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：US20250153946A1

公开(公告)日：2025-05-15

申请号：US18715523

申请日：2022-12-06

Applicant: Autostore Technology AS

Inventor： Kjetil Gilje

IPC: B65G1/137 ,  B65G1/04 ,  B65G1/06 ,  G06Q10/08

Abstract: A buffer system is for delivering containers to and from the station. The storage and retrieval system includes a framework structure which includes a rail system including a first set of parallel rails arranged to guide movement of a container handling vehicle in a first direction across the top of the framework structure, and a second set of parallel rails arranged perpendicular to the first set of rails to guide movement of the container handling vehicle in a second direction which is perpendicular to the first direction. The first and second sets of parallel rails divide the rail system into a plurality of grid cells. The framework structure includes upright members defining storage columns for storing containers within the framework structure. The storage and retrieval system includes at least one container handling vehicle configured to operate on the rail system. The buffer system has at least two automated lifts for delivering containers to and from the station. A first lift is for delivering containers to the station that have been delivered from the framework structure by a container handling vehicle and a second lift is for delivering containers from the station to the framework structure of the storage and retrieval system using a container handling vehicle. The speed of the first and the second lifts in the buffer system is controlled with the effect that when one container is finished at the station another is delivered to the station.

公开(公告)号：US12286295B2

公开(公告)日：2025-04-29

申请号：US17600996

申请日：2020-03-19

Applicant: Autostore Technology AS

Inventor： Jørgen Djuve Heggebø

IPC: B65G1/04 ,  B61B13/02 ,  G06K7/10

Abstract: An automated storage and retrieval system includes remotely operated vehicles, a main grid in which the vehicles operates, a service grid for placement of vehicles for service, and a control system for controlling the vehicles. The control system includes a data record for the status of a vehicle state for each vehicle. Each remotely operated vehicle includes a label and the service grid includes a reader for reading the label so as to identify each vehicle passing the reader. The control system receives a signal from the reader and, upon receipt, compares the data record with an observed vehicle state of the identified vehicle and either updates the data record with the observed vehicle state or indicates to an operator that a difference exists between the observed vehicle state and the vehicle state on the control system.

公开(公告)号：US20250133586A1

公开(公告)日：2025-04-24

申请号：US18912959

申请日：2024-10-11

Applicant: AutoStore Technology AS

Inventor： Ragnar Stuhaug ,  Ingvar Hognaland

IPC: H04W72/542 ,  B65G1/04 ,  H04L7/00 ,  H04W40/24 ,  H04W48/16 ,  H04W48/18 ,  H04W72/0446 ,  H04W72/563 ,  H04W74/0816

Abstract: In a wireless communication network, a node communicates with a central communication unit via at least one access point. An operating method of the communication node includes receiving, at the node, a wireless signal from the access point; determining, by the node, channel quality information based on the received wireless signal; and determining, by the node, an order of active channels ranked according to the determined channel quality. The operating method further includes selecting, by the node, an active channel for transmitting wireless signals in accordance with the determined order; and transmitting, by the node, wireless signals on the selected, active channel. The access point is configured to filter a message. When operating the access point in a beacon transmit mode, the access point transmits wireless beacon data to the node. In a listening mode, the access point relays data received from the node to the central communication unit.

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：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：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.