction and a second direction orthogonal to the first direction. The method includes positioning a cavity displaying a downwardly facing opening for the storage bin of one of the plurality of robot vehicles such that the cavity is aligned with one of the storage columns to permit the cavity to receive a storage bin from the storage columns, receiving a storage bin from the storage column into the cavity, and moving the robot vehicle along the bin storage system, using a plurality of wheels attached to the robot vehicle. A first set of wheels is arranged to allow the robot vehicle to travel in the first direction along the supporting rails. A second set of wheels is arranged to allow the robot vehicle to travel in the second direction along the supporting rails. At least one of the first set of wheels and the second set of wheels are configured to be displaceable from the supporting rails, such that the first set of wheels are in contact with the supporting rails when the robot vehicle travels in the first direction and the second set of wheels are in contact with the supporting rails when the robot vehicle travels in the second direction.

    REMOTELY OPERATED VEHICLE FOR A STORAGE SYSTEM
    29.
    发明公开
    REMOTELY OPERATED VEHICLE FOR A STORAGE SYSTEM 审中-公开

    公开(公告)号：US20230399173A1

    公开(公告)日：2023-12-14

    申请号：US18454357

    申请日：2023-08-23

    Applicant: Autostore Technology AS

    Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Trond Austrheim ,  Børge Bekken

    IPC: B65G1/04

    CPC classification number: B65G1/0464 ,  B65G1/0478

    Abstract: A remotely-operated vehicle assembly for picking up storage bins from a storage system and a method for changing vehicle direction includes a body displaying a cavity, a lifting device connected to the body for lifting the bin into the cavity, a displacement arrangement including a displacement motor which provides power to displace one or both of first and second sets of vehicle wheels between a displaced state where the relevant vehicle wheels are displaced away from the underlying system during use, and a non-displaced state where the relevant vehicle wheels are in contact with the underlying system during use, and driving wheels coupled to the displacement arrangement. The driving wheels further includes first and second sets of vehicle wheels connected to the body allowing movement of the vehicle along first and second directions, respectively, within the system. The first and second directions are perpendicular.

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