公开(公告)号：US20210032027A1

公开(公告)日：2021-02-04

申请号：US17045999

申请日：2019-04-24

Applicant: Autostore Technology AS

Inventor： Ivar Fjeldheim ,  Trond Austrheim

IPC: B65G1/04 ,  B65G1/137

Abstract: The invention concerns an automated storage and retrieval system comprising at least one relay module (60) for relaying storage containers (6) between a port column (61) and an access station (64), the relay module (60) being arranged below a port column (61) wherein the relay module (60) comprises a port station for receiving storage containers (6) dropped off from and to be picked up through the port column (61), a first conveyor and a second conveyor, each arranged at a side of the port station, the first conveyor being adapted to transport storage containers (6) to an access station (64), the second conveyor being adapted for transporting storage containers (6) from the access station (64). A lateral displacement device is arranged for transporting storage containers (6) between the port station and the first conveyor, and between the second conveyor and the port station. The invention furthermore relates to such relay module and to a method of operating an automated storage and retrieval system comprising such a relay module (60).

公开(公告)号：US10807796B2

公开(公告)日：2020-10-20

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: 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 has a vehicle body with a cavity suitable for receiving a storage bin stored within the storage system, a lifting device for lifting the containers into the cavity and a displacement motor for lifting one of two sets of wheels in or out of engagement with an underlying track for changing vehicle direction. The wheels are arranged at outer side walls of the vehicle body facing away from the cavity, arranged at, or near, each of the respective two corners of the lower edge of the vehicle body.

公开(公告)号：US20190232925A1

公开(公告)日：2019-08-01

申请号：US16312347

申请日：2017-06-21

Applicant: Autostore Technology AS

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

IPC: B60S5/06 ,  B60L53/80 ,  B60L53/30 ,  B65G1/04 ,  H02J7/00

Abstract: A storage system includes a charging station assembly for charging a plurality of power sources and a method thereof. The charging station assembly includes a charging station support fixing the charging station assembly to a base of the storage system, a plurality of charging stations, each charging station including a charger that charges the plurality of power sources and a power source transport device enabling relocation of the power source between an operational position on a remotely operated vehicle and a charging position in or at any one of the plurality of charging stations.

公开(公告)号：US10294025B2

公开(公告)日：2019-05-21

申请号：US15319103

申请日：2015-06-16

Applicant: Autostore Technology AS

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

IPC: B65G1/04 ,  B60S9/215

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 include the 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.

公开(公告)号：US20250162803A1

公开(公告)日：2025-05-22

申请号：US19028290

申请日：2025-01-17

Applicant: AutoStore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: B65G1/04 ,  B25J5/00

Abstract: A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

公开(公告)号：US12269680B2

公开(公告)日：2025-04-08

申请号：US18422983

申请日：2024-01-25

Applicant: Autostore Technology AS

Inventor： Ivar Fjeldheim ,  Trond Austrheim

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

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.

公开(公告)号：US12227360B2

公开(公告)日：2025-02-18

申请号：US17758846

申请日：2021-01-27

Applicant: Autostore Technology AS

Inventor： Ivar Fjeldheim ,  Trond Austrheim

IPC: G01D21/02 ,  B65G1/137

Abstract: A measuring system for monitoring atmospheric conditions in an automated storage and retrieval system including a framework structure. The framework structure forms a three-dimensional storage grid structure for storing storage containers for storing items. The grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns. A rail system is arranged on the framework structure defining the circumference of each access opening on top of each storage column. The rail system provides available routes for container handling vehicles handling and transferring the storage containers to and from the storage columns. The at least one container handling vehicle has at least one rechargeable power source. A container handling platform has a first set of grippers for handling the storage containers. The measuring system includes at least one box-shaped measuring unit of the same size and features as a storage container. The box-shaped measuring unit includes measuring equipment for measuring at least one atmospheric condition within the grid structure, a transmitter for transmitting measurement data to a computer system, at least one rechargeable power source, and a data recorder for recording the measurement data. The box-shaped measuring unit includes at least one piece of measuring equipment on all sides of the box-shaped measuring unit.

公开(公告)号：US12227355B2

公开(公告)日：2025-02-18

申请号：US17643358

申请日：2021-12-08

Applicant: Autostore Technology AS

Inventor： Ingvar Hognaland ,  Ivar Fjeldheim ,  Jørgen Djuve Heggebø

IPC: B65G1/04 ,  B25J5/00 ,  G05D1/00

Abstract: A method for controlling movement of a robot on a plurality of tracks laid out on a frame structure forming a grid includes detecting a current speed and an angular position for one wheel in a pair of wheels of the robot; tracking a current position of the robot relative to at least a portion of the frame structure; and setting a driving sequence for the pair of wheels, based on a position information of the robot.

公开(公告)号：US12210339B2

公开(公告)日：2025-01-28

申请号：US18505777

申请日：2023-11-09

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 into a neighbouring grid cell, and a recessed section arranged to accommodate the protruding sections of another container handling vehicle.

公开(公告)号：US20240373804A1

公开(公告)日：2024-11-14

申请号：US18325877

申请日：2023-05-30

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ivar Fjeldheim

IPC: A01G31/06

Abstract: A stackable module has a functional component. The stackable module has a load-bearing frame including a first support member and a second support member held in a spaced apart and parallel configuration by a cross-member. The cross-member forms a part of the functional component. The load-bearing frame is configured to enable the stackable module to occupy a cuboidal volume within which the functional component is supported, and wherein the load-bearing frame includes upper and lower load-transferring edge surfaces. The functional component may be a growth board for supporting plants in a vertical farming system, the growth board having a drain.