公开(公告)号：US20200290803A1

公开(公告)日：2020-09-17

申请号：US16758157

申请日：2018-08-27

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65G1/04 ,  B65G1/06 ,  B66F9/06

Abstract: An automated storage and retrieval system includes a three-dimensional grid and a plurality of container handling vehicles. The three-dimensional grid includes multiple storage columns, in which containers may be stored on top of one another in vertical stacks. Each container handling vehicle includes a container lifting device having a lifting frame for releasably connecting to a container, and is operated on rails at a top level of the grid for retrieving containers from, and storing containers in, the storage columns, and for transporting the containers horizontally across the grid. The automated storage system comprises multiple floor elements, each floor element arrangeable at a top end of a storage column on top of a vertical stack of containers, such that an operator may stand on top of the storage column. The floor elements may be stored on top of one another in a vertical stack arranged in a storage column in the grid.

公开(公告)号：US20190322452A1

公开(公告)日：2019-10-24

申请号：US16474644

申请日：2018-01-02

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Børge Bekken

IPC: B65G1/04 ,  B65G1/137

Abstract: A remotely operated vehicle for picking up storage bins from an underlying storage system includes a vehicle lifting device for lifting the storage bin from the underlying storage system, a first vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of a vehicle frame, allowing movement of the vehicle along a first direction (X) on the underlying storage system during use, a second vehicle rolling assembly including a first rolling set and a second rolling set arranged at opposite sides of the vehicle frame, allowing movement of the vehicle along a second direction (Y) on the underlying storage system during use, the second direction (Y) being perpendicular to the first direction (X), and a rolling set displacement assembly arranged to move the first vehicle rolling assembly in a vertical direction (Z) between a first position and a second position. The first vehicle rolling assembly allows movement of the vehicle along the first direction (X). The second vehicle rolling assembly allows movement of the vehicle along the second direction (Y). Each of said rolling sets includes at least a first wheel and a second wheel rigidly interconnected by a wheel connecting element. The wheel connecting element of the first rolling set of the first vehicle rolling and the wheel connecting element of the first rolling set of the second vehicle rolling assembly are pivotally connected to the vehicle frame, such that each of said first rolling sets may tilt in a vertical plane.

公开(公告)号：US20190142160A1

公开(公告)日：2019-05-16

申请号：US16300063

申请日：2017-05-18

Applicant: Autostore Technology AS

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

IPC: A47B91/02 ,  F16M7/00

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.

公开(公告)号：US20180257860A1

公开(公告)日：2018-09-13

申请号：US15978219

申请日：2018-05-14

Applicant: Autostore Technology AS

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

IPC: B65G1/04

CPC classification number: B65G1/0464 ,  B60S9/215 ,  B65G1/0478

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).

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：US12252335B2

公开(公告)日：2025-03-18

申请号：US17770851

申请日：2020-10-19

Applicant: Autostore Technology AS

Inventor： Trond Austrheim

IPC: B65D88/52 ,  B65D6/24 ,  F16B5/00

Abstract: A set of moulded panels, which can be assembled together to form a storage container for an automated storage and retrieval system, includes a rectangular base panel and four side panels. The base panel is moulded with a perimeter profile. Each of the side panels is moulded with a lower edge profile. The lower edge profiles of each side panel are slidingly engaged with the perimeter profile during assembly of the storage container. Each of the side panels are moulded with side edge profiles, which are to be slidingly engaged with the side edge profiles of adjacent side panels during assembly of the storage container.

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：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：US20250019164A1

公开(公告)日：2025-01-16

申请号：US18701868

申请日：2022-10-17

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  Ingvar Fagerland

IPC: B65G1/04 ,  A01G9/14 ,  A01G9/24

Abstract: An automated storage and retrieval system includes a plurality of goods holders for holding crops, and a storage section configured for storing goods holders in a plurality of columns. A service vehicle for irrigation and/or inspection of crops stored within the automated storage and retrieval system is movable above the storage section and includes irrigation equipment for irrigating crops held by a goods holder, and/or inspection equipment for inspecting crops held by a goods holder.

公开(公告)号：US12195053B2

公开(公告)日：2025-01-14

申请号：US18488799

申请日：2023-10-17

Applicant: Autostore Technology AS

Inventor： Trond Austrheim ,  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 ,  G05D1/00 ,  G05D1/02

Abstract: A container accessing station for accessing a storage container of an automated storage and retrieval grid. The container accessing station comprising: an access opening through which a human and/or robot may access contents of the storage container; a base opening; and a lifting device arranged to retrieve the storage container from a first level beneath the base opening and lift it up through the base opening to a second level so that the storage container may be accessed through the access opening. The invention is also directed to a container accessing system and a method thereof.