公开(公告)号：US20230127239A1

公开(公告)日：2023-04-27

申请号：US17914145

申请日：2021-03-29

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ingvar Fagerland

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

Abstract: An automated storage and retrieval system includes an isolating housing having walls and a roof, one or more openable and closable housing openings or hatches arranged in the roof of the isolating housing, a rail system arranged above the roof, a storage tower arranged inside the isolating housing, and an automated control system. The isolating housing is arranged to isolate goods stored within the isolating housing from an outside environment. The goods are stored in storage containers. One or more wheeled container handling vehicles may travel upon the rail system. The container handling vehicles include a lifting device for lifting and lowering containers. The rail system is at least arranged such that a container handling vehicle may be positioned with its lifting device positioned above a hatch. The storage tower is accessible to the container handling vehicle or vehicles though a hatch. The storage tower includes a plurality of vertically stacked container supports, a displacement device for horizontally moving container supports in order to align the opening of vertically adjacent container supports to form a tower port beneath a hatch, and a displacement device for horizontally moving a target container support in order to position a target container at the bottom of the tower port. The container supports are in the form of horizontally movable shelves upon which may rest a plurality of storage containers. The container supports have a lateral width corresponding to a plurality of container spaces and a longitudinal length corresponding to a plurality of container spaces, thereby defining a plurality of lateral rows of container spaces. One or more of the container spaces of a lateral row is an opening corresponding in size to a storage container such that storage containers may pass therethrough. The container handling vehicle may lower its lifting device though the hatch, down the tower port, and access the target container.

公开(公告)号：US20220340361A1

公开(公告)日：2022-10-27

申请号：US17754404

申请日：2020-10-28

Applicant: Autostore Technology AS

Inventor： Ingvar Fagerland ,  Uwe Gruenbeck

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

Abstract: A method for storing containers in an automated storage and retrieval system includes a framework structure including upright members, horizontal members and storage columns provided between the members. Storage containers are stackable in stacks within the storage columns. The method includes: defining a first storage area, wherein the first storage area includes specific storage columns within the framework structure; setting a first maximum weight threshold for the first storage area; determining a total weight for all storage containers stored in the first storage area; determining a weight for a further storage container which is to be stored within the framework structure; and determining a storage position for the further storage container to be within the first storage area if the sum of the total weight and the weight of the further storage container is below the first maximum weight threshold, or determining the storage position for the further storage container to be outside of the first storage area if the sum of the total weight and the weight of the further storage container is above the first maximum weight threshold.

公开(公告)号：US11360465B2

公开(公告)日：2022-06-14

申请号：US16614121

申请日：2018-05-15

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 having a first set of parallel tracks and a second set of parallel tracks. The first and second sets of tracks form a grid pattern of grid cells. Storage containers are arranged in storage columns located beneath the track system. Container handling vehicles lift and move storage containers. The container handling vehicles are configured to move laterally on the track system above the storage columns to access the storage containers via grid openings. Each container handling vehicle includes: a protruding section which extends horizontally beyond the footprint of the container 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 another container handling vehicle when operating over a neighbouring grid cell.

公开(公告)号：US20210269240A1

公开(公告)日：2021-09-02

申请号：US16972482

申请日：2019-11-06

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Øystein Gjerdevik ,  Ingvar Fagerland

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

Abstract: An automated storage and retrieval system includes a grid-based rail structure and a plurality of remotely operated vehicles arranged to operate on the grid-based rail structure. The automated storage and retrieval system includes a locking device arranged in a zone of the grid-based rail structure where a human and/or a robotic operator is permitted to interact with the remotely operated vehicle or contents of a storage container that the remotely operated vehicle is carrying. The locking device is arranged to lock the remotely operated vehicle against accidental displacement prior to interaction with the human and/or robotic operator, and wherein the locking device being arranged to unlock the remotely operated vehicle once interaction with the human and/or robotic operator is no longer required.

公开(公告)号：US20210237973A1

公开(公告)日：2021-08-05

申请号：US15734868

申请日：2019-06-11

Applicant: Autostore Technology AS

Inventor： Jørgen Djuve Heggebø ,  Ole Alexander Mæhle ,  Synnøve Matre ,  Ingvar Fagerland ,  Ragnar Stuhaug

IPC: B65G1/04 ,  B65G43/00 ,  G05D1/02

Abstract: A method of operating an automated storage and retrieval system includes: a rail system including a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

公开(公告)号：US20250153939A1

公开(公告)日：2025-05-15

申请号：US19019880

申请日：2025-01-14

Applicant: AutoStore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

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

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 direction and a second set of wheels oriented in a second direction. 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 protruding section includes at least one of: a battery, a battery slot configured to house the battery, or a sensor configured to determine a position of the container handling vehicle.

公开(公告)号：US20240391506A1

公开(公告)日：2024-11-28

申请号：US18790937

申请日：2024-07-31

Applicant: AutoStore Technology AS

Inventor： Jørgen Djuve Heggebø ,  Ole Alexander Mæhle ,  Synnøve Matre ,  Ingvar Fagerland ,  Ragnar Stuhaug

IPC: B61B13/00 ,  B60W50/00 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137 ,  B65G43/00 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/00 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19

Abstract: A method of operating an automated storage and retrieval system includes: a rail system including a first set of parallel rails arranged in a horizontal plane and extending in a first direction, and a second set of parallel rails arranged in the horizontal plane and extending in a second direction which is orthogonal to the first direction, which first and second sets of rails form a grid pattern in the horizontal plane including a plurality of adjacent grid cells, a central control unit configured to receive, transmit and process data signals of a plurality of container handling vehicles for handling storage containers of the automated storage and retrieval system. Each container handling vehicle includes a vehicle body, a wheel assembly provided on the vehicle body, the wheel assembly being configured to move the vehicle along the rail system in both of the first direction and the second direction, a vehicle control unit configured to receive data signals from, transmit data signals to and process data signals of the central control unit, and a proximity sensor system configured to detect another container handling vehicle of said plurality of container handling vehicles and determine whether or not it is within a predetermined distance. The method includes detecting with the central control unit that access of a first container handling vehicle to a target cell, which is one of the plurality of grid cells, is blocked by a second container handling vehicle, transmitting a data signal from the central control unit to the vehicle control unit of the first container handling vehicle commanding the first container handling vehicle to move into the target cell when the second container handling vehicle is beyond said predetermined distance.

公开(公告)号：US12134411B2

公开(公告)日：2024-11-05

申请号：US17618081

申请日：2019-10-16

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Øystein Gjerdevik ,  Ingvar Fagerland

IPC: B65G1/04 ,  B61B13/00 ,  B65G1/06 ,  B65G1/137 ,  B65G47/06 ,  B65G47/52 ,  B65G57/03 ,  B65G63/06 ,  B65G65/23 ,  B65G67/24 ,  B66F9/06 ,  B66F9/19 ,  G05D1/00 ,  B60W50/00 ,  B65G43/00 ,  B65G63/00

Abstract: A container accessing station is configured to offer multiple access points where access to each access point may be permitted through an upper working surface of the container accessing station to an underlying container that has been delivered to the access point. The container accessing station includes one or more working surface sections, access panels and blanking-off panels. Each working surface section has a common attachment configuration to allow either the access panel or the blanking-off panel to be fitted as part of the container accessing station at any of the multiple access points.

公开(公告)号：US12059966B2

公开(公告)日：2024-08-13

申请号：US16981465

申请日：2019-02-15

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim ,  Ingvar Fagerland

IPC: B60L53/36 ,  B60L53/30 ,  B65G1/04 ,  B65G1/06 ,  B65G1/137

CPC classification number: B60L53/36 ,  B60L53/30 ,  B65G1/0464 ,  B65G1/0478 ,  B65G1/065 ,  B65G1/1378 ,  B65G2201/0258 ,  Y02T10/70 ,  Y02T10/7072 ,  Y02T90/12 ,  Y02T90/14

Abstract: An automated storage and retrieval system includes a track system forming a grid pattern in the horizontal plane including a plurality of adjacent grid cells, each grid cell including a grid opening. A plurality of storage columns is located beneath the track system. Each storage column is located vertically below a grid opening and arranged to store a stack of storage containers. A container handling vehicle for lifting at least one storage container stacked in the stacks is configured to move laterally on the track system above the storage columns to access the storage containers via the grid openings. The container handling vehicle includes a lower part including at least one storage compartment for storing a storage container, an upper part arranged vertically above the lower part, a wheel assembly for guiding the container handling vehicle along the track system and a power supply compartment for accommodating a replaceable power supply; a replaceable power supply for accommodation in the power supply compartment, having a power supply charging connection. A charging station for charging of the replaceable power supply includes a charging connection configured to create an electrical connection with the power supply charging connection and a power supply support for releasably supporting the power supply during charging. The power supply compartment is arranged in the upper part of the container handling vehicle and is configured to receive the replaceable power supply via an opening.

公开(公告)号：US20240217117A1

公开(公告)日：2024-07-04

申请号：US18565401

申请日：2022-04-07

Applicant: Autostore Technology AS

Inventor： Ivar Fjeldheim ,  Ingvar Fagerland ,  Trond Austrheim ,  Jørgen Djuve Heggebø

IPC: B25J15/00 ,  B25J9/00 ,  B65G47/90

CPC classification number: B25J15/0047 ,  B25J9/0093 ,  B65G47/90 ,  B65G2201/0258

Abstract: A coupler includes a coupler frame, a handle, a first container gripper paddle, a second container gripper paddle, and an actuator system. The coupler frame includes a lower coupler frame face and an upper coupler frame face. The handle protrudes from the upper coupler frame face for releasable connection to an operative end of a robotic picking device. The first and second container gripper paddles are connected to the coupler frame for releasable connection to a container and arranged at opposite sides a centre plane oriented perpendicular to the lower coupler frame face. Each of the container gripper paddles includes a gripper protrusion located below the lower coupler frame face for insertion into a corresponding recess or aperture accessible within an inner volume of the container. The actuator system is for displacing the first and second container gripper paddles in opposite directions from the centre plane until the gripper protrusions have been removably inserted into the corresponding recesses or apertures.